+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters Centerline goodness : 0.152830 Centerline is valid? [0, False] SLAMing on 0.05592 meters Centerline goodness : 0.692745 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99968521e-01 7.59591509e-03 -2.29315433e-03 2.59368447e-02] [-7.59640939e-03 9.99971125e-01 -2.06924050e-04 3.27994201e-04] [ 2.29151634e-03 2.24337275e-04 9.99997349e-01 9.83835162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08592 meters Centerline goodness : 0.078765 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99969942e-01 7.37848788e-03 -2.38198130e-03 2.65220491e-02] [-7.37772274e-03 9.99972730e-01 3.29847421e-04 -3.97310060e-03] [ 2.38435012e-03 -3.12263909e-04 9.99997109e-01 -3.86621953e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11592 meters Centerline goodness : 0.177395 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99980505e-01 5.57263974e-03 -2.81685647e-03 3.23337371e-02] [-5.57499277e-03 9.99984117e-01 -8.28178352e-04 -4.88404497e-03] [ 2.81219659e-03 8.43866161e-04 9.99995690e-01 -7.00630615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters Centerline goodness : 0.186668 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 9.99987931e-01 -2.55981670e-03 -4.19357900e-03 5.27243465e-02] [ 2.56287238e-03 9.99996454e-01 7.23444842e-04 -7.13062136e-03] [ 4.19171224e-03 -7.34183718e-04 9.99990945e-01 -2.85062983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17592 meters Centerline goodness : 0.207594 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99998728 -0.0027989 -0.00419536 0.05359585] [ 0.00280393 0.99999536 0.00119237 -0.01038865] [ 0.004192 -0.00120412 0.99999049 -0.00364372] [ 0. 0. 0. 1. ]] SLAMing on 0.20592 meters Centerline goodness : 0.655357 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99998621 -0.00302775 -0.0042907 0.05418123] [ 0.00303518 0.9999939 0.00172768 -0.01451027] [ 0.00428544 -0.00174068 0.9999893 -0.00464237] [ 0. 0. 0. 1. ]] SLAMing on 0.23592 meters Centerline goodness : 0.208842 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99998481 -0.00324645 -0.00445515 0.05501747] [ 0.00325637 0.99999223 0.00222133 -0.01833298] [ 0.00444791 -0.0022358 0.99998761 -0.00606851] [ 0. 0. 0. 1. ]] SLAMing on 0.26592 meters Centerline goodness : 0.652069 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 0.9999759 -0.00379437 -0.00581431 0.0659926 ] [ 0.00380946 0.9999894 0.00258659 -0.02228347] [ 0.00580444 -0.00260868 0.99997975 -0.01764127] [ 0. 0. 0. 1. ]] SLAMing on 0.29592 meters Centerline goodness : 0.655132 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99998181 -0.00402302 -0.00449327 0.05713205] [ 0.00403635 0.99998747 0.00296258 -0.02552822] [ 0.00448129 -0.00298067 0.99998552 -0.00915007] [ 0. 0. 0. 1. ]] SLAMing on 0.32592 meters SLAMing on 0.35591999999999996 meters Centerline goodness : 0.060700 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 9.99994092e-01 8.69858202e-04 -3.32550354e-03 4.28754052e-02] [-8.70621172e-04 9.99999595e-01 -2.27989360e-04 -2.93432314e-02] [ 3.32530387e-03 2.30883267e-04 9.99994445e-01 -1.99655305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38592 meters SLAMing on 0.41592 meters Centerline goodness : 0.854779 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.01 [[ 0.99997505 -0.00471507 -0.00525966 0.08020338] [ 0.00469488 0.99998159 -0.00384495 -0.02815558] [ 0.00527769 0.00382016 0.99997878 -0.00804841] [ 0. 0. 0. 1. ]] SLAMing on 0.44592 meters SLAMing on 0.47591999999999995 meters Centerline goodness : 0.725189 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.00 [[ 0.99997876 -0.00640821 0.00119111 0.11418815] [ 0.00641308 0.99997091 -0.00413003 -0.02644088] [-0.00116461 0.00413758 0.99999076 -0.00165478] [ 0. 0. 0. 1. ]] SLAMing on 0.5059199999999999 meters Centerline goodness : 0.272298 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.04 [[ 0.99998537 -0.00460876 0.00283308 0.12720494] [ 0.00459551 0.99997856 0.00466533 -0.03813594] [-0.00285453 -0.00465224 0.9999851 -0.04215638] [ 0. 0. 0. 1. ]] SLAMing on 0.53592 meters Centerline goodness : 0.782595 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.04 [[ 0.9999719 -0.00695396 0.00280045 0.12436527] [ 0.00694674 0.99997254 0.00257957 -0.03937426] [-0.00281831 -0.00256005 0.99999275 -0.0380513 ] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters Centerline goodness : 0.785156 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.05 [[ 9.99999985e-01 -1.34349725e-04 -1.06517296e-04 1.18500909e-01] [ 1.34334975e-04 9.99999981e-01 -1.38464023e-04 -3.85802207e-02] [ 1.06535896e-04 1.38449712e-04 9.99999985e-01 -5.41623017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.59592 meters Centerline goodness : 0.254828 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.07 [[ 9.99999478e-01 -4.71576620e-04 -9.06110021e-04 1.28540399e-01] [ 4.71839182e-04 9.99999847e-01 2.89576950e-04 -4.23954620e-02] [ 9.05973324e-04 -2.90004337e-04 9.99999548e-01 -6.57848069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.62592 meters Centerline goodness : 0.780390 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.05 [[ 9.99948238e-01 -3.80085990e-05 -1.01744600e-02 1.39413096e-01] [-1.08858467e-06 9.99992617e-01 -3.84264589e-03 -3.56859407e-02] [ 1.01745309e-02 3.84245806e-03 9.99940855e-01 -4.73588975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6559200000000001 meters Centerline goodness : 0.843064 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.06 [[ 9.99935446e-01 -2.46789070e-04 -1.13596849e-02 1.50270906e-01] [ 2.01131844e-04 9.99991899e-01 -4.02020047e-03 -3.55749779e-02] [ 1.13605850e-02 4.01765615e-03 9.99927395e-01 -5.91331355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6859199999999999 meters Centerline goodness : 0.833312 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.07 [[ 0.99991942 -0.0011356 -0.01264347 0.16126132] [ 0.00108391 0.99999103 -0.0040946 -0.04036436] [ 0.01264801 0.00408056 0.99991168 -0.07034061] [ 0. 0. 0. 1. ]] SLAMing on 0.7159199999999999 meters Centerline goodness : 0.142107 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.07 [[ 0.99992467 -0.00286533 -0.01193464 0.15636067] [ 0.00279896 0.99998055 -0.00557413 -0.04082454] [ 0.01195038 0.0055403 0.99991324 -0.06536151] [ 0. 0. 0. 1. ]] SLAMing on 0.7459199999999999 meters Centerline goodness : 0.153506 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.06 [[ 9.99930824e-01 -9.93687332e-04 -1.17200728e-02 1.52702315e-01] [ 9.61726018e-04 9.99995805e-01 -2.73237839e-03 -4.65856814e-02] [ 1.17227388e-02 2.72091787e-03 9.99927584e-01 -6.06829055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7759199999999999 meters Centerline goodness : 0.801056 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.07 [[ 0.99992184 -0.00115736 -0.01244914 0.1628504 ] [ 0.00112286 0.99999551 -0.00277738 -0.046878 ] [ 0.0124523 0.00276319 0.99991865 -0.07236036] [ 0. 0. 0. 1. ]] SLAMing on 0.80592 meters Centerline goodness : 0.801056 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.07 [[ 0.99992184 -0.00115736 -0.01244914 0.1628504 ] [ 0.00112286 0.99999551 -0.00277738 -0.046878 ] [ 0.0124523 0.00276319 0.99991865 -0.07236036] [ 0. 0. 0. 1. ]] SLAMing on 0.83592 meters Centerline goodness : 0.153551 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.07 [[ 0.99997859 -0.00272092 -0.00595148 0.19696489] [ 0.00270237 0.99999147 -0.0031238 -0.04760779] [ 0.00595993 0.00310765 0.99997741 -0.06535502] [ 0. 0. 0. 1. ]] SLAMing on 0.86592 meters Centerline goodness : 0.159532 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 9.99985430e-01 -7.86829271e-04 -5.34046431e-03 1.92638048e-01] [ 7.84939019e-04 9.99999629e-01 -3.56035886e-04 -5.22212343e-02] [ 5.34074247e-03 3.51838760e-04 9.99985676e-01 -6.05617093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89592 meters Centerline goodness : 0.827885 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.07 [[ 9.99977674e-01 -7.44478155e-04 -6.64056301e-03 2.03656654e-01] [ 7.41792465e-04 9.99999642e-01 -4.06890864e-04 -5.12849807e-02] [ 6.64086355e-03 4.01955860e-04 9.99977868e-01 -7.23646614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9259199999999999 meters Centerline goodness : 0.156750 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.06 [[ 0.99999623 -0.0024998 0.00113726 0.2308635 ] [ 0.00250138 0.9999959 -0.00139124 -0.04737772] [-0.00113378 0.00139408 0.99999839 -0.05954954] [ 0. 0. 0. 1. ]] SLAMing on 0.9559199999999999 meters Centerline goodness : 0.839742 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.07 [[ 9.99996851e-01 -2.30309695e-03 9.96954798e-04 2.40267310e-01] [ 2.30423005e-03 9.99996699e-01 -1.13690703e-03 -4.62498880e-02] [-9.94333100e-04 1.13920066e-03 9.99998857e-01 -7.11742799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9859199999999999 meters Centerline goodness : 0.827229 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.07 [[ 0.99998907 -0.00391121 -0.00256024 0.28961458] [ 0.00390709 0.99999107 -0.00161358 -0.04438333] [ 0.00256653 0.00160356 0.99999542 -0.069342 ] [ 0. 0. 0. 1. ]] SLAMing on 1.01592 meters Centerline goodness : 0.751667 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.08 [[ 0.99998343 -0.00414852 -0.00399116 0.30072005] [ 0.0041426 0.99999031 -0.00149126 -0.04566718] [ 0.00399731 0.00147471 0.99999092 -0.08100701] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters Centerline goodness : 0.765654 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.07 [[ 9.99990085e-01 9.93608219e-04 -4.34090883e-03 3.15915821e-01] [-1.01765460e-03 9.99984132e-01 -5.54078773e-03 -4.04792359e-02] [ 4.33533458e-03 5.54515034e-03 9.99975228e-01 -7.05400232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07592 meters Centerline goodness : 0.222710 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:-0.08 [[ 9.99989545e-01 9.45426751e-04 -4.47403265e-03 3.26787297e-01] [-9.68409179e-04 9.99986334e-01 -5.13747312e-03 -4.22647020e-02] [ 4.46911441e-03 5.14175210e-03 9.99976794e-01 -8.25575631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10592 meters Centerline goodness : 0.772186 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 0.99996651 -0.00190717 -0.00795837 0.36348661] [ 0.00186136 0.99998168 -0.00575893 -0.04046018] [ 0.00796921 0.00574392 0.99995175 -0.07008051] [ 0. 0. 0. 1. ]] SLAMing on 1.1359199999999998 meters Centerline goodness : 0.355919 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99996449 -0.00228144 -0.00811235 0.37484508] [ 0.00223688 0.99998238 -0.00549809 -0.04324962] [ 0.00812475 0.00547975 0.99995198 -0.08189506] [ 0. 0. 0. 1. ]] SLAMing on 1.1659199999999998 meters Centerline goodness : 0.106386 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.08 [[ 0.99994654 0.00401661 -0.00952788 0.39431964] [-0.00408941 0.9999625 -0.00763335 -0.0396066 ] [ 0.00949686 0.0076719 0.99992547 -0.0757588 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1959199999999999 meters Centerline goodness : 0.330396 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.08 [[ 0.99993488 0.00538348 -0.0100621 0.40054806] [-0.00544141 0.99996873 -0.00573828 -0.04345289] [ 0.01003089 0.00579265 0.99993291 -0.0820791 ] [ 0. 0. 0. 1. ]] SLAMing on 1.22592 meters Centerline goodness : 0.040714 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.08 [[ 0.9999604 -0.00354705 -0.00816137 0.42151741] [ 0.00351352 0.99998534 -0.00411915 -0.0488306 ] [ 0.00817586 0.00409031 0.99995821 -0.08117775] [ 0. 0. 0. 1. ]] SLAMing on 1.25592 meters Centerline goodness : 0.060224 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.05, Z:-0.09 [[ 0.99995108 -0.00397776 -0.00905667 0.43421222] [ 0.00394387 0.99998517 -0.00375609 -0.05357896] [ 0.00907148 0.00372019 0.99995193 -0.09336953] [ 0. 0. 0. 1. ]] SLAMing on 1.28592 meters SLAMing on 1.31592 meters Centerline goodness : 0.078414 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.10 [[ 0.99995023 -0.00291615 -0.00954071 0.44079701] [ 0.00290185 0.99999465 -0.00151238 -0.06158667] [ 0.00954506 0.00148461 0.99995334 -0.09931583] [ 0. 0. 0. 1. ]] SLAMing on 1.3459199999999998 meters Centerline goodness : 0.347341 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.10 [[ 9.99951043e-01 -3.01653117e-03 -9.42402313e-03 4.41919054e-01] [ 3.00825462e-03 9.99995077e-01 -8.92291341e-04 -6.52179870e-02] [ 9.42666836e-03 8.63897796e-04 9.99955195e-01 -1.00534524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3759199999999998 meters Centerline goodness : 0.391946 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.11 [[ 9.99941563e-01 -3.20422226e-03 -1.03249026e-02 4.54314788e-01] [ 3.20098863e-03 9.99994822e-01 -3.29698341e-04 -6.99092684e-02] [ 1.03259056e-02 2.96629178e-04 9.99946642e-01 -1.12138821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters Centerline goodness : 0.700610 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.11 [[ 9.99948905e-01 -2.74960738e-03 -9.72765086e-03 4.56790129e-01] [ 2.75392883e-03 9.99996115e-01 4.30877265e-04 -7.33432565e-02] [ 9.72642832e-03 -4.57644508e-04 9.99952592e-01 -1.13342032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4359199999999999 meters Centerline goodness : 0.684211 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.11 [[ 9.99951463e-01 -2.57619756e-03 -9.50972105e-03 4.57480725e-01] [ 2.58373271e-03 9.99996358e-01 7.80161592e-04 -7.48036406e-02] [ 9.50767656e-03 -8.04694302e-04 9.99954477e-01 -1.14337480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46592 meters Centerline goodness : 0.705253 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.13 [[ 0.99993904 -0.00228964 -0.01080114 0.46850594] [ 0.00230384 0.9999965 0.00130225 -0.07590739] [ 0.01079812 -0.00132705 0.99994082 -0.12543323] [ 0. 0. 0. 1. ]] SLAMing on 1.49592 meters Centerline goodness : 0.739101 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.13 [[ 9.99897395e-01 6.40114914e-03 -1.28149836e-02 4.94693959e-01] [-6.38905617e-03 9.99979105e-01 9.84376154e-04 -7.43653457e-02] [ 1.28210170e-02 -9.02399503e-04 9.99917400e-01 -1.25254635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52592 meters Centerline goodness : 0.720345 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.13 [[ 0.99989892 0.00667859 -0.01255139 0.49556831] [-0.0066648 0.99997714 0.00113977 -0.07444119] [ 0.01255871 -0.00105601 0.99992058 -0.12645019] [ 0. 0. 0. 1. ]] SLAMing on 1.55592 meters Centerline goodness : 0.516811 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.16 [[ 0.99766983 -0.0548481 -0.04057835 0.77364175] [ 0.05436476 0.99843754 -0.01292118 -0.0422517 ] [ 0.04122365 0.01068504 0.99909281 -0.16085658] [ 0. 0. 0. 1. ]] SLAMing on 1.58592 meters Centerline goodness : 0.298354 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.17 [[ 0.99789647 -0.04984765 -0.04144703 0.78031347] [ 0.04957733 0.99874194 -0.00752505 -0.0468016 ] [ 0.04176999 0.00545439 0.99911236 -0.16692872] [ 0. 0. 0. 1. ]] SLAMing on 1.6159199999999998 meters Centerline goodness : 0.526717 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.16 [[ 0.99819027 -0.04197239 -0.04306405 0.80253213] [ 0.04159803 0.99908876 -0.00955319 -0.03719641] [ 0.04342578 0.00774453 0.99902664 -0.16293121] [ 0. 0. 0. 1. ]] SLAMing on 1.6459199999999998 meters Centerline goodness : 0.422962 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.03, Z:-0.17 [[ 0.99874295 -0.03768915 -0.033046 0.80109181] [ 0.03749049 0.99927512 -0.00661114 -0.03186015] [ 0.03327122 0.00536392 0.99943197 -0.17227742] [ 0. 0. 0. 1. ]] SLAMing on 1.6759199999999999 meters Centerline goodness : 0.278930 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.18 [[ 0.99879046 -0.03585207 -0.03364877 0.8072316 ] [ 0.0356932 0.99934868 -0.00531048 -0.03014198] [ 0.03381725 0.00410303 0.99941961 -0.17837895] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters Centerline goodness : 0.214687 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.18 [[ 0.99885741 -0.03411042 -0.0334718 0.81387799] [ 0.03398888 0.99941341 -0.00419358 -0.02715991] [ 0.03359521 0.00305111 0.99943086 -0.18427631] [ 0. 0. 0. 1. ]] SLAMing on 1.73592 meters Centerline goodness : 0.172113 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.19 [[ 0.99888789 -0.03261289 -0.03404968 0.82003658] [ 0.03252951 0.99946627 -0.00299997 -0.02669625] [ 0.03412935 0.00188901 0.99941564 -0.19020627] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters Centerline goodness : 0.198615 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:-0.20 [[ 9.98912602e-01 -3.12071523e-02 -3.46370810e-02 8.25573073e-01] [ 3.11606340e-02 9.99512617e-01 -1.88215946e-03 -2.63680315e-02] [ 3.46789364e-02 8.00799397e-04 9.99398184e-01 -1.95123527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79592 meters Centerline goodness : 0.159149 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.20 [[ 9.99179080e-01 -3.28892663e-02 -2.36529359e-02 8.27560225e-01] [ 3.28705521e-02 9.99458921e-01 -1.17966661e-03 -2.23175653e-02] [ 2.36789361e-02 4.01213140e-04 9.99719534e-01 -2.04219693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8259199999999998 meters Centerline goodness : 0.154935 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.21 [[ 9.99383475e-01 -3.23992812e-02 -1.35261145e-02 8.21124599e-01] [ 3.24049786e-02 9.99474800e-01 2.02199996e-04 -2.26727904e-02] [ 1.35124594e-02 -6.40388784e-04 9.99908497e-01 -2.09192036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8559199999999998 meters SLAMing on 1.8859199999999998 meters SLAMing on 1.9159199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 1.97592 meters SLAMing on 2.00592 meters SLAMing on 2.03592 meters SLAMing on 2.06592 meters Centerline goodness : 0.243859 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:-0.21 [[ 0.99739273 -0.067515 0.02548445 0.90600926] [ 0.06761635 0.99770647 -0.00313542 -0.05717854] [-0.02521431 0.00485041 0.9996703 -0.21007092] [ 0. 0. 0. 1. ]] SLAMing on 2.09592 meters Centerline goodness : 0.694028 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.21 [[ 0.99786666 -0.05898189 0.02798696 0.92744686] [ 0.05905491 0.99825313 -0.00178897 -0.06544728] [-0.02783255 0.00343792 0.99960669 -0.21106122] [ 0. 0. 0. 1. ]] SLAMing on 2.1259200000000003 meters Centerline goodness : 0.463458 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:-0.21 [[ 0.99819197 -0.05154001 0.03092591 0.94330345] [ 0.05167194 0.99865804 -0.00348152 -0.06427758] [-0.03070497 0.00507322 0.99951562 -0.20668652] [ 0. 0. 0. 1. ]] SLAMing on 2.15592 meters Centerline goodness : 0.397604 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.21 [[ 0.99848849 -0.04255668 0.0347802 0.96460195] [ 0.04266319 0.99908681 -0.00232544 -0.06912764] [-0.03464947 0.00380576 0.99939228 -0.21014171] [ 0. 0. 0. 1. ]] SLAMing on 2.1859200000000003 meters Centerline goodness : 0.648364 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:-0.21 [[ 0.99871148 -0.03381937 0.0378369 0.98299431] [ 0.03394816 0.99941977 -0.00276623 -0.06871287] [-0.0377214 0.00404716 0.9992801 -0.20865153] [ 0. 0. 0. 1. ]] SLAMing on 2.21592 meters Centerline goodness : 0.396983 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:-0.21 [[ 9.98831993e-01 -2.37430730e-02 4.20822649e-02 1.00587449e+00] [ 2.37780756e-02 9.99717207e-01 -3.31351309e-04 -7.37855778e-02] [-4.20624970e-02 1.33159956e-03 9.99114094e-01 -2.14655350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24592 meters Centerline goodness : 0.379991 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:-0.21 [[ 9.98939439e-01 -1.47064423e-02 4.36316070e-02 1.02635294e+00] [ 1.47602516e-02 9.99890646e-01 -9.11342265e-04 -7.19401012e-02] [-4.36134331e-02 1.55438923e-03 9.99047272e-01 -2.14202819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27592 meters Centerline goodness : 0.367493 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:-0.21 [[ 0.9990644 -0.00577846 0.0428594 1.04912067] [ 0.00586877 0.99998082 -0.00198157 -0.0682523 ] [-0.04284713 0.00223125 0.99907915 -0.21406494] [ 0. 0. 0. 1. ]] SLAMing on 2.30592 meters Centerline goodness : 0.298393 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.23 [[ 9.99141641e-01 -3.47430284e-03 4.12784589e-02 1.06396217e+00] [ 3.45097411e-03 9.99993843e-01 6.36397798e-04 -6.84684450e-02] [-4.12804158e-02 -4.93400647e-04 9.99147479e-01 -2.30434099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.33592 meters Centerline goodness : 0.344522 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.24 [[ 9.99210392e-01 -2.93033787e-03 3.96232866e-02 1.07421379e+00] [ 2.89674317e-03 9.99995395e-01 9.05237800e-04 -6.65821381e-02] [-3.96257567e-02 -7.89744533e-04 9.99214279e-01 -2.41329322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36592 meters Centerline goodness : 0.305166 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.25 [[ 9.99259180e-01 -2.56566443e-03 3.83993327e-02 1.08453011e+00] [ 2.52702978e-03 9.99996251e-01 1.05463043e-03 -6.46733320e-02] [-3.84018946e-02 -9.56812885e-04 9.99261917e-01 -2.53095082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3959200000000003 meters Centerline goodness : 0.316007 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:-0.25 [[ 9.99083312e-01 -3.22184899e-04 4.28069176e-02 1.12172727e+00] [ 2.35289830e-04 9.99997902e-01 2.03495336e-03 -5.80563884e-02] [-4.28074834e-02 -2.02301591e-03 9.99081291e-01 -2.50986198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42592 meters Centerline goodness : 0.286569 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.26 [[ 9.99147954e-01 1.81115439e-04 4.12714554e-02 1.13220432e+00] [-2.59652751e-04 9.99998166e-01 1.89759258e-03 -5.41166847e-02] [-4.12710361e-02 -1.90669200e-03 9.99146169e-01 -2.62477515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.45592 meters Centerline goodness : 0.322629 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.27 [[ 0.99916442 -0.0060015 0.04042822 1.1583471 ] [ 0.00581522 0.99997194 0.00472358 -0.05256123] [-0.04045544 -0.00448453 0.99917128 -0.26631328] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters Centerline goodness : 0.300608 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.28 [[ 0.99922915 -0.00573604 0.03883551 1.16897682] [ 0.00558009 0.99997593 0.00412284 -0.04772797] [-0.03885822 -0.00390296 0.99923711 -0.27769563] [ 0. 0. 0. 1. ]] SLAMing on 2.51592 meters Centerline goodness : 0.295354 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.04, Z:-0.29 [[ 0.99929203 -0.0053175 0.03724471 1.17962474] [ 0.00519609 0.99998087 0.00335591 -0.04142793] [-0.03726184 -0.00316001 0.99930054 -0.28929338] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters Centerline goodness : 0.350417 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.03, Z:-0.29 [[ 0.9992952 -0.01118839 0.03583194 1.2070872 ] [ 0.01099369 0.99992374 0.0056261 -0.03359082] [-0.03589216 -0.00522821 0.99934199 -0.29369322] [ 0. 0. 0. 1. ]] SLAMing on 2.57592 meters Centerline goodness : 0.360749 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.30 [[ 0.99935361 -0.01094625 0.03424248 1.21784928] [ 0.010784 0.99992975 0.0049193 -0.02798039] [-0.03429393 -0.00454685 0.99940145 -0.30449594] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters SLAMing on 2.63592 meters Centerline goodness : 0.066618 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.32 [[ 0.99917965 -0.02189353 0.03406907 1.25412533] [ 0.02179316 0.99975701 0.00331463 -0.02239451] [-0.03413336 -0.00256944 0.99941398 -0.31865962] [ 0. 0. 0. 1. ]] SLAMing on 2.66592 meters SLAMing on 2.69592 meters SLAMing on 2.72592 meters SLAMing on 2.75592 meters SLAMing on 2.78592 meters SLAMing on 2.81592 meters SLAMing on 2.84592 meters Centerline goodness : 0.462460 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.32 [[ 0.99850501 -0.04573714 0.02993094 1.37615067] [ 0.04579971 0.99894965 -0.00140787 -0.03534246] [-0.02983511 0.00277659 0.99955098 -0.3215243 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8759200000000003 meters Centerline goodness : 0.356264 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.30 [[ 0.99808761 -0.04641373 0.04082758 1.36542531] [ 0.0467676 0.99887569 -0.00775493 -0.04453829] [-0.04042174 0.00964951 0.99913611 -0.29533626] [ 0. 0. 0. 1. ]] SLAMing on 2.90592 meters Centerline goodness : 0.748544 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.30 [[ 0.99851905 -0.03405149 0.04242889 1.36896888] [ 0.03463501 0.99931424 -0.01309446 -0.04369408] [-0.04195391 0.01454459 0.99901368 -0.29860271] [ 0. 0. 0. 1. ]] SLAMing on 2.93592 meters Centerline goodness : 0.140242 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.06, Z:-0.30 [[ 0.99879154 -0.02688403 0.04114255 1.39341674] [ 0.02742693 0.99954328 -0.01268847 -0.05633547] [-0.04078264 0.01380155 0.99907272 -0.29730695] [ 0. 0. 0. 1. ]] SLAMing on 2.96592 meters Centerline goodness : 0.113941 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.30 [[ 0.9990003 -0.02207724 0.03887148 1.41815726] [ 0.0227425 0.99960092 -0.01675619 -0.05791663] [-0.03848603 0.01762347 0.99910372 -0.29839114] [ 0. 0. 0. 1. ]] SLAMing on 2.99592 meters Centerline goodness : 0.125636 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.08, Z:-0.30 [[ 0.99918513 -0.01537608 0.03731823 1.4420403 ] [ 0.01596772 0.99975068 -0.01560785 -0.07603456] [-0.03706894 0.01619102 0.99918154 -0.29638191] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters Centerline goodness : 0.206357 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.09, Z:-0.30 [[ 0.99916825 -0.01560668 0.03767293 1.44349335] [ 0.01614726 0.99977037 -0.0140879 -0.08588143] [-0.03744441 0.01468449 0.99919081 -0.29665192] [ 0. 0. 0. 1. ]] SLAMing on 3.05592 meters Centerline goodness : 0.124710 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.10, Z:-0.29 [[ 0.99930442 -0.00852699 0.03630393 1.46639729] [ 0.00900447 0.99987483 -0.01300932 -0.10276704] [-0.03618846 0.01332717 0.99925611 -0.29459563] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters Centerline goodness : 0.130506 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.11, Z:-0.31 [[ 0.99940405 -0.01657641 0.03027808 1.51113325] [ 0.01681618 0.99982909 -0.00768133 -0.11452641] [-0.03014557 0.00818592 0.999512 -0.30912734] [ 0. 0. 0. 1. ]] SLAMing on 3.11592 meters Centerline goodness : 0.323612 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.30 [[ 9.98927420e-01 -2.40723685e-02 3.95541520e-02 1.50844956e+00] [ 2.40342942e-02 9.99710101e-01 1.43788926e-03 -1.34743245e-01] [-3.95772987e-02 -4.85690880e-04 9.99216394e-01 -2.99215397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1459200000000003 meters Centerline goodness : 0.273400 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:-0.31 [[ 0.9988122 -0.01764076 0.04542027 1.51410302] [ 0.01794141 0.99981969 -0.00622023 -0.14246873] [-0.04530235 0.00702774 0.9989486 -0.30838536] [ 0. 0. 0. 1. ]] SLAMing on 3.17592 meters Centerline goodness : 0.575720 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.16, Z:-0.30 [[ 0.99825617 -0.02471899 0.05360593 1.51404566] [ 0.02459675 0.99969313 0.00293905 -0.16147658] [-0.05366213 -0.0016154 0.99855784 -0.29961233] [ 0. 0. 0. 1. ]] SLAMing on 3.20592 meters Centerline goodness : 0.237023 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.30 [[ 9.97889075e-01 -1.99647419e-02 6.17964668e-02 1.52669547e+00] [ 1.99308208e-02 9.99800682e-01 1.16534563e-03 -1.71781097e-01] [-6.18074155e-02 6.87686343e-05 9.98088092e-01 -3.01576807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.23592 meters Centerline goodness : 0.196471 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.18, Z:-0.30 [[ 9.97893313e-01 -1.97465424e-02 6.17981328e-02 1.52876479e+00] [ 1.96466494e-02 9.99804513e-01 2.22372740e-03 -1.78307333e-01] [-6.18299630e-02 -1.00491646e-03 9.98086192e-01 -3.01466957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26592 meters Centerline goodness : 0.486683 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.18, Z:-0.30 [[ 0.99789745 -0.01949423 0.06181139 1.53087567] [ 0.01932539 0.99980771 0.00332829 -0.18489952] [-0.06186439 -0.00212676 0.9980823 -0.30152648] [ 0. 0. 0. 1. ]] SLAMing on 3.29592 meters Centerline goodness : 0.470340 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.31 [[ 0.99824386 -0.01293156 0.05780982 1.56742038] [ 0.01305299 0.99991332 -0.00172331 -0.18553453] [-0.05778252 0.00247488 0.99832613 -0.30995993] [ 0. 0. 0. 1. ]] SLAMing on 3.32592 meters Centerline goodness : 0.223247 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.18, Z:-0.32 [[ 0.99842904 -0.00791055 0.05546968 1.59639025] [ 0.00834321 0.99993652 -0.00757255 -0.18140204] [-0.05540625 0.00802345 0.99843166 -0.3168103 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3559200000000002 meters Centerline goodness : 0.220987 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.19, Z:-0.32 [[ 0.99865039 -0.00802701 0.05131245 1.64848784] [ 0.00836926 0.99994412 -0.00645857 -0.18975502] [-0.05125774 0.0068793 0.99866176 -0.32043009] [ 0. 0. 0. 1. ]] SLAMing on 3.38592 meters Centerline goodness : 0.215524 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.20, Z:-0.32 [[ 9.98682779e-01 -1.39194350e-02 4.93857932e-02 1.67461224e+00] [ 1.40063561e-02 9.99900906e-01 -1.41439221e-03 -1.99111148e-01] [-4.93612118e-02 2.10424415e-03 9.98778776e-01 -3.23686489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41592 meters Centerline goodness : 0.299172 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.21, Z:-0.32 [[ 0.99849517 -0.01641738 0.05232459 1.71104226] [ 0.01664297 0.99985397 -0.00387842 -0.20553788] [-0.05225327 0.00474342 0.9986226 -0.31970282] [ 0. 0. 0. 1. ]] SLAMing on 3.44592 meters Centerline goodness : 0.205438 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.21, Z:-0.33 [[ 0.9974348 -0.02358996 0.06758201 1.72852268] [ 0.02383081 0.9997122 -0.00275983 -0.2076992 ] [-0.06749745 0.00436328 0.99770991 -0.33011599] [ 0. 0. 0. 1. ]] SLAMing on 3.47592 meters Centerline goodness : 0.479576 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.20, Z:-0.33 [[ 0.99767499 -0.01736415 0.06590218 1.7524584 ] [ 0.01790737 0.9998103 -0.00766105 -0.20473847] [-0.06575665 0.00882337 0.99779668 -0.33159275] [ 0. 0. 0. 1. ]] SLAMing on 3.50592 meters Centerline goodness : 0.443697 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.21, Z:-0.33 [[ 0.99793273 -0.01557617 0.06235094 1.79828474] [ 0.01606032 0.99984459 -0.00727117 -0.20501136] [-0.062228 0.00825752 0.9980278 -0.33325796] [ 0. 0. 0. 1. ]] SLAMing on 3.53592 meters Centerline goodness : 0.199881 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.21, Z:-0.34 [[ 0.99820949 -0.01480605 0.05795345 1.85124628] [ 0.01514314 0.99987085 -0.00538173 -0.21242648] [-0.05786628 0.00624969 0.99830478 -0.33703545] [ 0. 0. 0. 1. ]] SLAMing on 3.56592 meters Centerline goodness : 0.196602 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.22, Z:-0.34 [[ 0.99831345 -0.00868479 0.05740053 1.87537147] [ 0.00915655 0.99992639 -0.0079609 -0.22021255] [-0.05732717 0.00847307 0.99831949 -0.33864654] [ 0. 0. 0. 1. ]] SLAMing on 3.59592 meters Centerline goodness : 0.489443 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.23, Z:-0.35 [[ 9.98413189e-01 -1.19687572e-02 5.50259208e-02 1.90509844e+00] [ 1.20156092e-02 9.99927674e-01 -5.20685452e-04 -2.29237038e-01] [-5.50157091e-02 1.18102918e-03 9.98484791e-01 -3.46970116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62592 meters Centerline goodness : 0.194284 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.23, Z:-0.35 [[ 0.99854837 -0.00571761 0.05355795 1.92851209] [ 0.00600766 0.99996814 -0.00525634 -0.22718121] [-0.05352619 0.00557047 0.99855091 -0.34784656] [ 0. 0. 0. 1. ]] SLAMing on 3.65592 meters Centerline goodness : 0.189626 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.24, Z:-0.36 [[ 9.98634614e-01 -9.41107368e-03 5.13842256e-02 1.95968224e+00] [ 9.30486210e-03 9.99954050e-01 2.30584125e-03 -2.38776014e-01] [-5.14035650e-02 -1.82456976e-03 9.98676296e-01 -3.56002733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters Centerline goodness : 0.185299 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.23, Z:-0.36 [[ 0.99872148 -0.00344061 0.05043371 1.98123835] [ 0.00361689 0.99998766 -0.00340455 -0.23449158] [-0.05042137 0.00358261 0.99872161 -0.35503402] [ 0. 0. 0. 1. ]] SLAMing on 3.71592 meters Centerline goodness : 0.184450 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.24, Z:-0.36 [[ 0.99881563 -0.006594 0.04820647 2.01169546] [ 0.00642863 0.99997291 0.00358481 -0.24110391] [-0.0482288 -0.00327066 0.99883096 -0.3629596 ] [ 0. 0. 0. 1. ]] SLAMing on 3.74592 meters Centerline goodness : 0.185233 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.37 [[ 9.98822459e-01 -8.25250732e-03 4.78078616e-02 2.01659668e+00] [ 8.16931005e-03 9.99964758e-01 1.93537465e-03 -2.41040298e-01] [-4.78221484e-02 -1.54253842e-03 9.98854675e-01 -3.68030115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77592 meters Centerline goodness : 0.186582 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.24, Z:-0.37 [[ 9.99341629e-01 -4.70272971e-03 3.59748987e-02 2.04628384e+00] [ 4.74546847e-03 9.99988132e-01 -1.10272140e-03 -2.37695193e-01] [-3.59692860e-02 1.27271314e-03 9.99352085e-01 -3.70616729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters Centerline goodness : 0.170541 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.24, Z:-0.37 [[ 0.9993251 -0.00940902 0.03550791 2.06892957] [ 0.00926505 0.99994819 0.00421694 -0.24449962] [-0.03554575 -0.00388511 0.9993605 -0.37121145] [ 0. 0. 0. 1. ]] SLAMing on 3.83592 meters Centerline goodness : 0.170527 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.24, Z:-0.38 [[ 0.99931906 -0.01079172 0.03528385 2.07295833] [ 0.0107074 0.99993935 0.00257783 -0.24295659] [-0.03530953 -0.00219828 0.99937401 -0.37568113] [ 0. 0. 0. 1. ]] SLAMing on 3.86592 meters Centerline goodness : 0.177563 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.38 [[ 0.99938007 -0.00421277 0.0349532 2.0950351 ] [ 0.0043232 0.9999859 -0.0030846 -0.23565291] [-0.03493971 0.00323379 0.99938419 -0.37549728] [ 0. 0. 0. 1. ]] SLAMing on 3.89592 meters Centerline goodness : 0.179854 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.38 [[ 9.99403627e-01 -2.17056914e-03 3.44627321e-02 2.10033740e+00] [ 2.18007984e-03 9.99997595e-01 -2.38395831e-04 -2.38335746e-01] [-3.44621318e-02 3.13385166e-04 9.99405955e-01 -3.79803073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92592 meters Centerline goodness : 0.171221 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.39 [[ 9.99445515e-01 -1.64807248e-03 3.32557740e-02 2.11009959e+00] [ 1.63071226e-03 9.99998520e-01 5.49137323e-04 -2.39121126e-01] [-3.32566298e-02 -4.94602236e-04 9.99446723e-01 -3.88976377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.95592 meters Centerline goodness : 0.168033 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.24, Z:-0.39 [[ 0.99943804 -0.00632647 0.03291789 2.13259259] [ 0.00615189 0.99996648 0.00540219 -0.24347124] [-0.03295096 -0.00519665 0.99944346 -0.38970232] [ 0. 0. 0. 1. ]] SLAMing on 3.98592 meters Centerline goodness : 0.982714 Centerline is valid? [False, True] Translation: X:2.15, Y:-0.24, Z:-0.39 [[ 9.99425862e-01 -6.18283274e-04 3.38757248e-02 2.15037432e+00] [ 6.66596981e-04 9.99998777e-01 -1.41492898e-03 -2.35408393e-01] [-3.38748085e-02 1.43669807e-03 9.99425051e-01 -3.87263300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0159199999999995 meters Centerline goodness : 0.910225 Centerline is valid? [True, False] Translation: X:2.17, Y:-0.24, Z:-0.39 [[ 0.99937628 -0.00458036 0.03501518 2.16913852] [ 0.00443878 0.99998166 0.00411991 -0.23916558] [-0.0350334 -0.00396191 0.99937829 -0.38555704] [ 0. 0. 0. 1. ]] SLAMing on 4.04592 meters Centerline goodness : 0.994277 Centerline is valid? [False, True] Translation: X:2.17, Y:-0.24, Z:-0.38 [[ 0.99935723 -0.00472918 0.03553542 2.16870342] [ 0.00457914 0.99998026 0.00430254 -0.24028923] [-0.03555507 -0.00413705 0.99935916 -0.38468219] [ 0. 0. 0. 1. ]] SLAMing on 4.07592 meters Centerline goodness : 0.984615 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.50, Z:-0.27 [[ 0.99980304 0.00975758 0.01728186 2.18778775] [-0.01454011 0.95281122 0.30321504 -0.49832197] [-0.01350771 -0.3034066 0.95276544 -0.26775547] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters Centerline goodness : 0.896438 Centerline is valid? [True, False] Translation: X:2.13, Y:-0.43, Z:-0.28 [[ 0.9992043 0.01509824 0.03691616 2.1257048 ] [-0.02328221 0.97231493 0.23251152 -0.43454029] [-0.03238361 -0.233186 0.97189279 -0.2797809 ] [ 0. 0. 0. 1. ]] SLAMing on 4.13592 meters Centerline goodness : 0.991966 Centerline is valid? [False, True] Translation: X:2.09, Y:-0.38, Z:-0.29 [[ 0.99877715 0.02128453 0.04462259 2.09365308] [-0.02847337 0.98550554 0.16723666 -0.37513714] [-0.04041625 -0.16830271 0.98490645 -0.29106982] [ 0. 0. 0. 1. ]] SLAMing on 4.16592 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.26, Z:-0.31 [[ 0.99819885 0.01815518 0.05717899 2.13335539] [-0.0198294 0.99938704 0.02885041 -0.25509435] [-0.05662016 -0.02993227 0.997947 -0.30744805] [ 0. 0. 0. 1. ]] SLAMing on 4.19592 meters Centerline goodness : 0.535231 Centerline is valid? [True, False] Translation: X:2.15, Y:-0.24, Z:-0.31 [[ 0.99820756 0.01774793 0.0571549 2.15420707] [-0.01853657 0.99973975 0.01329777 -0.23995501] [-0.05690402 -0.01433339 0.99827676 -0.30926065] [ 0. 0. 0. 1. ]] SLAMing on 4.22592 meters Centerline goodness : 0.994247 Centerline is valid? [False, True] Translation: X:2.17, Y:-0.24, Z:-0.31 [[ 0.99833547 0.00667762 0.05728604 2.17261022] [-0.00725788 0.99992439 0.00992707 -0.23669061] [-0.05721542 -0.01032632 0.99830845 -0.30806399] [ 0. 0. 0. 1. ]] SLAMing on 4.25592 meters Centerline goodness : 0.496841 Centerline is valid? [True, False] Translation: X:2.19, Y:-0.24, Z:-0.31 [[ 0.99825638 -0.00502612 0.05881267 2.19053288] [ 0.00463563 0.99996631 0.00677403 -0.2368292 ] [-0.05884474 -0.00648959 0.99824605 -0.30660016] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters Centerline goodness : 0.611389 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.23, Z:-0.30 [[ 9.98235252e-01 9.96765655e-04 5.93749761e-02 2.20961996e+00] [-1.02720622e-03 9.99999356e-01 4.82163465e-04 -2.31321300e-01] [-5.93744573e-02 -5.42302912e-04 9.98235633e-01 -3.04895963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.31592 meters Centerline goodness : 0.471863 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.24, Z:-0.30 [[ 9.98171771e-01 -6.87030164e-03 6.00492623e-02 2.22816824e+00] [ 6.74205515e-03 9.99974539e-01 2.33804016e-03 -2.35578769e-01] [-6.00637964e-02 -1.92891025e-03 9.98192677e-01 -3.02111990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3459200000000004 meters Centerline goodness : 0.539076 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.24, Z:-0.30 [[ 0.99817438 -0.00703426 0.05998685 2.22852537] [ 0.0068782 0.9999724 0.00280764 -0.238049 ] [-0.06000494 -0.00238991 0.99819522 -0.30130464] [ 0. 0. 0. 1. ]] SLAMing on 4.37592 meters Centerline goodness : 0.521145 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.23, Z:-0.30 [[ 9.98169256e-01 -1.08680003e-03 6.04727722e-02 2.24796254e+00] [ 1.28065815e-03 9.99994165e-01 -3.16704370e-03 -2.34818052e-01] [-6.04689774e-02 3.23869060e-03 9.98164823e-01 -2.99601485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40592 meters Centerline goodness : 0.998570 Centerline is valid? [False, True] Translation: X:2.27, Y:-0.24, Z:-0.30 [[ 0.99820276 -0.00505862 0.0597132 2.26815551] [ 0.00486699 0.99998253 0.00335405 -0.24134251] [-0.05972912 -0.0030574 0.99820994 -0.29740644] [ 0. 0. 0. 1. ]] SLAMing on 4.43592 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.24, Z:-0.30 [[ 0.99771601 -0.00698688 0.06718585 2.3037558 ] [ 0.00649728 0.99995074 0.00750302 -0.24497145] [-0.06723496 -0.00704936 0.99771227 -0.29512369] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.26, Z:-0.29 [[ 0.99763551 -0.0068772 0.06838196 2.33858792] [ 0.00605214 0.99990646 0.01226523 -0.2558068 ] [-0.06845992 -0.01182237 0.99758382 -0.29178847] [ 0. 0. 0. 1. ]] SLAMing on 4.49592 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.24, Z:-0.31 [[ 9.98231592e-01 -3.94538647e-04 5.94435308e-02 2.36199238e+00] [ 8.17305019e-04 9.99974546e-01 -7.08792158e-03 -2.35017476e-01] [-5.94392213e-02 7.12397074e-03 9.98206506e-01 -3.08008183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52592 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.29, Z:-0.29 [[ 0.99795032 -0.01341805 0.06257081 2.40405747] [ 0.01069111 0.99898686 0.04371452 -0.2910864 ] [-0.06309398 -0.04295596 0.99708271 -0.28884108] [ 0. 0. 0. 1. ]] SLAMing on 4.55592 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.34, Z:-0.28 [[ 0.99766711 -0.04236699 0.05352918 2.45331308] [ 0.03791328 0.99594044 0.08164086 -0.34367073] [-0.05677075 -0.07942093 0.99522329 -0.28226651] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.21, Z:-0.32 [[ 0.99663237 -0.01471478 0.08066837 2.46059884] [ 0.01894275 0.99847264 -0.05189959 -0.21400134] [-0.07978147 0.0532529 0.99538889 -0.32361473] [ 0. 0. 0. 1. ]] SLAMing on 4.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.28, Z:-0.30 [[ 0.99671418 -0.01063075 0.08029843 2.49905208] [ 0.00956443 0.99986106 0.0136524 -0.27524629] [-0.08043241 -0.01283953 0.99667737 -0.29637586] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.27, Z:-0.30 [[ 0.99667676 -0.00986211 0.08085903 2.53142176] [ 0.00924518 0.99992526 0.0080006 -0.26658393] [-0.08093189 -0.00722646 0.99669344 -0.30175215] [ 0. 0. 0. 1. ]] SLAMing on 4.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.25, Z:-0.32 [[ 0.99661695 -0.01129705 0.08140655 2.55947069] [ 0.01220395 0.9998688 -0.01065141 -0.25010439] [-0.08127554 0.01160886 0.99662406 -0.31741679] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.26, Z:-0.32 [[ 9.96860225e-01 -4.83141620e-03 7.90338471e-02 2.58986662e+00] [ 4.94744415e-03 9.99986952e-01 -1.27232986e-03 -2.64298067e-01] [-7.90266687e-02 1.65935058e-03 9.96871121e-01 -3.18230457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.29, Z:-0.31 [[ 0.99703936 -0.0064986 0.07661772 2.63096894] [ 0.00505921 0.99980733 0.01896587 -0.2865158 ] [-0.07672621 -0.01852209 0.99688014 -0.31066684] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.27, Z:-0.33 [[ 0.99748002 0.00822847 0.07046914 2.61802685] [-0.00784069 0.99995257 -0.00577772 -0.2748541 ] [-0.07051334 0.00521063 0.99749723 -0.3346354 ] [ 0. 0. 0. 1. ]] SLAMing on 4.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.38, Z:-0.27 [[ 9.97889433e-01 -5.05322082e-03 6.47390506e-02 2.70429741e+00] [-2.12629102e-03 9.93890180e-01 1.10353022e-01 -3.82744537e-01] [-6.49011449e-02 -1.10257769e-01 9.91781763e-01 -2.71475884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.25, Z:-0.33 [[ 0.99518378 0.01166252 0.0973305 2.71445752] [-0.00827963 0.99934991 -0.03508862 -0.25237558] [-0.09767645 0.03411376 0.99463338 -0.33208655] [ 0. 0. 0. 1. ]] SLAMing on 4.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.29, Z:-0.32 [[ 0.99555179 0.0121355 0.09343101 2.75233269] [-0.01298717 0.99987942 0.0085129 -0.29195893] [-0.09331644 -0.00968844 0.99558936 -0.31904753] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.29, Z:-0.32 [[ 0.99554588 0.01719613 0.09269676 2.78535533] [-0.01805252 0.99980169 0.00840796 -0.28887589] [-0.0925338 -0.01004392 0.99565889 -0.32153939] [ 0. 0. 0. 1. ]] SLAMing on 4.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.28, Z:-0.32 [[ 0.99533329 0.02687918 0.09267766 2.81815437] [-0.02777306 0.99957922 0.0083685 -0.28417627] [-0.09241372 -0.01090338 0.995661 -0.32407859] [ 0. 0. 0. 1. ]] SLAMing on 4.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.28, Z:-0.33 [[ 0.99502574 0.03105193 0.09465493 2.85083045] [-0.03199931 0.99945169 0.00850697 -0.27965309] [-0.09433887 -0.01149354 0.99547379 -0.32595196] [ 0. 0. 0. 1. ]] SLAMing on 4.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.27, Z:-0.33 [[ 0.99400202 0.04069176 0.10150947 2.88338523] [-0.0418283 0.99908344 0.00909224 -0.27145654] [-0.10104645 -0.01328367 0.99479302 -0.32620124] [ 0. 0. 0. 1. ]] SLAMing on 5.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.29, Z:-0.32 [[ 0.99453737 0.0579147 0.08684072 2.92657847] [-0.06100133 0.9975814 0.03331937 -0.28887871] [-0.08470101 -0.03843475 0.99566486 -0.32210969] [ 0. 0. 0. 1. ]] SLAMing on 5.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.24, Z:-0.34 [[ 9.93688744e-01 6.82666783e-02 8.90075369e-02 2.95117856e+00] [-6.79774342e-02 9.97667091e-01 -6.28044840e-03 -2.42530044e-01] [-8.92286357e-02 1.90306902e-04 9.96011152e-01 -3.43892743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.25, Z:-0.34 [[ 0.99240224 0.08511932 0.08883968 2.99128825] [-0.08605901 0.99626688 0.00679413 -0.25137874] [-0.08792972 -0.01438797 0.99602277 -0.34450036] [ 0. 0. 0. 1. ]] SLAMing on 5.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.22, Z:-0.36 [[ 0.99464646 0.06287754 0.08200514 3.00263093] [-0.06207958 0.99799606 -0.01224679 -0.21693284] [-0.08261085 0.00709039 0.99655666 -0.36043367] [ 0. 0. 0. 1. ]] SLAMing on 5.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.27, Z:-0.34 [[ 0.99419033 0.06578524 0.08519328 3.04981916] [-0.06937916 0.99679082 0.03993232 -0.26823006] [-0.08229292 -0.04561096 0.99556392 -0.33527555] [ 0. 0. 0. 1. ]] SLAMing on 5.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.18, Z:-0.37 [[ 0.99423191 0.06085123 0.08831784 3.06032639] [-0.05728907 0.99746005 -0.04232503 -0.17830057] [-0.09066905 0.03702125 0.99519272 -0.37105599] [ 0. 0. 0. 1. ]] SLAMing on 5.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.23, Z:-0.35 [[ 0.99471212 0.04924203 0.09012775 3.10398789] [-0.0508674 0.99858002 0.01582545 -0.23187514] [-0.08922049 -0.02032633 0.99580447 -0.34946404] [ 0. 0. 0. 1. ]] SLAMing on 5.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.25, Z:-0.35 [[ 0.99433074 0.0616988 0.0866005 3.14272072] [-0.06464969 0.99740466 0.03169153 -0.2456337 ] [-0.08442041 -0.03711056 0.99573892 -0.34669277] [ 0. 0. 0. 1. ]] SLAMing on 5.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.19, Z:-0.37 [[ 0.99437449 0.05008899 0.09332984 3.16252805] [-0.0484604 0.99863206 -0.01963667 -0.19019974] [-0.09418575 0.0150034 0.99544158 -0.36758205] [ 0. 0. 0. 1. ]] SLAMing on 5.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.21, Z:-0.36 [[ 0.99487565 0.04685069 0.08959611 3.19829602] [-0.04776326 0.9988261 0.00806742 -0.21359355] [-0.08911297 -0.01230548 0.99594551 -0.36235723] [ 0. 0. 0. 1. ]] SLAMing on 5.3059199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.24, Z:-0.36 [[ 0.99499528 0.05795878 0.08139517 3.23996291] [-0.06113236 0.99744169 0.03705272 -0.24019172] [-0.0790394 -0.04184316 0.99599293 -0.35525622] [ 0. 0. 0. 1. ]] SLAMing on 5.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.19, Z:-0.37 [[ 9.94894409e-01 4.86192713e-02 8.84380088e-02 3.26190116e+00] [-4.81411736e-02 9.98812141e-01 -7.53221306e-03 -1.91558059e-01] [-8.86991677e-02 3.23624712e-03 9.96053204e-01 -3.72460485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.19, Z:-0.37 [[ 9.93189736e-01 4.58006799e-02 1.07128172e-01 3.28965846e+00] [-4.55203408e-02 9.98950587e-01 -5.06198120e-03 -1.88126819e-01] [-1.07247592e-01 1.50996889e-04 9.94232333e-01 -3.70824870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.22, Z:-0.36 [[ 0.99481183 0.05441639 0.08595513 3.33470669] [-0.05761858 0.99771716 0.03522158 -0.22023494] [-0.08384228 -0.03999145 0.99567623 -0.36163933] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.16, Z:-0.38 [[ 0.99329903 0.04563888 0.10617968 3.35028786] [-0.04367859 0.99883083 -0.02071598 -0.16400007] [-0.107001 0.01593938 0.99413114 -0.3822532 ] [ 0. 0. 0. 1. ]] SLAMing on 5.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.18, Z:-0.38 [[ 0.99402805 0.03766674 0.10241804 3.38545068] [-0.03883228 0.99920144 0.00940965 -0.184819 ] [-0.10198182 -0.01333058 0.99469694 -0.37814093] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.18, Z:-0.38 [[ 0.99539871 0.03527971 0.08908847 3.4209103 ] [-0.03601488 0.99932908 0.00665765 -0.17725897] [-0.08879382 -0.00983552 0.99600147 -0.38443449] [ 0. 0. 0. 1. ]] SLAMing on 5.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.18, Z:-0.38 [[ 0.99401989 0.02726222 0.10574132 3.45083195] [-0.0284801 0.99954409 0.01002445 -0.17976787] [-0.10541983 -0.01297603 0.99434314 -0.3847619 ] [ 0. 0. 0. 1. ]] SLAMing on 5.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.18, Z:-0.39 [[ 0.99406923 0.02371122 0.10613268 3.48348174] [-0.02487969 0.9996434 0.00969895 -0.17659204] [-0.10586486 -0.01228197 0.99430467 -0.38854619] [ 0. 0. 0. 1. ]] SLAMing on 5.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.17, Z:-0.39 [[ 0.99412463 0.0208717 0.10621016 3.51575332] [-0.02202143 0.99971079 0.00966363 -0.17405163] [-0.10597774 -0.01194575 0.99429674 -0.39185546] [ 0. 0. 0. 1. ]] SLAMing on 5.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.18, Z:-0.40 [[ 0.99433427 0.01735009 0.10487292 3.54859524] [-0.0184473 0.99978469 0.00950127 -0.17582384] [-0.10468549 -0.01138206 0.99444024 -0.39503403] [ 0. 0. 0. 1. ]] SLAMing on 5.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.17, Z:-0.40 [[ 0.99443393 0.0172466 0.10394095 3.58109272] [-0.01832175 0.99978797 0.00939792 -0.17487153] [-0.10375683 -0.01124999 0.99453907 -0.39840808] [ 0. 0. 0. 1. ]] SLAMing on 5.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.20, Z:-0.39 [[ 0.99635831 0.02714492 0.08082868 3.62593018] [-0.03062803 0.99864092 0.04216905 -0.20332907] [-0.07957415 -0.04449111 0.99583558 -0.38880731] [ 0. 0. 0. 1. ]] SLAMing on 5.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.16, Z:-0.41 [[ 9.95608216e-01 3.61313039e-02 8.63643928e-02 3.65183043e+00] [-3.64860646e-02 9.99330954e-01 2.53223912e-03 -1.64765060e-01] [-8.62151179e-02 -5.67221489e-03 9.96260397e-01 -4.05227874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.14, Z:-0.42 [[ 0.99318742 0.03400439 0.11145608 3.67311567] [-0.03139332 0.99919192 -0.02509917 -0.13679247] [-0.11221949 0.02142921 0.99345235 -0.41559978] [ 0. 0. 0. 1. ]] SLAMing on 5.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.20, Z:-0.39 [[ 0.99490748 0.04718222 0.08906705 3.72034069] [-0.05148024 0.99758662 0.046591 -0.19811897] [-0.08665383 -0.05093893 0.99493534 -0.39366893] [ 0. 0. 0. 1. ]] SLAMing on 5.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.14, Z:-0.42 [[ 9.93769452e-01 6.58851937e-02 8.98967063e-02 3.74765925e+00] [-6.55249357e-02 9.97826687e-01 -6.95603954e-03 -1.42280227e-01] [-9.01596326e-02 1.02222370e-03 9.95926802e-01 -4.19304781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.15, Z:-0.41 [[ 0.9939643 0.05565219 0.09453995 3.77740076] [-0.05714901 0.99827842 0.01319763 -0.1535446 ] [-0.09364271 -0.01852083 0.99543358 -0.41124549] [ 0. 0. 0. 1. ]] SLAMing on 5.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.11, Z:-0.43 [[ 0.99366036 0.05192631 0.09971332 3.80048215] [-0.04963998 0.99844728 -0.02527644 -0.10810686] [-0.100871 0.02016643 0.99469511 -0.42672689] [ 0. 0. 0. 1. ]] SLAMing on 5.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.14, Z:-0.41 [[ 0.99429465 0.0548206 0.09150331 3.83925129] [-0.05731966 0.99804511 0.02490829 -0.14255379] [-0.08995894 -0.03001112 0.9954932 -0.41354106] [ 0. 0. 0. 1. ]] SLAMing on 5.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.10, Z:-0.43 [[ 0.99221073 0.0525724 0.11293366 3.86012983] [-0.05143795 0.99859239 -0.01293775 -0.10046764] [-0.11345486 0.0070279 0.9935183 -0.42729664] [ 0. 0. 0. 1. ]] SLAMing on 5.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.13, Z:-0.42 [[ 0.99380495 0.06198302 0.09224872 3.90433395] [-0.06512367 0.99738207 0.03143098 -0.13274212] [-0.09005904 -0.03724384 0.9952398 -0.41844161] [ 0. 0. 0. 1. ]] SLAMing on 5.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.08, Z:-0.43 [[ 0.99344831 0.05459452 0.10039868 3.92596518] [-0.05378375 0.99849456 -0.01076666 -0.07950749] [-0.10083534 0.0052963 0.99488903 -0.43424847] [ 0. 0. 0. 1. ]] SLAMing on 5.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.08, Z:-0.43 [[ 9.92436750e-01 5.21263517e-02 1.11140186e-01 3.95426571e+00] [-5.27890061e-02 9.98601103e-01 3.02606386e-03 -8.39358176e-02] [-1.10826974e-01 -8.87015691e-03 9.93800132e-01 -4.33577325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.12, Z:-0.42 [[ 0.9936333 0.06610057 0.09123369 4.00276604] [-0.07128829 0.99594801 0.05482277 -0.11824653] [-0.0872402 -0.06097762 0.9943193 -0.42218032] [ 0. 0. 0. 1. ]] SLAMing on 6.0559199999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.02, Z:-0.45 [[ 0.99236118 0.05401302 0.11091389 4.00975926] [-0.04977072 0.9979323 -0.04066944 -0.01878808] [-0.11288123 0.03483851 0.99299754 -0.45318888] [ 0. 0. 0. 1. ]] SLAMing on 6.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.05, Z:-0.44 [[ 0.9933051 0.04498904 0.10640006 4.04785119] [-0.04629577 0.99887929 0.00984212 -0.05475081] [-0.10583802 -0.0147021 0.99427469 -0.44312204] [ 0. 0. 0. 1. ]] SLAMing on 6.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.09, Z:-0.43 [[ 0.99530246 0.04388945 0.08629448 4.09332777] [-0.04921658 0.99694771 0.06060528 -0.09346046] [-0.08337116 -0.0645677 0.99442459 -0.42922502] [ 0. 0. 0. 1. ]] SLAMing on 6.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.02, Z:-0.45 [[ 9.94592844e-01 3.86208744e-02 9.64028123e-02 4.11656442e+00] [-3.85963278e-02 9.99252635e-01 -2.12005296e-03 -2.25270594e-02] [-9.64126425e-02 -1.61220504e-03 9.95340144e-01 -4.48077233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.03, Z:-0.45 [[ 0.99508992 0.03421081 0.0928745 4.15055239] [-0.03549795 0.99929477 0.01224197 -0.02976055] [-0.0923902 -0.01547871 0.99560256 -0.44861035] [ 0. 0. 0. 1. ]] SLAMing on 6.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:0.02, Z:-0.46 [[ 0.99230966 0.02424236 0.1213831 4.16807533] [-0.01945623 0.99899166 -0.04046128 0.02191235] [-0.12224158 0.03778846 0.99178074 -0.4629623 ] [ 0. 0. 0. 1. ]] SLAMing on 6.23592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.02, Z:-0.46 [[ 9.93049572e-01 1.47616840e-03 1.17687584e-01 4.20606630e+00] [-2.78588474e-03 9.99936001e-01 1.09650285e-02 -2.15719841e-02] [-1.17663866e-01 -1.12166809e-02 9.92990131e-01 -4.58075978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.05, Z:-0.45 [[ 9.95576147e-01 -7.54353424e-03 9.36548434e-02 4.24705510e+00] [ 3.50955262e-03 9.99061876e-01 4.31630704e-02 -5.02988654e-02] [-9.38925857e-02 -4.26434367e-02 9.94668648e-01 -4.54038344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.01, Z:-0.48 [[ 0.99244516 -0.02107696 0.12086504 4.26646652] [ 0.0243249 0.99937985 -0.02546019 0.00880631] [-0.12025347 0.02820787 0.99234239 -0.4761664 ] [ 0. 0. 0. 1. ]] SLAMing on 6.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.03, Z:-0.47 [[ 0.9920786 -0.03381335 0.12098223 4.30374809] [ 0.03268714 0.99940196 0.01128191 -0.03070551] [-0.12129135 -0.00723798 0.99259056 -0.4685012 ] [ 0. 0. 0. 1. ]] SLAMing on 6.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.03, Z:-0.47 [[ 0.99171298 -0.03569503 0.12341487 4.33669002] [ 0.03454435 0.99933755 0.01145166 -0.03148704] [-0.12374188 -0.00709348 0.99228909 -0.4714121 ] [ 0. 0. 0. 1. ]] SLAMing on 6.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.06, Z:-0.47 [[ 0.9943926 -0.03621123 0.09935843 4.37594215] [ 0.03259371 0.99875385 0.03779411 -0.06324415] [-0.10060319 -0.03434373 0.9943337 -0.46767609] [ 0. 0. 0. 1. ]] SLAMing on 6.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.01, Z:-0.49 [[ 0.99160642 -0.03546123 0.12433508 4.39750497] [ 0.03811495 0.99909216 -0.01902921 -0.01255574] [-0.1235474 0.02360852 0.9920578 -0.48791956] [ 0. 0. 0. 1. ]] SLAMing on 6.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.04, Z:-0.48 [[ 0.99173701 -0.03965239 0.12200567 4.43387213] [ 0.03856246 0.99919249 0.01128269 -0.04264554] [-0.12235453 -0.00648462 0.99246527 -0.48426725] [ 0. 0. 0. 1. ]] SLAMing on 6.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.05, Z:-0.49 [[ 0.99167931 -0.0405779 0.1221703 4.46745977] [ 0.03949905 0.99915638 0.01124066 -0.04856823] [-0.12252336 -0.00632151 0.9924455 -0.48686264] [ 0. 0. 0. 1. ]] SLAMing on 6.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.05, Z:-0.49 [[ 0.99168705 -0.0403734 0.12217518 4.50055215] [ 0.03929955 0.99916484 0.01118742 -0.04540687] [-0.12252482 -0.00629299 0.9924455 -0.49054548] [ 0. 0. 0. 1. ]] SLAMing on 6.53592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.05, Z:-0.49 [[ 0.99164723 -0.03987033 0.12266268 4.53370946] [ 0.03878755 0.99918467 0.01120355 -0.04637844] [-0.12300936 -0.00635219 0.99238518 -0.49359373] [ 0. 0. 0. 1. ]] SLAMing on 6.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.05, Z:-0.50 [[ 0.99168051 -0.03955803 0.12249457 4.56688996] [ 0.03848286 0.99919726 0.01113165 -0.04734423] [-0.12283659 -0.0063251 0.99240675 -0.49688867] [ 0. 0. 0. 1. ]] SLAMing on 6.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.12, Z:-0.47 [[ 0.99502894 -0.04445755 0.08911194 4.60856632] [ 0.0369731 0.99578394 0.08394842 -0.1216161 ] [-0.09246838 -0.08023636 0.99247757 -0.4723006 ] [ 0. 0. 0. 1. ]] SLAMing on 6.62592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.62, Y:0.01, Z:-0.53 [[ 0.99117775 -0.02896114 0.12933645 4.62125284] [ 0.03753057 0.99722343 -0.06431856 0.0102884 ] [-0.1271146 0.0686052 0.98951261 -0.52633503] [ 0. 0. 0. 1. ]] SLAMing on 6.65592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.07, Z:-0.51 [[ 0.99383904 -0.03632353 0.1047118 4.66602728] [ 0.03472277 0.99925118 0.01707054 -0.06891466] [-0.10525345 -0.01332949 0.99435609 -0.50661673] [ 0. 0. 0. 1. ]] SLAMing on 6.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.06, Z:-0.52 [[ 9.91720763e-01 -3.63400662e-02 1.23163824e-01 4.69494099e+00] [ 3.62887170e-02 9.99337805e-01 2.66091044e-03 -5.77401720e-02] [-1.23178963e-01 1.83057702e-03 9.92382785e-01 -5.15428815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.07, Z:-0.52 [[ 0.99178016 -0.03655334 0.12262123 4.72886708] [ 0.03546436 0.99930982 0.01105243 -0.0714457 ] [-0.12294061 -0.00661289 0.992392 -0.51646729] [ 0. 0. 0. 1. ]] SLAMing on 6.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.07, Z:-0.52 [[ 0.99178478 -0.03617062 0.12269732 4.76135924] [ 0.03508442 0.99932379 0.01100247 -0.07170404] [-0.12301232 -0.00660732 0.99238315 -0.51982628] [ 0. 0. 0. 1. ]] SLAMing on 6.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.10, Z:-0.51 [[ 0.99447979 -0.03687937 0.09823367 4.79925243] [ 0.03350873 0.99879902 0.03574462 -0.10047334] [-0.09943393 -0.03225562 0.99452123 -0.51382625] [ 0. 0. 0. 1. ]] SLAMing on 6.8059199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.05, Z:-0.54 [[ 0.99198136 -0.03059357 0.1226255 4.82204624] [ 0.03290931 0.99931539 -0.01690348 -0.05366826] [-0.12202441 0.02080346 0.99230905 -0.53812096] [ 0. 0. 0. 1. ]] SLAMing on 6.83592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.12, Z:-0.52 [[ 0.99520859 -0.03208442 0.0923604 4.86548094] [ 0.02795305 0.99856484 0.04568253 -0.1175373 ] [-0.09369354 -0.04288189 0.99467717 -0.51799603] [ 0. 0. 0. 1. ]] SLAMing on 6.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.05, Z:-0.55 [[ 0.99202822 -0.02579631 0.12334729 4.88469198] [ 0.02943679 0.99918046 -0.02778297 -0.04840092] [-0.1225295 0.03119244 0.99197457 -0.54956741] [ 0. 0. 0. 1. ]] SLAMing on 6.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.09, Z:-0.54 [[ 0.9941637 -0.02864781 0.10400888 4.92331608] [ 0.02735562 0.9995301 0.01382937 -0.08588612] [-0.10435619 -0.01090343 0.99448022 -0.53902876] [ 0. 0. 0. 1. ]] SLAMing on 6.92592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.08, Z:-0.54 [[ 9.92180466e-01 -2.78526356e-02 1.21664098e-01 4.95383506e+00] [ 2.73830223e-02 9.99609716e-01 5.53051715e-03 -8.49409342e-02] [-1.21770654e-01 -2.15574037e-03 9.92555923e-01 -5.44146006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.09, Z:-0.55 [[ 0.99227124 -0.02802319 0.12088212 4.98765055] [ 0.02693999 0.999581 0.01058613 -0.09298852] [-0.12112813 -0.00724775 0.99261042 -0.54552275] [ 0. 0. 0. 1. ]] SLAMing on 6.98592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.12, Z:-0.54 [[ 0.99445768 -0.03020862 0.10070437 5.02821915] [ 0.02657538 0.99895341 0.03722688 -0.12491215] [-0.10172354 -0.0343443 0.99421969 -0.53546751] [ 0. 0. 0. 1. ]] SLAMing on 7.0159199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.11, Z:-0.55 [[ 0.99431479 -0.02785584 0.10277235 5.0584902 ] [ 0.02634778 0.99952474 0.01600249 -0.10710876] [-0.10316927 -0.01320369 0.99457617 -0.54744143] [ 0. 0. 0. 1. ]] SLAMing on 7.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.07, Z:-0.57 [[ 0.99116904 -0.03167732 0.12876525 5.07891115] [ 0.03569904 0.99894041 -0.02904529 -0.07075823] [-0.12770874 0.03338559 0.99124966 -0.57060044] [ 0. 0. 0. 1. ]] SLAMing on 7.07592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.12, Z:-0.55 [[ 0.99366588 -0.03416613 0.10705514 5.12235932] [ 0.03188006 0.99922718 0.0229937 -0.12077815] [-0.10775801 -0.01943513 0.99398717 -0.55344239] [ 0. 0. 0. 1. ]] SLAMing on 7.10592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.11, Z:-0.56 [[ 9.93530465e-01 -3.09955768e-02 1.09254237e-01 5.15230022e+00] [ 3.09226710e-02 9.99518989e-01 2.36193890e-03 -1.06756529e-01] [-1.09274895e-01 1.03177459e-03 9.94011033e-01 -5.64518753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.13, Z:-0.56 [[ 0.99387265 -0.03121154 0.10603295 5.18770099] [ 0.02875237 0.99928276 0.02464294 -0.12828188] [-0.10672604 -0.02144324 0.99405721 -0.55832497] [ 0. 0. 0. 1. ]] SLAMing on 7.16592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.10, Z:-0.57 [[ 9.93458790e-01 -2.78025541e-02 1.10754913e-01 5.21609687e+00] [ 2.83655952e-02 9.99591450e-01 -3.51094667e-03 -1.02848628e-01] [-1.10612051e-01 6.62960987e-03 9.93841548e-01 -5.74869332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.12, Z:-0.57 [[ 0.99368501 -0.02853288 0.1085172 5.25016665] [ 0.02757172 0.99956627 0.01034769 -0.11644031] [-0.10876538 -0.00729033 0.99404071 -0.5729148 ] [ 0. 0. 0. 1. ]] SLAMing on 7.2259199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.10, Z:-0.59 [[ 0.99156998 -0.02903316 0.12627767 5.27483785] [ 0.03030878 0.99950702 -0.0081917 -0.10171495] [-0.12597758 0.01194997 0.99196111 -0.58605449] [ 0. 0. 0. 1. ]] SLAMing on 7.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.12, Z:-0.58 [[ 0.99213878 -0.02875874 0.12179316 5.3097474 ] [ 0.0276492 0.99955945 0.0107906 -0.11667998] [-0.12204982 -0.00733829 0.99249685 -0.58096812] [ 0. 0. 0. 1. ]] SLAMing on 7.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.12, Z:-0.58 [[ 0.99413685 -0.02338241 0.10557073 5.3460184 ] [ 0.02162867 0.99960891 0.01772656 -0.11818217] [-0.10594393 -0.01533927 0.99425379 -0.58193699] [ 0. 0. 0. 1. ]] SLAMing on 7.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.10, Z:-0.59 [[ 9.92081542e-01 -2.25042711e-02 1.23562823e-01 5.37176503e+00] [ 2.25848895e-02 9.99744649e-01 7.48385895e-04 -9.84218007e-02] [-1.23548113e-01 2.04819285e-03 9.92336470e-01 -5.92874137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.10, Z:-0.59 [[ 0.99198058 -0.02116914 0.12460493 5.40526495] [ 0.0199572 0.99974069 0.0109666 -0.10169899] [-0.12480477 -0.00839189 0.99214583 -0.593075 ] [ 0. 0. 0. 1. ]] SLAMing on 7.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.10, Z:-0.60 [[ 0.99191695 -0.02063075 0.12520036 5.43746291] [ 0.01940979 0.99975149 0.01096425 -0.0973394 ] [-0.12539544 -0.00844551 0.99207089 -0.59671296] [ 0. 0. 0. 1. ]] SLAMing on 7.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.09, Z:-0.60 [[ 0.99196329 -0.02101832 0.12476801 5.46988792] [ 0.01981569 0.99974453 0.01087228 -0.09401587] [-0.12496465 -0.00831254 0.99212637 -0.59972369] [ 0. 0. 0. 1. ]] SLAMing on 7.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.09, Z:-0.60 [[ 0.99202152 -0.0219426 0.12414439 5.50219099] [ 0.02076601 0.99972642 0.01076378 -0.09098138] [-0.12434661 -0.00809992 0.99220578 -0.60332132] [ 0. 0. 0. 1. ]] SLAMing on 7.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.09, Z:-0.61 [[ 0.99203792 -0.02337565 0.12375116 5.53447286] [ 0.02222435 0.99969601 0.01067582 -0.0868918 ] [-0.1239631 -0.00784053 0.99225585 -0.6065551 ] [ 0. 0. 0. 1. ]] SLAMing on 7.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.08, Z:-0.61 [[ 0.99189739 -0.02153894 0.1252024 5.56642225] [ 0.0203528 0.99973512 0.01074537 -0.0826144 ] [-0.12540068 -0.00811008 0.99207303 -0.61044164] [ 0. 0. 0. 1. ]] SLAMing on 7.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.08, Z:-0.61 [[ 0.99186413 -0.01980153 0.12575154 5.59865305] [ 0.0185981 0.99976939 0.01073683 -0.07865734] [-0.12593514 -0.00831074 0.99200366 -0.61451677] [ 0. 0. 0. 1. ]] SLAMing on 7.5559199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.08, Z:-0.62 [[ 0.99213423 -0.01441608 0.12434566 5.63125094] [ 0.01320443 0.99985702 0.01056287 -0.07680098] [-0.12448016 -0.00883788 0.99218274 -0.61802268] [ 0. 0. 0. 1. ]] SLAMing on 7.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.07, Z:-0.62 [[ 0.99232869 -0.00896541 0.12330206 5.6640828 ] [ 0.00773914 0.99991575 0.01042066 -0.0730681 ] [-0.1233851 -0.00938647 0.99231447 -0.62229685] [ 0. 0. 0. 1. ]] SLAMing on 7.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.08, Z:-0.62 [[ 9.94387252e-01 -3.65836225e-03 1.05738402e-01 5.70242546e+00] [ 1.64143986e-03 9.99815171e-01 1.91553793e-02 -7.62759324e-02] [-1.05788936e-01 -1.88743018e-02 9.94209466e-01 -6.23521635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.05, Z:-0.64 [[ 9.92022790e-01 -2.03932504e-03 1.26042158e-01 5.72701439e+00] [ 2.30231283e-03 9.99995466e-01 -1.94086654e-03 -5.33712915e-02] [-1.26037628e-01 2.21557232e-03 9.92022987e-01 -6.36633925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.06, Z:-0.63 [[ 9.91930397e-01 1.43504408e-03 1.26775506e-01 5.76125613e+00] [-2.80139744e-03 9.99939893e-01 1.06001032e-02 -6.06453872e-02] [-1.26752675e-01 -1.08697131e-02 9.91874795e-01 -6.33874202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.06, Z:-0.64 [[ 0.99382032 0.00839247 0.11068306 5.79884927] [-0.01006415 0.99984344 0.01455331 -0.05854776] [-0.1105436 -0.0155773 0.99374919 -0.63747846] [ 0. 0. 0. 1. ]] SLAMing on 7.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.04, Z:-0.65 [[ 9.94027253e-01 1.62205543e-02 1.07919938e-01 5.82831044e+00] [-1.67087515e-02 9.99853843e-01 3.62093277e-03 -4.05916137e-02] [-1.07845431e-01 -5.40251329e-03 9.94152994e-01 -6.47520842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7659199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.04, Z:-0.65 [[ 9.92452661e-01 1.88263048e-02 1.21174607e-01 5.85514246e+00] [-1.96672898e-02 9.99790058e-01 5.74791843e-03 -3.91173137e-02] [-1.21040955e-01 -8.08771305e-03 9.92614566e-01 -6.49011819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.04, Z:-0.65 [[ 0.99225922 0.03122645 0.12019383 5.88796138] [-0.03266276 0.99941642 0.00999794 -0.03672132] [-0.11981149 -0.01384641 0.9927001 -0.65011654] [ 0. 0. 0. 1. ]] SLAMing on 7.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.03, Z:-0.65 [[ 0.99201046 0.03771735 0.12038545 5.92007996] [-0.03919924 0.99918173 0.00996439 -0.03023729] [-0.11991112 -0.0146038 0.99267722 -0.65223029] [ 0. 0. 0. 1. ]] SLAMing on 7.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.02, Z:-0.66 [[ 0.99306236 0.04711816 0.10773596 5.95704142] [-0.04838969 0.998786 0.00921714 -0.01966377] [-0.10717087 -0.01436651 0.99413682 -0.65663452] [ 0. 0. 0. 1. ]] SLAMing on 7.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.00, Z:-0.66 [[ 9.91225859e-01 5.63563361e-02 1.19562785e-01 5.98223766e+00] [-5.76580330e-02 9.98308570e-01 7.45315471e-03 -3.97448896e-03] [-1.18940520e-01 -1.42815147e-02 9.92798666e-01 -6.58540702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.01, Y:0.00, Z:-0.66 [[ 9.90941975e-01 6.12973044e-02 1.19484902e-01 6.01459949e+00] [-6.29097041e-02 9.97971438e-01 9.76614976e-03 2.57837807e-03] [-1.18643881e-01 -1.71944476e-02 9.92787984e-01 -6.61070723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.01, Z:-0.65 [[ 0.99052531 0.08207523 0.11010573 6.05959861] [-0.08692689 0.99541117 0.04000408 -0.01409245] [-0.10631713 -0.0491962 0.9931145 -0.65361731] [ 0. 0. 0. 1. ]] SLAMing on 7.9759199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.03, Z:-0.67 [[ 9.89900907e-01 8.33344228e-02 1.14680289e-01 6.08756377e+00] [-8.43830683e-02 9.96424060e-01 4.31156791e-03 2.77885701e-02] [-1.13910898e-01 -1.39450997e-02 9.93393095e-01 -6.71215811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.04, Z:-0.68 [[ 9.89769556e-01 8.17867397e-02 1.16906612e-01 6.11803763e+00] [-8.25596264e-02 9.96584545e-01 1.77580987e-03 3.69451678e-02] [-1.16362085e-01 -1.14094087e-02 9.93141325e-01 -6.76062993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:0.07, Z:-0.69 [[ 0.98968121 0.06705104 0.12663044 6.13551802] [-0.06496417 0.99767612 -0.02054324 0.07058994] [-0.12771361 0.01210481 0.99173722 -0.68694231] [ 0. 0. 0. 1. ]] SLAMing on 8.065919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.17, Y:0.06, Z:-0.68 [[ 0.99052628 0.05917919 0.12391734 6.171072 ] [-0.06090078 0.99809224 0.01014818 0.05652372] [-0.12308037 -0.0175987 0.99224065 -0.6804821 ] [ 0. 0. 0. 1. ]] SLAMing on 8.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.06, Z:-0.68 [[ 0.99051488 0.05731832 0.12487947 6.20316942] [-0.05904662 0.99820332 0.01017956 0.06384705] [-0.12407163 -0.01745671 0.9921197 -0.68287452] [ 0. 0. 0. 1. ]] SLAMing on 8.125919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:0.03, Z:-0.67 [[ 0.99177581 0.0682181 0.10829144 6.25075879] [-0.0742773 0.99583156 0.05293763 0.02785303] [-0.10422873 -0.06054585 0.9927087 -0.6714091 ] [ 0. 0. 0. 1. ]] SLAMing on 8.155919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.26, Y:0.12, Z:-0.70 [[ 0.98953711 0.05918986 0.13157839 6.25972311] [-0.05446727 0.99774545 -0.0392088 0.12322629] [-0.1336025 0.03163184 0.99053006 -0.70427052] [ 0. 0. 0. 1. ]] SLAMing on 8.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.08, Z:-0.69 [[ 0.99026637 0.05198424 0.12911298 6.29730631] [-0.0537844 0.99849744 0.01049277 0.08375066] [-0.12837352 -0.01733491 0.99157437 -0.69195034] [ 0. 0. 0. 1. ]] SLAMing on 8.215919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.33, Y:0.09, Z:-0.70 [[ 0.99071667 0.0483357 0.1270596 6.32916794] [-0.05004329 0.99869415 0.01027976 0.0948533 ] [-0.1263968 -0.01654281 0.99184181 -0.69837311] [ 0. 0. 0. 1. ]] SLAMing on 8.245919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.36, Y:0.10, Z:-0.70 [[ 0.99102042 0.04631237 0.12543397 6.36198526] [-0.04795742 0.99879806 0.01012544 0.10054239] [-0.12481428 -0.01605001 0.9920503 -0.7017881 ] [ 0. 0. 0. 1. ]] SLAMing on 8.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.11, Z:-0.71 [[ 0.99128967 0.04470289 0.12388074 6.39456851] [-0.04628877 0.99887853 0.00995173 0.1057864 ] [-0.12329694 -0.01559934 0.99224721 -0.70626188] [ 0. 0. 0. 1. ]] SLAMing on 8.305919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.44, Y:0.09, Z:-0.70 [[ 0.99344893 0.04370549 0.10558906 6.43567801] [-0.0475021 0.99830208 0.03371213 0.09358067] [-0.10393638 -0.03850698 0.99383824 -0.70197864] [ 0. 0. 0. 1. ]] SLAMing on 8.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:0.15, Z:-0.72 [[ 0.99035146 0.04069354 0.13246892 6.45484517] [-0.03869234 0.99909533 -0.01764724 0.14868838] [-0.13306721 0.01235144 0.99103005 -0.71881151] [ 0. 0. 0. 1. ]] SLAMing on 8.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.11, Z:-0.71 [[ 0.99321008 0.04093989 0.10889289 6.49987451] [-0.04494997 0.99838888 0.03462881 0.10671115] [-0.10729975 -0.03928841 0.99345014 -0.7077038 ] [ 0. 0. 0. 1. ]] SLAMing on 8.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.16, Z:-0.73 [[ 0.99052136 0.03752321 0.13213419 6.5172747 ] [-0.03533735 0.99919766 -0.01884982 0.16208416] [-0.13273547 0.01400188 0.99105259 -0.72697531] [ 0. 0. 0. 1. ]] SLAMing on 8.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.14, Z:-0.72 [[ 0.99094402 0.03420086 0.12984703 6.55357164] [-0.03585016 0.99930321 0.01038511 0.13765737] [-0.12940137 -0.0149461 0.99147965 -0.72248684] [ 0. 0. 0. 1. ]] SLAMing on 8.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.15, Z:-0.73 [[ 0.9912919 0.02989493 0.12824451 6.58489645] [-0.03146481 0.99945248 0.01023237 0.14779237] [-0.12786839 -0.01417846 0.99168979 -0.72864713] [ 0. 0. 0. 1. ]] SLAMing on 8.485919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.62, Y:0.15, Z:-0.73 [[ 0.99143896 0.02735476 0.12767344 6.61694965] [-0.02888349 0.99953138 0.01013735 0.15220193] [-0.1273363 -0.01373821 0.99176445 -0.73317094] [ 0. 0. 0. 1. ]] SLAMing on 8.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.65, Y:0.16, Z:-0.74 [[ 0.99144904 0.02084947 0.12881808 6.64959175] [-0.0223485 0.99969818 0.01020216 0.15661067] [-0.12856649 -0.01299381 0.99161576 -0.73713469] [ 0. 0. 0. 1. ]] SLAMing on 8.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.15, Z:-0.74 [[ 0.99305198 0.01977571 0.11600299 6.68764532] [-0.02184773 0.9996232 0.01661749 0.15479603] [-0.11563066 -0.01903643 0.99310985 -0.73989502] [ 0. 0. 0. 1. ]] SLAMing on 8.575919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:0.17, Z:-0.75 [[ 9.90883570e-01 1.09628977e-02 1.34274220e-01 6.71322700e+00] [-1.11747600e-02 9.99937221e-01 8.24257856e-04 1.73132588e-01] [-1.34256755e-01 -2.31722575e-03 9.90943870e-01 -7.46987608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.75, Y:0.17, Z:-0.75 [[ 9.90959468e-01 6.58110857e-03 1.34000079e-01 6.74642670e+00] [-8.06538864e-03 9.99911958e-01 1.05368900e-02 1.66372024e-01] [-1.33918937e-01 -1.15223936e-02 9.90925301e-01 -7.47964091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.78, Y:0.17, Z:-0.75 [[ 9.91099989e-01 3.47420205e-03 1.33074198e-01 6.77939542e+00] [-4.90290008e-03 9.99933795e-01 1.04099232e-02 1.67298063e-01] [-1.33029221e-01 -1.09697242e-02 9.91051407e-01 -7.52495642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.81, Y:0.16, Z:-0.76 [[ 9.90941360e-01 -2.56012677e-03 1.34270873e-01 6.81263996e+00] [ 1.16418994e-03 9.99944469e-01 1.04739070e-02 1.64805468e-01] [-1.34290231e-01 -1.02227108e-02 9.90889313e-01 -7.56810822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:6.85, Y:0.17, Z:-0.76 [[ 9.92699275e-01 -3.20818481e-03 1.20573033e-01 6.84731528e+00] [ 2.33897886e-03 9.99970254e-01 7.34979233e-03 1.67689671e-01] [-1.20593026e-01 -7.01411574e-03 9.92677251e-01 -7.61915364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.16, Z:-0.76 [[ 0.99096814 -0.00886139 0.13380442 6.87666171] [ 0.00745501 0.99991162 0.01100806 0.15983079] [-0.13389014 -0.00991112 0.99094662 -0.76403743] [ 0. 0. 0. 1. ]] SLAMing on 8.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.16, Z:-0.77 [[ 0.99096237 -0.00899812 0.13383805 6.90894042] [ 0.00767835 0.99991671 0.01037381 0.15980887] [-0.13392025 -0.0092524 0.99094892 -0.76769848] [ 0. 0. 0. 1. ]] SLAMing on 8.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.16, Z:-0.77 [[ 9.91307592e-01 -7.55109518e-03 1.31347777e-01 6.94206511e+00] [ 6.27546390e-03 9.99929068e-01 1.01230838e-02 1.57862371e-01] [-1.31414901e-01 -9.21082163e-03 9.91284664e-01 -7.71045174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.98, Y:0.16, Z:-0.77 [[ 9.91116900e-01 -6.19295886e-03 1.32849305e-01 6.97519259e+00] [ 4.88369086e-03 9.99936268e-01 1.01788686e-02 1.59253840e-01] [-1.32903875e-01 -9.43965380e-03 9.91083979e-01 -7.74523164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.01, Y:0.16, Z:-0.78 [[ 9.90894023e-01 -4.57938632e-03 1.34566207e-01 7.00761111e+00] [ 3.22925313e-03 9.99942255e-01 1.02497818e-02 1.59976199e-01] [-1.34605374e-01 -9.72189915e-03 9.90851592e-01 -7.78536446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.04, Y:0.16, Z:-0.78 [[ 9.90831670e-01 -1.69699187e-03 1.35091532e-01 7.04014478e+00] [ 3.17847776e-04 9.99947623e-01 1.02298739e-02 1.57070642e-01] [-1.35101817e-01 -1.00931445e-02 9.90780312e-01 -7.82181923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.07, Y:0.16, Z:-0.79 [[ 9.90988064e-01 4.45037433e-04 1.33949461e-01 7.07225357e+00] [-1.81222568e-03 9.99947503e-01 1.00849973e-02 1.58197595e-01] [-1.33937940e-01 -1.02368586e-02 9.90936847e-01 -7.86534990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:0.16, Z:-0.79 [[ 9.91214999e-01 2.09966876e-03 1.32243776e-01 7.10481967e+00] [-3.43924553e-03 9.99945059e-01 9.90200368e-03 1.61790357e-01] [-1.32215719e-01 -1.02698334e-02 9.91167763e-01 -7.91396266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.17, Z:-0.80 [[ 9.91204063e-01 3.13485025e-03 1.32305244e-01 7.13755498e+00] [-4.48142407e-03 9.99941137e-01 9.88124115e-03 1.65030797e-01] [-1.32266480e-01 -1.03872423e-02 9.91159767e-01 -7.95081671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995919999999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.17, Y:0.17, Z:-0.80 [[ 9.93094223e-01 5.47406554e-03 1.17191717e-01 7.17238893e+00] [-6.98511998e-03 9.99897636e-01 1.24870353e-02 1.66359704e-01] [-1.17111366e-01 -1.32194009e-02 9.93030803e-01 -7.99010050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.12, Z:-0.78 [[ 9.94481911e-01 5.35595015e-03 1.04771385e-01 7.21433386e+00] [-1.23470745e-02 9.97730433e-01 6.61931474e-02 1.17510515e-01] [-1.04179072e-01 -6.71215078e-02 9.92290998e-01 -7.81190471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.23, Y:0.24, Z:-0.82 [[ 9.90197264e-01 1.43870304e-02 1.38933047e-01 7.22590884e+00] [-6.29704207e-03 9.98267880e-01 -5.84943373e-02 2.37157387e-01] [-1.39533958e-01 5.70460655e-02 9.88572719e-01 -8.24266952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.27, Y:0.18, Z:-0.81 [[ 0.99092954 0.01053399 0.13396896 7.26504306] [-0.0119849 0.99987789 0.01002837 0.18123386] [-0.13384697 -0.01154301 0.99093479 -0.80844864] [ 0. 0. 0. 1. ]] SLAMing on 9.11592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.31, Y:0.13, Z:-0.79 [[ 0.99440542 0.01172418 0.10497816 7.30864794] [-0.01860913 0.99772167 0.06484733 0.13481727] [-0.1039787 -0.06643809 0.99235801 -0.79306165] [ 0. 0. 0. 1. ]] SLAMing on 9.145919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:0.25, Z:-0.83 [[ 0.99065187 0.02123124 0.13475199 7.32126554] [-0.01457611 0.99863362 -0.05018388 0.24642677] [-0.13563333 0.04775059 0.98960774 -0.83377236] [ 0. 0. 0. 1. ]] SLAMing on 9.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.20, Z:-0.82 [[ 0.99149946 0.01681756 0.12901938 7.36003292] [-0.01820818 0.99978807 0.00960642 0.1981029 ] [-0.12883048 -0.01187397 0.99159554 -0.81923462] [ 0. 0. 0. 1. ]] SLAMing on 9.205919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.39, Y:0.21, Z:-0.82 [[ 0.99125784 0.01936025 0.13051081 7.39230642] [-0.0208017 0.99973666 0.00969032 0.20572444] [-0.13028884 -0.01232046 0.99139953 -0.82202021] [ 0. 0. 0. 1. ]] SLAMing on 9.235919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.22, Z:-0.83 [[ 0.99099756 0.02024659 0.13234017 7.42370216] [-0.02172923 0.99971617 0.00976852 0.21857729] [-0.13210483 -0.01255623 0.99115622 -0.82562187] [ 0. 0. 0. 1. ]] SLAMing on 9.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.47, Y:0.17, Z:-0.81 [[ 0.99419743 0.02001446 0.10569243 7.46688596] [-0.02700592 0.99751077 0.06513789 0.17237697] [-0.10412564 -0.06761425 0.99226315 -0.81207146] [ 0. 0. 0. 1. ]] SLAMing on 9.295919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.49, Y:0.27, Z:-0.85 [[ 0.99248592 0.02831911 0.11903668 7.48556367] [-0.02383874 0.99895888 -0.03889566 0.27420481] [-0.12001424 0.03576571 0.99212771 -0.84813063] [ 0. 0. 0. 1. ]] SLAMing on 9.325919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.52, Y:0.24, Z:-0.84 [[ 9.90945274e-01 1.91898215e-02 1.32887976e-01 7.51681659e+00] [-1.90323566e-02 9.99815854e-01 -2.45518035e-03 2.43616321e-01] [-1.32910620e-01 -9.62219893e-05 9.91128023e-01 -8.40460336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.55, Y:0.24, Z:-0.84 [[ 0.99079381 0.01507439 0.13453769 7.55072364] [-0.01655643 0.99981388 0.00990373 0.23944615] [-0.13436335 -0.01204001 0.99085898 -0.84054537] [ 0. 0. 0. 1. ]] SLAMing on 9.385919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.25, Z:-0.85 [[ 0.99056385 0.01227398 0.13650135 7.58306716] [-0.01376614 0.99985531 0.00999289 0.24546325] [-0.13635894 -0.01177769 0.99058948 -0.84545374] [ 0. 0. 0. 1. ]] SLAMing on 9.415919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.62, Y:0.25, Z:-0.85 [[ 0.99082637 0.01221289 0.13458808 7.61558373] [-0.01365865 0.99985846 0.009824 0.24927442] [-0.13444905 -0.01157217 0.99085293 -0.84855957] [ 0. 0. 0. 1. ]] SLAMing on 9.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.65, Y:0.25, Z:-0.85 [[ 0.99077366 0.01259476 0.13494046 7.64757754] [-0.01404358 0.99985345 0.00979025 0.2533278 ] [-0.13479738 -0.01159497 0.99080534 -0.85257553] [ 0. 0. 0. 1. ]] SLAMing on 9.475919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.68, Y:0.26, Z:-0.86 [[ 0.99062911 0.01336834 0.13592367 7.67989779] [-0.01483775 0.99984186 0.00980316 0.25773273] [-0.13577112 -0.0117281 0.99067081 -0.85564977] [ 0. 0. 0. 1. ]] SLAMing on 9.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.26, Z:-0.86 [[ 0.99083683 0.0140192 0.13433478 7.71279321] [-0.01545231 0.99983422 0.00963144 0.26076885] [-0.13417749 -0.01161896 0.9908892 -0.86044229] [ 0. 0. 0. 1. ]] SLAMing on 9.535919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.75, Y:0.27, Z:-0.87 [[ 0.99079539 0.01377608 0.13466517 7.7450212 ] [-0.0152062 0.99983832 0.00959696 0.26518415] [-0.13451119 -0.01155637 0.99084469 -0.86539801] [ 0. 0. 0. 1. ]] SLAMing on 9.565919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.78, Y:0.27, Z:-0.87 [[ 0.99077432 0.01476202 0.13471577 7.77724824] [-0.01619427 0.99982333 0.00954197 0.27065633] [-0.13455111 -0.01163556 0.99083834 -0.86863295] [ 0. 0. 0. 1. ]] SLAMing on 9.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:0.28, Z:-0.87 [[ 0.99079357 0.01722826 0.13428062 7.80992566] [-0.01866596 0.99978107 0.009455 0.27790472] [-0.13408833 -0.01187443 0.99089824 -0.87194655] [ 0. 0. 0. 1. ]] SLAMing on 9.625919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.84, Y:0.29, Z:-0.87 [[ 0.99063676 0.02342115 0.13450002 7.84180945] [-0.02491415 0.99964514 0.00942772 0.29144192] [-0.13423149 -0.0126904 0.99086874 -0.87439822] [ 0. 0. 0. 1. ]] SLAMing on 9.655919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.30, Z:-0.88 [[ 0.99055129 0.0276125 0.13433425 7.87386601] [-0.02913182 0.99953178 0.00935715 0.30046174] [-0.13401298 -0.01318214 0.9908919 -0.87777164] [ 0. 0. 0. 1. ]] SLAMing on 9.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.32, Z:-0.88 [[ 0.99011656 0.03278313 0.13636155 7.90546372] [-0.03438942 0.99936392 0.00943998 0.31513395] [-0.13596534 -0.01403608 0.99061416 -0.88143414] [ 0. 0. 0. 1. ]] SLAMing on 9.715919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.94, Y:0.32, Z:-0.88 [[ 0.99004024 0.03451399 0.13648846 7.93725249] [-0.03613167 0.99930291 0.00939182 0.32318967] [-0.13606917 -0.01422984 0.99059714 -0.88492733] [ 0. 0. 0. 1. ]] SLAMing on 9.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:0.34, Z:-0.89 [[ 0.99005338 0.03331832 0.13669011 7.96905879] [-0.03492176 0.99934632 0.00934867 0.33581451] [-0.13628927 -0.01402914 0.99056974 -0.88990227] [ 0. 0. 0. 1. ]] SLAMing on 9.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.34, Z:-0.89 [[ 0.98994401 0.03161486 0.13788168 8.00142106] [-0.03322233 0.99940404 0.00937203 0.34372677] [-0.13750322 -0.01385853 0.99040437 -0.89378625] [ 0. 0. 0. 1. ]] SLAMing on 9.805919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:0.36, Z:-0.90 [[ 9.91529865e-01 2.85669326e-02 1.26698289e-01 8.03528587e+00] [-2.96747467e-02 9.99536036e-01 6.86448873e-03 3.57985306e-01] [-1.26443408e-01 -1.05660852e-02 9.91917548e-01 -9.00356497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.36, Z:-0.90 [[ 0.99006785 0.02366522 0.13858429 8.06496038] [-0.0252502 0.9996342 0.00968977 0.35976088] [-0.13830429 -0.01309281 0.99030324 -0.90163154] [ 0. 0. 0. 1. ]] SLAMing on 9.86592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.10, Y:0.37, Z:-0.91 [[ 0.99013949 0.0209493 0.1385096 8.09744412] [-0.02245503 0.99970444 0.00931704 0.36637579] [-0.13827348 -0.01233541 0.99031726 -0.9051021 ] [ 0. 0. 0. 1. ]] SLAMing on 9.895919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.13, Y:0.37, Z:-0.91 [[ 0.99221958 0.01750856 0.12326296 8.13347133] [-0.01982961 0.99964795 0.01762843 0.36758799] [-0.12291091 -0.01993553 0.99221746 -0.90806409] [ 0. 0. 0. 1. ]] SLAMing on 9.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.16, Y:0.39, Z:-0.92 [[ 9.89817744e-01 1.46393527e-02 1.41585744e-01 8.16026359e+00] [-1.45282258e-02 9.99892806e-01 -1.81859909e-03 3.89823349e-01] [-1.41597190e-01 -2.56908014e-04 9.89924325e-01 -9.15117736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.39, Z:-0.92 [[ 0.99036932 0.00831297 0.13820099 8.19298431] [-0.00967884 0.99991071 0.0092141 0.38918052] [-0.13811206 -0.01046298 0.99036134 -0.91883689] [ 0. 0. 0. 1. ]] SLAMing on 9.985919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.40, Z:-0.92 [[ 9.90605687e-01 7.13595436e-03 1.36562996e-01 8.22516325e+00] [-8.45408941e-03 9.99923086e-01 9.07466574e-03 3.95680047e-01] [-1.36487736e-01 -1.01439313e-02 9.90589824e-01 -9.23404654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.26, Y:0.41, Z:-0.93 [[ 9.90731157e-01 4.71551544e-03 1.35755439e-01 8.25788168e+00] [-5.98714310e-03 9.99941932e-01 8.96028624e-03 4.06316669e-01] [-1.35705303e-01 -9.69002199e-03 9.90701859e-01 -9.25865731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.41, Z:-0.93 [[ 9.90641626e-01 4.14113921e-03 1.36425874e-01 8.29006837e+00] [-5.41155141e-03 9.99945371e-01 8.94254926e-03 4.12529660e-01] [-1.36381389e-01 -9.59713717e-03 9.90609919e-01 -9.28987923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:0.41, Z:-0.93 [[ 9.92226370e-01 4.99705010e-03 1.24345726e-01 8.32445576e+00] [-6.85727951e-03 9.99870824e-01 1.45366393e-02 4.14652569e-01] [-1.24257023e-01 -1.52763102e-02 9.92132464e-01 -9.33094989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.44, Z:-0.94 [[ 9.90024219e-01 6.36712124e-03 1.40753351e-01 8.35287638e+00] [-6.63962391e-03 9.99976882e-01 1.46649743e-03 4.38063176e-01] [-1.40740760e-01 -2.38641729e-03 9.90043607e-01 -9.37360194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:0.44, Z:-0.94 [[ 9.90228558e-01 5.67583687e-03 1.39338390e-01 8.38561837e+00] [-7.00266399e-03 9.99934673e-01 9.03391943e-03 4.37738317e-01] [-1.39278012e-01 -9.92138494e-03 9.90203616e-01 -9.40654204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.45, Z:-0.94 [[ 9.90322468e-01 3.55553189e-03 1.38739928e-01 8.41805483e+00] [-4.84209945e-03 9.99948342e-01 8.93680480e-03 4.46085284e-01] [-1.38700986e-01 -9.52211112e-03 9.90288527e-01 -9.44324964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.45, Z:-0.95 [[ 9.90177324e-01 9.35868869e-04 1.39814132e-01 8.45082825e+00] [-2.21209537e-03 9.99957296e-01 8.97289676e-03 4.51180424e-01] [-1.39799764e-01 -9.19404110e-03 9.90137109e-01 -9.48177432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.46, Z:-0.95 [[ 9.89751795e-01 -4.48363789e-03 1.42727998e-01 8.48291352e+00] [ 3.21787136e-03 9.99953435e-01 9.09797081e-03 4.56502328e-01] [-1.42762144e-01 -8.54545261e-03 9.89720135e-01 -9.52330866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.46, Z:-0.96 [[ 9.89629903e-01 -7.52651568e-03 1.43443395e-01 8.51575406e+00] [ 6.28474078e-03 9.99938771e-01 9.10803475e-03 4.58624145e-01] [-1.43503164e-01 -8.11207899e-03 9.89616611e-01 -9.56316542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:0.46, Z:-0.96 [[ 9.89365049e-01 -1.15169994e-02 1.44997100e-01 8.54879508e+00] [ 1.03005872e-02 9.99905200e-01 9.13719448e-03 4.60180184e-01] [-1.45088587e-01 -7.54646560e-03 9.89389889e-01 -9.60745824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.46, Z:-0.96 [[ 9.89366927e-01 -1.13046113e-02 1.45000997e-01 8.58195004e+00] [ 1.00950346e-02 9.99907864e-01 9.07494749e-03 4.62386734e-01] [-1.45090226e-01 -7.51466284e-03 9.89389891e-01 -9.64830000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.47, Z:-0.97 [[ 9.89497995e-01 -1.90356566e-02 1.43287690e-01 8.61409020e+00] [ 1.79403790e-02 9.99799160e-01 8.93213162e-03 4.65287874e-01] [-1.43428941e-01 -6.26769086e-03 9.89640771e-01 -9.69267962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:0.47, Z:-0.97 [[ 9.89575167e-01 -2.19990388e-02 1.42327200e-01 8.64629414e+00] [ 2.09587652e-02 9.99741575e-01 8.80422122e-03 4.67012006e-01] [-1.42484103e-01 -5.72943632e-03 9.89780508e-01 -9.73400255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:0.46, Z:-0.98 [[ 9.89762289e-01 -2.70187949e-02 1.40144913e-01 8.67900579e+00] [ 2.60692754e-02 9.99623085e-01 8.60698684e-03 4.62974243e-01] [-1.40324641e-01 -4.86539465e-03 9.90093593e-01 -9.78133536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:0.46, Z:-0.98 [[ 9.89397968e-01 -2.85923446e-02 1.42387283e-01 8.71177693e+00] [ 2.76334600e-02 9.99580197e-01 8.70760513e-03 4.61802405e-01] [-1.42576479e-01 -4.68063353e-03 9.89772721e-01 -9.81567953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:8.74, Y:0.46, Z:-0.99 [[ 9.89341430e-01 -2.90001561e-02 1.42697322e-01 8.74469170e+00] [ 2.80515569e-02 9.99569005e-01 8.65531179e-03 4.62399784e-01] [-1.42886826e-01 -4.56017650e-03 9.89728528e-01 -9.85380741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.78, Y:0.46, Z:-0.99 [[ 9.89639130e-01 -3.05886807e-02 1.40280882e-01 8.77707208e+00] [ 2.96977980e-02 9.99523288e-01 8.44017855e-03 4.61722954e-01] [-1.40472183e-01 -4.18669765e-03 9.90075774e-01 -9.89625373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:0.46, Z:-0.99 [[ 9.89689403e-01 -3.00590344e-02 1.40040495e-01 8.80947058e+00] [ 2.91758819e-02 9.99539370e-01 8.35563401e-03 4.61918133e-01] [-1.40227151e-01 -4.18367748e-03 9.90110521e-01 -9.93652035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:0.46, Z:-1.00 [[ 9.89489422e-01 -2.78252173e-02 1.41902931e-01 8.84229166e+00] [ 2.69058060e-02 9.99602729e-01 8.39413739e-03 4.62028393e-01] [-1.42080126e-01 -4.48789742e-03 9.89844986e-01 -9.96066920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:0.47, Z:-1.00 [[ 9.89456212e-01 -2.48672980e-02 1.42681540e-01 8.87444341e+00] [ 2.39174430e-02 9.99678909e-01 8.36864222e-03 4.65207514e-01] [-1.42843832e-01 -4.86782744e-03 9.89733269e-01 -9.99951711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:0.47, Z:-1.01 [[ 9.89352473e-01 -1.95516031e-02 1.44220039e-01 8.90727893e+00] [ 1.85355104e-02 9.99793035e-01 8.38582201e-03 4.68373807e-01] [-1.44354146e-01 -5.62334173e-03 9.89510110e-01 -1.00511947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.94, Y:0.47, Z:-1.01 [[ 9.89510714e-01 -1.54472583e-02 1.43631224e-01 8.94014898e+00] [ 1.44069442e-02 9.99861929e-01 8.28023241e-03 4.70825412e-01] [-1.43739300e-01 -6.12409167e-03 9.89596640e-01 -1.00915562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.97, Y:0.47, Z:-1.01 [[ 9.89504726e-01 -1.14411356e-02 1.44046860e-01 8.97249093e+00] [ 1.03628614e-02 9.99912405e-01 8.23366134e-03 4.74165327e-01] [-1.44128444e-01 -6.65450917e-03 9.89536613e-01 -1.01168320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:0.44, Z:-1.01 [[ 9.93084617e-01 -9.02330880e-03 1.17053505e-01 9.00838757e+00] [ 3.29207800e-03 9.98790225e-01 4.90637220e-02 4.41912793e-01] [-1.17354613e-01 -4.83390783e-02 9.91912914e-01 -1.00751576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.52, Z:-1.03 [[ 9.89677743e-01 1.84941362e-03 1.43298793e-01 9.03164703e+00] [ 3.20015880e-03 9.99382203e-01 -3.49995760e-02 5.23158259e-01] [-1.43274992e-01 3.50968803e-02 9.89060405e-01 -1.02569570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:0.49, Z:-1.02 [[ 9.90120498e-01 -1.87651962e-03 1.40206552e-01 9.06669014e+00] [ 7.73467260e-04 9.99968326e-01 7.92141581e-03 4.86818353e-01] [-1.40216976e-01 -7.73471100e-03 9.90090589e-01 -1.02467834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:0.49, Z:-1.03 [[ 9.90208865e-01 -9.73941343e-04 1.39590314e-01 9.09939654e+00] [-1.19001285e-04 9.99969408e-01 7.82108474e-03 4.93334237e-01] [-1.39593661e-01 -7.76111887e-03 9.90178456e-01 -1.02807321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.13, Y:0.50, Z:-1.03 [[ 9.89976455e-01 5.94494624e-04 1.41231246e-01 9.13238555e+00] [-1.71977653e-03 9.99967743e-01 7.84573428e-03 4.97275539e-01] [-1.41222026e-01 -8.00997839e-03 9.89945544e-01 -1.03149833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:0.50, Z:-1.04 [[ 9.89813789e-01 3.58762705e-03 1.42322847e-01 9.16450587e+00] [-4.75146415e-03 9.99957990e-01 7.83843513e-03 5.00734020e-01] [-1.42288746e-01 -8.43483308e-03 9.89789253e-01 -1.03572414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.50, Z:-1.04 [[ 9.89917826e-01 5.48025640e-03 1.41536796e-01 9.19666268e+00] [-6.64086137e-03 9.99948080e-01 7.72898087e-03 5.03333166e-01] [-1.41487091e-01 -8.59098218e-03 9.89902823e-01 -1.04073136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.23, Y:0.51, Z:-1.05 [[ 9.90163639e-01 6.95618263e-03 1.39741118e-01 9.22939081e+00] [-8.09264415e-03 9.99938630e-01 7.56603537e-03 5.05924633e-01] [-1.39679911e-01 -8.62248825e-03 9.90159167e-01 -1.04525575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.26, Y:0.51, Z:-1.05 [[ 9.90259987e-01 7.67268996e-03 1.39019020e-01 9.26194380e+00] [-8.79525561e-03 9.99933476e-01 7.46236132e-03 5.09505474e-01] [-1.38952516e-01 -8.61238565e-03 9.90261594e-01 -1.05015052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.29, Y:0.51, Z:-1.05 [[ 9.90248690e-01 6.83707533e-03 1.39143045e-01 9.29444840e+00] [-7.94434027e-03 9.99941033e-01 7.40389411e-03 5.13489270e-01] [-1.39084219e-01 -8.43709613e-03 9.90244614e-01 -1.05421942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.52, Z:-1.06 [[ 9.90272253e-01 6.21058011e-03 1.39004657e-01 9.32706521e+00] [-7.30039565e-03 9.99946474e-01 7.33163610e-03 5.22483663e-01] [-1.38951683e-01 -8.27510479e-03 9.90264587e-01 -1.05865407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035919999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:9.36, Y:0.52, Z:-1.06 [[ 9.92271973e-01 5.59934244e-03 1.23955555e-01 9.36094845e+00] [-8.17451813e-03 9.99760999e-01 2.02761467e-02 5.16054568e-01] [-1.23812397e-01 -2.11327291e-02 9.92080591e-01 -1.06199494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.39, Y:0.55, Z:-1.07 [[ 9.89963939e-01 8.37505030e-03 1.41071818e-01 9.38890104e+00] [-7.42274420e-03 9.99945985e-01 -7.27536402e-03 5.46052552e-01] [-1.41125130e-01 6.15520801e-03 9.89972632e-01 -1.06819218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.42, Y:0.54, Z:-1.07 [[ 9.89800955e-01 7.54689015e-03 1.42257211e-01 9.42255025e+00] [-8.68404033e-03 9.99935100e-01 7.37446663e-03 5.41182741e-01] [-1.42192324e-01 -8.53462147e-03 9.89802255e-01 -1.07000311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.46, Y:0.53, Z:-1.07 [[ 9.92035250e-01 6.15576062e-03 1.25810054e-01 9.45724249e+00] [-9.46436997e-03 9.99624443e-01 2.57176572e-02 5.29052536e-01] [-1.25604493e-01 -2.67035354e-02 9.91720945e-01 -1.07229216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.48, Y:0.57, Z:-1.08 [[ 9.89395659e-01 5.24157437e-03 1.45150807e-01 9.48446764e+00] [-3.42331625e-03 9.99912554e-01 -1.27736236e-02 5.69786519e-01] [-1.45205068e-01 1.21412706e-02 9.89327083e-01 -1.08100253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.55, Z:-1.08 [[ 9.89374585e-01 -6.96189158e-04 1.45387228e-01 9.51866543e+00] [-3.87530407e-04 9.99972355e-01 7.42556730e-03 5.53920744e-01] [-1.45388379e-01 -7.40300954e-03 9.89346964e-01 -1.08319959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.56, Z:-1.09 [[ 9.89766329e-01 -4.92986469e-03 1.42612451e-01 9.55106642e+00] [ 3.94040702e-03 9.99966174e-01 7.21967640e-03 5.56458842e-01] [-1.42643219e-01 -6.58384150e-03 9.89752275e-01 -1.08745319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.56, Z:-1.09 [[ 9.89592729e-01 -1.43243654e-02 1.43181854e-01 9.58372802e+00] [ 1.34320433e-02 9.99883886e-01 7.19678987e-03 5.58860946e-01] [-1.43268318e-01 -5.19866606e-03 9.89670229e-01 -1.09189571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:0.56, Z:-1.10 [[ 9.89320739e-01 -1.90138704e-02 1.44509337e-01 9.61649610e+00] [ 1.81650654e-02 9.99809142e-01 7.19099203e-03 5.59974326e-01] [-1.44618485e-01 -4.48917598e-03 9.89477307e-01 -1.09665019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:0.56, Z:-1.10 [[ 9.88578367e-01 -2.91426366e-02 1.47863174e-01 9.64925098e+00] [ 2.83774122e-02 9.99570751e-01 7.28262041e-03 5.57230643e-01] [-1.48011939e-01 -3.00346676e-03 9.88981014e-01 -1.10058439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:0.55, Z:-1.10 [[ 9.88014676e-01 -3.48255262e-02 1.50380127e-01 9.68269239e+00] [ 3.41110444e-02 9.99391177e-01 7.32883507e-03 5.54724673e-01] [-1.50543803e-01 -2.11137342e-03 9.88601085e-01 -1.10378369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.72, Y:0.55, Z:-1.11 [[ 9.87349187e-01 -4.56367698e-02 1.51851466e-01 9.71590934e+00] [ 4.50466162e-02 9.98958023e-01 7.32608947e-03 5.46052693e-01] [-1.52027579e-01 -3.93013772e-04 9.88376174e-01 -1.10619377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.54, Z:-1.11 [[ 9.87188826e-01 -5.08521822e-02 1.51235835e-01 9.74836440e+00] [ 5.03368665e-02 9.98706081e-01 7.23632343e-03 5.42044982e-01] [-1.51408131e-01 4.69120420e-04 9.88471223e-01 -1.11072986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:0.53, Z:-1.12 [[ 9.86994876e-01 -5.96112544e-02 1.49290368e-01 9.78099749e+00] [ 5.92207150e-02 9.98219918e-01 7.06408127e-03 5.30558528e-01] [-1.49445717e-01 1.86887031e-03 9.88768165e-01 -1.11695260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.53, Z:-1.12 [[ 9.86915942e-01 -6.20047494e-02 1.48836604e-01 9.81385237e+00] [ 6.16555964e-02 9.98073194e-01 6.96325523e-03 5.25774872e-01] [-1.48981580e-01 2.30446202e-03 9.88837286e-01 -1.12111748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.51, Z:-1.12 [[ 9.86778997e-01 -6.10889914e-02 1.50117772e-01 9.84739597e+00] [ 6.07356577e-02 9.98129748e-01 6.94167070e-03 5.14587209e-01] [-1.50261074e-01 2.26760679e-03 9.88643752e-01 -1.12258473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.51, Z:-1.13 [[ 9.86819964e-01 -5.91025094e-02 1.50642795e-01 9.87996649e+00] [ 5.87360769e-02 9.98249805e-01 6.88473174e-03 5.10142973e-01] [-1.50786045e-01 2.05417603e-03 9.88564287e-01 -1.12611478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:0.51, Z:-1.13 [[ 9.87112837e-01 -5.56999151e-02 1.50019218e-01 9.91277942e+00] [ 5.53096244e-02 9.98446259e-01 6.77600922e-03 5.05823769e-01] [-1.50163550e-01 1.60882089e-03 9.88659861e-01 -1.13040620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.50, Z:-1.14 [[ 9.88270793e-01 -4.83658690e-02 1.44850208e-01 9.94557860e+00] [ 4.79348411e-02 9.98829534e-01 6.46636905e-03 4.95311550e-01] [-1.44993417e-01 5.52848050e-04 9.89432465e-01 -1.13754282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.45, Z:-1.13 [[ 0.99260733 -0.04653012 0.11209658 9.98139839] [ 0.04151676 0.9980481 0.0466514 0.45335104] [-0.11404847 -0.04165263 0.99260163 -1.1316461 ] [ 0. 0. 0. 1. ]] SLAMing on 11.635919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.52, Z:-1.15 [[ 0.98889155 -0.032074 0.14513705 10.00697038] [ 0.03757784 0.99866862 -0.03533979 0.5209139 ] [-0.14381033 0.04040116 0.98878023 -1.15144542] [ 0. 0. 0. 1. ]] SLAMing on 11.665919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.48, Z:-1.15 [[ 9.88961944e-01 -3.34306586e-02 1.44349104e-01 1.00427268e+01] [ 3.28615562e-02 9.99439895e-01 6.32567418e-03 4.80008199e-01] [-1.44479725e-01 -1.51231485e-03 9.89506605e-01 -1.14756328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:0.48, Z:-1.15 [[ 9.88961120e-01 -2.89462708e-02 1.45320395e-01 1.00751548e+01] [ 2.83324417e-02 9.99578751e-01 6.29226162e-03 4.77730880e-01] [-1.45441316e-01 -2.10552048e-03 9.89364640e-01 -1.15170839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.11, Y:0.45, Z:-1.15 [[ 0.9921814 -0.02325156 0.12261907 10.10927419] [ 0.0194395 0.99929258 0.03219396 0.44570494] [-0.12328088 -0.0295586 0.99193151 -1.14952411] [ 0. 0. 0. 1. ]] SLAMing on 11.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.49, Z:-1.17 [[ 0.98937659 -0.01628421 0.14446031 10.13515433] [ 0.0197387 0.99955169 -0.02251206 0.49367718] [-0.14402895 0.02512436 0.98925448 -1.16634655] [ 0. 0. 0. 1. ]] SLAMing on 11.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.46, Z:-1.17 [[ 9.89612245e-01 -1.49986372e-02 1.42977782e-01 1.01697909e+01] [ 1.42750204e-02 9.99879588e-01 6.08553418e-03 4.60985795e-01] [-1.43051841e-01 -3.98130837e-03 9.89707189e-01 -1.16530707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.43, Z:-1.16 [[ 9.92497561e-01 -1.22100730e-02 1.21653218e-01 1.02059352e+01] [ 8.16278636e-03 9.99398252e-01 3.37120557e-02 4.32763133e-01] [-1.21991640e-01 -3.24661038e-02 9.91999996e-01 -1.16208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.48, Z:-1.18 [[ 9.89479623e-01 -4.61096095e-03 1.44598807e-01 1.02305855e+01] [ 8.24082996e-03 9.99665517e-01 -2.45141349e-02 4.79686315e-01] [-1.44437407e-01 2.54478511e-02 9.89186657e-01 -1.18153213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.45, Z:-1.18 [[ 9.89457865e-01 -5.72820176e-03 1.44707708e-01 1.02652074e+01] [ 4.89759617e-03 9.99969429e-01 6.09547067e-03 4.48936522e-01] [-1.44738201e-01 -5.32249148e-03 9.89455671e-01 -1.17835686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:0.41, Z:-1.17 [[ 9.92305701e-01 -2.43669786e-03 1.23787956e-01 1.03033692e+01] [-2.71113716e-03 9.99138956e-01 4.14004464e-02 4.13992595e-01] [-1.23782249e-01 -4.14175051e-02 9.91444676e-01 -1.17268258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.44, Z:-1.19 [[ 9.91868405e-01 5.71740243e-03 1.27139211e-01 1.03332629e+01] [-5.98720758e-03 9.99980563e-01 1.74006690e-03 4.44591830e-01] [-1.27126791e-01 -2.48712623e-03 9.91883357e-01 -1.18629818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:0.47, Z:-1.20 [[ 9.88784191e-01 6.57614801e-03 1.49206497e-01 1.03584524e+01] [-1.89624204e-03 9.99502397e-01 -3.14859048e-02 4.72371413e-01] [-1.49339307e-01 3.08498333e-02 9.88304639e-01 -1.19853086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.40, Y:0.39, Z:-1.18 [[ 9.92679848e-01 6.47626257e-03 1.20601729e-01 1.04004527e+01] [-1.27747784e-02 9.98589940e-01 5.15260805e-02 3.89655192e-01] [-1.20097977e-01 -5.26895621e-02 9.91362843e-01 -1.17945680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:0.44, Z:-1.20 [[ 9.91808834e-01 1.49537206e-02 1.26852759e-01 1.04271967e+01] [-1.46277433e-02 9.99886880e-01 -3.50094064e-03 4.40263617e-01] [-1.26890762e-01 1.61669426e-03 9.91915380e-01 -1.19963555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:0.47, Z:-1.21 [[ 9.88762079e-01 1.53884779e-02 1.48703553e-01 1.04510145e+01] [-9.90631410e-03 9.99246134e-01 -3.75370274e-02 4.72552000e-01] [-1.49169088e-01 3.56420851e-02 9.88169128e-01 -1.21232253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:0.43, Z:-1.21 [[ 9.89136970e-01 1.42301089e-02 1.46306387e-01 1.04865784e+01] [-1.53081805e-02 9.99863319e-01 6.24527329e-03 4.32793854e-01] [-1.46197519e-01 -8.41711528e-03 9.89219610e-01 -1.20550490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.52, Y:0.43, Z:-1.21 [[ 9.89247801e-01 2.31176607e-02 1.44410395e-01 1.05189704e+01] [-2.42519103e-02 9.99687276e-01 6.09871374e-03 4.31626660e-01] [-1.44224247e-01 -9.53536710e-03 9.89499087e-01 -1.20962707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.55, Y:0.43, Z:-1.21 [[ 9.89525432e-01 2.87269401e-02 1.41471492e-01 1.05520246e+01] [-2.98631709e-02 9.99536497e-01 5.91456196e-03 4.34397884e-01] [-1.41236012e-01 -1.00773968e-02 9.89924661e-01 -1.21383356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:0.44, Z:-1.22 [[ 9.89520247e-01 3.02520910e-02 1.41189561e-01 1.05841840e+01] [-3.13947584e-02 9.99489813e-01 5.87219251e-03 4.38822791e-01] [-1.40939882e-01 -1.02432656e-02 9.89965164e-01 -1.21821556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.62, Y:0.44, Z:-1.22 [[ 9.89412904e-01 3.07196020e-02 1.41839386e-01 1.06166362e+01] [-3.18684630e-02 9.99475041e-01 5.83471985e-03 4.43175430e-01] [-1.41585686e-01 -1.02931503e-02 9.89872489e-01 -1.22387812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.65, Y:0.44, Z:-1.23 [[ 9.89402858e-01 3.10299819e-02 1.41841904e-01 1.06497385e+01] [-3.21731831e-02 9.99465637e-01 5.77289683e-03 4.44758291e-01] [-1.41586976e-01 -1.02752262e-02 9.89872491e-01 -1.22825066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:0.45, Z:-1.23 [[ 9.89211503e-01 2.93956628e-02 1.43514799e-01 1.06826268e+01] [-3.05425423e-02 9.99516672e-01 5.79437863e-03 4.47059895e-01] [-1.43275105e-01 -1.01151728e-02 9.89631208e-01 -1.23118403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.72, Y:0.45, Z:-1.23 [[ 9.89063021e-01 2.83073238e-02 1.44751638e-01 1.07156811e+01] [-2.94532480e-02 9.99549452e-01 5.77919808e-03 4.48877282e-01] [-1.44522827e-01 -9.97939701e-03 9.89451143e-01 -1.23451018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:0.45, Z:-1.24 [[ 9.88926284e-01 2.55328145e-02 1.46194665e-01 1.07481204e+01] [-2.66621849e-02 9.99627845e-01 5.77054618e-03 4.51445129e-01] [-1.45992919e-01 -9.60451397e-03 9.89239011e-01 -1.23842860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.78, Y:0.41, Z:-1.23 [[ 0.9924364 0.01810129 0.121418 10.78328118] [-0.02453295 0.99836195 0.05168715 0.41002043] [-0.12028351 -0.05427495 0.99125481 -1.22740809] [ 0. 0. 0. 1. ]] SLAMing on 12.385919999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.81, Y:0.50, Z:-1.26 [[ 0.9884704 0.02876884 0.14865602 10.80842492] [-0.02292411 0.99890095 -0.04088245 0.4973999 ] [-0.14966878 0.03700328 0.98804353 -1.25852842] [ 0. 0. 0. 1. ]] SLAMing on 12.415919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.46, Z:-1.25 [[ 9.89313093e-01 2.00127044e-02 1.44426785e-01 1.08440721e+01] [-2.10394010e-02 9.99763049e-01 5.58478437e-03 4.55938316e-01] [-1.44280796e-01 -8.56375334e-03 9.89499729e-01 -1.25356520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.88, Y:0.46, Z:-1.26 [[ 9.89338717e-01 1.95805374e-02 1.44310447e-01 1.08767030e+01] [-2.05941008e-02 9.99772609e-01 5.53290721e-03 4.57006761e-01] [-1.44169295e-01 -8.44586321e-03 9.89516994e-01 -1.25836758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.91, Y:0.45, Z:-1.26 [[ 9.89461305e-01 2.01112259e-02 1.43394088e-01 1.09096303e+01] [-2.11078309e-02 9.99762448e-01 5.43211761e-03 4.54663726e-01] [-1.43250778e-01 -8.40160835e-03 9.89650760e-01 -1.26189597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:0.45, Z:-1.27 [[ 9.89544090e-01 1.93013886e-02 1.42933380e-01 1.09425373e+01] [-2.02736997e-02 9.99780158e-01 5.34916579e-03 4.54457483e-01] [-1.42798711e-01 -8.19102381e-03 9.89717856e-01 -1.26590655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.46, Z:-1.27 [[ 9.89640514e-01 1.92527204e-02 1.42270820e-01 1.09756262e+01] [-2.02060851e-02 9.99782003e-01 5.25924498e-03 4.55563069e-01] [-1.42138550e-01 -8.07949820e-03 9.89813798e-01 -1.26970370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.46, Z:-1.27 [[ 9.89503933e-01 1.93456331e-02 1.43205143e-01 1.10077789e+01] [-2.03030243e-02 9.99780208e-01 5.22705613e-03 4.56255188e-01] [-1.43072547e-01 -8.07969009e-03 9.89679223e-01 -1.27464346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:0.46, Z:-1.28 [[ 9.89581597e-01 2.05431864e-02 1.42499969e-01 1.10402570e+01] [-2.14939419e-02 9.99755788e-01 5.13571961e-03 4.56690951e-01] [-1.42359665e-01 -8.14509967e-03 9.89781483e-01 -1.27819597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.07, Y:0.46, Z:-1.28 [[ 9.89595314e-01 2.22549608e-02 1.42147215e-01 1.10733094e+01] [-2.32094245e-02 9.99717820e-01 5.05994324e-03 4.56396941e-01] [-1.41994495e-01 -8.30645117e-03 9.89832595e-01 -1.28340472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:0.46, Z:-1.29 [[ 9.89369120e-01 2.35741973e-02 1.43502622e-01 1.11057794e+01] [-2.45562248e-02 9.99685565e-01 5.07576636e-03 4.57302402e-01] [-1.43337843e-01 -8.54568915e-03 9.89636920e-01 -1.28824117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:0.46, Z:-1.29 [[ 9.88971718e-01 2.50656670e-02 1.45967986e-01 1.11380163e+01] [-2.60881004e-02 9.99646668e-01 5.09415089e-03 4.58158901e-01] [-1.45788722e-01 -8.84599862e-03 9.89276198e-01 -1.29199868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:0.46, Z:-1.30 [[ 9.88668506e-01 2.41790822e-02 1.48155182e-01 1.11709989e+01] [-2.52125572e-02 9.99669097e-01 5.10127269e-03 4.58012185e-01] [-1.47982813e-01 -8.77883865e-03 9.88950969e-01 -1.29552894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.20, Y:0.46, Z:-1.30 [[ 9.88726347e-01 2.26399763e-02 1.48012305e-01 1.12032851e+01] [-2.36442034e-02 9.99707790e-01 5.02854225e-03 4.58789260e-01] [-1.47855209e-01 -8.47148525e-03 9.88972735e-01 -1.29905575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:0.46, Z:-1.30 [[ 9.88785810e-01 1.65020237e-02 1.48426090e-01 1.12355218e+01] [-1.74330966e-02 9.99835659e-01 4.97410428e-03 4.59660270e-01] [-1.48319615e-01 -7.50585011e-03 9.88910994e-01 -1.30398895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:0.46, Z:-1.31 [[ 9.88752116e-01 1.45258325e-02 1.48856485e-01 1.12678643e+01] [-1.54297846e-02 9.99868851e-01 4.91953495e-03 4.60137842e-01] [-1.48765503e-01 -7.16102410e-03 9.88846573e-01 -1.30914283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:0.41, Z:-1.30 [[ 9.92091095e-01 5.31931826e-03 1.25407195e-01 1.13051397e+01] [-1.23524036e-02 9.98389422e-01 5.53712931e-02 4.09870216e-01] [-1.24910680e-01 -5.64824470e-02 9.90558961e-01 -1.29722730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:0.50, Z:-1.33 [[ 9.88102250e-01 1.51445063e-02 1.53050931e-01 1.13279637e+01] [-8.04088878e-03 9.98865991e-01 -4.69262875e-02 5.03418925e-01] [-1.53588045e-01 4.51373048e-02 9.87103508e-01 -1.33270425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895919999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:11.36, Y:0.45, Z:-1.32 [[ 9.88375799e-01 7.06055778e-03 1.51866483e-01 1.13640231e+01] [-7.89743883e-03 9.99956769e-01 4.90815913e-03 4.53113124e-01] [-1.51825263e-01 -6.05046196e-03 9.88388831e-01 -1.32298916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.40, Y:0.41, Z:-1.31 [[ 9.91781878e-01 1.38196398e-03 1.27932784e-01 1.14018777e+01] [-7.02879307e-03 9.99020056e-01 4.36981021e-02 4.10989915e-01] [-1.27747028e-01 -4.42381988e-02 9.90819700e-01 -1.31312546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:0.48, Z:-1.34 [[ 9.88007673e-01 6.55192531e-03 1.54265716e-01 1.14244992e+01] [-1.02290511e-03 9.99355115e-01 -3.58930172e-02 4.81245008e-01] [-1.54401400e-01 3.53047772e-02 9.87377223e-01 -1.34173912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:0.38, Z:-1.31 [[ 9.91828755e-01 -7.58664467e-03 1.27350556e-01 1.14644075e+01] [-1.13168328e-03 9.97667763e-01 6.82477338e-02 3.77269801e-01] [-1.27571315e-01 -6.78341854e-02 9.89506990e-01 -1.31098174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:0.49, Z:-1.36 [[ 9.87937704e-01 7.32226031e-03 1.54678627e-01 1.14861269e+01] [ 1.79858767e-03 9.98271439e-01 -5.87443533e-02 4.94545240e-01] [-1.54841397e-01 5.83139646e-02 9.86216824e-01 -1.35704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.52, Y:0.43, Z:-1.34 [[ 9.88421502e-01 -1.27506937e-03 1.51727743e-01 1.15229286e+01] [ 5.50188752e-04 9.99988235e-01 4.81939536e-03 4.28527630e-01] [-1.51732103e-01 -4.68011510e-03 9.88410575e-01 -1.34409660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075919999999998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:11.56, Y:0.42, Z:-1.35 [[ 9.88472495e-01 -1.10382937e-03 1.51396526e-01 1.15555271e+01] [ 3.91312369e-04 9.99988708e-01 4.73600956e-03 4.24319516e-01] [-1.51400044e-01 -4.62217185e-03 9.88461766e-01 -1.34880828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.59, Y:0.42, Z:-1.35 [[ 9.88235919e-01 2.44133053e-03 1.52917650e-01 1.15888427e+01] [-3.19903986e-03 9.99983795e-01 4.70916948e-03 4.15616830e-01] [-1.52903675e-01 -5.14296009e-03 9.88227715e-01 -1.35172795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.62, Y:0.41, Z:-1.36 [[ 9.88007784e-01 5.71358226e-03 1.54298328e-01 1.16212867e+01] [-6.51321856e-03 9.99967850e-01 4.67738100e-03 4.13866047e-01] [-1.54266643e-01 -5.62626758e-03 9.88013233e-01 -1.35545468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.65, Y:0.41, Z:-1.36 [[ 9.88036371e-01 9.84917933e-03 1.53906215e-01 1.16533796e+01] [-1.06830952e-02 9.99932389e-01 4.59223291e-03 4.12309300e-01] [-1.53850580e-01 -6.18148789e-03 9.88074789e-01 -1.36041294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:0.41, Z:-1.36 [[ 9.88137495e-01 1.98856418e-02 1.52278864e-01 1.16865006e+01] [-2.08091048e-02 9.99773462e-01 4.47284451e-03 4.07462437e-01] [-1.52155422e-01 -7.58857221e-03 9.88327446e-01 -1.36390255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:0.41, Z:-1.37 [[ 9.88048004e-01 2.48983382e-02 1.52122365e-01 1.17192146e+01] [-2.58678398e-02 9.99655701e-01 4.39712958e-03 4.06267282e-01] [-1.51960508e-01 -8.27965207e-03 9.88351886e-01 -1.36841610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:0.41, Z:-1.37 [[ 9.87920303e-01 3.53659134e-02 1.50873216e-01 1.17521636e+01] [-3.64297637e-02 9.99326998e-01 4.29228656e-03 4.05411473e-01] [-1.50619877e-01 -9.73671265e-03 9.88543802e-01 -1.37307996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.78, Y:0.41, Z:-1.38 [[ 9.87612832e-01 4.05034342e-02 1.51592763e-01 1.17841621e+01] [-4.16268603e-02 9.99124216e-01 4.24333895e-03 4.06482284e-01] [-1.51288131e-01 -1.05011068e-02 9.88433927e-01 -1.37796120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.82, Y:0.41, Z:-1.38 [[ 9.87537373e-01 4.50571184e-02 1.50797195e-01 1.18169750e+01] [-4.62109027e-02 9.98923069e-01 4.15391286e-03 4.08591749e-01] [-1.50447633e-01 -1.10706187e-02 9.88555993e-01 -1.38280535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:0.41, Z:-1.39 [[ 9.87347481e-01 5.13782467e-02 1.50017421e-01 1.18498150e+01] [-5.25822352e-02 9.98608314e-01 4.06748220e-03 4.14304187e-01] [-1.49599664e-01 -1.19042696e-02 9.88674986e-01 -1.38752169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.88, Y:0.42, Z:-1.39 [[ 9.87239940e-01 5.31773611e-02 1.50098200e-01 1.18823640e+01] [-5.43934650e-02 9.98511546e-01 4.00532501e-03 4.17499033e-01] [-1.49661793e-01 -1.21185780e-02 9.88662980e-01 -1.39160960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:0.42, Z:-1.40 [[ 9.87341116e-01 5.75638313e-02 1.47796906e-01 1.19150181e+01] [-5.87816366e-02 9.98263319e-01 3.88144391e-03 4.23735781e-01] [-1.47316799e-01 -1.25200532e-02 9.89010116e-01 -1.39722137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.95, Y:0.43, Z:-1.40 [[ 9.87153174e-01 6.01015112e-02 1.48041948e-01 1.19475483e+01] [-6.13420965e-02 9.98109474e-01 3.82430518e-03 4.29852033e-01] [-1.47532225e-01 -1.28563785e-02 9.88973688e-01 -1.40139612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.98, Y:0.44, Z:-1.40 [[ 9.86632532e-01 6.57479534e-02 1.49108863e-01 1.19795129e+01] [-6.70608291e-02 9.97741696e-01 3.78864903e-03 4.43109432e-01] [-1.48523034e-01 -1.37373684e-02 9.88813528e-01 -1.40439912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.01, Y:0.45, Z:-1.41 [[ 9.86478294e-01 6.78826369e-02 1.49172799e-01 1.20122776e+01] [-6.92113238e-02 9.97595056e-01 3.72779514e-03 4.49729502e-01] [-1.48560994e-01 -1.40018359e-02 9.88804116e-01 -1.40823959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:0.46, Z:-1.41 [[ 9.86310005e-01 6.90389058e-02 1.49753808e-01 1.20449819e+01] [-7.03817828e-02 9.97513341e-01 3.67955259e-03 4.56430776e-01] [-1.49127389e-01 -1.41691195e-02 9.88716470e-01 -1.41196367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:0.47, Z:-1.42 [[ 9.86483460e-01 6.79432994e-02 1.49111003e-01 1.20770572e+01] [-6.92528239e-02 9.97592640e-01 3.60154454e-03 4.71775187e-01] [-1.48507338e-01 -1.38792221e-02 9.88813904e-01 -1.41679977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:0.48, Z:-1.42 [[ 9.86602900e-01 6.67844955e-02 1.48844040e-01 1.21097972e+01] [-6.80672957e-02 9.97674468e-01 3.53527940e-03 4.79132465e-01] [-1.48261797e-01 -1.36193282e-02 9.88854364e-01 -1.42129161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:0.49, Z:-1.43 [[ 9.86695407e-01 6.08279630e-02 1.50771787e-01 1.21419597e+01] [-6.20695529e-02 9.98065555e-01 3.53811671e-03 4.89288390e-01] [-1.50264911e-01 -1.28493810e-02 9.88562264e-01 -1.42530700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.17, Y:0.49, Z:-1.43 [[ 9.86658403e-01 5.75446985e-02 1.52295119e-01 1.21739840e+01] [-5.87681365e-02 9.98265381e-01 3.54046397e-03 4.94736409e-01] [-1.51827210e-01 -1.24433289e-02 9.88328722e-01 -1.42939077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.50, Z:-1.43 [[ 9.86744635e-01 5.48247230e-02 1.52739239e-01 1.22063166e+01] [-5.60129075e-02 9.98423967e-01 3.48383617e-03 5.00554336e-01] [-1.52307517e-01 -1.19930255e-02 9.88260385e-01 -1.43408895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:0.51, Z:-1.44 [[ 9.86947737e-01 5.00513504e-02 1.53065434e-01 1.22382656e+01] [-5.11776354e-02 9.98683695e-01 3.42457385e-03 5.10846076e-01] [-1.52692548e-01 -1.12134024e-02 9.88210122e-01 -1.44071082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:0.51, Z:-1.45 [[ 9.87203432e-01 4.76805186e-02 1.52170797e-01 1.22710524e+01] [-4.87554017e-02 9.98805170e-01 3.33803487e-03 5.14707275e-01] [-1.51829819e-01 -1.07144678e-02 9.88348575e-01 -1.44635937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:0.52, Z:-1.45 [[ 9.87847327e-01 4.16236873e-02 1.49750216e-01 1.23034829e+01] [-4.25859449e-02 9.99087607e-01 3.22337894e-03 5.19548852e-01] [-1.49479416e-01 -9.56146072e-03 9.88718606e-01 -1.45029066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:0.52, Z:-1.45 [[ 9.87766673e-01 3.88001943e-02 1.51034909e-01 1.23358350e+01] [-3.97413140e-02 9.99204825e-01 3.21650300e-03 5.22253478e-01] [-1.50790009e-01 -9.17948022e-03 9.88523197e-01 -1.45444654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:0.53, Z:-1.46 [[ 9.87666849e-01 3.42982128e-02 1.52767235e-01 1.23680006e+01] [-3.51970383e-02 9.99375325e-01 3.18235995e-03 5.28617602e-01] [-1.52562656e-01 -8.52006564e-03 9.88257074e-01 -1.45763109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:0.53, Z:-1.46 [[ 9.87607852e-01 3.35995552e-02 1.53302968e-01 1.24009764e+01] [-3.44855708e-02 9.99400315e-01 3.12332120e-03 5.32255593e-01] [-1.53106092e-01 -8.37135690e-03 9.88174299e-01 -1.46224484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.44, Y:0.52, Z:-1.46 [[ 0.99031719 0.03474032 0.13440602 12.43759845] [-0.03722922 0.99917788 0.01604827 0.52447134] [-0.133738 -0.02089671 0.99079638 -1.4642909 ] [ 0. 0. 0. 1. ]] SLAMing on 13.915919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.56, Z:-1.48 [[ 9.87999330e-01 3.54853704e-02 1.50326686e-01 1.24634027e+01] [-3.39399759e-02 9.99341463e-01 -1.28342382e-02 5.57833927e-01] [-1.50683118e-01 7.57813467e-03 9.88553069e-01 -1.47655381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:0.55, Z:-1.48 [[ 9.88116506e-01 3.33884382e-02 1.50036605e-01 1.24966657e+01] [-3.42178588e-02 9.99410046e-01 2.94921661e-03 5.46908576e-01] [-1.49849621e-01 -8.04810098e-03 9.88676044e-01 -1.47721022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:0.55, Z:-1.48 [[ 9.88257645e-01 3.23579205e-02 1.49331149e-01 1.25291358e+01] [-3.31579908e-02 9.99446001e-01 2.87042329e-03 5.53443039e-01] [-1.49155538e-01 -7.78823861e-03 9.88783075e-01 -1.48084486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:0.56, Z:-1.49 [[ 9.88313600e-01 3.16220235e-02 1.49118328e-01 1.25620190e+01] [-3.24063345e-02 9.99470764e-01 2.83220180e-03 5.57557281e-01] [-1.48949849e-01 -7.63148196e-03 9.88815303e-01 -1.48540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:0.56, Z:-1.49 [[ 9.88177328e-01 3.17113479e-02 1.49999861e-01 1.25945957e+01] [-3.24953468e-02 9.99468026e-01 2.77791411e-03 5.63776151e-01] [-1.49831974e-01 -7.61936924e-03 9.88682115e-01 -1.49027373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.63, Y:0.57, Z:-1.49 [[ 9.88178147e-01 3.14954573e-02 1.50039949e-01 1.26274557e+01] [-3.22666275e-02 9.99475630e-01 2.70750641e-03 5.66994732e-01] [-1.49875999e-01 -7.51678181e-03 9.88676228e-01 -1.49453308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:0.57, Z:-1.50 [[ 9.88146829e-01 3.05014794e-02 1.50451004e-01 1.26595225e+01] [-3.12547626e-02 9.99507953e-01 2.64420494e-03 5.72627596e-01] [-1.50296323e-01 -7.31517314e-03 9.88613931e-01 -1.49872171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.57, Z:-1.50 [[ 9.88140062e-01 3.07143473e-02 1.50452143e-01 1.26926662e+01] [-3.14599877e-02 9.99501688e-01 2.57777814e-03 5.73334635e-01] [-1.50297997e-01 -7.28042844e-03 9.88613933e-01 -1.50326117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.54, Z:-1.50 [[ 0.9917461 0.02996059 0.12466772 12.73190397] [-0.03568277 0.99839751 0.04392213 0.53807326] [-0.12315201 -0.04800809 0.99122591 -1.49757642] [ 0. 0. 0. 1. ]] SLAMing on 14.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.75, Y:0.62, Z:-1.52 [[ 0.98775893 0.03382587 0.15227645 12.75366605] [-0.02769015 0.99872389 -0.04223573 0.61907912] [-0.15351079 0.03750216 0.98743507 -1.52054578] [ 0. 0. 0. 1. ]] SLAMing on 14.215919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.58, Z:-1.52 [[ 9.88158654e-01 2.38646398e-02 1.51568313e-01 1.27883004e+01] [-2.45466390e-02 9.99695227e-01 2.62988519e-03 5.78788622e-01] [-1.51459358e-01 -6.31923648e-03 9.88443286e-01 -1.51669438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.58, Z:-1.52 [[ 9.87857547e-01 2.27297220e-02 1.53690683e-01 1.28205657e+01] [-2.34117893e-02 9.99722449e-01 2.62930341e-03 5.80838175e-01] [-1.53588263e-01 -6.19555111e-03 9.88115510e-01 -1.52051903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.85, Y:0.58, Z:-1.53 [[ 9.87841827e-01 2.11070584e-02 1.54022783e-01 1.28525984e+01] [-2.17609019e-02 9.99759925e-01 2.56025734e-03 5.83759262e-01] [-1.53931767e-01 -5.88080395e-03 9.88063979e-01 -1.52537863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:0.58, Z:-1.53 [[ 9.87962883e-01 2.06818534e-02 1.53302324e-01 1.28852066e+01] [-2.13130057e-02 9.99769790e-01 2.47462862e-03 5.84944786e-01] [-1.53215852e-01 -5.71217452e-03 9.88176236e-01 -1.53095323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.58, Z:-1.54 [[ 9.88268467e-01 1.78448434e-02 1.51680578e-01 1.29177556e+01] [-1.84181912e-02 9.99827548e-01 2.37572670e-03 5.83992655e-01] [-1.51612026e-01 -5.14153768e-03 9.88426709e-01 -1.53683289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.95, Y:0.58, Z:-1.54 [[ 9.88295480e-01 1.71567333e-02 1.51583942e-01 1.29503517e+01] [-1.77100178e-02 9.99840519e-01 2.30059602e-03 5.83769469e-01] [-1.51520296e-01 -4.95822295e-03 9.88441711e-01 -1.54155288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.58, Z:-1.55 [[ 9.88331431e-01 1.50318718e-02 1.51575146e-01 1.29825854e+01] [-1.55489451e-02 9.99876629e-01 2.22657809e-03 5.83699524e-01] [-1.51522977e-01 -4.55743074e-03 9.88443229e-01 -1.54559387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.02, Y:0.58, Z:-1.55 [[ 9.88031000e-01 1.00102256e-02 1.53930303e-01 1.30156087e+01] [-1.04712644e-02 9.99942788e-01 2.18463142e-03 5.82071291e-01] [-1.53899628e-01 -3.77032848e-03 9.88079293e-01 -1.54951516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:0.58, Z:-1.55 [[ 9.87918215e-01 6.64991915e-03 1.54833392e-01 1.30478570e+01] [-7.06336370e-03 9.99972806e-01 2.12026193e-03 5.77220424e-01] [-1.54815082e-01 -3.18828995e-03 9.87938320e-01 -1.55339797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.08, Y:0.58, Z:-1.56 [[ 9.87919966e-01 6.08356888e-03 1.54845509e-01 1.30804982e+01] [-6.47801603e-03 9.99976931e-01 2.04289318e-03 5.75494314e-01] [-1.54829509e-01 -3.02130664e-03 9.87936584e-01 -1.55772226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:0.57, Z:-1.56 [[ 9.87890441e-01 5.66076885e-03 1.55049771e-01 1.31126891e+01] [-6.03879042e-03 9.99979831e-01 1.96716608e-03 5.74550984e-01] [-1.55035508e-01 -2.87965764e-03 9.87904701e-01 -1.56198404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:0.57, Z:-1.57 [[ 9.87936000e-01 7.07206742e-03 1.54701147e-01 1.31448290e+01] [-7.45335993e-03 9.99970447e-01 1.88482239e-03 5.70761114e-01] [-1.54683245e-01 -3.01512723e-03 9.87959515e-01 -1.56801967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.18, Y:0.57, Z:-1.57 [[ 9.87918630e-01 8.33603809e-03 1.54749125e-01 1.31776211e+01] [-8.72071032e-03 9.99960341e-01 1.80708421e-03 5.67277962e-01] [-1.54727924e-01 -3.13477444e-03 9.87952146e-01 -1.57278108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.21, Y:0.56, Z:-1.58 [[ 9.87861193e-01 1.07918805e-02 1.54963864e-01 1.32101601e+01] [-1.11952411e-02 9.99935834e-01 1.73044328e-03 5.60984693e-01] [-1.54935246e-01 -3.44429558e-03 9.87918623e-01 -1.57745719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.56, Z:-1.58 [[ 9.87883401e-01 1.18619827e-02 1.54743917e-01 1.32423071e+01] [-1.22650946e-02 9.99923419e-01 1.65052714e-03 5.58958467e-01] [-1.54712488e-01 -3.52847715e-03 9.87953236e-01 -1.58214786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.56, Z:-1.59 [[ 9.88139320e-01 1.32501098e-02 1.52987319e-01 1.32744331e+01] [-1.36487542e-02 9.99905641e-01 1.55575798e-03 5.56814408e-01] [-1.52952269e-01 -3.62539194e-03 9.88226927e-01 -1.58733856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:0.55, Z:-1.59 [[ 9.88218959e-01 1.27386909e-02 1.52515621e-01 1.33073646e+01] [-1.31171258e-02 9.99912878e-01 1.47533277e-03 5.50178139e-01] [-1.52483540e-01 -3.45851840e-03 9.88299959e-01 -1.59156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.34, Y:0.55, Z:-1.60 [[ 9.88155904e-01 1.22368821e-02 1.52964600e-01 1.33399805e+01] [-1.25998845e-02 9.99919633e-01 1.40393030e-03 5.47248803e-01] [-1.52935126e-01 -3.31463830e-03 9.88230672e-01 -1.59542226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.37, Y:0.54, Z:-1.60 [[ 9.88041726e-01 1.20009055e-02 1.53718981e-01 1.33720498e+01] [-1.23527997e-02 9.99922811e-01 1.33426846e-03 5.41499787e-01] [-1.53691103e-01 -3.21717269e-03 9.88113705e-01 -1.60113269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.54, Z:-1.61 [[ 9.88072899e-01 1.23978447e-02 1.53486939e-01 1.34043717e+01] [-1.27415593e-02 9.99918034e-01 1.25587803e-03 5.38787287e-01] [-1.53458788e-01 -3.19656198e-03 9.88149878e-01 -1.60658720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:0.53, Z:-1.61 [[ 9.88200868e-01 1.27346116e-02 1.52633136e-01 1.34366023e+01] [-1.30667690e-02 9.99913938e-01 1.17325029e-03 5.32573211e-01] [-1.52605059e-01 -3.15382889e-03 9.88282221e-01 -1.61112721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.53, Z:-1.61 [[ 9.88037965e-01 1.34671332e-02 1.53621666e-01 1.34697407e+01] [-1.38005172e-02 9.99904159e-01 1.10396135e-03 5.29879335e-01] [-1.53592076e-01 -3.21081417e-03 9.88129124e-01 -1.61450550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.50, Y:0.53, Z:-1.62 [[ 9.87923599e-01 1.39752030e-02 1.54310260e-01 1.35025015e+01] [-1.43057895e-02 9.99897134e-01 1.03208703e-03 5.27318395e-01] [-1.54279963e-01 -3.22715322e-03 9.88021902e-01 -1.61744509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.53, Y:0.52, Z:-1.62 [[ 9.87516642e-01 1.47748935e-02 1.56820230e-01 1.35346295e+01] [-1.51139479e-02 9.99885308e-01 9.69748117e-04 5.21565500e-01] [-1.56787916e-01 -3.32781519e-03 9.87626688e-01 -1.62172005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.57, Y:0.52, Z:-1.63 [[ 9.87448739e-01 1.46344030e-02 1.57260366e-01 1.35675315e+01] [-1.49610560e-02 9.99887678e-01 8.93528781e-04 5.18709200e-01] [-1.57229625e-01 -3.23509501e-03 9.87556773e-01 -1.62606735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.51, Z:-1.63 [[ 9.87252380e-01 1.25109341e-02 1.58670142e-01 1.35999889e+01] [-1.28035929e-02 9.99917693e-01 8.22291696e-04 5.10118697e-01] [-1.58646795e-01 -2.84335733e-03 9.87331307e-01 -1.63200288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.51, Z:-1.64 [[ 9.87439735e-01 1.11671567e-02 1.57600963e-01 1.36324976e+01] [-1.14263520e-02 9.99934444e-01 7.38633873e-04 5.05933980e-01] [-1.57582383e-01 -2.53016052e-03 9.87502603e-01 -1.63656101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:0.50, Z:-1.64 [[ 9.87672334e-01 1.06319798e-02 1.56174012e-01 1.36651421e+01] [-1.08676071e-02 9.99940731e-01 6.54943952e-04 5.02324321e-01] [-1.56157792e-01 -2.34410782e-03 9.87729340e-01 -1.64068756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.70, Y:0.49, Z:-1.65 [[ 9.87557102e-01 9.05860529e-03 1.56999717e-01 1.36977895e+01] [-9.26455687e-03 9.99956915e-01 5.80026075e-04 4.94129130e-01] [-1.56987698e-01 -2.02734168e-03 9.87598477e-01 -1.64531577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:0.48, Z:-1.65 [[ 9.87476260e-01 7.43083470e-03 1.57592570e-01 1.37302057e+01] [-7.60607388e-03 9.99970944e-01 5.08898363e-04 4.83058768e-01] [-1.57584210e-01 -1.70118578e-03 9.87504088e-01 -1.65028784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.76, Y:0.48, Z:-1.65 [[ 9.87575558e-01 7.62779492e-03 1.56959658e-01 1.37626406e+01] [-7.79770613e-03 9.99969488e-01 4.66755589e-04 4.77953689e-01] [-1.56951309e-01 -1.68488170e-03 9.87604905e-01 -1.65404120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:0.47, Z:-1.66 [[ 9.87683204e-01 8.36614043e-03 1.56243066e-01 1.37954040e+01] [-8.53122539e-03 9.99963534e-01 3.86018268e-04 4.73202567e-01] [-1.56234139e-01 -1.71420857e-03 9.87718561e-01 -1.65953251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.83, Y:0.46, Z:-1.67 [[ 9.88557626e-01 1.00442666e-02 1.50508912e-01 1.38276602e+01] [-1.02059865e-02 9.99947872e-01 3.02060208e-04 4.64339451e-01] [-1.50498033e-01 -1.83469584e-03 9.88608606e-01 -1.66557554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.46, Z:-1.67 [[ 9.88718008e-01 1.15302689e-02 1.49344415e-01 1.38604157e+01] [-1.17008470e-02 9.99931508e-01 2.63544831e-04 4.60465764e-01] [-1.49331147e-01 -2.00802767e-03 9.88785202e-01 -1.67084229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235919999999998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:13.89, Y:0.45, Z:-1.67 [[ 9.88497186e-01 1.50905347e-02 1.50484512e-01 1.38930989e+01] [-1.52931521e-02 9.99883035e-01 1.89176946e-04 4.54138476e-01] [-1.50464056e-01 -2.48838341e-03 9.88612349e-01 -1.67454836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.93, Y:0.45, Z:-1.68 [[ 9.88334268e-01 1.70264698e-02 1.51345543e-01 1.39260448e+01] [-1.72423887e-02 9.99851332e-01 1.14341635e-04 4.50717864e-01] [-1.51321096e-01 -2.72256644e-03 9.88480912e-01 -1.67655840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295919999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.96, Y:0.45, Z:-1.68 [[ 9.88039316e-01 1.97780100e-02 1.52928545e-01 1.39589735e+01] [-2.00194788e-02 9.99799589e-01 3.91415591e-05 4.47080565e-01] [-1.52897122e-01 -3.10022316e-03 9.88237248e-01 -1.68013470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:13.99, Y:0.44, Z:-1.68 [[ 9.87791132e-01 2.52116877e-02 1.53730446e-01 1.39921033e+01] [-2.55093141e-02 9.99674584e-01 -3.64869115e-05 4.39008735e-01] [-1.53681339e-01 -3.88551679e-03 9.88112822e-01 -1.68236976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35592 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:14.02, Y:0.44, Z:-1.69 [[ 9.87808132e-01 2.86217139e-02 1.53022518e-01 1.40246680e+01] [-2.89457778e-02 9.99580977e-01 -1.10088626e-04 4.36413900e-01] [-1.52961549e-01 -4.32060937e-03 9.88222696e-01 -1.68771845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:14.06, Y:0.43, Z:-1.69 [[ 9.87565226e-01 3.35172813e-02 1.53595298e-01 1.40574042e+01] [-3.38910857e-02 9.99425515e-01 -1.84696041e-04 4.33159427e-01] [-1.53513251e-01 -5.02311203e-03 9.88133822e-01 -1.69333853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415919999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:14.09, Y:0.43, Z:-1.70 [[ 9.87358943e-01 3.57964619e-02 1.54405084e-01 1.40900654e+01] [-3.61903531e-02 9.99344881e-01 -2.59979768e-04 4.32326501e-01] [-1.54313237e-01 -5.33128116e-03 9.88007592e-01 -1.69724944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.12, Y:0.43, Z:-1.70 [[ 9.87154769e-01 4.03171644e-02 1.54596208e-01 1.41226062e+01] [-4.07554923e-02 9.99169094e-01 -3.34329473e-04 4.30760287e-01] [-1.54481232e-01 -5.97060964e-03 9.87977682e-01 -1.70127689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475919999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:14.16, Y:0.40, Z:-1.69 [[ 0.99015368 0.04147592 0.13369902 14.15891244] [-0.04639798 0.9983473 0.03391014 0.39915057] [-0.1320716 -0.03977961 0.99044166 -1.69169448] [ 0. 0. 0. 1. ]] SLAMing on 15.505919999999998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:14.18, Y:0.46, Z:-1.72 [[ 0.98710091 0.04790619 0.15276381 14.18353536] [-0.04276317 0.99840807 -0.03677813 0.46364179] [-0.15428252 0.02977106 0.98757814 -1.72352768] [ 0. 0. 0. 1. ]] SLAMing on 15.535919999999999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:14.22, Y:0.43, Z:-1.72 [[ 9.87800971e-01 3.96416875e-02 1.50591426e-01 1.42171592e+01] [-4.00432262e-02 9.99197881e-01 -3.66238913e-04 4.29470753e-01] [-1.50485152e-01 -5.66839537e-03 9.88596019e-01 -1.71698067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:14.25, Y:0.43, Z:-1.72 [[ 9.88012394e-01 3.78866415e-02 1.49653306e-01 1.42498760e+01] [-3.82580279e-02 9.99267815e-01 -3.97556880e-04 4.28392469e-01] [-1.49558794e-01 -5.33264923e-03 9.88738454e-01 -1.72249788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59592 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:14.28, Y:0.42, Z:-1.73 [[ 9.87495416e-01 3.45775381e-02 1.53808962e-01 1.42821968e+01] [-3.49187782e-02 9.99390037e-01 -4.83155683e-04 4.23097752e-01] [-1.53731851e-01 -4.89370702e-03 9.88100486e-01 -1.72552159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:14.32, Y:0.39, Z:-1.72 [[ 0.99063402 0.03263407 0.13258677 14.31874644] [-0.03702909 0.99883887 0.0308183 0.39251477] [-0.13142709 -0.03543923 0.99069217 -1.71587865] [ 0. 0. 0. 1. ]] SLAMing on 15.655919999999998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:14.34, Y:0.45, Z:-1.75 [[ 0.98686671 0.0324688 0.15823995 14.34477167] [-0.02756515 0.9990723 -0.03308615 0.44761478] [-0.15916742 0.02828971 0.9868462 -1.74547766] [ 0. 0. 0. 1. ]] SLAMing on 15.68592 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:14.38, Y:0.41, Z:-1.74 [[ 9.87407009e-01 2.60224149e-02 1.56045609e-01 1.43784394e+01] [-2.62516707e-02 9.99655190e-01 -5.91868458e-04 4.13455760e-01] [-1.56007205e-01 -3.51204289e-03 9.87749673e-01 -1.73772566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715919999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:14.41, Y:0.40, Z:-1.74 [[ 9.87831660e-01 2.14869295e-02 1.54035464e-01 1.44105728e+01] [-2.16439099e-02 9.99765527e-01 -6.57978338e-04 4.04022860e-01] [-1.54013485e-01 -2.68395786e-03 9.88065101e-01 -1.74305674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:14.44, Y:0.40, Z:-1.75 [[ 9.87818102e-01 2.02474431e-02 1.54290111e-01 1.44429363e+01] [-2.03781517e-02 9.99792074e-01 -7.34499082e-04 4.00276060e-01] [-1.54272902e-01 -2.41859581e-03 9.88025315e-01 -1.74800607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77592 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:14.48, Y:0.39, Z:-1.75 [[ 9.87583054e-01 1.89860263e-02 1.55946279e-01 1.44757848e+01] [-1.90917788e-02 9.99817399e-01 -8.19783498e-04 3.92893762e-01] [-1.55933367e-01 -2.16768757e-03 9.87765198e-01 -1.75283152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:14.51, Y:0.37, Z:-1.75 [[ 0.99050058 0.01759832 0.13637781 14.50991279] [-0.02088949 0.99952317 0.02273919 0.36787849] [-0.13591261 -0.02537204 0.99039589 -1.74575059] [ 0. 0. 0. 1. ]] SLAMing on 15.835919999999998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:14.54, Y:0.41, Z:-1.77 [[ 0.98722655 0.02275549 0.15768934 14.53773806] [-0.01896845 0.99949537 -0.02547955 0.40770103] [-0.15818956 0.02216297 0.98716 -1.77034103] [ 0. 0. 0. 1. ]] SLAMing on 15.86592 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:14.57, Y:0.36, Z:-1.75 [[ 0.99026562 0.02195176 0.13744859 14.57452413] [-0.02527 0.9994287 0.02244321 0.35592915] [-0.1368774 -0.02569807 0.99025461 -1.75405383] [ 0. 0. 0. 1. ]] SLAMing on 15.895919999999998 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:14.61, Y:0.37, Z:-1.77 [[ 9.90436211e-01 2.54161650e-02 1.35610218e-01 1.46050576e+01] [-2.56131982e-02 9.99671886e-01 -2.91914628e-04 3.66553749e-01] [-1.35573142e-01 -3.18428858e-03 9.90762223e-01 -1.76988289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:14.64, Y:0.37, Z:-1.78 [[ 9.90110039e-01 2.57537077e-02 1.37908870e-01 1.46358339e+01] [-2.48031379e-02 9.99655302e-01 -8.60709406e-03 3.69084174e-01] [-1.38082998e-01 5.10139753e-03 9.90407523e-01 -1.77817406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955919999999999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:14.66, Y:0.38, Z:-1.79 [[ 0.98692909 0.02237479 0.15959431 14.6643592 ] [-0.01900794 0.99956406 -0.02259193 0.37602057] [-0.16003023 0.01926307 0.98692414 -1.78866322] [ 0. 0. 0. 1. ]] SLAMing on 15.985919999999998 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:14.70, Y:0.35, Z:-1.79 [[ 9.87013891e-01 1.73708878e-02 1.59692928e-01 1.46977875e+01] [-1.74540649e-02 9.99847277e-01 -8.81881970e-04 3.45783015e-01] [-1.59683858e-01 -1.91686097e-03 9.87166344e-01 -1.78506187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01592 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:14.73, Y:0.34, Z:-1.79 [[ 9.86905485e-01 1.66001620e-02 1.60443129e-01 1.47297911e+01] [-1.66613688e-02 9.99860725e-01 -9.63915887e-04 3.39487871e-01] [-1.60436784e-01 -1.72190827e-03 9.87044616e-01 -1.78916920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:14.76, Y:0.34, Z:-1.79 [[ 9.86901827e-01 1.68207376e-02 1.60442656e-01 1.47628504e+01] [-1.68729024e-02 9.99857104e-01 -1.03735374e-03 3.39432091e-01] [-1.60437178e-01 -1.68336697e-03 9.87044618e-01 -1.79395382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07592 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:14.80, Y:0.30, Z:-1.79 [[ 0.99020491 0.01831911 0.13841479 14.79948446] [-0.02180224 0.99948158 0.0236902 0.30475414] [-0.13790905 -0.0264759 0.99009097 -1.78544563] [ 0. 0. 0. 1. ]] SLAMing on 16.105919999999998 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:14.83, Y:0.32, Z:-1.80 [[ 9.90121435e-01 2.15672379e-02 1.38543850e-01 1.48291463e+01] [-2.15394909e-02 9.99766553e-01 -1.69976071e-03 3.22838101e-01] [-1.38548166e-01 -1.30119448e-03 9.90354842e-01 -1.80295347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13592 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:14.86, Y:0.31, Z:-1.81 [[ 9.89913119e-01 2.47565136e-02 1.39495991e-01 1.48598330e+01] [-2.50460693e-02 9.99686247e-01 3.20342252e-04 3.10886435e-01] [-1.39444293e-01 -3.81093726e-03 9.90222584e-01 -1.80718532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:14.89, Y:0.34, Z:-1.83 [[ 0.98622741 0.0270111 0.16317445 14.88634181] [-0.02169565 0.99917708 -0.03427028 0.33567735] [-0.16396585 0.03025812 0.98600185 -1.82776114] [ 0. 0. 0. 1. ]] SLAMing on 16.195919999999997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:14.92, Y:0.29, Z:-1.82 [[ 9.86510845e-01 2.98338480e-02 1.60954322e-01 1.49211009e+01] [-3.00697078e-02 9.99547333e-01 -9.70774264e-04 2.92713884e-01] [-1.60910425e-01 -3.88217009e-03 9.86961379e-01 -1.81500388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:14.95, Y:0.29, Z:-1.82 [[ 9.86458966e-01 3.40089494e-02 1.60443446e-01 1.49533676e+01] [-3.42862560e-02 9.99411512e-01 -1.04055935e-03 2.88089818e-01] [-1.60384415e-01 -4.47453596e-03 9.87044486e-01 -1.81997743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25592 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:14.99, Y:0.28, Z:-1.83 [[ 9.86369256e-01 3.88965416e-02 1.59883552e-01 1.49851772e+01] [-3.92295105e-02 9.99229649e-01 -1.07449768e-03 2.84812178e-01] [-1.59802179e-01 -5.21230200e-03 9.87135297e-01 -1.82529084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:15.02, Y:0.27, Z:-1.82 [[ 9.88785447e-01 5.00846998e-02 1.40694217e-01 1.50224912e+01] [-5.23908804e-02 9.98545473e-01 1.27332166e-02 2.68673578e-01] [-1.39851834e-01 -1.99615131e-02 9.89971213e-01 -1.82159844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31592 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:15.05, Y:0.28, Z:-1.83 [[ 9.88390559e-01 5.61704881e-02 1.41170039e-01 1.50535918e+01] [-5.70017794e-02 9.98372365e-01 1.84853346e-03 2.77497579e-01] [-1.40836433e-01 -9.87401644e-03 9.89983638e-01 -1.83081884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:15.08, Y:0.30, Z:-1.85 [[ 9.84734466e-01 6.40360045e-02 1.61856176e-01 1.50776867e+01] [-6.08486386e-02 9.97844342e-01 -2.45786922e-02 2.99618098e-01] [-1.63081191e-01 1.43547573e-02 9.86508219e-01 -1.84893870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375919999999997 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:15.12, Y:0.24, Z:-1.82 [[ 0.98831912 0.06964188 0.1355556 15.1214325 ] [-0.07581903 0.99628051 0.04094666 0.23996351] [-0.1321998 -0.05074606 0.98992326 -1.81875856] [ 0. 0. 0. 1. ]] SLAMing on 16.40592 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:15.14, Y:0.32, Z:-1.87 [[ 0.98444195 0.07877502 0.15706223 15.13957204] [-0.07225553 0.99628736 -0.04680428 0.32205637] [-0.16016613 0.03472748 0.986479 -1.86897682] [ 0. 0. 0. 1. ]] SLAMing on 16.43592 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:15.18, Y:0.28, Z:-1.85 [[ 9.86568200e-01 7.76478503e-02 1.43714992e-01 1.51798130e+01] [-7.86035570e-02 9.96905477e-01 9.75559753e-04 2.81035242e-01] [-1.43194513e-01 -1.22589658e-02 9.89618638e-01 -1.84951764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:15.21, Y:0.29, Z:-1.86 [[ 9.86298757e-01 7.99057421e-02 1.44325449e-01 1.52119141e+01] [-8.03501597e-02 9.96762888e-01 -2.75637882e-03 2.86784741e-01] [-1.44078502e-01 -8.87795988e-03 9.89526436e-01 -1.85628686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495919999999998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:15.25, Y:0.28, Z:-1.86 [[ 9.86329287e-01 7.43463309e-02 1.47061757e-01 1.52475347e+01] [-7.64151844e-02 9.97040187e-01 8.46076234e-03 2.75665639e-01] [-1.45997455e-01 -1.95828490e-02 9.89091126e-01 -1.85752845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:15.27, Y:0.31, Z:-1.88 [[ 9.84993361e-01 8.30820326e-02 1.51279391e-01 1.52734783e+01] [-8.05895242e-02 9.96492393e-01 -2.25441623e-02 3.07532719e-01] [-1.52621777e-01 1.00143160e-02 9.88233933e-01 -1.87508186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55592 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:15.31, Y:0.28, Z:-1.87 [[ 9.85741509e-01 7.70019830e-02 1.49614079e-01 1.53092689e+01] [-7.79062481e-02 9.96960673e-01 1.83631163e-04 2.84306256e-01] [-1.49145213e-01 -1.18368844e-02 9.88744453e-01 -1.86689396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:15.35, Y:0.25, Z:-1.86 [[ 0.98756982 0.05289749 0.1480125 15.3546009 ] [-0.05820402 0.99779968 0.03175029 0.24592176] [-0.14600731 -0.03997055 0.9884757 -1.86363927] [ 0. 0. 0. 1. ]] SLAMing on 16.61592 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:15.36, Y:0.33, Z:-1.90 [[ 0.98352822 0.07159374 0.16597163 15.36417115] [-0.06416799 0.99670142 -0.04968651 0.33222018] [-0.16898141 0.03821802 0.984878 -1.89960251] [ 0. 0. 0. 1. ]] SLAMing on 16.64592 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:15.40, Y:0.29, Z:-1.88 [[ 9.83709082e-01 6.17826818e-02 1.68817483e-01 1.54001329e+01] [-6.25838881e-02 9.98039541e-01 -5.75889893e-04 2.88337658e-01] [-1.68522104e-01 -9.99874637e-03 9.85647161e-01 -1.88008282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675919999999998 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:15.44, Y:0.26, Z:-1.87 [[ 0.98661827 0.06735697 0.14848376 15.44229399] [-0.07256609 0.99691406 0.0299421 0.26090282] [-0.14600873 -0.04031631 0.98846145 -1.86973219] [ 0. 0. 0. 1. ]] SLAMing on 16.70592 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:15.47, Y:0.28, Z:-1.89 [[ 9.86991760e-01 6.91370949e-02 1.45145886e-01 1.54719749e+01] [-7.04501031e-02 9.97507604e-01 3.91945871e-03 2.83100126e-01] [-1.44513145e-01 -1.40940161e-02 9.89402501e-01 -1.88731039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73592 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:15.50, Y:0.32, Z:-1.91 [[ 0.98626146 0.07177065 0.1487861 15.4983374 ] [-0.06701789 0.9970758 -0.03672132 0.32280088] [-0.15098654 0.02624549 0.98818735 -1.91454895] [ 0. 0. 0. 1. ]] SLAMing on 16.765919999999998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:15.53, Y:0.29, Z:-1.90 [[ 9.85918037e-01 6.58899226e-02 1.53701473e-01 1.55319816e+01] [-6.56900022e-02 9.97819654e-01 -6.38446564e-03 2.93601411e-01] [-1.53787023e-01 -3.80209030e-03 9.88096704e-01 -1.90339113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79592 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:15.56, Y:0.29, Z:-1.91 [[ 9.83891587e-01 6.08358488e-02 1.68096239e-01 1.55598055e+01] [-6.04434554e-02 9.98143785e-01 -7.45476005e-03 2.91630055e-01] [-1.68237732e-01 -2.82564180e-03 9.85742401e-01 -1.90658612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:15.60, Y:0.28, Z:-1.90 [[ 9.85895337e-01 6.62731011e-02 1.53682334e-01 1.55970205e+01] [-6.84015018e-02 9.97620828e-01 8.59757696e-03 2.77287982e-01] [-1.52746909e-01 -1.89884135e-02 9.88082902e-01 -1.90381252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855919999999998 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:15.62, Y:0.30, Z:-1.92 [[ 9.83737974e-01 6.47452168e-02 1.67534044e-01 1.56221916e+01] [-6.35576521e-02 9.97900551e-01 -1.24464949e-02 2.95155947e-01] [-1.67988165e-01 1.59601919e-03 9.85787720e-01 -1.91912376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:15.66, Y:0.28, Z:-1.92 [[ 9.84063029e-01 6.43847097e-02 1.65754532e-01 1.56554315e+01] [-6.52085345e-02 9.97871547e-01 -4.72758809e-04 2.83999764e-01] [-1.65432169e-01 -1.03433856e-02 9.86166929e-01 -1.91739489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91592 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:15.70, Y:0.26, Z:-1.91 [[ 0.98644571 0.0691493 0.14880601 15.6957008 ] [-0.07410805 0.99685609 0.02803431 0.2585324 ] [-0.14639962 -0.03868205 0.98846894 -1.90737975] [ 0. 0. 0. 1. ]] SLAMing on 16.945919999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.72, Y:0.32, Z:-1.94 [[ 0.98339053 0.07366347 0.16588177 15.71658307] [-0.06907081 0.997056 -0.03329494 0.31510994] [-0.16784604 0.02128434 0.98558342 -1.94322639] [ 0. 0. 0. 1. ]] SLAMing on 16.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.28, Z:-1.93 [[ 9.83433647e-01 6.89695773e-02 1.67634897e-01 1.57518641e+01] [-6.98523521e-02 9.97557141e-01 -6.31974523e-04 2.83224636e-01] [-1.67268975e-01 -1.10881868e-02 9.85848945e-01 -1.93153670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.28, Z:-1.94 [[ 9.83399329e-01 6.92641412e-02 1.67714754e-01 1.57840246e+01] [-7.01398096e-02 9.97536922e-01 -7.04151098e-04 2.82449502e-01] [-1.67350432e-01 -1.10710192e-02 9.85835314e-01 -1.93759646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.82, Y:0.28, Z:-1.94 [[ 9.83580182e-01 7.09092888e-02 1.65957520e-01 1.58160200e+01] [-7.17775874e-02 9.97420367e-01 -7.67403640e-04 2.81641682e-01] [-1.65583827e-01 -1.11572274e-02 9.86132604e-01 -1.94296800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.85, Y:0.28, Z:-1.95 [[ 9.85341003e-01 7.57866149e-02 1.52838139e-01 1.58522993e+01] [-7.74398152e-02 9.96985065e-01 4.88426528e-03 2.79429488e-01] [-1.52007180e-01 -1.66484241e-02 9.88239165e-01 -1.94570746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.29, Z:-1.96 [[ 9.83263637e-01 7.61385259e-02 1.65515999e-01 1.58796233e+01] [-7.57153642e-02 9.97089983e-01 -8.87404943e-03 2.92416049e-01] [-1.65710001e-01 -3.80657401e-03 9.86167179e-01 -1.95718912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.91, Y:0.29, Z:-1.96 [[ 9.82907770e-01 8.06838505e-02 1.65476378e-01 1.59123656e+01] [-8.16632893e-02 9.96659581e-01 -8.87444012e-04 2.90441077e-01] [-1.64995220e-01 -1.26410697e-02 9.86213355e-01 -1.95800069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:15.94, Y:0.29, Z:-1.96 [[ 9.82228956e-01 8.78667274e-02 1.65848476e-01 1.59445924e+01] [-8.89398669e-02 9.96036535e-01 -9.59659508e-04 2.94079631e-01] [-1.65275463e-01 -1.38079360e-02 9.86150781e-01 -1.96305708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.98, Y:0.29, Z:-1.96 [[ 9.83660705e-01 9.41262131e-02 1.53466194e-01 1.59826449e+01] [-9.65284922e-02 9.95295936e-01 8.26141165e-03 2.88769105e-01] [-1.51966663e-01 -2.29402863e-02 9.88119363e-01 -1.96442939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.31, Z:-1.98 [[ 9.81498038e-01 9.57542839e-02 1.65809286e-01 1.60084308e+01] [-9.48847744e-02 9.95401062e-01 -1.31759564e-02 3.09098087e-01] [-1.66308394e-01 -2.80060142e-03 9.86069812e-01 -1.97980094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:0.30, Z:-1.98 [[ 9.81002786e-01 1.00199487e-01 1.66113206e-01 1.60421287e+01] [-1.01427820e-01 9.94842299e-01 -1.09391639e-03 3.01296694e-01] [-1.65366054e-01 -1.57753654e-02 9.86106083e-01 -1.97807340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.07, Y:0.31, Z:-1.98 [[ 9.80462829e-01 1.04794639e-01 1.66465387e-01 1.60744780e+01] [-1.06081718e-01 9.94356732e-01 -1.16584612e-03 3.05635832e-01] [-1.65648153e-01 -1.65158655e-02 9.86046609e-01 -1.98240078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.11, Y:0.31, Z:-1.99 [[ 9.80473813e-01 1.06236322e-01 1.65483976e-01 1.61069005e+01] [-1.07516842e-01 9.94202507e-01 -1.22651937e-03 3.08971571e-01] [-1.64654884e-01 -1.65897444e-02 9.86211716e-01 -1.98784782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.31, Z:-1.99 [[ 9.80456943e-01 1.08414264e-01 1.64166164e-01 1.61389633e+01] [-1.09693681e-01 9.93964617e-01 -1.27925770e-03 3.12506455e-01] [-1.63314048e-01 -1.67537338e-02 9.86431870e-01 -1.99324439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:16.17, Y:0.32, Z:-2.00 [[ 9.79867752e-01 1.13308464e-01 1.64378774e-01 1.61718621e+01] [-1.14653422e-01 9.93404684e-01 -1.31384233e-03 3.18754926e-01] [-1.63443514e-01 -1.75591973e-02 9.86396417e-01 -1.99662420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.32, Z:-2.00 [[ 9.79407350e-01 1.16026317e-01 1.65224503e-01 1.62041913e+01] [-1.17412056e-01 9.93082313e-01 -1.38872974e-03 3.22339501e-01] [-1.64242661e-01 -1.80392165e-02 9.86255005e-01 -2.00080979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:0.33, Z:-2.01 [[ 9.78859063e-01 1.18816223e-01 1.66486157e-01 1.62368226e+01] [-1.20251907e-01 9.92742327e-01 -1.46693399e-03 3.33601521e-01] [-1.65452151e-01 -1.85843563e-02 9.86042701e-01 -2.00721922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:0.34, Z:-2.01 [[ 9.78791218e-01 1.19972756e-01 1.66055080e-01 1.62696593e+01] [-1.21406184e-01 9.92601733e-01 -1.52876503e-03 3.38747691e-01] [-1.65009970e-01 -1.86637718e-02 9.86115294e-01 -2.01301552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:16.32, Y:0.30, Z:-1.99 [[ 0.98045451 0.12824003 0.14920942 16.31691143] [-0.13729253 0.9891648 0.05199776 0.29654707] [-0.14092451 -0.07146677 0.98743748 -1.98954337] [ 0. 0. 0. 1. ]] SLAMing on 17.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.41, Z:-2.05 [[ 0.9777971 0.12937224 0.1648504 16.33159762] [-0.12064929 0.9907625 -0.06191451 0.41023424] [-0.17133762 0.04065075 0.98437337 -2.04630801] [ 0. 0. 0. 1. ]] SLAMing on 17.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.36, Z:-2.03 [[ 9.78891854e-01 1.18973354e-01 1.66180862e-01 1.63672665e+01] [-1.20382436e-01 9.92726294e-01 -1.60421929e-03 3.60589436e-01] [-1.65162971e-01 -1.84348998e-02 9.86093985e-01 -2.02557497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.38, Z:-2.03 [[ 9.79740730e-01 1.13057241e-01 1.65306268e-01 1.63999560e+01] [-1.14363009e-01 9.93437693e-01 -1.62865315e-03 3.76523164e-01] [-1.64405608e-01 -1.73092644e-02 9.86240937e-01 -2.03263638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:0.38, Z:-2.04 [[ 9.82248505e-01 1.04921192e-01 1.55497327e-01 1.64370521e+01] [-1.06941415e-01 9.94254401e-01 4.66045382e-03 3.81011945e-01] [-1.54114921e-01 -2.12068280e-02 9.87825319e-01 -2.03549434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.40, Z:-2.04 [[ 9.80573988e-01 9.67336228e-02 1.70637803e-01 1.64630320e+01] [-9.63174321e-02 9.95292770e-01 -1.07356446e-02 3.95888477e-01] [-1.70873069e-01 -5.90830119e-03 9.85275335e-01 -2.04448590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:0.39, Z:-2.05 [[ 9.81012434e-01 8.89252592e-02 1.72356902e-01 1.64962270e+01] [-8.99659929e-02 9.95943248e-01 -1.77975879e-03 3.89717252e-01] [-1.71815958e-01 -1.37602943e-02 9.85032959e-01 -2.04551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.39, Z:-2.05 [[ 9.82031812e-01 7.74701261e-02 1.72081083e-01 1.65284717e+01] [-7.83209365e-02 9.96926481e-01 -1.85011037e-03 3.92433324e-01] [-1.71695517e-01 -1.16606844e-02 9.85081051e-01 -2.05211061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.39, Z:-2.06 [[ 9.82629765e-01 7.14663632e-02 1.71263841e-01 1.65603677e+01] [-7.22069807e-02 9.97387842e-01 -1.90906208e-03 3.92817843e-01] [-1.70952907e-01 -1.04905437e-02 9.85223351e-01 -2.05849068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.39, Z:-2.06 [[ 9.82905676e-01 6.60013151e-02 1.71872797e-01 1.65927079e+01] [-6.66579175e-02 9.97773973e-01 -1.95463700e-03 3.93183194e-01] [-1.71619212e-01 -9.53545893e-03 9.85117212e-01 -2.06363221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:0.39, Z:-2.07 [[ 9.83227284e-01 5.58696451e-02 1.73616506e-01 1.66252496e+01] [-5.63697962e-02 9.98407849e-01 -2.05263074e-03 3.91679446e-01] [-1.73454762e-01 -7.76852452e-03 9.84811198e-01 -2.06844928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:0.39, Z:-2.07 [[ 9.83446821e-01 5.16097772e-02 1.73691627e-01 1.66576385e+01] [-5.20318053e-02 9.98643166e-01 -2.12582318e-03 3.88933695e-01] [-1.73565669e-01 -6.94685486e-03 9.84797796e-01 -2.07200166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.69, Y:0.38, Z:-2.08 [[ 9.83661998e-01 4.53622274e-02 1.74216363e-01 1.66901725e+01] [-4.56835796e-02 9.98953609e-01 -2.16718820e-03 3.83816971e-01] [-1.74132373e-01 -5.82704642e-03 9.84705013e-01 -2.07685928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.38, Z:-2.08 [[ 9.83807735e-01 4.37300142e-02 1.73810316e-01 1.67225149e+01] [-4.40171917e-02 9.99028343e-01 -2.20395388e-03 3.82164178e-01] [-1.73737811e-01 -5.48237513e-03 9.84776684e-01 -2.08251628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.38, Z:-2.09 [[ 9.83851653e-01 4.17381916e-02 1.74051283e-01 1.67546916e+01] [-4.19807823e-02 9.99115796e-01 -2.28912100e-03 3.78216094e-01] [-1.73992930e-01 -5.05465354e-03 9.84733929e-01 -2.08898106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.38, Z:-2.09 [[ 9.83842899e-01 4.19482985e-02 1.74050250e-01 1.67877274e+01] [-4.21806899e-02 9.99107199e-01 -2.36526405e-03 3.77926936e-01] [-1.73994077e-01 -5.01451140e-03 9.84733932e-01 -2.09401517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:0.35, Z:-2.09 [[ 0.98766817 0.04473183 0.15003549 16.82652408] [-0.04967945 0.99833269 0.02939019 0.34656383] [-0.14847066 -0.03648144 0.98824368 -2.08520259] [ 0. 0. 0. 1. ]] SLAMing on 17.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.40, Z:-2.12 [[ 0.98419887 0.05120004 0.16950264 16.84989012] [-0.04550514 0.99826689 -0.0373162 0.40347072] [-0.17111946 0.02901332 0.98482301 -2.11759314] [ 0. 0. 0. 1. ]] SLAMing on 18.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.88, Y:0.37, Z:-2.11 [[ 9.84145477e-01 4.92517323e-02 1.70387638e-01 1.68843483e+01] [-4.95715438e-02 9.98767741e-01 -2.37946133e-03 3.69415329e-01] [-1.70294869e-01 -6.10464214e-03 9.85374239e-01 -2.10693506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.92, Y:0.37, Z:-2.11 [[ 9.83953181e-01 5.24665456e-02 1.70538555e-01 1.69168463e+01] [-5.28207668e-02 9.98600972e-01 -2.46267995e-03 3.69028689e-01] [-1.70429176e-01 -6.58481549e-03 9.85347927e-01 -2.11145174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:0.37, Z:-2.11 [[ 9.83061462e-01 5.90624430e-02 1.73498674e-01 1.69492463e+01] [-5.95169084e-02 9.98223946e-01 -2.58656712e-03 3.68558782e-01] [-1.73343300e-01 -7.78335024e-03 9.84830706e-01 -2.11496008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.37, Z:-2.12 [[ 9.82638821e-01 6.59024037e-02 1.73429585e-01 1.69818166e+01] [-6.64479806e-02 9.97786332e-01 -2.66478377e-03 3.71656163e-01] [-1.73221285e-01 -8.90552574e-03 9.84842667e-01 -2.12095431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.37, Z:-2.13 [[ 9.82701622e-01 6.88282777e-02 1.71930772e-01 1.70138456e+01] [-6.93951366e-02 9.97585548e-01 -2.71843080e-03 3.73580176e-01] [-1.71702759e-01 -9.25975307e-03 9.85105284e-01 -2.12677817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:0.38, Z:-2.13 [[ 9.82561591e-01 7.26406624e-02 1.71160901e-01 1.70464738e+01] [-7.32464435e-02 9.97309992e-01 -2.78168892e-03 3.76223004e-01] [-1.70902540e-01 -9.80374655e-03 9.85239163e-01 -2.13283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:0.38, Z:-2.14 [[ 9.82547124e-01 7.36644180e-02 1.70806038e-01 1.70786144e+01] [-7.42699232e-02 9.97234100e-01 -2.85101284e-03 3.77499796e-01] [-1.70543624e-01 -9.88449686e-03 9.85300548e-01 -2.13705977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.38, Z:-2.14 [[ 9.82552172e-01 7.43348597e-02 1.70486239e-01 1.71112683e+01] [-7.49351420e-02 9.97184134e-01 -2.92021295e-03 3.81750390e-01] [-1.70223246e-01 -9.90614892e-03 9.85355730e-01 -2.14175732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.38, Z:-2.15 [[ 9.82556094e-01 7.47421748e-02 1.70285438e-01 1.71438179e+01] [-7.53341121e-02 9.97153860e-01 -2.99178425e-03 3.82369569e-01] [-1.70024394e-01 -9.88870643e-03 9.85390237e-01 -2.14817125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:0.38, Z:-2.15 [[ 9.82627902e-01 7.45350584e-02 1.69961560e-01 1.71761486e+01] [-7.51087063e-02 9.97170653e-01 -3.06105910e-03 3.82203161e-01] [-1.69708837e-01 -9.75771086e-03 9.85445939e-01 -2.15284241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.22, Y:0.33, Z:-2.13 [[ 0.98659907 0.07304358 0.14590031 17.2175142 ] [-0.08159894 0.9952265 0.05353334 0.33152069] [-0.14129359 -0.06472125 0.98784983 -2.13364981] [ 0. 0. 0. 1. ]] SLAMing on 18.355919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:17.24, Y:0.44, Z:-2.19 [[ 0.9820672 0.08124083 0.17012919 17.23753354] [-0.07142805 0.99545193 -0.06303556 0.44116071] [-0.17447649 0.04975316 0.98340357 -2.18635726] [ 0. 0. 0. 1. ]] SLAMing on 18.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:0.38, Z:-2.17 [[ 9.82270175e-01 7.28028142e-02 1.72757210e-01 1.72723362e+01] [-7.33568297e-02 9.97300675e-01 -3.18406291e-03 3.84753056e-01] [-1.72522691e-01 -9.54531120e-03 9.84959293e-01 -2.16823826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.38, Z:-2.17 [[ 9.82399476e-01 7.33553515e-02 1.71785514e-01 1.73050073e+01] [-7.38978133e-02 9.97260543e-01 -3.24372315e-03 3.82759280e-01] [-1.71552859e-01 -9.50794191e-03 9.85129035e-01 -2.17200395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.38, Z:-2.18 [[ 9.82363707e-01 7.52593089e-02 1.71165367e-01 1.73377238e+01] [-7.58140605e-02 9.97116503e-01 -3.30275535e-03 3.80142710e-01] [-1.70920375e-01 -9.73223447e-03 9.85236778e-01 -2.17546031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.38, Z:-2.18 [[ 9.82554510e-01 7.66544537e-02 1.69442407e-01 1.73700286e+01] [-7.72117901e-02 9.97009228e-01 -3.30734864e-03 3.80269447e-01] [-1.69189167e-01 -9.83330126e-03 9.85534541e-01 -2.18114197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.40, Y:0.38, Z:-2.19 [[ 9.82781185e-01 7.71416542e-02 1.67899696e-01 1.74018610e+01] [-7.76828464e-02 9.96972485e-01 -3.35239957e-03 3.79894012e-01] [-1.67649987e-01 -9.74825108e-03 9.85798384e-01 -2.18753697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:0.36, Z:-2.18 [[ 0.98563432 0.07886752 0.14934823 17.43997906] [-0.08274092 0.99637254 0.01989216 0.35841798] [-0.14723763 -0.0319636 0.98858455 -2.18352926] [ 0. 0. 0. 1. ]] SLAMing on 18.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:0.38, Z:-2.20 [[ 9.85503740e-01 8.52778295e-02 1.46663120e-01 1.74711671e+01] [-8.52268547e-02 9.96339427e-01 -6.64297767e-03 3.82723707e-01] [-1.46692748e-01 -5.95295707e-03 9.89164193e-01 -2.20121749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.40, Z:-2.21 [[ 9.82223436e-01 8.21465303e-02 1.68787054e-01 1.74970772e+01] [-7.81645301e-02 9.96485561e-01 -3.01136716e-02 4.02353514e-01] [-1.70667596e-01 1.63851932e-02 9.85192416e-01 -2.21192767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:17.55, Y:0.32, Z:-2.19 [[ 0.98682609 0.05620499 0.15170782 17.54874706] [-0.06439038 0.99669193 0.04958909 0.31671833] [-0.1484188 -0.05870433 0.98718066 -2.19195769] [ 0. 0. 0. 1. ]] SLAMing on 18.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.44, Z:-2.23 [[ 0.98138273 0.08942734 0.16997263 17.55957293] [-0.07904846 0.99462396 -0.06689186 0.43649981] [-0.17504082 0.05221044 0.98317587 -2.23335465] [ 0. 0. 0. 1. ]] SLAMing on 18.68592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.60, Y:0.32, Z:-2.19 [[ 0.98577736 0.0798806 0.14785833 17.6023812 ] [-0.08895388 0.9944718 0.0557947 0.32212819] [-0.14258402 -0.06815372 0.98743347 -2.18736693] [ 0. 0. 0. 1. ]] SLAMing on 18.715919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:0.44, Z:-2.24 [[ 0.98153233 0.08857545 0.16955436 17.62297764] [-0.07844235 0.99475998 -0.06556959 0.43664522] [-0.17447375 0.05105843 0.98333715 -2.24380143] [ 0. 0. 0. 1. ]] SLAMing on 18.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.37, Z:-2.23 [[ 9.82591641e-01 7.49347742e-02 1.69995432e-01 1.76583754e+01] [-7.54947203e-02 9.97141141e-01 -3.17693911e-03 3.71727381e-01] [-1.69747502e-01 -9.71212378e-03 9.85439729e-01 -2.22500332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.69, Y:0.37, Z:-2.23 [[ 9.82731599e-01 7.35204357e-02 1.69803856e-01 1.76909281e+01] [-7.40452616e-02 9.97249591e-01 -3.24848981e-03 3.69795430e-01] [-1.69575656e-01 -9.38077737e-03 9.85472525e-01 -2.22987415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.37, Z:-2.23 [[ 9.83063427e-01 7.20955808e-02 1.68488949e-01 1.77234647e+01] [-7.25786211e-02 9.97357242e-01 -3.29791155e-03 3.69739546e-01] [-1.68281438e-01 -8.98663937e-03 9.85698026e-01 -2.23486902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:0.37, Z:-2.24 [[ 9.83242749e-01 6.90571247e-02 1.68715173e-01 1.77555309e+01] [-6.94842740e-02 9.97577328e-01 -3.37796132e-03 3.68582311e-01] [-1.68539703e-01 -8.40169531e-03 9.85659059e-01 -2.24023932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.37, Z:-2.24 [[ 9.83097619e-01 6.83308333e-02 1.69852784e-01 1.77879075e+01] [-6.87400228e-02 9.97628547e-01 -3.47734755e-03 3.65651327e-01] [-1.69687596e-01 -8.25711211e-03 9.85463312e-01 -2.24436069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:0.36, Z:-2.25 [[ 9.82668298e-01 6.90051955e-02 1.72050279e-01 1.78209231e+01] [-6.94219018e-02 9.97580890e-01 -3.60105359e-03 3.59007243e-01] [-1.71882562e-01 -8.40541638e-03 9.85081587e-01 -2.24766949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.36, Z:-2.25 [[ 9.82636478e-01 6.99936505e-02 1.71832594e-01 1.78528001e+01] [-7.04107927e-02 9.97511316e-01 -3.67360422e-03 3.57809154e-01] [-1.71662086e-01 -8.48905166e-03 9.85119315e-01 -2.25328853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.36, Z:-2.26 [[ 9.82864974e-01 7.30163489e-02 1.69248502e-01 1.78848523e+01] [-7.34521650e-02 9.97291903e-01 -3.69310955e-03 3.56035793e-01] [-1.69059818e-01 -8.80184088e-03 9.85566490e-01 -2.26020674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.35, Z:-2.27 [[ 9.83061927e-01 7.37151344e-02 1.67795489e-01 1.79168646e+01] [-7.41406827e-02 9.97240795e-01 -3.73583786e-03 3.54080857e-01] [-1.67607895e-01 -8.76791216e-03 9.85814748e-01 -2.26534244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:0.35, Z:-2.27 [[ 9.82652666e-01 7.51016353e-02 1.69568516e-01 1.79499812e+01] [-7.55437893e-02 9.97135045e-01 -3.85193280e-03 3.53720433e-01] [-1.69371996e-01 -9.02473621e-03 9.85510873e-01 -2.26792715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.36, Z:-2.27 [[ 9.82540844e-01 7.66026656e-02 1.69545041e-01 1.79827643e+01] [-7.70537246e-02 9.97019206e-01 -3.92755369e-03 3.55738112e-01] [-1.69340524e-01 -9.20509501e-03 9.85514613e-01 -2.27309724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:0.36, Z:-2.28 [[ 9.82056460e-01 7.75443638e-02 1.71906899e-01 1.80152412e+01] [-7.80092231e-02 9.96944370e-01 -4.06007827e-03 3.57702322e-01] [-1.71696451e-01 -9.42309750e-03 9.85104834e-01 -2.27893758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:0.36, Z:-2.28 [[ 9.81866901e-01 7.90669414e-02 1.72295698e-01 1.80477702e+01] [-7.95437110e-02 9.96822756e-01 -4.14629821e-03 3.60714705e-01] [-1.72076107e-01 -9.63392622e-03 9.85036548e-01 -2.28401570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.36, Z:-2.29 [[ 9.81840955e-01 8.13940556e-02 1.71357365e-01 1.80804698e+01] [-8.18873627e-02 9.96632743e-01 -4.19949530e-03 3.63854718e-01] [-1.71122175e-01 -9.90876627e-03 9.85199989e-01 -2.28854303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.37, Z:-2.29 [[ 9.81479988e-01 8.16490256e-02 1.73293020e-01 1.81134071e+01] [-8.21441771e-02 9.96611073e-01 -4.32479710e-03 3.65490645e-01] [-1.73058858e-01 -9.99031070e-03 9.84860815e-01 -2.29361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.37, Z:-2.30 [[ 9.81581884e-01 8.18828673e-02 1.72604174e-01 1.81458724e+01] [-8.23641678e-02 9.96592657e-01 -4.38395743e-03 3.67847556e-01] [-1.72375024e-01 -9.91318597e-03 9.84981512e-01 -2.29836695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:0.37, Z:-2.30 [[ 9.83786266e-01 8.02916960e-02 1.60367782e-01 1.81818336e+01] [-8.15053900e-02 9.96672405e-01 9.93750717e-04 3.69646746e-01] [-1.59754353e-01 -1.40484769e-02 9.87056831e-01 -2.30340746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:0.38, Z:-2.31 [[ 9.81751284e-01 7.70863223e-02 1.73845091e-01 1.82106487e+01] [-7.61670097e-02 9.97023300e-01 -1.19635236e-02 3.81175721e-01] [-1.74249831e-01 -1.49605616e-03 9.84700339e-01 -2.31256403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:0.37, Z:-2.32 [[ 9.82513431e-01 6.99871734e-02 1.72537400e-01 1.82438249e+01] [-7.02648344e-02 9.97518198e-01 -4.50531651e-03 3.72844205e-01] [-1.72424511e-01 -7.69677787e-03 9.84992664e-01 -2.31507249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:0.37, Z:-2.32 [[ 9.85004751e-01 6.90868828e-02 1.58090616e-01 1.82796095e+01] [-7.04382116e-02 9.97511771e-01 2.95396579e-03 3.65221253e-01] [-1.57493170e-01 -1.40452906e-02 9.87420190e-01 -2.31826463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:0.38, Z:-2.33 [[ 9.82668833e-01 6.56847230e-02 1.73342096e-01 1.83077532e+01] [-6.42346017e-02 9.97837061e-01 -1.39683893e-02 3.77187901e-01] [-1.73884678e-01 2.59174034e-03 9.84762612e-01 -2.32855582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:0.37, Z:-2.33 [[ 9.82648578e-01 5.98203254e-02 1.75565662e-01 1.83400893e+01] [-5.99307452e-02 9.98191576e-01 -4.67792740e-03 3.66949717e-01] [-1.75528000e-01 -5.92502223e-03 9.84456609e-01 -2.32933857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:0.37, Z:-2.33 [[ 9.82235321e-01 5.95871305e-02 1.77941416e-01 1.83728321e+01] [-5.96815475e-02 9.98205798e-01 -4.82684199e-03 3.66595794e-01] [-1.77909771e-01 -5.87872440e-03 9.84029244e-01 -2.33422671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:0.37, Z:-2.34 [[ 9.82305941e-01 6.03868791e-02 1.77280749e-01 1.84052639e+01] [-6.04791578e-02 9.98157491e-01 -4.88817770e-03 3.65603129e-01] [-1.77249290e-01 -5.92010442e-03 9.84148181e-01 -2.33828435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:0.37, Z:-2.34 [[ 9.82256345e-01 6.09505451e-02 1.77362632e-01 1.84373793e+01] [-6.10409421e-02 9.98122979e-01 -4.95192828e-03 3.65320765e-01] [-1.77331541e-01 -5.96231916e-03 9.84133108e-01 -2.34259501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:0.37, Z:-2.35 [[ 9.82358974e-01 6.29906623e-02 1.76076750e-01 1.84694592e+01] [-6.30971917e-02 9.97994865e-01 -4.99932597e-03 3.69260052e-01] [-1.76038603e-01 -6.19881572e-03 9.84363746e-01 -2.35022395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:0.37, Z:-2.36 [[ 9.82395856e-01 6.46113640e-02 1.75281927e-01 1.85021166e+01] [-6.47279462e-02 9.97890129e-01 -5.05800149e-03 3.70713381e-01] [-1.75238909e-01 -6.37667941e-03 9.84505288e-01 -2.35718331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:0.37, Z:-2.36 [[ 9.82378082e-01 6.69322944e-02 1.74508947e-01 1.85347633e+01] [-6.70696398e-02 9.97735175e-01 -5.11698932e-03 3.69634816e-01] [-1.74456206e-01 -6.67743404e-03 9.84642292e-01 -2.36150251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:0.33, Z:-2.35 [[ 0.98548642 0.06742577 0.1557892 18.57365354] [-0.07393476 0.99659986 0.03636443 0.33342666] [-0.1528076 -0.04735489 0.98712074 -2.34649187] [ 0. 0. 0. 1. ]] SLAMing on 19.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.41, Z:-2.39 [[ 0.98125104 0.07435917 0.17781199 18.5971397 ] [-0.06649772 0.9965441 -0.04977861 0.41210019] [-0.18089898 0.03702122 0.98280465 -2.3852766 ] [ 0. 0. 0. 1. ]] SLAMing on 19.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.37, Z:-2.37 [[ 9.80921102e-01 6.92197391e-02 1.81665681e-01 1.86308852e+01] [-6.93858109e-02 9.97575019e-01 -5.44889083e-03 3.70157906e-01] [-1.81602316e-01 -7.26008858e-03 9.83345255e-01 -2.37285721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:0.37, Z:-2.38 [[ 9.81187499e-01 7.03714547e-02 1.79774721e-01 1.86635164e+01] [-7.05377633e-02 9.97494082e-01 -5.47539764e-03 3.67519294e-01] [-1.79709532e-01 -7.30851502e-03 9.83692569e-01 -2.37842378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.36, Z:-2.38 [[ 9.81406272e-01 6.93092120e-02 1.78991517e-01 1.86957649e+01] [-6.94415949e-02 9.97570673e-01 -5.53333795e-03 3.64650853e-01] [-1.78940199e-01 -6.99900384e-03 9.83835057e-01 -2.38367683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.36, Z:-2.39 [[ 9.81397775e-01 6.92726225e-02 1.79052256e-01 1.87285219e+01] [-6.93895417e-02 9.97573825e-01 -5.61742737e-03 3.63991113e-01] [-1.79006978e-01 -6.91142328e-03 9.83823528e-01 -2.38901866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.36, Z:-2.39 [[ 9.81729443e-01 6.78211688e-02 1.77785233e-01 1.87606517e+01] [-6.78980823e-02 9.97676215e-01 -5.65862786e-03 3.58731362e-01] [-1.77755873e-01 -6.51603479e-03 9.84053043e-01 -2.39486091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.35, Z:-2.40 [[ 9.81883133e-01 6.75023686e-02 1.77056326e-01 1.87931086e+01] [-6.75587557e-02 9.97698918e-01 -5.71703591e-03 3.54970533e-01] [-1.77034818e-01 -6.34824392e-03 9.84184115e-01 -2.40009771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:0.35, Z:-2.40 [[ 9.81773868e-01 6.78067537e-02 1.77545249e-01 1.88253197e+01] [-6.78536076e-02 9.97678342e-01 -5.81502944e-03 3.52502161e-01] [-1.77527348e-01 -6.33804170e-03 9.84095458e-01 -2.40461543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:0.35, Z:-2.41 [[ 9.81759824e-01 6.80163563e-02 1.77542735e-01 1.88583202e+01] [-6.80529089e-02 9.97664322e-01 -5.89086425e-03 3.51564437e-01] [-1.77528727e-01 -6.29888571e-03 9.84095460e-01 -2.40981117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:0.33, Z:-2.40 [[ 0.98474383 0.07096579 0.15888184 18.89620895] [-0.07565451 0.99685355 0.02365164 0.32627183] [-0.15670347 -0.03531093 0.98701427 -2.40429582] [ 0. 0. 0. 1. ]] SLAMing on 19.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.38, Z:-2.43 [[ 0.98070849 0.07782433 0.17931604 18.92082045] [-0.07190765 0.99663782 -0.03927269 0.38409699] [-0.18176951 0.02562086 0.98300733 -2.43417026] [ 0. 0. 0. 1. ]] SLAMing on 19.945919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:0.33, Z:-2.42 [[ 9.83656284e-01 7.70983070e-02 1.62714985e-01 1.89589127e+01] [-8.05580459e-02 9.96640588e-01 1.47627838e-02 3.34283238e-01] [-1.61030172e-01 -2.76295062e-02 9.86562666e-01 -2.41833291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.38, Z:-2.44 [[ 9.80710066e-01 8.01279157e-02 1.78289884e-01 1.89842835e+01] [-7.59966794e-02 9.96659887e-01 -2.98927270e-02 3.75438955e-01] [-1.80089618e-01 1.57666591e-02 9.83523839e-01 -2.44085241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.35, Z:-2.44 [[ 9.80574509e-01 7.94430930e-02 1.79338864e-01 1.90173630e+01] [-7.96735065e-02 9.96803379e-01 -5.92918913e-03 3.54670716e-01] [-1.79236618e-01 -8.47454439e-03 9.83769494e-01 -2.43632918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.36, Z:-2.44 [[ 9.80347237e-01 8.08760978e-02 1.79939856e-01 1.90499111e+01] [-8.11171164e-02 9.96686332e-01 -6.03068353e-03 3.55092041e-01] [-1.79831333e-01 -8.68403830e-03 9.83659128e-01 -2.44068369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:0.36, Z:-2.44 [[ 9.79872657e-01 8.16525829e-02 1.82160459e-01 1.90824681e+01] [-8.18978322e-02 9.96621518e-01 -6.18836100e-03 3.59453426e-01] [-1.82050329e-01 -8.85474095e-03 9.83249343e-01 -2.44380443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:0.35, Z:-2.45 [[ 9.82558367e-01 8.52982452e-02 1.65236997e-01 1.91196117e+01] [-8.80505852e-02 9.96071740e-01 9.39055800e-03 3.47925218e-01] [-1.63786905e-01 -2.37759856e-02 9.86209183e-01 -2.44514105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:0.38, Z:-2.46 [[ 9.80359418e-01 8.18349682e-02 1.79439265e-01 1.91444003e+01] [-7.86097422e-02 9.96591354e-01 -2.50236234e-02 3.80014458e-01] [-1.80875427e-01 1.04264705e-02 9.83450745e-01 -2.46366850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.36, Z:-2.46 [[ 9.80542945e-01 7.67542025e-02 1.80677406e-01 1.91772051e+01] [-7.69008854e-02 9.97019444e-01 -6.20338571e-03 3.62598366e-01] [-1.80615023e-01 -7.81156641e-03 9.83522848e-01 -2.46168121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:0.36, Z:-2.47 [[ 9.80933151e-01 7.00207931e-02 1.81293250e-01 1.92102965e+01] [-7.00478985e-02 9.97523979e-01 -6.26120620e-03 3.64911240e-01] [-1.81282779e-01 -6.55738646e-03 9.83409149e-01 -2.46658369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:0.34, Z:-2.46 [[ 0.98429219 0.0684386 0.16274226 19.24740462] [-0.0727474 0.99713641 0.02065887 0.34123693] [-0.16086237 -0.03217344 0.98645231 -2.46189365] [ 0. 0. 0. 1. ]] SLAMing on 20.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.39, Z:-2.49 [[ 0.98094321 0.06846438 0.18183244 19.27332357] [-0.06289982 0.99736304 -0.03620199 0.3920422 ] [-0.18383151 0.02407487 0.9826629 -2.4876224 ] [ 0. 0. 0. 1. ]] SLAMing on 20.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:0.36, Z:-2.48 [[ 9.81291568e-01 5.84380070e-02 1.83444425e-01 1.93064157e+01] [-5.82510958e-02 9.98281371e-01 -6.41210282e-03 3.60760261e-01] [-1.83503862e-01 -4.39369635e-03 9.83009170e-01 -2.48247524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:0.36, Z:-2.49 [[ 9.81870125e-01 5.43160794e-02 1.81606224e-01 1.93387399e+01] [-5.40546246e-02 9.98517517e-01 -6.39259857e-03 3.59159854e-01] [-1.81684217e-01 -3.53995474e-03 9.83350555e-01 -2.48994737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.32, Z:-2.48 [[ 0.98609256 0.05313211 0.15747519 19.3760766 ] [-0.05899818 0.99771876 0.03281003 0.32187613] [-0.15537269 -0.04164447 0.98697774 -2.47983742] [ 0. 0. 0. 1. ]] SLAMing on 20.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:0.39, Z:-2.52 [[ 0.9817638 0.05857991 0.18085416 19.40074508] [-0.05067535 0.99755977 -0.04802616 0.39424494] [-0.1832262 0.0379855 0.98233663 -2.51573917] [ 0. 0. 0. 1. ]] SLAMing on 20.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:0.35, Z:-2.50 [[ 9.81829735e-01 5.22860541e-02 1.82418584e-01 1.94340899e+01] [-5.19779693e-02 9.98627254e-01 -6.47282085e-03 3.49612689e-01] [-1.82506608e-01 -3.12653958e-03 9.83199656e-01 -2.50372066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.34, Z:-2.51 [[ 9.81851665e-01 5.18363988e-02 1.82428877e-01 1.94662544e+01] [-5.15047929e-02 9.98651213e-01 -6.55825927e-03 3.44799801e-01] [-1.82522775e-01 -2.95672371e-03 9.83197180e-01 -2.50897867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:0.34, Z:-2.51 [[ 9.81852056e-01 5.14952236e-02 1.82523376e-01 1.94986508e+01] [-5.11452734e-02 9.98669236e-01 -6.62711716e-03 3.41285917e-01] [-1.82621745e-01 -2.82835934e-03 9.83179179e-01 -2.51416754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:0.34, Z:-2.52 [[ 9.81780291e-01 5.10307015e-02 1.83039142e-01 1.95307586e+01] [-5.06552412e-02 9.98693529e-01 -6.72923733e-03 3.36858830e-01] [-1.83143405e-01 -2.66525932e-03 9.83082596e-01 -2.51882458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:0.33, Z:-2.52 [[ 9.81817747e-01 5.16549040e-02 1.82662756e-01 1.95628657e+01] [-5.12830238e-02 9.98661267e-01 -6.76201902e-03 3.30142111e-01] [-1.82767510e-01 -2.72842816e-03 9.83152375e-01 -2.52294174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.33, Z:-2.53 [[ 9.82090729e-01 5.28963543e-02 1.80830792e-01 1.95950924e+01] [-5.25363394e-02 9.98595974e-01 -6.78332813e-03 3.26897381e-01] [-1.80935714e-01 -2.83834417e-03 9.83490829e-01 -2.52843418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:0.30, Z:-2.52 [[ 0.98529936 0.05426907 0.16198776 19.62951108] [-0.05841902 0.99807202 0.02096316 0.29573241] [-0.1605378 -0.03011815 0.98657007 -2.52364458] [ 0. 0. 0. 1. ]] SLAMing on 20.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.35, Z:-2.55 [[ 0.98146975 0.0618702 0.18135384 19.65641048] [-0.05614926 0.99775437 -0.03651677 0.34521827] [-0.18320588 0.02565722 0.9827397 -2.54989559] [ 0. 0. 0. 1. ]] SLAMing on 20.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.31, Z:-2.54 [[ 9.81051179e-01 6.33147760e-02 1.83111506e-01 1.96893492e+01] [-6.31076852e-02 9.97982427e-01 -6.96387098e-03 3.14383305e-01] [-1.83182981e-01 -4.72382944e-03 9.83067485e-01 -2.54282658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.31, Z:-2.55 [[ 9.80763482e-01 6.62733301e-02 1.83605113e-01 1.97219538e+01] [-6.60998809e-02 9.97787953e-01 -7.07159467e-03 3.12066532e-01] [-1.83667628e-01 -5.20071428e-03 9.82974646e-01 -2.54810842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:0.31, Z:-2.55 [[ 9.80604577e-01 7.01316047e-02 1.83019732e-01 1.97543156e+01] [-7.00097771e-02 9.97520789e-01 -7.13489101e-03 3.08885178e-01] [-1.83066369e-01 -5.81666387e-03 9.83083349e-01 -2.55422921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:0.30, Z:-2.56 [[ 9.80555884e-01 7.55664325e-02 1.81107349e-01 1.97867798e+01] [-7.55233040e-02 9.97118444e-01 -7.14417960e-03 3.03669068e-01] [-1.81125338e-01 -6.67255804e-03 9.83437384e-01 -2.55941620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:0.24, Z:-2.53 [[ 0.98519489 0.07632742 0.15350947 19.82639141] [-0.08745154 0.99390907 0.06705965 0.23539293] [-0.14745597 -0.07949146 0.98586908 -2.5290321 ] [ 0. 0. 0. 1. ]] SLAMing on 20.785919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:19.85, Y:0.38, Z:-2.60 [[ 0.97955432 0.09788954 0.17575827 19.84842711] [-0.08421836 0.99293052 -0.08364359 0.3790305 ] [-0.18270358 0.06713137 0.98087348 -2.60077468] [ 0. 0. 0. 1. ]] SLAMing on 20.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.31, Z:-2.57 [[ 9.79954293e-01 8.88956417e-02 1.78289507e-01 1.98828697e+01] [-8.90577426e-02 9.96001088e-01 -7.11000099e-03 3.05774189e-01] [-1.78208591e-01 -8.91058506e-03 9.83952387e-01 -2.57493277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.31, Z:-2.58 [[ 9.79241186e-01 9.57886063e-02 1.78637183e-01 1.99153681e+01] [-9.60500675e-02 9.95350428e-01 -7.20481761e-03 3.09264241e-01] [-1.78496736e-01 -1.01028593e-02 9.83888636e-01 -2.57942743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:0.28, Z:-2.57 [[ 0.98188261 0.0991192 0.161499 19.95181507] [-0.10411084 0.99430608 0.02272337 0.28459801] [-0.15832711 -0.03912548 0.98661123 -2.57185035] [ 0. 0. 0. 1. ]] SLAMing on 20.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:0.34, Z:-2.60 [[ 0.97795379 0.1068021 0.17944275 19.97762682] [-0.10121756 0.99405901 -0.04002108 0.34356363] [-0.18265101 0.02097601 0.98295402 -2.60109281] [ 0. 0. 0. 1. ]] SLAMing on 20.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:0.32, Z:-2.59 [[ 9.77520254e-01 1.04888555e-01 1.82900368e-01 2.00117639e+01] [-1.05309418e-01 9.94411691e-01 -7.43747421e-03 3.16010225e-01] [-1.82658370e-01 -1.19908496e-02 9.83103321e-01 -2.59114159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:0.32, Z:-2.60 [[ 9.77628277e-01 1.06244152e-01 1.81535484e-01 2.00441937e+01] [-1.06666990e-01 9.94266811e-01 -7.46062750e-03 3.18024897e-01] [-1.81287355e-01 -1.20701232e-02 9.83356094e-01 -2.59604759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.33, Z:-2.60 [[ 9.77862100e-01 1.06201069e-01 1.80297107e-01 2.00761256e+01] [-1.06602741e-01 9.94273494e-01 -7.48834764e-03 3.25455936e-01] [-1.80059905e-01 -1.18975945e-02 9.83583691e-01 -2.60343247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:0.26, Z:-2.57 [[ 0.98227315 0.1040397 0.15593333 20.11759786] [-0.11594471 0.99083658 0.06927985 0.2585025 ] [-0.1472966 -0.08613138 0.98533502 -2.57413138] [ 0. 0. 0. 1. ]] SLAMing on 21.055919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:0.41, Z:-2.64 [[ 0.9767246 0.11664227 0.1800101 20.13886094] [-0.10215501 0.99088761 -0.08778439 0.4101214 ] [-0.18860915 0.06735224 0.9797399 -2.64238415] [ 0. 0. 0. 1. ]] SLAMing on 21.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.32, Z:-2.61 [[ 9.80470530e-01 1.04352134e-01 1.66697847e-01 2.01772377e+01] [-1.07874877e-01 9.94089690e-01 1.21942642e-02 3.16756659e-01] [-1.64440113e-01 -2.99386263e-02 9.85932618e-01 -2.61113012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:0.34, Z:-2.63 [[ 9.80915475e-01 1.03162941e-01 1.64809704e-01 2.02077535e+01] [-1.02982290e-01 9.94636245e-01 -9.66373826e-03 3.37317850e-01] [-1.64922645e-01 -7.49317037e-03 9.86278041e-01 -2.62666492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:0.34, Z:-2.63 [[ 9.81147889e-01 1.00411533e-01 1.65125239e-01 2.02397862e+01] [-1.00210483e-01 9.94920240e-01 -9.56948571e-03 3.36122430e-01] [-1.65247329e-01 -7.15819919e-03 9.86226181e-01 -2.63180632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:0.35, Z:-2.64 [[ 9.78564904e-01 9.50588464e-02 1.82687013e-01 2.02659353e+01] [-9.10253124e-02 9.95385741e-01 -3.03581744e-02 3.52159809e-01] [-1.84729861e-01 1.30783016e-02 9.82702313e-01 -2.64366731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:0.33, Z:-2.64 [[ 9.78944859e-01 8.57128586e-02 1.85257303e-01 2.02992096e+01] [-8.57848034e-02 9.96284379e-01 -7.64228850e-03 3.29009283e-01] [-1.85224000e-01 -8.41088230e-03 9.82660331e-01 -2.63865222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:0.28, Z:-2.62 [[ 0.98342348 0.08079465 0.1623283 20.33792892] [-0.08969194 0.99480065 0.04823922 0.27749736] [-0.15758682 -0.06199912 0.98555695 -2.61954781] [ 0. 0. 0. 1. ]] SLAMing on 21.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.38, Z:-2.67 [[ 0.9785547 0.08914035 0.18570055 20.36148018] [-0.07812834 0.99476874 -0.06581121 0.38192818] [-0.19059554 0.0498914 0.98040002 -2.66818151] [ 0. 0. 0. 1. ]] SLAMing on 21.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:0.29, Z:-2.63 [[ 0.97991696 0.09597337 0.17479094 20.40175711] [-0.10547675 0.99336209 0.04589573 0.28755918] [-0.16922593 -0.06341038 0.98353531 -2.63304313] [ 0. 0. 0. 1. ]] SLAMing on 21.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.38, Z:-2.68 [[ 0.9786281 0.08550493 0.18701855 20.42414909] [-0.07439466 0.9950654 -0.06565283 0.37674806] [-0.19170933 0.05033652 0.98016007 -2.6793851 ] [ 0. 0. 0. 1. ]] SLAMing on 21.355919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:0.32, Z:-2.66 [[ 9.79304658e-01 7.44677239e-02 1.88193903e-01 2.04574070e+01] [-7.43231119e-02 9.97203433e-01 -7.83500587e-03 3.18463616e-01] [-1.88251061e-01 -6.31429877e-03 9.82100640e-01 -2.66460978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:0.32, Z:-2.67 [[ 9.79239129e-01 7.51142026e-02 1.88277943e-01 2.04901189e+01] [-7.49726004e-02 9.97154428e-01 -7.88385353e-03 3.17948129e-01] [-1.88334374e-01 -6.39550916e-03 9.82084141e-01 -2.67021616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:0.28, Z:-2.66 [[ 0.98293722 0.07640377 0.16732272 20.52667388] [-0.08276937 0.99607405 0.03139613 0.28355674] [-0.16426704 -0.04470962 0.98540215 -2.66030141] [ 0. 0. 0. 1. ]] SLAMing on 21.445919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:0.36, Z:-2.69 [[ 0.9783248 0.08412799 0.18921697 20.55270511] [-0.07611878 0.99588331 -0.04921745 0.35620509] [-0.19257859 0.03374768 0.98070107 -2.69434888] [ 0. 0. 0. 1. ]] SLAMing on 21.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.32, Z:-2.68 [[ 9.78337646e-01 7.95930766e-02 1.91103093e-01 2.05858917e+01] [-7.95109464e-02 9.96800999e-01 -8.11031415e-03 3.15837176e-01] [-1.91137279e-01 -7.26016214e-03 9.81536464e-01 -2.68381308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:20.63, Y:0.22, Z:-2.67 [[ 0.98493271 0.03235922 0.16988361 20.62852969] [-0.04427976 0.99677967 0.06685503 0.22463863] [-0.16717315 -0.07337011 0.98319376 -2.66710145] [ 0. 0. 0. 1. ]] SLAMing on 21.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:0.34, Z:-2.70 [[ 9.82799998e-01 8.79870494e-02 1.62365153e-01 2.06533666e+01] [-8.38500682e-02 9.95958894e-01 -3.21721589e-02 3.38517931e-01] [-1.64539751e-01 1.80044686e-02 9.86206119e-01 -2.70481571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:0.37, Z:-2.72 [[ 0.97834999 0.08318383 0.18950393 20.67667995] [-0.07079164 0.99494246 -0.07126038 0.37187952] [-0.19447322 0.05630229 0.97929067 -2.72326314] [ 0. 0. 0. 1. ]] SLAMing on 21.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.31, Z:-2.70 [[ 9.78538447e-01 6.96062866e-02 1.93952243e-01 2.07100457e+01] [-6.93713921e-02 9.97558736e-01 -8.01117297e-03 3.07123855e-01] [-1.94036382e-01 -5.61549633e-03 9.80978261e-01 -2.70477038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:0.31, Z:-2.71 [[ 9.78592750e-01 6.94246373e-02 1.93743258e-01 2.07424036e+01] [-6.91684545e-02 9.97572151e-01 -8.09492305e-03 3.05544218e-01] [-1.93834866e-01 -5.47928871e-03 9.81018869e-01 -2.71040662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:0.30, Z:-2.72 [[ 9.78659089e-01 6.82626937e-02 1.93821032e-01 2.07750480e+01] [-6.79654237e-02 9.97654053e-01 -8.19092447e-03 3.03456329e-01] [-1.93925473e-01 -5.15700589e-03 9.81002710e-01 -2.71608136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:0.24, Z:-2.69 [[ 0.98533661 0.06656315 0.15710226 20.81447798] [-0.07730392 0.99499786 0.0632721 0.2375715 ] [-0.15210483 -0.07448894 0.98555341 -2.69172872] [ 0. 0. 0. 1. ]] SLAMing on 21.715919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:0.37, Z:-2.75 [[ 0.97823648 0.08076832 0.19112787 20.8355281 ] [-0.06604309 0.99442454 -0.08220797 0.36949892] [-0.19670204 0.06779616 0.97811655 -2.7523247 ] [ 0. 0. 0. 1. ]] SLAMing on 21.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:0.30, Z:-2.73 [[ 9.78463019e-01 6.85614093e-02 1.94703499e-01 2.08702137e+01] [-6.82778445e-02 9.97632848e-01 -8.17534445e-03 2.96804004e-01] [-1.94803120e-01 -5.29466304e-03 9.80828074e-01 -2.73021729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:0.29, Z:-2.74 [[ 9.78418058e-01 6.95105795e-02 1.94592865e-01 2.09021034e+01] [-6.92323667e-02 9.97566539e-01 -8.23889645e-03 2.93166438e-01] [-1.94692021e-01 -5.41103949e-03 9.80849498e-01 -2.73633801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:0.29, Z:-2.74 [[ 9.78321112e-01 6.98727341e-02 1.94950259e-01 2.09342835e+01] [-6.95820373e-02 9.97541306e-01 -8.34757753e-03 2.90460246e-01] [-1.95054204e-01 -5.39842489e-03 9.80777607e-01 -2.74228820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.29, Z:-2.75 [[ 9.78158019e-01 7.09200346e-02 1.95389965e-01 2.09663192e+01] [-7.06300563e-02 9.97466702e-01 -8.46009226e-03 2.86477636e-01] [-1.95494975e-01 -5.52509717e-03 9.80689139e-01 -2.74651872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:0.28, Z:-2.75 [[ 9.78103473e-01 7.19147059e-02 1.95299441e-01 2.09983333e+01] [-7.16261153e-02 9.97394914e-01 -8.54897384e-03 2.84898772e-01] [-1.95405466e-01 -5.62675928e-03 9.80706400e-01 -2.75277814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.04, Y:0.27, Z:-2.75 [[ 9.82043845e-01 7.58299561e-02 1.72741728e-01 2.10365157e+01] [-7.90398694e-02 9.96801970e-01 1.17699858e-02 2.65581262e-01] [-1.71296777e-01 -2.52121257e-02 9.84896829e-01 -2.75337454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:0.30, Z:-2.78 [[ 9.78001181e-01 7.66870698e-02 1.93991711e-01 2.10607673e+01] [-7.16803764e-02 9.96891207e-01 -3.27084737e-02 3.03386270e-01] [-1.95896948e-01 1.80835270e-02 9.80457736e-01 -2.77608909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:0.28, Z:-2.77 [[ 9.77994494e-01 7.48955245e-02 1.94723985e-01 2.10940137e+01] [-7.46625516e-02 9.97172234e-01 -8.54631788e-03 2.77762266e-01] [-1.94813432e-01 -6.18033775e-03 9.80820845e-01 -2.77042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:0.28, Z:-2.77 [[ 9.77748998e-01 7.58082562e-02 1.95601648e-01 2.11267725e+01] [-7.55729649e-02 9.97102522e-01 -8.67688339e-03 2.76308531e-01] [-1.95692676e-01 -6.29838246e-03 9.80645046e-01 -2.77450869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.16, Y:0.25, Z:-2.77 [[ 9.82516286e-01 7.91603652e-02 1.68509303e-01 2.11637178e+01] [-8.31792671e-02 9.96391037e-01 1.69148295e-02 2.54346992e-01] [-1.66562175e-01 -3.06355758e-02 9.85554921e-01 -2.77166506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.30, Z:-2.80 [[ 0.97752561 0.08002001 0.19503969 21.18846561] [-0.07419158 0.99655665 -0.03701964 0.30064797] [-0.19733041 0.02171735 0.98009646 -2.7963347 ] [ 0. 0. 0. 1. ]] SLAMing on 22.07592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.23, Y:0.24, Z:-2.78 [[ 0.98211195 0.06809773 0.17555287 21.22808002] [-0.07410415 0.99686068 0.02788114 0.23637976] [-0.17310311 -0.0403916 0.98407511 -2.78017292] [ 0. 0. 0. 1. ]] SLAMing on 22.105919999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.26, Y:0.30, Z:-2.81 [[ 0.98112876 0.08157849 0.17530347 21.25534721] [-0.07495175 0.99621123 -0.04410686 0.30432311] [-0.17823746 0.03013521 0.98352594 -2.81055084] [ 0. 0. 0. 1. ]] SLAMing on 22.13592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.26, Y:0.21, Z:-2.79 [[ 0.98281259 0.06073548 0.17432905 21.26314171] [-0.07124783 0.99595846 0.05468537 0.21163144] [-0.17030315 -0.06616604 0.98316778 -2.79141227] [ 0. 0. 0. 1. ]] SLAMing on 22.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:21.31, Y:0.32, Z:-2.83 [[ 0.97676052 0.07558123 0.2005651 21.3081095 ] [-0.06238052 0.99549884 -0.0713494 0.32453483] [-0.205055 0.05717992 0.97707876 -2.82767926] [ 0. 0. 0. 1. ]] SLAMing on 22.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:0.27, Z:-2.81 [[ 9.81241741e-01 6.81085769e-02 1.80349293e-01 2.13457204e+01] [-6.69740181e-02 9.97677912e-01 -1.23799807e-02 2.67772957e-01] [-1.80773689e-01 6.90369545e-05 9.83524717e-01 -2.81185815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.38, Y:0.27, Z:-2.82 [[ 9.81292192e-01 6.36143573e-02 1.81710887e-01 2.13760024e+01] [-6.15821806e-02 9.97960455e-01 -1.68096693e-02 2.67973984e-01] [-1.82409616e-01 5.30504458e-03 9.83208314e-01 -2.81874800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.41, Y:0.25, Z:-2.82 [[ 9.81235321e-01 5.97342803e-02 1.83327742e-01 2.14086970e+01] [-6.09127119e-02 9.98142777e-01 7.98372955e-04 2.48057014e-01] [-1.82939571e-01 -1.19503817e-02 9.83051525e-01 -2.82038018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.44, Y:0.25, Z:-2.83 [[ 9.76351750e-01 6.02300525e-02 2.07628515e-01 2.14379351e+01] [-5.89956840e-02 9.98184443e-01 -1.21378416e-02 2.54043770e-01] [-2.07982617e-01 -3.98383377e-04 9.78132441e-01 -2.82729975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:0.24, Z:-2.83 [[ 9.76083129e-01 5.97024566e-02 2.09039091e-01 2.14697944e+01] [-5.90527746e-02 9.98211041e-01 -9.35343872e-03 2.44469404e-01] [-2.09223552e-01 -3.21460457e-03 9.77862553e-01 -2.83076517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:0.24, Z:-2.84 [[ 9.76220450e-01 6.10818116e-02 2.07996744e-01 2.15017403e+01] [-6.04481212e-02 9.98127008e-01 -9.40742526e-03 2.42371270e-01] [-2.08181790e-01 -3.38929147e-03 9.78084278e-01 -2.83634186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:0.24, Z:-2.84 [[ 9.76120808e-01 6.45378331e-02 2.07419952e-01 2.15341942e+01] [-6.39636436e-02 9.97907193e-01 -9.48088346e-03 2.40582895e-01] [-2.07597738e-01 -4.01284828e-03 9.78206050e-01 -2.84373335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:0.24, Z:-2.85 [[ 9.75975907e-01 6.59093893e-02 2.07670368e-01 2.15668471e+01] [-6.53431234e-02 9.97816742e-01 -9.59298139e-03 2.37091034e-01] [-2.07849238e-01 -4.20731181e-03 9.78151825e-01 -2.84926754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43592 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:21.60, Y:0.23, Z:-2.85 [[ 9.75852345e-01 6.90048941e-02 2.07245087e-01 2.15989399e+01] [-6.84889397e-02 9.97604988e-01 -9.67228779e-03 2.28593787e-01] [-2.07416168e-01 -4.75527157e-03 9.78241238e-01 -2.85279089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:0.22, Z:-2.86 [[ 9.75807630e-01 6.96731292e-02 2.07232052e-01 2.16306444e+01] [-6.91513338e-02 9.97558341e-01 -9.76978238e-03 2.24238151e-01] [-2.07406754e-01 -4.79694463e-03 9.78243031e-01 -2.85864476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495919999999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:21.66, Y:0.22, Z:-2.86 [[ 9.75461605e-01 7.16596764e-02 2.08181528e-01 2.16631126e+01] [-7.11569099e-02 9.97415876e-01 -9.91281744e-03 2.20091446e-01] [-2.08353911e-01 -5.14398145e-03 9.78039972e-01 -2.86417643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:0.20, Z:-2.86 [[ 9.81631020e-01 7.56846820e-02 1.75135288e-01 2.17014666e+01] [-7.87946932e-02 9.96831681e-01 1.08626103e-02 1.97625904e-01] [-1.73758270e-01 -2.44628064e-02 9.84484451e-01 -2.86215217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:0.23, Z:-2.89 [[ 9.74732909e-01 7.64521393e-02 2.09882888e-01 2.17251007e+01] [-7.08371635e-02 9.96903051e-01 -3.41526484e-02 2.30872251e-01] [-2.11843935e-01 1.84222018e-02 9.77129863e-01 -2.88615512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:0.18, Z:-2.87 [[ 9.81874249e-01 7.72423155e-02 1.73079703e-01 2.17653344e+01] [-8.07019684e-02 9.96653092e-01 1.30309444e-02 1.83823667e-01] [-1.71493881e-01 -2.67626215e-02 9.84821614e-01 -2.87348817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.61592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.79, Y:0.22, Z:-2.90 [[ 9.80951818e-01 8.28381786e-02 1.75702497e-01 2.17933118e+01] [-7.94738640e-02 9.96494914e-01 -2.61111387e-02 2.16558167e-01] [-1.77249644e-01 1.16500126e-02 9.84096967e-01 -2.89745960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:0.20, Z:-2.90 [[ 9.74382660e-01 7.76511409e-02 2.11065706e-01 2.18202429e+01] [-7.46456630e-02 9.96963377e-01 -2.21822108e-02 2.01011479e-01] [-2.12147253e-01 5.85882201e-03 9.77220148e-01 -2.89819445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:0.17, Z:-2.89 [[ 9.80644270e-01 8.19856171e-02 1.77806563e-01 2.18602361e+01] [-8.48211491e-02 9.96360854e-01 8.39178491e-03 1.72277596e-01] [-1.76471493e-01 -2.33111128e-02 9.84029676e-01 -2.89125641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:21.85, Y:0.13, Z:-2.89 [[ 0.98143453 0.08205199 0.17336011 21.85492195] [-0.09339069 0.9939223 0.05828069 0.12843141] [-0.16752443 -0.0733889 0.98313256 -2.89435837] [ 0. 0. 0. 1. ]] SLAMing on 22.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:0.20, Z:-2.92 [[ 9.80904102e-01 9.58151392e-02 1.69253071e-01 2.19164485e+01] [-9.25690287e-02 9.95340528e-01 -2.69853376e-02 1.97792866e-01] [-1.71050045e-01 1.08024359e-02 9.85203121e-01 -2.92396101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters Centerline goodness : 0.981026 Centerline is valid? [True, True] Translation: X:21.90, Y:0.18, Z:-2.93 [[ 9.78663248e-01 1.17444574e-01 1.68597212e-01 2.18975962e+01] [-1.18816439e-01 9.92914295e-01 -1.96393520e-03 1.84053396e-01] [-1.67633235e-01 -1.81100891e-02 9.85683074e-01 -2.92873703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:0.16, Z:-2.92 [[ 9.80384117e-01 9.01518692e-02 1.75270146e-01 2.19734388e+01] [-9.07904733e-02 9.95860348e-01 -4.38827674e-03 1.64313525e-01] [-1.74940200e-01 -1.16106627e-02 9.84510599e-01 -2.92202761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:0.18, Z:-2.94 [[ 9.79606614e-01 9.52268855e-02 1.76925754e-01 2.20037525e+01] [-9.21050079e-02 9.95415160e-01 -2.57939302e-02 1.82613399e-01] [-1.78570854e-01 8.97215667e-03 9.83886147e-01 -2.93666697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:0.18, Z:-2.94 [[ 9.76828493e-01 9.93413804e-02 1.89571584e-01 2.20342848e+01] [-9.60661251e-02 9.95024473e-01 -2.64120627e-02 1.83741229e-01] [-1.91252176e-01 7.58864796e-03 9.81511598e-01 -2.94090498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:0.15, Z:-2.93 [[ 9.79636411e-01 9.96711330e-02 1.74293338e-01 2.20676768e+01] [-1.03339263e-01 9.94572861e-01 1.20756235e-02 1.50115462e-01] [-1.72143833e-01 -2.98410656e-02 9.84619729e-01 -2.92892938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.10, Y:0.17, Z:-2.95 [[ 9.77868930e-01 1.03798005e-01 1.81654426e-01 2.21006192e+01] [-1.02535526e-01 9.94594909e-01 -1.63533691e-02 1.74381744e-01] [-1.82370015e-01 -2.63458066e-03 9.83226442e-01 -2.94662573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:0.18, Z:-2.95 [[ 9.77446730e-01 1.07962069e-01 1.81499536e-01 2.21321213e+01] [-1.07000691e-01 9.94144131e-01 -1.51095768e-02 1.75495951e-01] [-1.82067960e-01 -4.65176944e-03 9.83274946e-01 -2.94981004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:0.20, Z:-2.97 [[ 9.74394274e-01 1.10245795e-01 1.95963423e-01 2.21570374e+01] [-1.04906325e-01 9.93776574e-01 -3.74537538e-02 1.99022589e-01] [-1.98872978e-01 1.59369206e-02 9.79895685e-01 -2.96719917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:0.16, Z:-2.95 [[ 9.76793506e-01 1.04511674e-01 1.86953889e-01 2.21968622e+01] [-1.09003496e-01 9.93944443e-01 1.38810147e-02 1.59177516e-01] [-1.84371051e-01 -3.39375126e-02 9.82270615e-01 -2.94664641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035919999999997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.23, Y:0.14, Z:-2.94 [[ 0.97954584 0.10877555 0.16928624 22.23307157] [-0.11758747 0.9921355 0.04289913 0.13567884] [-0.16328852 -0.0619276 0.98463284 -2.93940134] [ 0. 0. 0. 1. ]] SLAMing on 23.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:0.22, Z:-2.98 [[ 9.77396647e-01 1.20837740e-01 1.73476324e-01 2.22602757e+01] [-1.15392684e-01 9.92466180e-01 -4.11753473e-02 2.18163802e-01] [-1.77144921e-01 2.02267478e-02 9.83976908e-01 -2.98387225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:0.23, Z:-2.99 [[ 0.97556391 0.11265799 0.18863518 22.28987668] [-0.10610952 0.99335847 -0.04449411 0.22518202] [-0.19239497 0.02339086 0.98103876 -2.98944609] [ 0. 0. 0. 1. ]] SLAMing on 23.125919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:0.20, Z:-2.98 [[ 9.75910358e-01 1.06427186e-01 1.90452688e-01 2.23214490e+01] [-1.04921747e-01 9.94317564e-01 -1.80002765e-02 2.02411290e-01] [-1.91286172e-01 -2.41597245e-03 9.81531336e-01 -2.98488426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.35, Y:0.21, Z:-2.99 [[ 9.75765598e-01 1.04145056e-01 1.92445588e-01 2.23526764e+01] [-1.02192447e-01 9.94562115e-01 -2.00724439e-02 2.06146346e-01] [-1.93489537e-01 -8.04853073e-05 9.81102335e-01 -2.99215515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.39, Y:0.15, Z:-2.97 [[ 0.98019687 0.09426567 0.1741496 22.3917655 ] [-0.10362436 0.99357835 0.0454319 0.14927385] [-0.1687486 -0.06257835 0.98367061 -2.96831232] [ 0. 0. 0. 1. ]] SLAMing on 23.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:0.26, Z:-3.02 [[ 0.97674736 0.10671067 0.18595007 22.41459469] [-0.09569839 0.9931361 -0.06724959 0.2564676 ] [-0.19184997 0.04789074 0.9802551 -3.02275458] [ 0. 0. 0. 1. ]] SLAMing on 23.245919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.45, Y:0.21, Z:-3.01 [[ 9.77809499e-01 9.10250923e-02 1.88687614e-01 2.24468680e+01] [-8.94313884e-02 9.95848557e-01 -1.69610804e-02 2.09381410e-01] [-1.89448172e-01 -2.89889746e-04 9.81890679e-01 -3.00966669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:0.21, Z:-3.01 [[ 9.77579357e-01 8.82050274e-02 1.91202705e-01 2.24778645e+01] [-8.67250274e-02 9.96101994e-01 -1.61117344e-02 2.08148356e-01] [-1.91878532e-01 -8.31560867e-04 9.81418330e-01 -3.01495616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.51, Y:0.20, Z:-3.02 [[ 9.78501832e-01 8.13064974e-02 1.89534741e-01 2.25093953e+01] [-8.09245778e-02 9.96672377e-01 -9.76650722e-03 2.03216776e-01] [-1.89698121e-01 -5.78147367e-03 9.81825441e-01 -3.01810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.21, Z:-3.03 [[ 9.78675341e-01 7.93780154e-02 1.89456345e-01 2.25405460e+01] [-7.81616309e-02 9.96843854e-01 -1.38956870e-02 2.07623980e-01] [-1.89961406e-01 -1.20885075e-03 9.81790814e-01 -3.02737955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:0.22, Z:-3.04 [[ 9.78344032e-01 7.74355076e-02 1.91954938e-01 2.25698530e+01] [-7.46541420e-02 9.96973547e-01 -2.16911245e-02 2.15678491e-01] [-1.93053659e-01 6.89115101e-03 9.81164001e-01 -3.03704707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:0.20, Z:-3.04 [[ 9.79516479e-01 7.19912647e-02 1.88055110e-01 2.26027944e+01] [-7.22471972e-02 9.97371580e-01 -5.50222324e-03 2.01813623e-01] [-1.87956934e-01 -8.19693628e-03 9.82143065e-01 -3.03660419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:0.21, Z:-3.05 [[ 9.79385425e-01 6.97317785e-02 1.89582882e-01 2.26327460e+01] [-6.82379728e-02 9.97565091e-01 -1.44037895e-02 2.10314419e-01] [-1.90125667e-01 1.17010996e-03 9.81759065e-01 -3.04611536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:0.20, Z:-3.05 [[ 9.80151135e-01 6.42327564e-02 1.87557738e-01 2.26650997e+01] [-6.52207907e-02 9.97870447e-01 -9.04987456e-04 1.97328607e-01] [-1.87216454e-01 -1.13456395e-02 9.82253163e-01 -3.04650660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:0.16, Z:-3.04 [[ 0.9829805 0.05843814 0.17416754 22.69505806] [-0.06545255 0.99724864 0.03480114 0.16196316] [-0.17165462 -0.04560855 0.98410088 -3.0363561 ] [ 0. 0. 0. 1. ]] SLAMing on 23.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:0.25, Z:-3.08 [[ 0.97973714 0.07219675 0.18682281 22.72132084] [-0.06213 0.99631098 -0.05919699 0.25056404] [-0.19040745 0.04639019 0.98060846 -3.07927137] [ 0. 0. 0. 1. ]] SLAMing on 23.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:0.25, Z:-3.09 [[ 0.97268084 0.0664899 0.22242093 22.74507279] [-0.05331698 0.99647804 -0.06472109 0.25447945] [-0.22594087 0.05109415 0.97280014 -3.08999044] [ 0. 0. 0. 1. ]] SLAMing on 23.57592 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:22.79, Y:0.17, Z:-3.06 [[ 0.97779477 0.05241422 0.20290426 22.78702446] [-0.05847299 0.998001 0.02397752 0.17003605] [-0.20124189 -0.03530952 0.97890497 -3.05932257] [ 0. 0. 0. 1. ]] SLAMing on 23.605919999999998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.82, Y:0.17, Z:-3.07 [[ 9.78149030e-01 5.00839497e-02 2.01782240e-01 2.28177904e+01] [-5.41605038e-02 9.98423606e-01 1.47289802e-02 1.73307737e-01] [-2.00726466e-01 -2.53357655e-02 9.79319654e-01 -3.07100693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.63592 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.85, Y:0.21, Z:-3.09 [[ 9.78267786e-01 6.19508534e-02 1.97874278e-01 2.28465613e+01] [-5.76894743e-02 9.97963042e-01 -2.72339987e-02 2.12917059e-01] [-1.99158386e-01 1.52268805e-02 9.79849008e-01 -3.09056056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.88, Y:0.20, Z:-3.09 [[ 9.78183717e-01 5.79620489e-02 1.99491898e-01 2.28787335e+01] [-5.67712415e-02 9.98318781e-01 -1.16891870e-02 1.96722485e-01] [-1.99834038e-01 1.08769691e-04 9.79829753e-01 -3.09045008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695919999999997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:22.91, Y:0.20, Z:-3.10 [[ 9.77486155e-01 5.68602191e-02 2.03193832e-01 2.29080995e+01] [-5.45830141e-02 9.98367927e-01 -1.67981401e-02 1.98883413e-01] [-2.03817350e-01 5.32901755e-03 9.78994428e-01 -3.10090560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:22.93, Y:0.22, Z:-3.12 [[ 0.97237724 0.0588075 0.22588532 22.93333186] [-0.04992255 0.99774549 -0.04485177 0.22284915] [-0.22801368 0.03233607 0.97312082 -3.12011897] [ 0. 0. 0. 1. ]] SLAMing on 23.75592 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:22.97, Y:0.19, Z:-3.12 [[ 9.70903607e-01 5.27268594e-02 2.33593803e-01 2.29656764e+01] [-4.97483709e-02 9.98588040e-01 -1.86286553e-02 1.93194610e-01] [-2.34246208e-01 6.46571752e-03 9.72155805e-01 -3.11600443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:23.00, Y:0.18, Z:-3.12 [[ 9.70532716e-01 5.20060281e-02 2.35290503e-01 2.29990772e+01] [-5.12033455e-02 9.98642834e-01 -9.52407897e-03 1.84460467e-01] [-2.35466485e-01 -2.80423072e-03 9.71878424e-01 -3.11909816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81592 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:23.03, Y:0.18, Z:-3.13 [[ 9.70549743e-01 5.51495094e-02 2.34503149e-01 2.30299216e+01] [-5.49584147e-02 9.98461554e-01 -7.35508062e-03 1.82971354e-01] [-2.34548008e-01 -5.74944973e-03 9.72087535e-01 -3.12717841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:23.06, Y:0.17, Z:-3.13 [[ 9.72283328e-01 5.61248555e-02 2.26969450e-01 2.30633161e+01] [-5.87648172e-02 9.98259900e-01 4.88550055e-03 1.68591844e-01] [-2.26300302e-01 -1.80879090e-02 9.73889625e-01 -3.12963382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875919999999997 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:23.09, Y:0.19, Z:-3.15 [[ 9.70109614e-01 6.16300509e-02 2.34710617e-01 2.30928876e+01] [-5.79262195e-02 9.98063915e-01 -2.26489433e-02 1.91262949e-01] [-2.35652053e-01 8.37605895e-03 9.71801395e-01 -3.14726942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:23.14, Y:0.07, Z:-3.09 [[ 0.98146474 0.04871586 0.18534759 23.13952197] [-0.07035063 0.9912149 0.11199919 0.06967388] [-0.17826316 -0.12296257 0.97626966 -3.08872971] [ 0. 0. 0. 1. ]] SLAMing on 23.93592 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:23.17, Y:0.25, Z:-3.18 [[ 0.97617363 0.08912111 0.19784457 23.16505104] [-0.07512808 0.9941845 -0.07715537 0.25150358] [-0.20357017 0.06045336 0.97719219 -3.18216196] [ 0. 0. 0. 1. ]] SLAMing on 23.965919999999997 meters Centerline goodness : 0.980309 Centerline is valid? [True, True] Translation: X:23.16, Y:0.18, Z:-3.16 [[ 0.97196748 0.14095678 0.18817653 23.16491671] [-0.14948638 0.98825035 0.03186005 0.17885356] [-0.18147463 -0.05909676 0.98161832 -3.15734003] [ 0. 0. 0. 1. ]] SLAMing on 23.995919999999998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:23.23, Y:0.20, Z:-3.17 [[ 9.75197952e-01 7.94874871e-02 2.06568860e-01 2.32305191e+01] [-7.71074527e-02 9.96830896e-01 -1.95603200e-02 1.98646780e-01] [-2.07469022e-01 3.14718539e-03 9.78236526e-01 -3.17131359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:23.26, Y:0.19, Z:-3.17 [[ 9.74059924e-01 7.93350189e-02 2.11927391e-01 2.32638439e+01] [-8.01859370e-02 9.96769354e-01 -4.59028841e-03 1.89151886e-01] [-2.11606899e-01 -1.25223804e-02 9.77274634e-01 -3.17326335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055919999999997 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:23.29, Y:0.18, Z:-3.17 [[ 9.75637421e-01 9.13198709e-02 1.99480082e-01 2.32871722e+01] [-9.57240777e-02 9.95329093e-01 1.25259025e-02 1.80201035e-01] [-1.97404465e-01 -3.13157861e-02 9.79821820e-01 -3.16628887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:23.31, Y:0.20, Z:-3.18 [[ 9.77348041e-01 9.24854445e-02 1.90360841e-01 2.33139683e+01] [-9.39748891e-02 9.95573835e-01 -1.20778489e-03 1.96533621e-01] [-1.89629975e-01 -1.67087127e-02 9.81713447e-01 -3.17841830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.11592 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:23.35, Y:0.21, Z:-3.19 [[ 9.74404139e-01 9.93722033e-02 2.01647563e-01 2.33461028e+01] [-9.93834713e-02 9.94998006e-01 -1.00942374e-02 2.09174470e-01] [-2.01642010e-01 -1.02045682e-02 9.79406130e-01 -3.18799241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters Centerline goodness : 0.962405 Centerline is valid? [True, True] Translation: X:23.43, Y:0.10, Z:-3.20 [[ 0.98042329 0.03134563 0.1943904 23.43494651] [-0.04695587 0.9959846 0.0762222 0.10380893] [-0.19122061 -0.08385779 0.97795836 -3.19800882] [ 0. 0. 0. 1. ]] SLAMing on 24.175919999999998 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:23.40, Y:0.33, Z:-3.24 [[ 0.97198328 0.12270447 0.2004797 23.39525607] [-0.0984638 0.98703698 -0.12673944 0.33293651] [-0.21343237 0.10344863 0.97146539 -3.24056252] [ 0. 0. 0. 1. ]] SLAMing on 24.20592 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:23.40, Y:0.28, Z:-3.23 [[ 0.97405085 0.11412338 0.19545022 23.40281214] [-0.10335844 0.99255374 -0.06445229 0.27837779] [-0.20135036 0.04257838 0.97859344 -3.23276508] [ 0. 0. 0. 1. ]] SLAMing on 24.23592 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:23.45, Y:0.22, Z:-3.21 [[ 9.66480388e-01 8.71469843e-02 2.41497541e-01 2.34494048e+01] [-8.75646009e-02 9.96117971e-01 -9.02372621e-03 2.24479502e-01] [-2.41346432e-01 -1.24253814e-02 9.70359475e-01 -3.21492536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:23.49, Y:0.18, Z:-3.20 [[ 0.9752534 0.08019832 0.20603162 23.48854346] [-0.0910355 0.99489037 0.04365421 0.18090736] [-0.20147788 -0.06133011 0.97757111 -3.20379055] [ 0. 0. 0. 1. ]] SLAMing on 24.29592 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:23.52, Y:0.23, Z:-3.23 [[ 9.75974354e-01 8.56035978e-02 2.00364876e-01 2.35177506e+01] [-8.65614219e-02 9.96238517e-01 -3.99208442e-03 2.31151000e-01] [-1.99952944e-01 -1.34476965e-02 9.79713213e-01 -3.22841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:23.55, Y:0.26, Z:-3.24 [[ 9.73154293e-01 8.41937006e-02 2.14201176e-01 2.35465161e+01] [-7.87747005e-02 9.96321798e-01 -3.37256840e-02 2.57311221e-01] [-2.16252791e-01 1.59466607e-02 9.76207168e-01 -3.24341407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355919999999998 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:23.58, Y:0.24, Z:-3.24 [[ 9.73294979e-01 7.56926765e-02 2.16719871e-01 2.35776034e+01] [-7.38642029e-02 9.97131191e-01 -1.65368816e-02 2.41252127e-01] [-2.17349864e-01 8.74233581e-05 9.76093760e-01 -3.24431901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:23.61, Y:0.24, Z:-3.25 [[ 9.73878919e-01 6.44181563e-02 2.17738724e-01 2.36085013e+01] [-6.29324164e-02 9.97922947e-01 -1.37587045e-02 2.36510327e-01] [-2.18172780e-01 -3.03511763e-04 9.75910112e-01 -3.25166355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41592 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:23.64, Y:0.22, Z:-3.25 [[ 9.75444106e-01 5.42752930e-02 2.13454886e-01 2.36417304e+01] [-5.63025723e-02 9.98407877e-01 3.42523098e-03 2.16221486e-01] [-2.12929134e-01 -1.53591805e-02 9.76946917e-01 -3.25189371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:23.67, Y:0.22, Z:-3.26 [[ 9.75520478e-01 5.29229611e-02 2.13445443e-01 2.36725218e+01] [-5.28637637e-02 9.98583774e-01 -5.98900661e-03 2.24530664e-01] [-2.13460112e-01 -5.44113089e-03 9.76936628e-01 -3.26106320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:23.70, Y:0.23, Z:-3.27 [[ 9.75458047e-01 5.32506087e-02 2.13649178e-01 2.37031526e+01] [-5.20273342e-02 9.98581179e-01 -1.13483879e-02 2.30374644e-01] [-2.13950356e-01 -4.57208435e-05 9.76844534e-01 -3.27069167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:23.73, Y:0.22, Z:-3.27 [[ 9.75522317e-01 5.10008366e-02 2.13904472e-01 2.37345596e+01] [-5.13650073e-02 9.98672492e-01 -3.85883277e-03 2.22260476e-01] [-2.13817316e-01 -7.22282727e-03 9.76846962e-01 -3.27494482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535919999999997 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:23.73, Y:0.20, Z:-3.28 [[ 9.75824459e-01 6.63718193e-02 2.08234021e-01 2.37283271e+01] [-7.17223825e-02 9.97257802e-01 1.82421703e-02 2.02848935e-01] [-2.06452236e-01 -3.27361961e-02 9.77908900e-01 -3.27702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:23.79, Y:0.21, Z:-3.28 [[ 9.74221880e-01 5.72020612e-02 2.18219276e-01 2.37895000e+01] [-5.87894681e-02 9.98270096e-01 7.83060756e-04 2.11446559e-01] [-2.17796985e-01 -1.35918701e-02 9.75899449e-01 -3.28086320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59592 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:23.82, Y:0.23, Z:-3.30 [[ 9.73773087e-01 5.96610012e-02 2.19559877e-01 2.38186060e+01] [-5.72765945e-02 9.98209910e-01 -1.72153328e-02 2.26609848e-01] [-2.20193929e-01 4.18818574e-03 9.75447125e-01 -3.29549782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:23.85, Y:0.21, Z:-3.30 [[ 9.74131549e-01 5.66031583e-02 2.18777986e-01 2.38500603e+01] [-5.65120680e-02 9.98379575e-01 -6.67913964e-03 2.11662673e-01] [-2.18801533e-01 -5.85723574e-03 9.75751804e-01 -3.29981278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65592 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:23.88, Y:0.21, Z:-3.31 [[ 9.74278366e-01 5.64221922e-02 2.18170121e-01 2.38806260e+01] [-5.51416641e-02 9.98406927e-01 -1.19584532e-02 2.13296650e-01] [-2.18497282e-01 -3.79401294e-04 9.75837483e-01 -3.30910020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:23.91, Y:0.21, Z:-3.32 [[ 9.73753251e-01 5.47939540e-02 2.20912264e-01 2.39118799e+01] [-5.35734745e-02 9.98497490e-01 -1.15171538e-02 2.07731304e-01] [-2.21211412e-01 -6.20171621e-04 9.75225680e-01 -3.31698986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715919999999997 meters Centerline goodness : 0.899011 Centerline is valid? [True, False] Translation: X:23.96, Y:0.20, Z:-3.32 [[ 9.79210832e-01 4.93121649e-02 1.96759897e-01 2.39610343e+01] [-4.98666864e-02 9.98753594e-01 -2.13815141e-03 1.95462654e-01] [-1.96620091e-01 -7.71806306e-03 9.80449372e-01 -3.32461970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters Centerline goodness : 0.873095 Centerline is valid? [False, False] Translation: X:23.99, Y:0.19, Z:-3.33 [[ 9.80872558e-01 4.36062326e-02 1.89703773e-01 2.39877993e+01] [-4.46210495e-02 9.99003402e-01 1.07951578e-03 1.86431991e-01] [-1.89467641e-01 -9.52364886e-03 9.81840778e-01 -3.32925867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.77592 meters Centerline goodness : 0.856677 Centerline is valid? [False, False] Translation: X:24.01, Y:0.18, Z:-3.33 [[ 9.82269509e-01 4.00120471e-02 1.83154709e-01 2.40080310e+01] [-4.12060869e-02 9.99146975e-01 2.71664851e-03 1.81153964e-01] [-1.82889774e-01 -1.02155698e-02 9.83080349e-01 -3.33386401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters Centerline goodness : 0.997573 Centerline is valid? [False, True] Translation: X:24.02, Y:0.18, Z:-3.34 [[ 9.83333280e-01 3.81178876e-02 1.77771447e-01 2.40230381e+01] [-3.93134786e-02 9.99221781e-01 3.20652347e-03 1.78870452e-01] [-1.77510876e-01 -1.01418952e-02 9.84066578e-01 -3.33967260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835919999999998 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:24.04, Y:0.28, Z:-3.38 [[ 0.97980015 0.06380976 0.18952568 24.04401396] [-0.04662051 0.99449773 -0.09381249 0.27962611] [-0.19446902 0.08308171 0.97738387 -3.3792638 ] [ 0. 0. 0. 1. ]] SLAMing on 24.86592 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:24.08, Y:0.18, Z:-3.35 [[ 9.81445501e-01 4.54694644e-02 1.86271996e-01 2.40808828e+01] [-4.89129251e-02 9.98705905e-01 1.39298857e-02 1.77818097e-01] [-1.85397558e-01 -2.27825318e-02 9.82399461e-01 -3.34868873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895919999999997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:24.10, Y:0.24, Z:-3.38 [[ 0.98084562 0.06638004 0.18312719 24.09705846] [-0.05950912 0.9973111 -0.04276965 0.24099324] [-0.18547383 0.03105269 0.98215843 -3.37911268] [ 0. 0. 0. 1. ]] SLAMing on 24.925919999999998 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:24.14, Y:0.19, Z:-3.36 [[ 9.79381552e-01 4.98084316e-02 1.95782775e-01 2.41424116e+01] [-5.27186136e-02 9.98562508e-01 9.67810033e-03 1.89387244e-01] [-1.95019288e-01 -1.97999494e-02 9.80599531e-01 -3.36203459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.95592 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:24.17, Y:0.21, Z:-3.37 [[ 9.78758043e-01 5.28170823e-02 1.98098585e-01 2.41735833e+01] [-5.29138885e-02 9.98587501e-01 -4.80863783e-03 2.07758989e-01] [-1.98072750e-01 -5.77567351e-03 9.80170305e-01 -3.37188676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:24.21, Y:0.19, Z:-3.37 [[ 9.79292783e-01 4.89451985e-02 1.96443408e-01 2.42061491e+01] [-5.30646865e-02 9.98466724e-01 1.57588009e-02 1.91588479e-01] [-1.95370889e-01 -2.58566878e-02 9.80388519e-01 -3.36957125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015919999999998 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:24.23, Y:0.24, Z:-3.39 [[ 9.78516466e-01 5.62671374e-02 1.98341966e-01 2.42328832e+01] [-5.22853180e-02 9.98312661e-01 -2.52601668e-02 2.37078972e-01] [-1.99428613e-01 1.43471164e-02 9.79807322e-01 -3.39262823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:24.27, Y:0.21, Z:-3.39 [[ 9.78640587e-01 5.13238019e-02 1.99069006e-01 2.42663726e+01] [-5.26878913e-02 9.98609814e-01 1.55753354e-03 2.12284525e-01] [-1.98712325e-01 -1.20127917e-02 9.79984237e-01 -3.39067236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07592 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:24.30, Y:0.21, Z:-3.40 [[ 9.78782168e-01 5.06854888e-02 1.98535762e-01 2.42982826e+01] [-5.19945109e-02 9.98646414e-01 1.38221177e-03 2.14974688e-01] [-1.98196969e-01 -1.16756541e-02 9.80092669e-01 -3.39665242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters Centerline goodness : 0.953384 Centerline is valid? [True, True] Translation: X:24.34, Y:0.10, Z:-3.38 [[ 0.97697196 -0.05283176 0.20672345 24.34384457] [ 0.03772564 0.99636727 0.07634814 0.10291879] [-0.21000609 -0.06679122 0.975416 -3.38429021] [ 0. 0. 0. 1. ]] SLAMing on 25.13592 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:24.35, Y:0.31, Z:-3.44 [[ 0.97820477 0.07105753 0.19510577 24.35083013] [-0.05346066 0.99413325 -0.09402684 0.31414611] [-0.20064245 0.08154701 0.97626466 -3.43847765] [ 0. 0. 0. 1. ]] SLAMing on 25.16592 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:24.39, Y:0.23, Z:-3.42 [[ 9.78270961e-01 4.53151720e-02 2.02317726e-01 2.43903236e+01] [-4.52083364e-02 9.98964298e-01 -5.15148256e-03 2.28018170e-01] [-2.02341626e-01 -4.10690205e-03 9.79306387e-01 -3.41616119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195919999999997 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:24.42, Y:0.23, Z:-3.42 [[ 9.78160744e-01 4.30854224e-02 2.03335203e-01 2.44220664e+01] [-4.33950319e-02 9.99053673e-01 -2.93767525e-03 2.26394800e-01] [-2.03269353e-01 -5.95021901e-03 9.79104777e-01 -3.42243672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:24.45, Y:0.25, Z:-3.44 [[ 9.71361727e-01 4.20388675e-02 2.33857070e-01 2.44469645e+01] [-3.68208400e-02 9.98966834e-01 -2.66362684e-02 2.50417004e-01] [-2.34735216e-01 1.72626379e-02 9.71906055e-01 -3.43754479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25592 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:24.49, Y:0.20, Z:-3.43 [[ 0.97837679 0.03390455 0.20403269 24.48769691] [-0.04047554 0.99878482 0.02811797 0.2006112 ] [-0.20283142 -0.0357683 0.97856019 -3.42595812] [ 0. 0. 0. 1. ]] SLAMing on 25.285919999999997 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:24.52, Y:0.24, Z:-3.45 [[ 9.77459517e-01 4.40781581e-02 2.06470359e-01 2.45155753e+01] [-4.14905222e-02 9.98996836e-01 -1.68481068e-02 2.44508501e-01] [-2.07005868e-01 7.90177929e-03 9.78307790e-01 -3.44786694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31592 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:24.55, Y:0.23, Z:-3.45 [[ 9.77125951e-01 4.18651814e-02 2.08499840e-01 2.45479794e+01] [-4.23235716e-02 9.99101390e-01 -2.26427453e-03 2.32040700e-01] [-2.08407274e-01 -6.61197649e-03 9.78019780e-01 -3.44975409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:24.57, Y:0.25, Z:-3.46 [[ 9.71343412e-01 4.27549067e-02 2.33803322e-01 2.45745002e+01] [-3.99098454e-02 9.99060551e-01 -1.68884477e-02 2.46132884e-01] [-2.34305739e-01 7.07342800e-03 9.72137226e-01 -3.45992908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375919999999997 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:24.61, Y:0.22, Z:-3.46 [[ 9.77234367e-01 4.29721812e-02 2.07765212e-01 2.46137909e+01] [-4.74567485e-02 9.98734575e-01 1.66464945e-02 2.17761853e-01] [-2.06786965e-01 -2.61273879e-02 9.78037070e-01 -3.45574332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:24.64, Y:0.24, Z:-3.47 [[ 9.76713312e-01 4.76825107e-02 2.09182898e-01 2.46446463e+01] [-4.78865120e-02 9.98844400e-01 -4.09218530e-03 2.37998694e-01] [-2.09136292e-01 -6.02014750e-03 9.77867971e-01 -3.46843566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.43592 meters Centerline goodness : 0.836344 Centerline is valid? [True, False] Translation: X:24.67, Y:0.24, Z:-3.47 [[ 9.78404898e-01 4.32507524e-02 2.02121813e-01 2.46689915e+01] [-4.37814855e-02 9.99039425e-01 -1.84634691e-03 2.35657875e-01] [-2.02007516e-01 -7.04271836e-03 9.79358649e-01 -3.47270343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters Centerline goodness : 0.999356 Centerline is valid? [False, True] Translation: X:24.69, Y:0.23, Z:-3.48 [[ 9.79979879e-01 3.81632567e-02 1.95404716e-01 2.46927915e+01] [-3.87939967e-02 9.99247050e-01 -5.99706709e-04 2.34204960e-01] [-1.95280473e-01 -6.99282941e-03 9.80722508e-01 -3.47710408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495919999999998 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:24.72, Y:0.27, Z:-3.49 [[ 0.9796986 0.05091365 0.1939032 24.71726182] [-0.04462471 0.99833068 -0.03666726 0.27152893] [-0.19544638 0.02726999 0.98033518 -3.49130151] [ 0. 0. 0. 1. ]] SLAMing on 25.52592 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:24.76, Y:0.21, Z:-3.48 [[ 9.80293578e-01 3.11108048e-02 1.95081055e-01 2.47566191e+01] [-3.63855581e-02 9.99061175e-01 2.35129535e-02 2.08188083e-01] [-1.94166401e-01 -3.01477304e-02 9.80505239e-01 -3.47770471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555919999999997 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:24.79, Y:0.24, Z:-3.49 [[ 9.79834299e-01 3.64530674e-02 1.96458447e-01 2.47864109e+01] [-3.55776213e-02 9.99335018e-01 -7.98465608e-03 2.37988630e-01] [-1.96618871e-01 8.34115674e-04 9.80479640e-01 -3.49473343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:24.81, Y:0.27, Z:-3.51 [[ 0.97971863 0.04571296 0.19509414 24.80701566] [-0.03926624 0.9985514 -0.03678673 0.27150341] [-0.19649315 0.02838004 0.98009439 -3.51035633] [ 0. 0. 0. 1. ]] SLAMing on 25.61592 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:24.84, Y:0.23, Z:-3.50 [[ 9.80492593e-01 3.65154125e-02 1.93134406e-01 2.48420425e+01] [-3.77390733e-02 9.99284089e-01 2.65934577e-03 2.34529034e-01] [-1.92899032e-01 -9.89618234e-03 9.81168706e-01 -3.50474452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:24.88, Y:0.23, Z:-3.51 [[ 9.80282067e-01 3.47824702e-02 1.94517993e-01 2.48780731e+01] [-3.61706833e-02 9.99339185e-01 3.58828884e-03 2.32916020e-01] [-1.94264643e-01 -1.05533839e-02 9.80892387e-01 -3.50871712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675919999999998 meters Centerline goodness : 0.887448 Centerline is valid? [True, False] Translation: X:24.90, Y:0.23, Z:-3.52 [[ 9.82020101e-01 3.03125808e-02 1.86326782e-01 2.49043640e+01] [-3.17454328e-02 9.99484887e-01 4.71046979e-03 2.30921601e-01] [-1.86088016e-01 -1.05408003e-02 9.82476535e-01 -3.51617091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters Centerline goodness : 0.998464 Centerline is valid? [False, True] Translation: X:24.93, Y:0.23, Z:-3.52 [[ 9.83717949e-01 2.64830841e-02 1.77757259e-01 2.49308088e+01] [-2.78734607e-02 9.99597257e-01 5.32864545e-03 2.32136457e-01] [-1.77544549e-01 -1.01965941e-02 9.84059938e-01 -3.52324144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735919999999997 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:24.96, Y:0.24, Z:-3.53 [[ 9.83851926e-01 2.63042769e-02 1.77040879e-01 2.49626244e+01] [-2.72335210e-02 9.99625120e-01 2.82045651e-03 2.35392105e-01] [-1.76900320e-01 -7.59635806e-03 9.84199458e-01 -3.52924232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:24.99, Y:0.24, Z:-3.54 [[ 9.83575275e-01 2.57860349e-02 1.78647020e-01 2.49935508e+01] [-2.55426632e-02 9.99667023e-01 -3.66262359e-03 2.40455177e-01] [-1.78681980e-01 -9.60654663e-04 9.83906412e-01 -3.53727795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.79592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:25.03, Y:0.24, Z:-3.54 [[ 9.83388633e-01 2.00564923e-02 1.80401038e-01 2.50252465e+01] [-1.94102519e-02 9.99797305e-01 -5.34700850e-03 2.37748424e-01] [-1.80471714e-01 1.75655779e-03 9.83578606e-01 -3.54236241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:25.08, Y:0.15, Z:-3.53 [[ 9.82925402e-01 -2.89873840e-02 1.81706869e-01 2.50797132e+01] [ 1.78350320e-02 9.97872295e-01 6.27120014e-02 1.52484548e-01] [-1.83138107e-01 -5.84004714e-02 9.81351017e-01 -3.53243307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855919999999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:25.08, Y:0.31, Z:-3.58 [[ 9.82761337e-01 2.75099686e-02 1.82820555e-01 2.50803296e+01] [-1.20762574e-02 9.96307503e-01 -8.50030749e-02 3.14107866e-01] [-1.84483922e-01 8.13299475e-02 9.79464712e-01 -3.57875857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:25.12, Y:0.23, Z:-3.56 [[ 9.82990897e-01 9.78841838e-03 1.83393250e-01 2.51185080e+01] [-9.65545717e-03 9.99952076e-01 -1.61795909e-03 2.32470018e-01] [-1.83400299e-01 -1.80306614e-04 9.83038299e-01 -3.55981821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91592 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:25.16, Y:0.15, Z:-3.55 [[ 9.82232179e-01 -3.60721404e-02 1.84170431e-01 2.51645732e+01] [ 2.47952641e-02 9.97694637e-01 6.31712413e-02 1.50614027e-01] [-1.86024573e-01 -5.74822715e-02 9.80862196e-01 -3.54644941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:25.18, Y:0.28, Z:-3.59 [[ 9.83034242e-01 1.96129539e-02 1.82370531e-01 2.51774954e+01] [-8.65588637e-03 9.98119474e-01 -6.06843575e-02 2.84005877e-01] [-1.83217778e-01 5.80762228e-02 9.81355388e-01 -3.58610792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.22, Y:0.18, Z:-3.56 [[ 9.82003140e-01 -1.50596460e-02 1.88263222e-01 2.52196209e+01] [ 8.94389049e-03 9.99405629e-01 3.32925697e-02 1.84352913e-01] [-1.88652698e-01 -3.10096024e-02 9.81554157e-01 -3.56435798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:25.24, Y:0.26, Z:-3.59 [[ 9.82492462e-01 1.20329331e-02 1.85913343e-01 2.52396427e+01] [-5.11723288e-03 9.99278499e-01 -3.76337089e-02 2.60774840e-01] [-1.86232050e-01 3.60234735e-02 9.81845168e-01 -3.59251482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035919999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:25.27, Y:0.24, Z:-3.59 [[ 9.82382368e-01 6.43674802e-03 1.86771121e-01 2.52732883e+01] [-4.47271285e-03 9.99930205e-01 -1.09352266e-02 2.35599720e-01] [-1.86828473e-01 9.90720022e-03 9.82342593e-01 -3.59039112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters Centerline goodness : 0.934150 Centerline is valid? [True, False] Translation: X:25.33, Y:0.22, Z:-3.60 [[ 9.86927331e-01 3.95400167e-03 1.61117377e-01 2.53258688e+01] [-4.03378998e-03 9.99991850e-01 1.68126656e-04 2.23665995e-01] [-1.61115399e-01 -8.15842450e-04 9.86935237e-01 -3.59608066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09592 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:25.35, Y:0.22, Z:-3.60 [[ 9.88163564e-01 -2.32985430e-04 1.53403767e-01 2.53516176e+01] [-3.25681985e-04 9.99993407e-01 3.61667107e-03 2.16036554e-01] [-1.53403598e-01 -3.62382342e-03 9.88156973e-01 -3.59897579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.38, Y:0.22, Z:-3.60 [[ 9.87932029e-01 -1.62542512e-03 1.54879514e-01 2.53828085e+01] [ 1.36544032e-03 9.99997475e-01 1.78499264e-03 2.16445677e-01] [-1.54882024e-01 -1.55197266e-03 9.87931754e-01 -3.60433519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:25.42, Y:0.21, Z:-3.61 [[ 9.88187429e-01 -1.20798917e-03 1.53245380e-01 2.54155218e+01] [ 7.25125484e-04 9.99994595e-01 3.20677043e-03 2.14611669e-01] [-1.53248426e-01 -3.05776810e-03 9.88182964e-01 -3.60925958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.44, Y:0.22, Z:-3.62 [[ 9.88156648e-01 -1.19119517e-04 1.53448442e-01 2.54449512e+01] [ 9.36009350e-04 9.99985774e-01 -5.25131458e-03 2.21268887e-01] [-1.53445633e-01 5.33275059e-03 9.88142702e-01 -3.61939063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215919999999997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:25.48, Y:0.20, Z:-3.62 [[ 9.88673234e-01 -1.61711760e-03 1.50075387e-01 2.54777466e+01] [-9.41773654e-05 9.99935069e-01 1.13950947e-02 2.04123385e-01] [-1.50084069e-01 -1.12801588e-02 9.88608886e-01 -3.61705305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:25.51, Y:0.22, Z:-3.63 [[ 9.87338393e-01 8.07232572e-04 1.58626121e-01 2.55074633e+01] [ 8.52489313e-04 9.99945609e-01 -1.03947829e-02 2.19820493e-01] [-1.58625884e-01 1.03983954e-02 9.87284003e-01 -3.62648044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.27592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:25.54, Y:0.21, Z:-3.63 [[ 9.87332779e-01 -1.14779393e-03 1.58658962e-01 2.55375510e+01] [ 1.50575037e-03 9.99996585e-01 -2.13594421e-03 2.10623183e-01] [-1.58655968e-01 2.34778852e-03 9.87331136e-01 -3.62953498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:25.57, Y:0.21, Z:-3.63 [[ 9.87090970e-01 -2.51213390e-03 1.60140896e-01 2.55699115e+01] [ 2.46670221e-03 9.99996841e-01 4.82490662e-04 2.06319149e-01] [-1.60141602e-01 -8.12422725e-05 9.87094048e-01 -3.63319580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335919999999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:25.60, Y:0.18, Z:-3.63 [[ 9.87357821e-01 -8.57600092e-03 1.58275032e-01 2.56014463e+01] [ 5.87474471e-03 9.99829134e-01 1.75268355e-02 1.83386435e-01] [-1.58398298e-01 -1.63754327e-02 9.87239497e-01 -3.63355331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.63, Y:0.21, Z:-3.65 [[ 9.86531420e-01 -4.74905236e-03 1.63502916e-01 2.56304685e+01] [ 7.09399108e-03 9.99880148e-01 -1.37609895e-02 2.08498665e-01] [-1.63417968e-01 1.47355368e-02 9.86446872e-01 -3.64712730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395919999999997 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:25.66, Y:0.19, Z:-3.65 [[ 9.86417615e-01 -7.81986375e-03 1.64070527e-01 2.56630240e+01] [ 7.79522907e-03 9.99969302e-01 7.94002580e-04 1.92812238e-01] [-1.64071699e-01 4.95749213e-04 9.86448291e-01 -3.64785614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:25.69, Y:0.19, Z:-3.65 [[ 9.86627319e-01 -6.97567727e-03 1.62843097e-01 2.56937838e+01] [ 7.47364186e-03 9.99969082e-01 -2.44552969e-03 1.93275570e-01] [-1.62821003e-01 3.62985739e-03 9.86648947e-01 -3.65429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.45592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:25.73, Y:0.18, Z:-3.66 [[ 9.87026706e-01 -4.47336612e-03 1.60493835e-01 2.57267076e+01] [ 3.76177732e-03 9.99981703e-01 4.73731339e-03 1.81294367e-01] [-1.60512091e-01 -4.07211276e-03 9.87025474e-01 -3.65678454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.76, Y:0.18, Z:-3.66 [[ 9.86401621e-01 -2.73170676e-03 1.64330096e-01 2.57577183e+01] [ 2.49086940e-03 9.99995501e-01 1.67161624e-03 1.83416186e-01] [-1.64333923e-01 -1.23956016e-03 9.86403987e-01 -3.66258819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.79, Y:0.19, Z:-3.67 [[ 9.85689783e-01 -4.39157560e-04 1.68568854e-01 2.57889014e+01] [ 1.41325341e-03 9.99982991e-01 -5.65869276e-03 1.88474426e-01] [-1.68563502e-01 5.81594615e-03 9.85673638e-01 -3.66995377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:0.18, Z:-3.67 [[ 9.85700090e-01 -1.49899713e-03 1.68502482e-01 2.58206668e+01] [ 1.83918193e-03 9.99996574e-01 -1.86282007e-03 1.83012928e-01] [-1.68499113e-01 2.14608863e-03 9.85699469e-01 -3.67372810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.85, Y:0.16, Z:-3.68 [[ 9.86761378e-01 -3.85738224e-03 1.62132978e-01 2.58538934e+01] [ 2.00654072e-03 9.99930962e-01 1.15777744e-02 1.64922792e-01] [-1.62166445e-01 -1.10991742e-02 9.86700994e-01 -3.67585579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.88, Y:0.18, Z:-3.69 [[ 9.86334730e-01 -3.27905696e-03 1.64721122e-01 2.58827976e+01] [ 4.62253307e-03 9.99959102e-01 -7.77339321e-03 1.81645812e-01] [-1.64688896e-01 8.42859653e-03 9.86309549e-01 -3.68895020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.91, Y:0.17, Z:-3.69 [[ 9.85500063e-01 -6.54920663e-03 1.69548617e-01 2.59148663e+01] [ 6.73645892e-03 9.99977170e-01 -5.29190864e-04 1.72187008e-01] [-1.69541280e-01 1.66367492e-03 9.85521682e-01 -3.69122763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.95, Y:0.17, Z:-3.69 [[ 9.85357463e-01 -8.47268372e-03 1.70290583e-01 2.59470383e+01] [ 8.48791028e-03 9.99963773e-01 6.38620393e-04 1.69761951e-01] [-1.70289825e-01 8.16141822e-04 9.85393682e-01 -3.69479062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.98, Y:0.17, Z:-3.70 [[ 9.84895617e-01 -9.91176544e-03 1.72865211e-01 2.59792474e+01] [ 9.74080786e-03 9.99950869e-01 1.83726674e-03 1.66550623e-01] [-1.72874929e-01 -1.25669157e-04 9.84943777e-01 -3.69863143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:0.16, Z:-3.70 [[ 9.84981347e-01 -1.00610192e-02 1.72367402e-01 2.60106602e+01] [ 9.55750990e-03 9.99947291e-01 3.75082489e-03 1.61105614e-01] [-1.72396054e-01 -2.04708941e-03 9.85025589e-01 -3.70295563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.04, Y:0.18, Z:-3.72 [[ 9.79575382e-01 -9.98099689e-03 2.00829406e-01 2.60357213e+01] [ 1.35599771e-02 9.99772683e-01 -1.64532265e-02 1.78261225e-01] [-2.00619535e-01 1.88404178e-02 9.79488050e-01 -3.71916266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.07, Y:0.14, Z:-3.71 [[ 9.84676050e-01 -1.10203921e-02 1.74044902e-01 2.60742787e+01] [ 7.14890673e-03 9.99713220e-01 2.28554493e-02 1.38880478e-01] [-1.74246866e-01 -2.12609827e-02 9.84472448e-01 -3.70836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:0.18, Z:-3.73 [[ 9.81674226e-01 -5.76214026e-03 1.90479688e-01 2.60984672e+01] [ 9.39153723e-03 9.99791044e-01 -1.81567592e-02 1.76256022e-01] [-1.90335264e-01 1.96129196e-02 9.81523215e-01 -3.73451339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:0.15, Z:-3.73 [[ 9.81335881e-01 -9.50437643e-03 1.92066541e-01 2.61332702e+01] [ 8.17402123e-03 9.99936809e-01 7.71771865e-03 1.47522178e-01] [-1.92127757e-01 -6.00371824e-03 9.81351558e-01 -3.72903750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:0.15, Z:-3.74 [[ 9.81330592e-01 -8.45693165e-03 1.92142526e-01 2.61644213e+01] [ 7.81300699e-03 9.99961037e-01 4.10871754e-03 1.49942453e-01] [-1.92169786e-01 -2.53079932e-03 9.81358430e-01 -3.73597811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.20, Y:0.13, Z:-3.73 [[ 9.84474509e-01 -7.85025869e-03 1.75351972e-01 2.62038714e+01] [ 3.02981503e-03 9.99610555e-01 2.77409243e-02 1.26986296e-01] [-1.75501456e-01 -2.67789488e-02 9.84114895e-01 -3.72845361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.93592 meters Centerline goodness : 0.906178 Centerline is valid? [True, False] Translation: X:26.23, Y:0.14, Z:-3.74 [[ 9.86005612e-01 -4.51039885e-03 1.66651099e-01 2.62340807e+01] [ 1.81266747e-03 9.99864908e-01 1.63364613e-02 1.38093350e-01] [-1.66702270e-01 -1.58057595e-02 9.85880587e-01 -3.73800824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters Centerline goodness : 0.875596 Centerline is valid? [False, False] Translation: X:26.27, Y:0.14, Z:-3.75 [[ 9.87590871e-01 1.44393864e-03 1.57041991e-01 2.62657942e+01] [-3.06164034e-03 9.99944713e-01 1.00596613e-02 1.43326957e-01] [-1.57018784e-01 -1.04156358e-02 9.87540691e-01 -3.74580826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:26.30, Y:0.15, Z:-3.75 [[ 9.89297460e-01 6.38541817e-03 1.45772980e-01 2.62994188e+01] [-7.09772933e-03 9.99965276e-01 4.36685295e-03 1.47140520e-01] [-1.45740034e-01 -5.35477369e-03 9.89308430e-01 -3.75294305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.33, Y:0.13, Z:-3.75 [[ 9.91449371e-01 9.61064072e-03 1.30137542e-01 2.63315973e+01] [-1.19929936e-02 9.99774319e-01 1.75350951e-02 1.34382515e-01] [-1.29939649e-01 -1.89458977e-02 9.91340880e-01 -3.75269223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:0.21, Z:-3.79 [[ 9.86263919e-01 1.52806328e-02 1.64468793e-01 2.63500793e+01] [-5.22992419e-03 9.98101351e-01 -6.13705162e-02 2.10567476e-01] [-1.65094305e-01 5.96673665e-02 9.84471267e-01 -3.79163755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.40, Y:0.11, Z:-3.75 [[ 9.90358314e-01 5.54029950e-03 1.38418621e-01 2.63950699e+01] [-1.18141626e-02 9.98937525e-01 4.45448819e-02 1.08259746e-01] [-1.38024763e-01 -4.57506943e-02 9.89371537e-01 -3.74795255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.11592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.42, Y:0.16, Z:-3.78 [[ 9.88585538e-01 1.38738126e-02 1.50020500e-01 2.64210854e+01] [-1.14692928e-02 9.99791716e-01 -1.68813324e-02 1.64523237e-01] [-1.50223462e-01 1.49680120e-02 9.88538755e-01 -3.77914891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.45, Y:0.14, Z:-3.78 [[ 9.89247743e-01 1.12878557e-02 1.45813195e-01 2.64534160e+01] [-1.19039345e-02 9.99923523e-01 3.35324861e-03 1.44983723e-01] [-1.45764193e-01 -5.05294434e-03 9.89306458e-01 -3.77520187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:0.18, Z:-3.80 [[ 9.85984909e-01 1.35016240e-02 1.66287296e-01 2.64749924e+01] [-8.30825522e-03 9.99456934e-01 -3.18874477e-02 1.78171509e-01] [-1.66627523e-01 3.00589850e-02 9.85561630e-01 -3.79932253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:0.14, Z:-3.79 [[ 9.83923981e-01 5.29790988e-03 1.78509194e-01 2.65084142e+01] [-5.02059117e-03 9.99985386e-01 -2.00523238e-03 1.44159306e-01] [-1.78517209e-01 1.07677454e-03 9.83936201e-01 -3.78937483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:0.14, Z:-3.79 [[ 9.84145325e-01 3.90234213e-03 1.77321039e-01 2.65418914e+01] [-4.85124930e-03 9.99976138e-01 4.91811527e-03 1.36688131e-01] [-1.77297616e-01 -5.70036872e-03 9.84140773e-01 -3.79000453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:0.14, Z:-3.80 [[ 9.84088732e-01 6.06339910e-03 1.77574220e-01 2.65744991e+01] [-7.03498057e-03 9.99963530e-01 4.84229716e-03 1.36793919e-01] [-1.77538383e-01 -6.01448126e-03 9.84095498e-01 -3.79525704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:0.12, Z:-3.79 [[ 9.88194855e-01 9.87519136e-03 1.52883646e-01 2.66142016e+01] [-1.36432263e-02 9.99627981e-01 2.36169699e-02 1.20550520e-01] [-1.52593548e-01 -2.54239943e-02 9.87961958e-01 -3.79121252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.64, Y:0.16, Z:-3.82 [[ 9.84165534e-01 1.21783354e-02 1.76832943e-01 2.66359199e+01] [-9.03084520e-03 9.99786346e-01 -1.85931809e-02 1.58107995e-01] [-1.77021596e-01 1.67018169e-02 9.84065244e-01 -3.81764137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355919999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:26.65, Y:0.13, Z:-3.82 [[ 9.89997997e-01 2.61815849e-02 1.38630774e-01 2.66522329e+01] [-2.66404327e-02 9.99644022e-01 1.45501707e-03 1.34660630e-01] [-1.38543329e-01 -5.13364777e-03 9.90343068e-01 -3.82011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.71, Y:0.10, Z:-3.79 [[ 9.88578644e-01 1.92085377e-02 1.49476742e-01 2.67087912e+01] [-2.67928514e-02 9.98444661e-01 4.88917456e-02 9.64629073e-02] [-1.48305116e-01 -5.23382437e-02 9.87555720e-01 -3.79416713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41592 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:26.70, Y:0.18, Z:-3.85 [[ 0.98946788 0.04556704 0.13739346 26.69987676] [-0.04055481 0.99841342 -0.03906349 0.17574978] [-0.13895548 0.0330801 0.98974597 -3.85030972] [ 0. 0. 0. 1. ]] SLAMing on 27.445919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.75, Y:0.12, Z:-3.82 [[ 9.84098950e-01 3.09904959e-02 1.74896671e-01 2.67541936e+01] [-3.50993046e-02 9.99174620e-01 2.04479126e-02 1.24530078e-01] [-1.74118624e-01 -2.62615209e-02 9.84374440e-01 -3.81571922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.79, Y:0.14, Z:-3.83 [[ 9.83942224e-01 3.39577627e-02 1.75227195e-01 2.67855373e+01] [-3.50408149e-02 9.99381106e-01 3.08965079e-03 1.41712379e-01] [-1.75013830e-01 -9.18014156e-03 9.84523176e-01 -3.82933047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.83, Y:0.13, Z:-3.83 [[ 9.87659948e-01 3.86927002e-02 1.51758698e-01 2.68262587e+01] [-4.22768459e-02 9.98896397e-01 2.04610911e-02 1.28047443e-01] [-1.50799522e-01 -2.66244792e-02 9.88205769e-01 -3.82647611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:0.16, Z:-3.85 [[ 9.83250857e-01 3.62993680e-02 1.78606014e-01 2.68470701e+01] [-3.33987764e-02 9.99257257e-01 -1.92212529e-02 1.64103108e-01] [-1.79171075e-01 1.29340911e-02 9.83732908e-01 -3.85031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:26.85, Y:0.14, Z:-3.86 [[ 9.89632934e-01 3.94197479e-02 1.38104089e-01 2.68512295e+01] [-3.81989991e-02 9.99204210e-01 -1.14796780e-02 1.43769565e-01] [-1.38446713e-01 6.08522952e-03 9.90351189e-01 -3.86431547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.59592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.91, Y:0.12, Z:-3.83 [[ 0.98322538 0.0314231 0.17966761 26.9064863 ] [-0.03784036 0.99875835 0.03240163 0.11529479] [-0.17842636 -0.03865679 0.98319362 -3.83305451] [ 0. 0. 0. 1. ]] SLAMing on 27.625919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:0.14, Z:-3.85 [[ 9.83232152e-01 3.62888955e-02 1.78711086e-01 2.69362361e+01] [-3.73124148e-02 9.99300843e-01 2.36830302e-03 1.44879201e-01] [-1.78500195e-01 -8.99673383e-03 9.83898744e-01 -3.85305022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.97, Y:0.15, Z:-3.86 [[ 9.83224774e-01 3.64609697e-02 1.78716650e-01 2.69683692e+01] [-3.74729283e-02 9.99295022e-01 2.28879578e-03 1.46329547e-01] [-1.78507207e-01 -8.94743692e-03 9.83897922e-01 -3.85835024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:0.15, Z:-3.86 [[ 9.83355709e-01 3.67204587e-02 1.77941446e-01 2.70001484e+01] [-3.77141574e-02 9.99286138e-01 2.20402081e-03 1.47346854e-01] [-1.77733488e-01 -8.87824816e-03 9.84038609e-01 -3.86494085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:0.15, Z:-3.87 [[ 9.83441781e-01 3.82735322e-02 1.77136670e-01 2.70319743e+01] [-3.92760796e-02 9.99226072e-01 2.15554702e-03 1.46040595e-01] [-1.76917079e-01 -9.07708895e-03 9.84183902e-01 -3.87174907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.06, Y:0.15, Z:-3.88 [[ 9.83502096e-01 3.85522829e-02 1.76740907e-01 2.70641231e+01] [-3.95405722e-02 9.99215818e-01 2.07187331e-03 1.45857638e-01] [-1.76522435e-01 -9.02612834e-03 9.84255231e-01 -3.87546290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:0.15, Z:-3.88 [[ 9.82847547e-01 3.76955848e-02 1.80526294e-01 2.70970316e+01] [-3.86991629e-02 9.99248826e-01 2.03908500e-03 1.46067585e-01] [-1.80313823e-01 -8.99032617e-03 9.83568045e-01 -3.88107352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:0.15, Z:-3.89 [[ 9.83317409e-01 3.81950679e-02 1.77842658e-01 2.71291404e+01] [-3.91703228e-02 9.99230597e-01 1.97466573e-03 1.46662507e-01] [-1.77630402e-01 -8.90787749e-03 9.84056955e-01 -3.88716249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:0.15, Z:-3.89 [[ 9.83161198e-01 4.00520752e-02 1.78297197e-01 2.71611258e+01] [-4.10553711e-02 9.99154990e-01 1.93955396e-03 1.47376570e-01] [-1.78068851e-01 -9.22695177e-03 9.83974770e-01 -3.89364281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.19, Y:0.15, Z:-3.90 [[ 9.83218365e-01 4.12351761e-02 1.77711302e-01 2.71935645e+01] [-4.22370688e-02 9.99105892e-01 1.85668735e-03 1.48155262e-01] [-1.77475848e-01 -9.33153359e-03 9.84080914e-01 -3.89976943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:0.15, Z:-3.90 [[ 9.83193170e-01 4.38570245e-02 1.77222322e-01 2.72262193e+01] [-4.48884668e-02 9.98990360e-01 1.81291645e-03 1.49123915e-01] [-1.76963882e-01 -9.73768538e-03 9.84169173e-01 -3.90396517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.26, Y:0.15, Z:-3.91 [[ 9.83388686e-01 4.55813350e-02 1.75695856e-01 2.72585552e+01] [-4.66080421e-02 9.98911775e-01 1.71938661e-03 1.49674552e-01] [-1.75426287e-01 -9.87966519e-03 9.84442995e-01 -3.90966492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:0.15, Z:-3.92 [[ 9.83480387e-01 4.81583993e-02 1.74490963e-01 2.72910057e+01] [-4.91973229e-02 9.98787747e-01 1.63093320e-03 1.52525692e-01] [-1.74200893e-01 -1.01884791e-02 9.84657425e-01 -3.91650294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:0.16, Z:-3.92 [[ 9.83420808e-01 4.89096401e-02 1.74617759e-01 2.73233739e+01] [-4.99482835e-02 9.98750594e-01 1.55567939e-03 1.55012548e-01] [-1.74323503e-01 -1.02517448e-02 9.84635069e-01 -3.92187564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.36, Y:0.16, Z:-3.93 [[ 9.83041677e-01 5.07408698e-02 1.76222661e-01 2.73560106e+01] [-5.18142425e-02 9.98655626e-01 1.49188935e-03 1.57370876e-01] [-1.75910052e-01 -1.05974331e-02 9.84349200e-01 -3.92627128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.39, Y:0.16, Z:-3.93 [[ 9.82717284e-01 5.24291536e-02 1.77532879e-01 2.73885579e+01] [-5.35320551e-02 9.98565115e-01 1.42481826e-03 1.58930340e-01] [-1.77203438e-01 -1.09038934e-02 9.84113838e-01 -3.93054405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.42, Y:0.16, Z:-3.94 [[ 9.82763398e-01 5.19705251e-02 1.77412423e-01 2.74211564e+01] [-5.30505441e-02 9.98590921e-01 1.34623304e-03 1.61884045e-01] [-1.77092470e-01 -1.07348541e-02 9.84135672e-01 -3.93687468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:0.16, Z:-3.94 [[ 9.83328867e-01 5.10173110e-02 1.74532441e-01 2.74532505e+01] [-5.20336953e-02 9.98644548e-01 1.24948201e-03 1.63761026e-01] [-1.74232126e-01 -1.03102196e-02 9.84650631e-01 -3.94315886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.13592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.49, Y:0.17, Z:-3.95 [[ 9.83036945e-01 4.99890595e-02 1.76463761e-01 2.74853692e+01] [-5.09982937e-02 9.98698037e-01 1.18568916e-03 1.66916680e-01] [-1.76174740e-01 -1.01649270e-02 9.84306423e-01 -3.94785071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.52, Y:0.17, Z:-3.95 [[ 9.82776287e-01 5.07382976e-02 1.77697482e-01 2.75175222e+01] [-5.17599594e-02 9.98658932e-01 1.11541619e-03 1.70321037e-01] [-1.77402583e-01 -1.02938191e-02 9.84084529e-01 -3.95157341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:0.18, Z:-3.96 [[ 9.83369212e-01 5.33890094e-02 1.73593224e-01 2.75498976e+01] [-5.43909081e-02 9.98519202e-01 1.01613072e-03 1.79220230e-01] [-1.73281917e-01 -1.04411248e-02 9.84816917e-01 -3.95824063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:0.19, Z:-3.96 [[ 9.83356089e-01 5.62744010e-02 1.72754141e-01 2.75818456e+01] [-5.73009453e-02 9.98356492e-01 9.56966569e-04 1.86151022e-01] [-1.72416366e-01 -1.08400145e-02 9.84964512e-01 -3.96460837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.25592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.61, Y:0.19, Z:-3.97 [[ 9.83460121e-01 5.68084872e-02 1.71985425e-01 2.76138622e+01] [-5.78205201e-02 9.98326609e-01 8.76535331e-04 1.90506835e-01] [-1.71647832e-01 -1.08063243e-02 9.85099104e-01 -3.97006672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.65, Y:0.20, Z:-3.97 [[ 9.83168895e-01 5.65638434e-02 1.73722353e-01 2.76465422e+01] [-5.75799278e-02 9.98340571e-01 8.10570848e-04 1.95511295e-01] [-1.73388224e-01 -1.07998486e-02 9.84794337e-01 -3.97474406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.68, Y:0.20, Z:-3.98 [[ 9.82889199e-01 5.57590958e-02 1.75555534e-01 2.76791131e+01] [-5.67745771e-02 9.98386731e-01 7.63161468e-04 2.01144946e-01] [-1.75229762e-01 -1.07171944e-02 9.84469234e-01 -3.97984168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.71, Y:0.21, Z:-3.99 [[ 9.83303790e-01 5.33680105e-02 1.73969862e-01 2.77115922e+01] [-5.43143009e-02 9.98523658e-01 6.79640293e-04 2.09278454e-01] [-1.73676752e-01 -1.01173443e-02 9.84750743e-01 -3.98536348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375919999999997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:27.75, Y:0.21, Z:-3.99 [[ 9.86895696e-01 5.55645334e-02 1.51490817e-01 2.77506540e+01] [-5.73800218e-02 9.98323209e-01 7.63566559e-03 2.07050646e-01] [-1.50812527e-01 -1.62281519e-02 9.88429172e-01 -3.98641550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:27.77, Y:0.23, Z:-4.00 [[ 9.87337546e-01 5.52836873e-02 1.48688549e-01 2.77729750e+01] [-5.42903407e-02 9.98467492e-01 -1.07343363e-02 2.32054537e-01] [-1.49054117e-01 2.52606124e-03 9.88825813e-01 -4.00135473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.43592 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:27.81, Y:0.22, Z:-4.00 [[ 9.87443257e-01 4.54885649e-02 1.51283192e-01 2.78126891e+01] [-4.70399173e-02 9.98870608e-01 6.68982884e-03 2.15904004e-01] [-1.50808023e-01 -1.37221752e-02 9.88467826e-01 -3.99738906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:27.84, Y:0.23, Z:-4.01 [[ 9.87517226e-01 3.78658953e-02 1.52891796e-01 2.78435324e+01] [-3.78481470e-02 9.99278916e-01 -3.02758970e-03 2.27839097e-01] [-1.52896191e-01 -2.79687420e-03 9.88238297e-01 -4.00717052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495919999999998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:27.88, Y:0.23, Z:-4.01 [[ 9.87101175e-01 3.45337907e-02 1.56328780e-01 2.78750721e+01] [-3.39173483e-02 9.99402783e-01 -6.60986529e-03 2.30620109e-01] [-1.56463681e-01 1.22234812e-03 9.87682956e-01 -4.01311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:27.87, Y:0.23, Z:-4.03 [[ 9.89742809e-01 3.19364912e-02 1.39245227e-01 2.78695607e+01] [-2.97772452e-02 9.99402247e-01 -1.75631635e-02 2.26998590e-01] [-1.39722899e-01 1.32366755e-02 9.90102167e-01 -4.03381969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.93, Y:0.13, Z:-3.98 [[ 9.90608841e-01 4.52132905e-03 1.36651683e-01 2.79344251e+01] [-1.74472994e-02 9.95462473e-01 9.35417356e-02 1.28990146e-01] [-1.35608690e-01 -9.50474731e-02 9.86192811e-01 -3.97755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:27.96, Y:0.26, Z:-4.04 [[ 9.85715396e-01 2.39535833e-02 1.66707481e-01 2.79593897e+01] [-1.77087408e-02 9.99088268e-01 -3.88462803e-02 2.55447154e-01] [-1.67485996e-01 3.53391970e-02 9.85240875e-01 -4.03968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.61592 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:28.00, Y:0.15, Z:-4.00 [[ 9.90190563e-01 6.56162718e-03 1.39569315e-01 2.79999729e+01] [-1.64456318e-02 9.97426625e-01 6.97830158e-02 1.50079165e-01] [-1.38752261e-01 -7.13937893e-02 9.87750341e-01 -3.99903230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:28.02, Y:0.28, Z:-4.06 [[ 9.84228507e-01 2.39667293e-02 1.75270769e-01 2.80180904e+01] [-1.14683915e-02 9.97340355e-01 -7.19770245e-02 2.84222769e-01] [-1.76529664e-01 6.88317655e-02 9.81885668e-01 -4.06214612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675919999999998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:28.06, Y:0.16, Z:-4.01 [[ 9.89742068e-01 4.70986692e-03 1.42788152e-01 2.80609332e+01] [-1.34027555e-02 9.98109649e-01 5.99791173e-02 1.57740575e-01] [-1.42235738e-01 -6.12776103e-02 9.87934233e-01 -4.01004380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:28.08, Y:0.27, Z:-4.06 [[ 9.83762155e-01 2.03150097e-02 1.78323648e-01 2.80798896e+01] [-1.02055646e-02 9.98297549e-01 -5.74269107e-02 2.69860695e-01] [-1.79186689e-01 5.46745279e-02 9.82294674e-01 -4.06390473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735919999999997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.12, Y:0.22, Z:-4.05 [[ 9.83489203e-01 1.37089889e-02 1.80446811e-01 2.81170693e+01] [-1.35335505e-02 9.99905990e-01 -2.20341578e-03 2.15742834e-01] [-1.80460054e-01 -2.75050402e-04 9.83582276e-01 -4.04712335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.15, Y:0.21, Z:-4.05 [[ 9.83423480e-01 1.67724069e-02 1.80546243e-01 2.81500974e+01] [-1.79452351e-02 9.99827138e-01 4.86444895e-03 2.08715157e-01] [-1.80433445e-01 -8.02375809e-03 9.83554468e-01 -4.05016042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.79592 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:28.18, Y:0.22, Z:-4.06 [[ 9.83404956e-01 1.78593647e-02 1.80542891e-01 2.81810685e+01] [-1.78037969e-02 9.99839640e-01 -1.92839849e-03 2.15480653e-01] [-1.80548379e-01 -1.31795234e-03 9.83565222e-01 -4.05964325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:28.22, Y:0.18, Z:-4.04 [[ 9.87716636e-01 1.69745454e-02 1.55330976e-01 2.82228166e+01] [-2.37318646e-02 9.98846114e-01 4.17521274e-02 1.75046355e-01] [-1.54443018e-01 -4.49255645e-02 9.86979761e-01 -4.04216342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855919999999998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:28.25, Y:0.23, Z:-4.07 [[ 9.86420382e-01 2.73834377e-02 1.61941278e-01 2.82486142e+01] [-2.55940278e-02 9.99586242e-01 -1.31259733e-02 2.27713429e-01] [-1.62233708e-01 8.80299797e-03 9.86713095e-01 -4.06863602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:28.28, Y:0.20, Z:-4.06 [[ 9.87535629e-01 2.46358338e-02 1.55455645e-01 2.82834369e+01] [-2.80760514e-02 9.99406234e-01 1.99728690e-02 1.97020609e-01] [-1.54871292e-01 -2.40885004e-02 9.87640940e-01 -4.06106750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91592 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:28.31, Y:0.21, Z:-4.08 [[ 9.87701190e-01 2.83966281e-02 1.53753019e-01 2.83132037e+01] [-2.92856757e-02 9.99564884e-01 3.52008940e-03 2.13695692e-01] [-1.53586160e-01 -7.97955752e-03 9.88103040e-01 -4.07506294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.33, Y:0.29, Z:-4.11 [[ 9.81346038e-01 3.45394985e-02 1.89121594e-01 2.83315469e+01] [-2.02445820e-02 9.96825318e-01 -7.70028738e-02 2.91463646e-01] [-1.91180834e-01 7.17377775e-02 9.78929814e-01 -4.11408336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.38, Y:0.16, Z:-4.06 [[ 9.87183265e-01 1.83230469e-02 1.58535383e-01 2.83804914e+01] [-2.82854411e-02 9.97748278e-01 6.08137152e-02 1.59640404e-01] [-1.57064112e-01 -6.45185251e-02 9.85478678e-01 -4.06145691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.41, Y:0.23, Z:-4.10 [[ 9.85981482e-01 3.14862966e-02 1.63857042e-01 2.84061696e+01] [-2.92072817e-02 9.99440469e-01 -1.62998186e-02 2.34088133e-01] [-1.64278579e-01 1.12855006e-02 9.86349424e-01 -4.09797598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035919999999997 meters Centerline goodness : 0.984981 Centerline is valid? [True, True] Translation: X:28.40, Y:0.24, Z:-4.12 [[ 9.88692627e-01 3.63866023e-02 1.45474758e-01 2.83974401e+01] [-3.21630524e-02 9.98993013e-01 -3.12809505e-02 2.37062904e-01] [-1.46466475e-01 2.62483329e-02 9.88867330e-01 -4.12303195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:28.44, Y:0.18, Z:-4.10 [[ 0.98970238 0.0295414 0.14005892 28.43768441] [-0.03462192 0.99882275 0.03397691 0.17701095] [-0.13889031 -0.03847613 0.98956004 -4.10056583] [ 0. 0. 0. 1. ]] SLAMing on 29.09592 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:28.50, Y:0.17, Z:-4.08 [[ 0.98674191 0.02918181 0.15965217 28.49615802] [-0.03952182 0.9972947 0.0619783 0.16882754] [-0.15741163 -0.06746633 0.9852258 -4.08004678] [ 0. 0. 0. 1. ]] SLAMing on 29.125919999999997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:28.51, Y:0.26, Z:-4.13 [[ 9.82867645e-01 4.13738461e-02 1.79609012e-01 2.85135952e+01] [-3.56397894e-02 9.98750329e-01 -3.50369197e-02 2.63287235e-01] [-1.80834172e-01 2.80354274e-02 9.83113939e-01 -4.12760096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15592 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:28.56, Y:0.21, Z:-4.11 [[ 9.86008241e-01 3.61108498e-02 1.62738300e-01 2.85550787e+01] [-4.04493942e-02 9.98906973e-01 2.34244575e-02 2.09625857e-01] [-1.61714545e-01 -2.96793738e-02 9.86391170e-01 -4.10674954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.59, Y:0.24, Z:-4.12 [[ 9.85504941e-01 4.03722921e-02 1.64772840e-01 2.85854569e+01] [-4.02726314e-02 9.99180933e-01 -3.94693250e-03 2.37250260e-01] [-1.64797227e-01 -2.74611437e-03 9.86323645e-01 -4.12224295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215919999999997 meters Centerline goodness : 0.984650 Centerline is valid? [True, True] Translation: X:28.58, Y:0.26, Z:-4.15 [[ 0.98827865 0.04274433 0.14655451 28.57572836] [-0.03779658 0.99862294 -0.03638179 0.26204899] [-0.14790782 0.03041608 0.98853333 -4.15366147] [ 0. 0. 0. 1. ]] SLAMing on 29.245919999999998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:28.64, Y:0.19, Z:-4.10 [[ 0.98584896 0.03097495 0.16474943 28.64163277] [-0.04144638 0.99730698 0.06050603 0.18663023] [-0.16243159 -0.06647807 0.98447785 -4.10466896] [ 0. 0. 0. 1. ]] SLAMing on 29.27592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:28.67, Y:0.21, Z:-4.11 [[ 0.98761904 0.03034492 0.15390847 28.66998924] [-0.03760861 0.99830103 0.04450452 0.20547506] [-0.1522965 -0.0497418 0.98708233 -4.11401132] [ 0. 0. 0. 1. ]] SLAMing on 29.305919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.69, Y:0.31, Z:-4.16 [[ 0.98481292 0.04414291 0.16791344 28.69413525] [-0.03386464 0.99740128 -0.06359145 0.3139986 ] [-0.17028419 0.05693935 0.98374855 -4.16279934] [ 0. 0. 0. 1. ]] SLAMing on 29.335919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.73, Y:0.26, Z:-4.15 [[ 9.85139389e-01 3.14165599e-02 1.68859065e-01 2.87290160e+01] [-3.14390896e-02 9.99502440e-01 -2.54083380e-03 2.56810707e-01] [-1.68854872e-01 -2.80569982e-03 9.85636931e-01 -4.14740795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.76, Y:0.26, Z:-4.15 [[ 9.85049987e-01 3.13330591e-02 1.69395283e-01 2.87606035e+01] [-3.11340401e-02 9.99507874e-01 -3.83159127e-03 2.58124663e-01] [-1.69431974e-01 -1.49965059e-03 9.85540744e-01 -4.15323004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.79, Y:0.26, Z:-4.16 [[ 9.85029217e-01 2.92105051e-02 1.69894638e-01 2.87915961e+01] [-2.85701603e-02 9.99572480e-01 -6.21311148e-03 2.62387343e-01] [-1.70003493e-01 1.26617929e-03 9.85442646e-01 -4.15993417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:0.26, Z:-4.17 [[ 9.84495368e-01 2.26067434e-02 1.73947707e-01 2.88220992e+01] [-2.17497865e-02 9.99740106e-01 -6.83138628e-03 2.62239508e-01] [-1.74056934e-01 2.94214266e-03 9.84731196e-01 -4.16691883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.45592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.85, Y:0.24, Z:-4.17 [[ 9.85097499e-01 1.26590452e-02 1.71530365e-01 2.88549246e+01] [-1.39488106e-02 9.99882763e-01 6.31595119e-03 2.43962140e-01] [-1.71430302e-01 -8.61447231e-03 9.85158587e-01 -4.16525720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.89, Y:0.24, Z:-4.17 [[ 9.85582822e-01 8.19094137e-03 1.68995292e-01 2.88853448e+01] [-9.96968757e-03 9.99903451e-01 9.67957307e-03 2.38514307e-01] [-1.68899690e-01 -1.12248512e-02 9.85569326e-01 -4.16829194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.91, Y:0.25, Z:-4.18 [[ 9.85575064e-01 6.76665770e-03 1.69103535e-01 2.89148240e+01] [-7.03237117e-03 9.99974800e-01 9.72436744e-04 2.46111635e-01] [-1.69092693e-01 -2.14760823e-03 9.85597813e-01 -4.17786251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.95, Y:0.19, Z:-4.16 [[ 9.88292721e-01 -4.77677804e-03 1.52494853e-01 2.89497950e+01] [-3.71751563e-03 9.98459068e-01 5.53684982e-02 1.92899609e-01] [-1.52524352e-01 -5.52871858e-02 9.86752071e-01 -4.16071386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:0.34, Z:-4.23 [[ 9.80653716e-01 1.68973211e-02 1.95019921e-01 2.89667313e+01] [ 2.70559206e-03 9.95002228e-01 -9.98160646e-02 3.42059583e-01] [-1.95731880e-01 9.84126390e-02 9.75706915e-01 -4.22503895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:0.23, Z:-4.19 [[ 9.78669140e-01 -5.52979285e-03 2.05368295e-01 2.90061026e+01] [ 4.67490531e-03 9.99978272e-01 4.64768502e-03 2.32487060e-01] [-2.05389533e-01 -3.58846857e-03 9.78673726e-01 -4.19258833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:0.20, Z:-4.18 [[ 9.85037256e-01 -7.46064953e-03 1.72179970e-01 2.90442018e+01] [ 1.19239690e-03 9.99333672e-01 3.64799861e-02 2.00388540e-01] [-1.72337406e-01 -3.57288385e-02 9.84389795e-01 -4.18296565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:0.26, Z:-4.22 [[ 9.78235883e-01 7.33681915e-04 2.07494625e-01 2.90668466e+01] [ 7.00387107e-03 9.99307161e-01 -3.65532919e-02 2.63172088e-01] [-2.07377683e-01 3.72110073e-02 9.77552984e-01 -4.21798450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:0.18, Z:-4.19 [[ 9.85746011e-01 -8.81585566e-03 1.68009175e-01 2.91077040e+01] [ 6.04215835e-04 9.98805224e-01 4.88647083e-02 1.80460891e-01] [-1.68239226e-01 -4.80666775e-02 9.84573592e-01 -4.18724799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.13, Y:0.27, Z:-4.23 [[ 9.81005591e-01 7.57792707e-03 1.93831382e-01 2.91277254e+01] [ 1.86727123e-03 9.98821443e-01 -4.84998842e-02 2.69247898e-01] [-1.93970469e-01 4.79405934e-02 9.79835270e-01 -4.23431417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:0.22, Z:-4.22 [[ 9.80367297e-01 1.34642764e-03 1.97175431e-01 2.91628142e+01] [-1.37739728e-03 9.99999051e-01 1.99258631e-05 2.21382954e-01] [-1.97175217e-01 -2.91123568e-04 9.80368221e-01 -4.22139516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.20, Y:0.19, Z:-4.21 [[ 9.84620419e-01 7.09173922e-03 1.74563278e-01 2.92000985e+01] [-1.31541082e-02 9.99348917e-01 3.35963080e-02 1.88883703e-01] [-1.74211366e-01 -3.53758351e-02 9.84072635e-01 -4.20924274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.23, Y:0.18, Z:-4.21 [[ 9.87383223e-01 8.80605870e-03 1.58103840e-01 2.92304689e+01] [-1.57774851e-02 9.98955080e-01 4.28931203e-02 1.78170115e-01] [-1.57560914e-01 -4.48464283e-02 9.86490424e-01 -4.20900992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:0.30, Z:-4.27 [[ 9.78270012e-01 3.31270611e-02 2.04671398e-01 2.92486359e+01] [-1.61917161e-02 9.96345014e-01 -8.38715718e-02 2.95970597e-01] [-2.06701746e-01 7.87350624e-02 9.75230833e-01 -4.26659783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875919999999997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.30, Y:0.17, Z:-4.22 [[ 9.85183112e-01 1.69255193e-02 1.70668577e-01 2.92962264e+01] [-2.60584945e-02 9.98337318e-01 5.14155057e-02 1.65675784e-01] [-1.69514575e-01 -5.51010541e-02 9.83986119e-01 -4.21835944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:29.32, Y:0.23, Z:-4.25 [[ 9.84720589e-01 3.22282285e-02 1.71133579e-01 2.93209789e+01] [-3.03629713e-02 9.99447682e-01 -1.35063226e-02 2.27166350e-01] [-1.71474344e-01 8.10383000e-03 9.85155255e-01 -4.25369151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:0.25, Z:-4.27 [[ 9.77384842e-01 3.17584141e-02 2.09070021e-01 2.93431407e+01] [-2.31026203e-02 9.98776902e-01 -4.37146346e-02 2.54631152e-01] [-2.10202616e-01 3.78959559e-02 9.76923107e-01 -4.27002264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:29.39, Y:0.20, Z:-4.25 [[ 9.82662842e-01 2.74446834e-02 1.83359013e-01 2.93855550e+01] [-3.11100976e-02 9.99368936e-01 1.71432687e-02 1.98355281e-01] [-1.82772810e-01 -2.25503699e-02 9.82896526e-01 -4.24967072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995919999999998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:29.42, Y:0.22, Z:-4.26 [[ 9.82254761e-01 3.40676912e-02 1.84431495e-01 2.94163491e+01] [-3.39580413e-02 9.99416209e-01 -3.75399587e-03 2.18389027e-01] [-1.84451715e-01 -2.57555199e-03 9.82838202e-01 -4.26361979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:29.40, Y:0.26, Z:-4.31 [[ 0.98009359 0.04147924 0.19415467 29.39627302] [-0.02987333 0.99760851 -0.06232857 0.26365354] [-0.19627569 0.05528779 0.97898882 -4.30769139] [ 0. 0. 0. 1. ]] SLAMing on 30.055919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.47, Y:0.20, Z:-4.27 [[ 9.78251723e-01 3.05684078e-02 2.05156377e-01 2.94654435e+01] [-3.50817263e-02 9.99215096e-01 1.83974035e-02 1.97150065e-01] [-2.04432970e-01 -2.51945316e-02 9.78556282e-01 -4.27177617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.50, Y:0.21, Z:-4.28 [[ 9.78584925e-01 3.49186183e-02 2.02860135e-01 2.94960305e+01] [-3.78646824e-02 9.99226030e-01 1.06586495e-02 2.07259864e-01] [-2.02330942e-01 -1.81116283e-02 9.79149712e-01 -4.28171059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.11592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:29.54, Y:0.18, Z:-4.27 [[ 0.98238416 0.03159581 0.18418214 29.53717777] [-0.04055702 0.99815928 0.04509078 0.17516444] [-0.18241843 -0.05176634 0.9818573 -4.2687477 ] [ 0. 0. 0. 1. ]] SLAMing on 30.145919999999997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.56, Y:0.24, Z:-4.30 [[ 9.82477007e-01 4.72548276e-02 1.80293961e-01 2.95569204e+01] [-4.47448601e-02 9.98836893e-01 -1.79654879e-02 2.39103853e-01] [-1.80933215e-01 9.58345077e-03 9.83448692e-01 -4.30261425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175919999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.59, Y:0.23, Z:-4.30 [[ 9.82008693e-01 4.34778064e-02 1.83762368e-01 2.95908573e+01] [-4.35470181e-02 9.99044671e-01 -3.66081733e-03 2.26108913e-01] [-1.83745979e-01 -4.40734875e-03 9.82963880e-01 -4.30290381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:29.63, Y:0.16, Z:-4.28 [[ 0.98506426 0.03027628 0.16950444 29.63134094] [-0.0410965 0.99731006 0.06069369 0.16422065] [-0.16721091 -0.06675323 0.98365874 -4.27652799] [ 0. 0. 0. 1. ]] SLAMing on 30.235919999999997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.64, Y:0.30, Z:-4.34 [[ 0.97514992 0.04880749 0.21610288 29.64386594] [-0.03295643 0.99653575 -0.07635689 0.29585035] [-0.21908103 0.06733744 0.97338028 -4.34028633] [ 0. 0. 0. 1. ]] SLAMing on 30.265919999999998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:29.70, Y:0.15, Z:-4.28 [[ 9.84459563e-01 2.95797241e-02 1.73102308e-01 2.96961367e+01] [-4.34150141e-02 9.96109109e-01 7.66927561e-02 1.53647328e-01] [-1.70160235e-01 -8.30161563e-02 9.81913342e-01 -4.28283629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.29592 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:29.72, Y:0.24, Z:-4.33 [[ 9.83514783e-01 4.86271941e-02 1.74166782e-01 2.97185060e+01] [-4.70557543e-02 9.98805794e-01 -1.31431102e-02 2.42864605e-01] [-1.74597903e-01 4.73089391e-03 9.84628453e-01 -4.32775832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.75, Y:0.24, Z:-4.33 [[ 9.82256014e-01 4.36619482e-02 1.82391771e-01 2.97502297e+01] [-4.39426627e-02 9.99030917e-01 -2.50390384e-03 2.35110130e-01] [-1.82324343e-01 -5.55530546e-03 9.83222748e-01 -4.32803567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355919999999998 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:29.75, Y:0.31, Z:-4.37 [[ 0.98164143 0.08052008 0.1729064 29.75321327] [-0.06962048 0.9952387 -0.0682123 0.31326781] [-0.1775756 0.05492219 0.98257339 -4.36835437] [ 0. 0. 0. 1. ]] SLAMing on 30.38592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:29.81, Y:0.18, Z:-4.31 [[ 0.98207222 0.03365902 0.18547567 29.81322082] [-0.04544181 0.99718474 0.059646 0.18018323] [-0.18294588 -0.06700503 0.98083695 -4.31357313] [ 0. 0. 0. 1. ]] SLAMing on 30.41592 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:29.84, Y:0.25, Z:-4.35 [[ 9.81193154e-01 4.53137319e-02 1.87634382e-01 2.98374916e+01] [-4.38869751e-02 9.98967362e-01 -1.17533883e-02 2.53848950e-01] [-1.87973213e-01 3.29763875e-03 9.82168619e-01 -4.35287366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.86, Y:0.23, Z:-4.35 [[ 9.82445213e-01 2.30808205e-02 1.85118016e-01 2.98649653e+01] [-2.57019876e-02 9.99600335e-01 1.17719429e-02 2.26095066e-01] [-1.84772324e-01 -1.63231899e-02 9.82645786e-01 -4.35090764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47592 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:29.90, Y:0.25, Z:-4.36 [[ 9.83636428e-01 3.38576198e-02 1.76954905e-01 2.98958039e+01] [-3.39152533e-02 9.99421066e-01 -2.69978299e-03 2.45464671e-01] [-1.76943868e-01 -3.34586552e-03 9.84215257e-01 -4.35550517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:29.93, Y:0.29, Z:-4.38 [[ 0.98048605 0.04197787 0.19205458 29.92663548] [-0.03356841 0.99833847 -0.04683445 0.28910197] [-0.19370149 0.03947356 0.98026607 -4.37721336] [ 0. 0. 0. 1. ]] SLAMing on 30.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:0.27, Z:-4.38 [[ 9.73856267e-01 2.96407585e-02 2.25222991e-01 2.99522317e+01] [-2.38911902e-02 9.99316423e-01 -2.82116465e-02 2.68922641e-01] [-2.25905249e-01 2.20932435e-02 9.73898715e-01 -4.37878960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:29.99, Y:0.23, Z:-4.37 [[ 9.80013078e-01 2.46454285e-02 1.97400530e-01 2.99944838e+01] [-2.84394304e-02 9.99460849e-01 1.64076198e-02 2.26146346e-01] [-1.96889728e-01 -2.16936406e-02 9.80185605e-01 -4.36779225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59592 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:30.02, Y:0.25, Z:-4.38 [[ 9.79852158e-01 2.76765442e-02 1.97797263e-01 3.00241974e+01] [-2.73541510e-02 9.99616286e-01 -4.36254998e-03 2.45953757e-01] [-1.97842106e-01 -1.13592220e-03 9.80233243e-01 -4.38305647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:30.06, Y:0.24, Z:-4.39 [[ 9.79758964e-01 2.71570396e-02 1.98330198e-01 3.00559996e+01] [-2.72376930e-02 9.99626288e-01 -2.32197073e-03 2.43290223e-01] [-1.98319138e-01 -3.12708540e-03 9.80132512e-01 -4.38818102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:30.09, Y:0.24, Z:-4.39 [[ 9.80192528e-01 2.68421923e-02 1.96219530e-01 3.00883781e+01] [-2.71663558e-02 9.99630386e-01 -1.03971331e-03 2.39682083e-01] [-1.96174913e-01 -4.31145036e-03 9.80559440e-01 -4.39241442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:30.12, Y:0.24, Z:-4.40 [[ 9.79822863e-01 2.69316790e-02 1.98045052e-01 3.01206303e+01] [-2.66387683e-02 9.99636537e-01 -4.14358316e-03 2.42384326e-01] [-1.98084664e-01 -1.21569875e-03 9.80184160e-01 -4.40011003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715919999999997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:30.14, Y:0.26, Z:-4.41 [[ 9.79331047e-01 2.94148927e-02 2.00113630e-01 3.01440440e+01] [-2.70062887e-02 9.99526349e-01 -1.47559334e-02 2.56039404e-01] [-2.00452890e-01 9.04661723e-03 9.79661573e-01 -4.41194043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters Centerline goodness : 0.982965 Centerline is valid? [True, True] Translation: X:30.23, Y:0.15, Z:-4.41 [[ 0.9790629 -0.04413266 0.19871625 30.23267129] [ 0.03023895 0.99691584 0.07241836 0.14829194] [-0.20129939 -0.06489316 0.97737783 -4.41061759] [ 0. 0. 0. 1. ]] SLAMing on 30.77592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:30.21, Y:0.32, Z:-4.45 [[ 9.77224213e-01 2.85624740e-02 2.10278439e-01 3.02099706e+01] [-8.26184561e-03 9.95270141e-01 -9.67940510e-02 3.18644699e-01] [-2.12048529e-01 9.28522024e-02 9.72838059e-01 -4.44881191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:30.22, Y:0.19, Z:-4.44 [[ 9.78312680e-01 -5.04394331e-02 2.00898393e-01 3.02249527e+01] [ 4.78887369e-02 9.98698673e-01 1.75393954e-02 1.87458215e-01] [-2.01521636e-01 -7.53824260e-03 9.79455055e-01 -4.43641210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835919999999998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:30.28, Y:0.21, Z:-4.42 [[ 9.77620125e-01 1.36800254e-02 2.09932723e-01 3.02772993e+01] [-1.85624784e-02 9.99600699e-01 2.13043940e-02 2.11441026e-01] [-2.09557452e-01 -2.47244760e-02 9.77483695e-01 -4.41781163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:30.27, Y:0.25, Z:-4.45 [[ 9.81330227e-01 3.30193250e-02 1.89474824e-01 3.02734098e+01] [-3.03069685e-02 9.99392716e-01 -1.71955753e-02 2.45625782e-01] [-1.89927545e-01 1.11321302e-02 9.81734996e-01 -4.45322292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895919999999997 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:30.33, Y:0.22, Z:-4.43 [[ 9.74992756e-01 3.07838700e-02 2.20094250e-01 3.03300105e+01] [-3.53254287e-02 9.99235856e-01 1.67277901e-02 2.22419470e-01] [-2.19411120e-01 -2.40843979e-02 9.75335174e-01 -4.43403056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:30.36, Y:0.24, Z:-4.45 [[ 9.74887996e-01 3.76178522e-02 2.19495539e-01 3.03608383e+01] [-3.84128114e-02 9.99261747e-01 -6.46445820e-04 2.43082365e-01] [-2.19357814e-01 -7.80122848e-03 9.75613289e-01 -4.44830352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95592 meters Centerline goodness : 0.972942 Centerline is valid? [True, True] Translation: X:30.36, Y:0.21, Z:-4.47 [[ 9.84814890e-01 3.57018267e-02 1.69897062e-01 3.03628866e+01] [-3.98668015e-02 9.98980808e-01 2.11656400e-02 2.11318179e-01] [-1.68968252e-01 -2.76174899e-02 9.85234492e-01 -4.46586891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:30.41, Y:0.26, Z:-4.46 [[ 9.73697122e-01 4.45261082e-02 2.23453219e-01 3.04119205e+01] [-4.52391398e-02 9.98974322e-01 -1.92979357e-03 2.55069438e-01] [-2.23309954e-01 -8.22979698e-03 9.74712745e-01 -4.45960296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015919999999998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:30.44, Y:0.26, Z:-4.47 [[ 9.73731864e-01 4.22514865e-02 2.23743309e-01 3.04434044e+01] [-4.29847148e-02 9.99074457e-01 -1.59465996e-03 2.55645374e-01] [-2.23603602e-01 -8.06477111e-03 9.74646802e-01 -4.46626927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:30.48, Y:0.25, Z:-4.47 [[ 9.74009495e-01 3.98986801e-02 2.22965465e-01 3.04762945e+01] [-4.22946298e-02 9.99087292e-01 5.97898331e-03 2.52011558e-01] [-2.22523409e-01 -1.52538283e-02 9.74808008e-01 -4.47017220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075919999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:30.51, Y:0.27, Z:-4.48 [[ 9.72847322e-01 4.17675275e-02 2.27647888e-01 3.05065051e+01] [-4.14524521e-02 9.99121445e-01 -6.16709177e-03 2.70201873e-01] [-2.27705471e-01 -3.43692445e-03 9.73723989e-01 -4.48272339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:30.54, Y:0.27, Z:-4.49 [[ 9.72562150e-01 4.20663998e-02 2.28808398e-01 3.05372771e+01] [-4.21352327e-02 9.99101389e-01 -4.58665815e-03 2.70788630e-01] [-2.28795732e-01 -5.18008499e-03 9.73460672e-01 -4.48980390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:30.58, Y:0.17, Z:-4.45 [[ 9.82108202e-01 2.46244428e-02 1.86700604e-01 3.05837484e+01] [-4.48744182e-02 9.93456617e-01 1.05024933e-01 1.71882544e-01] [-1.82892770e-01 -1.11523929e-01 9.76786900e-01 -4.44811674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:30.60, Y:0.34, Z:-4.52 [[ 0.97598739 0.05790253 0.20999025 30.60058133] [-0.04518071 0.99686935 -0.0648861 0.338409 ] [-0.21308991 0.0538405 0.97554799 -4.51957867] [ 0. 0. 0. 1. ]] SLAMing on 31.195919999999997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:30.63, Y:0.32, Z:-4.52 [[ 0.9707084 0.049875 0.23502699 30.62865011] [-0.04059523 0.99819929 -0.04416113 0.32364892] [-0.23680631 0.0333266 0.97098512 -4.52280442] [ 0. 0. 0. 1. ]] SLAMing on 31.22592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:30.67, Y:0.28, Z:-4.51 [[ 9.72096418e-01 4.05014192e-02 2.31058845e-01 3.06658555e+01] [-4.28209522e-02 9.99070098e-01 5.03048238e-03 2.78754559e-01] [-2.30640241e-01 -1.47842736e-02 9.72926772e-01 -4.51316237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:30.70, Y:0.26, Z:-4.51 [[ 0.97798709 0.04092897 0.204612 30.70023472] [-0.04924237 0.99814854 0.03570276 0.25970168] [-0.20277189 -0.04499242 0.97819182 -4.50849948] [ 0. 0. 0. 1. ]] SLAMing on 31.285919999999997 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:30.73, Y:0.29, Z:-4.53 [[ 9.77477375e-01 4.87026392e-02 2.05343696e-01 3.07286203e+01] [-4.96880278e-02 9.98764723e-01 -3.58204027e-04 2.94850462e-01] [-2.05107485e-01 -9.85298693e-03 9.78689858e-01 -4.52805428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:30.76, Y:0.28, Z:-4.53 [[ 9.77927828e-01 4.48650055e-02 2.04069337e-01 3.07644604e+01] [-4.95956729e-02 9.98604920e-01 1.81241023e-02 2.81854762e-01] [-2.02971506e-01 -2.78450201e-02 9.78788651e-01 -4.52869303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:30.79, Y:0.33, Z:-4.55 [[ 9.76488819e-01 5.27824312e-02 2.09006224e-01 3.07913714e+01] [-4.97014665e-02 9.98564463e-01 -1.99694231e-02 3.25337650e-01] [-2.09760222e-01 9.11200254e-03 9.77710397e-01 -4.54869811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375919999999997 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:30.80, Y:0.34, Z:-4.56 [[ 9.77081825e-01 6.11272171e-02 2.03898434e-01 3.08007708e+01] [-5.76600282e-02 9.98073419e-01 -2.29079001e-02 3.41840355e-01] [-2.04905903e-01 1.06261034e-02 9.78723994e-01 -4.55528352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:30.85, Y:0.30, Z:-4.54 [[ 9.76310521e-01 4.05240994e-02 2.12545439e-01 3.08540941e+01] [-4.78089954e-02 9.98428262e-01 2.92456010e-02 2.98019630e-01] [-2.11026221e-01 -3.87143719e-02 9.76713434e-01 -4.54250960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.43592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:30.89, Y:0.33, Z:-4.56 [[ 9.75743828e-01 4.20069294e-02 2.14847387e-01 3.08866792e+01] [-4.34704339e-02 9.99052529e-01 2.08928988e-03 3.25726224e-01] [-2.14556061e-01 -1.13781208e-02 9.76645399e-01 -4.55789656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:30.92, Y:0.33, Z:-4.57 [[ 9.75663225e-01 3.76811017e-02 2.16012512e-01 3.09171431e+01] [-3.83923422e-02 9.99262333e-01 -9.04156960e-04 3.31329653e-01] [-2.15887236e-01 -7.41107358e-03 9.76390177e-01 -4.56656424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495919999999998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:30.95, Y:0.34, Z:-4.57 [[ 9.75835162e-01 2.71563128e-02 2.16813911e-01 3.09483044e+01] [-2.72360728e-02 9.99625594e-01 -2.62080872e-03 3.39266480e-01] [-2.16803906e-01 -3.34768216e-03 9.76209434e-01 -4.57219279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:30.98, Y:0.33, Z:-4.57 [[ 9.76298699e-01 2.17388982e-02 2.15332932e-01 3.09815258e+01] [-2.32691120e-02 9.99718776e-01 4.57347151e-03 3.34802325e-01] [-2.15172953e-01 -9.47568039e-03 9.76529985e-01 -4.57397139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555919999999997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:31.01, Y:0.35, Z:-4.58 [[ 9.75660826e-01 1.30009751e-02 2.18899355e-01 3.10112909e+01] [-1.14507857e-02 9.99899582e-01 -8.34898129e-03 3.48343210e-01] [-2.18985918e-01 5.63920438e-03 9.75711723e-01 -4.58236467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:31.04, Y:0.35, Z:-4.59 [[ 9.69270970e-01 3.77794395e-03 2.45966489e-01 3.10396124e+01] [-2.21225638e-03 9.99975498e-01 -6.64145552e-03 3.46815106e-01] [-2.45985554e-01 5.89322909e-03 9.69255579e-01 -4.58769922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.61592 meters Centerline goodness : 0.906247 Centerline is valid? [True, False] Translation: X:31.09, Y:0.34, Z:-4.60 [[ 9.72550788e-01 -2.62989483e-03 2.32675845e-01 3.10879192e+01] [ 2.76890119e-03 9.99996130e-01 -2.70816195e-04 3.40134389e-01] [-2.32674233e-01 9.07638929e-04 9.72554306e-01 -4.60285355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters Centerline goodness : 0.999554 Centerline is valid? [False, True] Translation: X:31.13, Y:0.33, Z:-4.61 [[ 9.75770491e-01 -6.21856487e-03 2.18708205e-01 3.11333046e+01] [ 4.83083567e-03 9.99964669e-01 6.87929501e-03 3.31426268e-01] [-2.18743257e-01 -5.65606967e-03 9.75766056e-01 -4.61332081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675919999999998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:31.17, Y:0.32, Z:-4.61 [[ 9.82950362e-01 -1.16390605e-02 1.83502363e-01 3.11677148e+01] [ 8.36559899e-03 9.99791953e-01 1.86028691e-02 3.15936328e-01] [-1.83680706e-01 -1.67505897e-02 9.82843231e-01 -4.61286648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:31.20, Y:0.34, Z:-4.62 [[ 9.82111700e-01 -9.97722121e-03 1.88034740e-01 3.11979611e+01] [ 1.12437340e-02 9.99920711e-01 -5.67008316e-03 3.38685844e-01] [-1.87963260e-01 7.68286762e-03 9.82146011e-01 -4.62465951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735919999999997 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:31.23, Y:0.33, Z:-4.63 [[ 9.81326837e-01 -1.34508162e-02 1.91876819e-01 3.12288814e+01] [ 1.40598251e-02 9.99899513e-01 -1.81272087e-03 3.32258985e-01] [-1.91833156e-01 4.47662615e-03 9.81417343e-01 -4.63028323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:31.26, Y:0.23, Z:-4.60 [[ 9.83523415e-01 -3.37547937e-02 1.77601535e-01 3.12634338e+01] [ 1.54422275e-02 9.94509621e-01 1.03499526e-01 2.29034275e-01] [-1.80120040e-01 -9.90516441e-02 9.78644748e-01 -4.59655252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.79592 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:31.29, Y:0.35, Z:-4.65 [[ 9.85478392e-01 -4.39178185e-03 1.69744077e-01 3.12853867e+01] [ 8.64934025e-03 9.99666055e-01 -2.43509097e-02 3.47212887e-01] [-1.69580448e-01 2.54654696e-02 9.85187282e-01 -4.64966211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:31.31, Y:0.39, Z:-4.67 [[ 9.79908724e-01 5.28168585e-03 1.99376520e-01 3.13114942e+01] [ 9.42163899e-03 9.97307473e-01 -7.27257702e-02 3.94097042e-01] [-1.99223808e-01 7.31430703e-02 9.77220531e-01 -4.66855231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855919999999998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:31.35, Y:0.34, Z:-4.66 [[ 9.73125114e-01 -4.45973596e-03 2.30233847e-01 3.13457970e+01] [ 8.70625961e-03 9.99810149e-01 -1.74318010e-02 3.39163846e-01] [-2.30112395e-01 1.89677990e-02 9.72979192e-01 -4.65639192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.38, Y:0.32, Z:-4.66 [[ 9.78876510e-01 -2.14631925e-03 2.04441118e-01 3.13825952e+01] [ 3.93265326e-04 9.99962812e-01 8.61510276e-03 3.15248629e-01] [-2.04452006e-01 -8.35272213e-03 9.78840952e-01 -4.65544117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.91592 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:31.41, Y:0.32, Z:-4.66 [[ 9.78497695e-01 1.66810138e-03 2.06251008e-01 3.14143068e+01] [-2.57401751e-03 9.99988183e-01 4.12404544e-03 3.20225915e-01] [-2.06241692e-01 -4.56626266e-03 9.78490426e-01 -4.66283838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:31.45, Y:0.29, Z:-4.66 [[ 9.81176048e-01 -1.25164556e-03 1.93111358e-01 3.14460130e+01] [-4.94215016e-03 9.99488736e-01 3.15886391e-02 2.94236553e-01] [-1.93052165e-01 -3.19484014e-02 9.80668222e-01 -4.66053882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:31.47, Y:0.37, Z:-4.69 [[ 9.71095052e-01 1.39869625e-02 2.38282949e-01 3.14694085e+01] [-2.05363494e-03 9.98734292e-01 -5.02553136e-02 3.71416524e-01] [-2.38684272e-01 4.83133402e-02 9.69894654e-01 -4.69000338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:31.51, Y:0.32, Z:-4.68 [[ 9.76829610e-01 5.80019386e-03 2.13939877e-01 3.15077118e+01] [-7.30856505e-03 9.99953697e-01 6.26015811e-03 3.16149649e-01] [-2.13893661e-01 -7.67870131e-03 9.76826770e-01 -4.68001738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.03592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:31.54, Y:0.32, Z:-4.69 [[ 9.76592463e-01 6.78896801e-03 2.14990861e-01 3.15379253e+01] [-6.94301311e-03 9.99975896e-01 -3.86532193e-05 3.23518617e-01] [-2.14985941e-01 -1.45493593e-03 9.76616060e-01 -4.69008894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:31.57, Y:0.33, Z:-4.70 [[ 9.71742382e-01 6.79807142e-03 2.35946032e-01 3.15667005e+01] [-5.11400979e-03 9.99956901e-01 -7.74871428e-03 3.31232859e-01] [-2.35988539e-01 6.32312376e-03 9.71735266e-01 -4.69945462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.61, Y:0.25, Z:-4.68 [[ 9.82275615e-01 -2.18885135e-03 1.87429518e-01 3.16065679e+01] [-1.17671209e-02 9.97239424e-01 7.33148382e-02 2.53588726e-01] [-1.87072580e-01 -7.42208836e-02 9.79538213e-01 -4.67671221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:31.63, Y:0.36, Z:-4.72 [[ 9.77694499e-01 1.96174276e-02 2.09113902e-01 3.16299525e+01] [-1.15748515e-02 9.99147975e-01 -3.96149865e-02 3.60173351e-01] [-2.09712876e-01 3.63108920e-02 9.77088547e-01 -4.71905259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.66, Y:0.31, Z:-4.71 [[ 9.79703752e-01 9.01788860e-03 2.00247934e-01 3.16646825e+01] [-1.19708803e-02 9.99836660e-01 1.35407178e-02 3.07745208e-01] [-2.00093117e-01 -1.56630361e-02 9.79651680e-01 -4.70804943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:0.35, Z:-4.73 [[ 9.77509057e-01 1.55032908e-02 2.10322828e-01 3.16911452e+01] [-1.02879495e-02 9.99612416e-01 -2.58684149e-02 3.46214772e-01] [-2.10642356e-01 2.31228192e-02 9.77289687e-01 -4.72965612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.73, Y:0.31, Z:-4.73 [[ 9.79361121e-01 8.87530293e-03 2.01923313e-01 3.17251452e+01] [-1.11886004e-02 9.99884172e-01 1.03178049e-02 3.10788830e-01] [-2.01808351e-01 -1.23640963e-02 9.79346986e-01 -4.72525477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.76, Y:0.27, Z:-4.72 [[ 9.82137882e-01 1.78492227e-03 1.88154177e-01 3.17571492e+01] [-1.11738799e-02 9.98743549e-01 4.88514863e-02 2.73483950e-01] [-1.87830574e-01 -5.00813074e-02 9.80923819e-01 -4.71673485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:0.37, Z:-4.75 [[ 9.78091116e-01 2.10278848e-02 2.07112522e-01 3.17798450e+01] [-1.07204434e-02 9.98653105e-01 -5.07646370e-02 3.70113153e-01] [-2.07901036e-01 4.74321024e-02 9.76999158e-01 -4.75256248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.81, Y:0.28, Z:-4.74 [[ 9.78013103e-01 -3.25355945e-02 2.05989817e-01 3.18085423e+01] [ 2.80656882e-02 9.99303697e-01 2.45853370e-02 2.77826028e-01] [-2.06646284e-01 -1.82635358e-02 9.78245244e-01 -4.73652770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.84, Y:0.32, Z:-4.75 [[ 9.78626192e-01 7.99494669e-03 2.05491746e-01 3.18410123e+01] [-4.93969932e-03 9.99869570e-01 -1.53766993e-02 3.23995755e-01] [-2.05587879e-01 1.40329732e-02 9.78538042e-01 -4.75169105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:0.34, Z:-4.77 [[ 9.76016273e-01 9.24625383e-03 2.17501130e-01 3.18706831e+01] [-2.57309064e-03 9.99517799e-01 -3.09442850e-02 3.37167923e-01] [-2.17682369e-01 2.96424756e-02 9.75569429e-01 -4.76560969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.90, Y:0.33, Z:-4.77 [[ 9.68155181e-01 1.47448142e-03 2.50346504e-01 3.18978065e+01] [ 6.13187750e-03 9.99542997e-01 -2.96006393e-02 3.32027015e-01] [-2.50275740e-01 3.01931064e-02 9.67703689e-01 -4.77011016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.94, Y:0.27, Z:-4.75 [[ 9.75276225e-01 -7.79210696e-03 2.20851916e-01 3.19389239e+01] [ 9.70065690e-04 9.99519493e-01 3.09813061e-02 2.72275526e-01] [-2.20987205e-01 -3.00010903e-02 9.74815157e-01 -4.75458257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:0.30, Z:-4.77 [[ 9.74476565e-01 1.31912186e-03 2.24485375e-01 3.19664704e+01] [-7.93759777e-04 9.99996731e-01 -2.43052471e-03 2.98479494e-01] [-2.24487848e-01 2.19030191e-03 9.74474427e-01 -4.77356628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:0.30, Z:-4.78 [[ 9.74618314e-01 5.66641337e-03 2.23801329e-01 3.19967238e+01] [-4.48134197e-03 9.99973122e-01 -5.80274981e-03 3.00963943e-01] [-2.23828194e-01 4.65253595e-03 9.74617511e-01 -4.78281344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:0.30, Z:-4.79 [[ 9.74488965e-01 5.75761295e-03 2.24361553e-01 3.20277576e+01] [-5.57911000e-03 9.99983415e-01 -1.42955121e-03 2.95723956e-01] [-2.24366062e-01 1.41344098e-04 9.74504926e-01 -4.78933837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:0.29, Z:-4.80 [[ 9.73802908e-01 7.88946203e-03 2.27256801e-01 3.20585130e+01] [-6.75399273e-03 9.99960524e-01 -5.77361303e-03 2.94957356e-01] [-2.27293381e-01 4.08747037e-03 9.73817751e-01 -4.79718279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:0.19, Z:-4.76 [[ 9.81500696e-01 -1.29004514e-02 1.91023460e-01 3.21007481e+01] [-8.13235478e-03 9.94017874e-01 1.08914325e-01 1.85342993e-01] [-1.91285778e-01 -1.08452956e-01 9.75524324e-01 -4.75521311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:32.11, Y:0.39, Z:-4.84 [[ 9.73084805e-01 3.35686080e-02 2.27989279e-01 3.21116463e+01] [-9.27017788e-03 9.94234878e-01 -1.06822618e-01 3.93925904e-01] [-2.30260779e-01 1.01833965e-01 9.67786039e-01 -4.83959406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:0.31, Z:-4.82 [[ 9.67687304e-01 1.37576972e-02 2.51777695e-01 3.21475451e+01] [-9.01718765e-03 9.99759870e-01 -1.99722838e-02 3.07598998e-01] [-2.51992008e-01 1.70565988e-02 9.67578989e-01 -4.82134587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:32.18, Y:0.29, Z:-4.82 [[ 9.67116796e-01 1.18479369e-02 2.54056547e-01 3.21814269e+01] [-1.29713498e-02 9.99912095e-01 2.74708452e-03 2.86627527e-01] [-2.54001667e-01 -5.95220791e-03 9.67185465e-01 -4.81962164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.21, Y:0.29, Z:-4.83 [[ 9.66985444e-01 1.79990250e-02 2.54195175e-01 3.22134340e+01] [-1.92997444e-02 9.99810300e-01 2.62381572e-03 2.90473672e-01] [-2.54099728e-01 -7.44309350e-03 9.67149383e-01 -4.82565361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:0.29, Z:-4.83 [[ 9.66908081e-01 2.26257029e-02 2.54119737e-01 3.22451987e+01] [-2.40502154e-02 9.99707626e-01 2.49984446e-03 2.92959528e-01] [-2.53988878e-01 -8.52875422e-03 9.67169535e-01 -4.83438650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755919999999996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:32.29, Y:0.21, Z:-4.80 [[ 9.78405118e-01 1.06476152e-02 2.06422029e-01 3.22878984e+01] [-3.01813050e-02 9.95327953e-01 9.17134396e-02 2.09512249e-01] [-2.04481086e-01 -9.59629848e-02 9.74155322e-01 -4.80478376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:32.31, Y:0.30, Z:-4.85 [[ 9.77998635e-01 3.75819035e-02 2.05198127e-01 3.23088826e+01] [-3.73219881e-02 9.99290082e-01 -5.13830244e-03 3.03582060e-01] [-2.05245560e-01 -2.63314928e-03 9.78706967e-01 -4.85040383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:32.34, Y:0.32, Z:-4.85 [[ 9.75104482e-01 3.85982387e-02 2.18360770e-01 3.23392369e+01] [-3.62199766e-02 9.99232976e-01 -1.48853265e-02 3.16861420e-01] [-2.18767830e-01 6.60572654e-03 9.75754580e-01 -4.85471670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:32.37, Y:0.29, Z:-4.85 [[ 9.75284267e-01 2.96018536e-02 2.18961933e-01 3.23664073e+01] [-3.31422219e-02 9.99372315e-01 1.25127441e-02 2.93340676e-01] [-2.18454093e-01 -1.94603675e-02 9.75653167e-01 -4.85273145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:32.40, Y:0.33, Z:-4.87 [[ 9.73640517e-01 3.87200111e-02 2.24777454e-01 3.23970647e+01] [-3.34538276e-02 9.99070303e-01 -2.71913891e-02 3.33652307e-01] [-2.25621330e-01 1.89549720e-02 9.74030659e-01 -4.87193652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:32.42, Y:0.37, Z:-4.89 [[ 9.63392422e-01 3.98782201e-02 2.65112749e-01 3.24198296e+01] [-2.43087106e-02 9.97795404e-01 -6.17528854e-02 3.67234121e-01] [-2.66990877e-01 5.30477127e-02 9.62237918e-01 -4.89301676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935919999999996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:32.47, Y:0.25, Z:-4.86 [[ 9.74299353e-01 1.44246854e-02 2.24794794e-01 3.24671614e+01] [-2.86184117e-02 9.97787393e-01 6.00108679e-02 2.52191151e-01] [-2.23431774e-01 -6.49018198e-02 9.72556423e-01 -4.85826687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:32.47, Y:0.28, Z:-4.88 [[ 9.73688239e-01 -2.77329853e-02 2.26190394e-01 3.24716951e+01] [ 2.57756026e-02 9.99600414e-01 1.16030681e-02 2.77730661e-01] [-2.26421800e-01 -5.46757719e-03 9.74014001e-01 -4.88321094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99592 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:32.52, Y:0.28, Z:-4.89 [[ 9.71601555e-01 7.93894206e-03 2.36489728e-01 3.25189957e+01] [-1.48409624e-02 9.99513841e-01 2.74194559e-02 2.77546068e-01] [-2.36157075e-01 -3.01505212e-02 9.71247024e-01 -4.88580378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:32.55, Y:0.26, Z:-4.88 [[ 9.75979300e-01 4.05038854e-03 2.17825617e-01 3.25517884e+01] [-1.34268557e-02 9.99044836e-01 4.15828659e-02 2.61496644e-01] [-2.17449131e-01 -4.35087295e-02 9.75101464e-01 -4.88230285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05592 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:32.57, Y:0.39, Z:-4.93 [[ 9.69765138e-01 3.60964472e-02 2.41355802e-01 3.25706369e+01] [-1.35936594e-02 9.95454986e-01 -9.42580669e-02 3.94749736e-01] [-2.43661218e-01 8.81272787e-02 9.65848225e-01 -4.93074595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:32.61, Y:0.30, Z:-4.91 [[ 9.70329187e-01 9.78054948e-03 2.41589754e-01 3.26084431e+01] [-9.60941394e-03 9.99952049e-01 -1.88661010e-03 3.01713558e-01] [-2.41596622e-01 -4.90903107e-04 9.70376644e-01 -4.91150508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115919999999996 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:32.64, Y:0.30, Z:-4.92 [[ 9.69829877e-01 7.44332046e-03 2.43669051e-01 3.26392500e+01] [-7.98642234e-03 9.99967338e-01 1.24100145e-03 2.96635333e-01] [-2.43651855e-01 -3.14960424e-03 9.69857646e-01 -4.91739248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:32.67, Y:0.30, Z:-4.93 [[ 9.69868954e-01 8.18608362e-03 2.43489631e-01 3.26705611e+01] [-7.68021956e-03 9.99965926e-01 -3.02681547e-03 2.96696701e-01] [-2.43506112e-01 1.06556053e-03 9.69898777e-01 -4.92610509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17592 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:32.70, Y:0.30, Z:-4.93 [[ 9.69665942e-01 7.90138426e-03 2.44306218e-01 3.27014815e+01] [-7.67927713e-03 9.99968781e-01 -1.86161489e-03 2.95941348e-01] [-2.44313300e-01 -7.09505908e-05 9.69696347e-01 -4.93315936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:32.73, Y:0.29, Z:-4.94 [[ 9.69663228e-01 8.47708428e-03 2.44297696e-01 3.27334830e+01] [-8.19987765e-03 9.99964065e-01 -2.15171833e-03 2.94355404e-01] [-2.44307157e-01 8.32309255e-05 9.69697894e-01 -4.94116196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23592 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:32.76, Y:0.28, Z:-4.95 [[ 9.70669545e-01 5.97952450e-03 2.40343254e-01 3.27609738e+01] [-6.51917989e-03 9.99977698e-01 1.45033496e-03 2.84707977e-01] [-2.40329221e-01 -2.97463689e-03 9.70686879e-01 -4.94763414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:32.79, Y:0.28, Z:-4.96 [[ 9.70102423e-01 8.41147261e-03 2.42550068e-01 3.27917198e+01] [-8.77554126e-03 9.99961406e-01 4.20638338e-04 2.83374847e-01] [-2.42537169e-01 -2.53657040e-03 9.70138798e-01 -4.95569604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295919999999995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:32.82, Y:0.27, Z:-4.95 [[ 9.73142354e-01 7.52170833e-03 2.30081254e-01 3.28199907e+01] [-1.13500274e-02 9.99818220e-01 1.53200285e-02 2.65672181e-01] [-2.29924197e-01 -1.75199972e-02 9.73050828e-01 -4.95462453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:32.85, Y:0.31, Z:-4.98 [[ 9.69185004e-01 2.83212256e-02 2.44700502e-01 3.28469216e+01] [-2.23226015e-02 9.99379285e-01 -2.72533791e-02 3.07805951e-01] [-2.45320462e-01 2.09512146e-02 9.69215620e-01 -4.98036253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.35592 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:32.85, Y:0.29, Z:-4.99 [[ 9.70913058e-01 3.80339946e-02 2.36392149e-01 3.28486825e+01] [-3.58710900e-02 9.99265975e-01 -1.34453153e-02 2.92497675e-01] [-2.36730011e-01 4.57458818e-03 9.71564705e-01 -4.98921070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:32.94, Y:0.19, Z:-4.96 [[ 9.68180942e-01 -6.53195739e-03 2.50165940e-01 3.29354204e+01] [-1.61396244e-02 9.95948294e-01 8.84675532e-02 1.88815656e-01] [-2.49730207e-01 -8.96901833e-02 9.64152734e-01 -4.95971753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41592 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:32.90, Y:0.32, Z:-5.03 [[ 9.71114113e-01 8.97150882e-03 2.38446833e-01 3.29036729e+01] [ 1.98290805e-03 9.98955016e-01 -4.56611798e-02 3.15784604e-01] [-2.38607310e-01 4.48150343e-02 9.70081525e-01 -5.02877060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:32.93, Y:0.32, Z:-5.02 [[ 9.70651278e-01 6.74358131e-02 2.30843038e-01 3.29330376e+01] [-6.12707630e-02 9.97549381e-01 -3.37805691e-02 3.17682843e-01] [-2.32555350e-01 1.86452234e-02 9.72404424e-01 -5.02397184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475919999999995 meters Centerline goodness : 0.943189 Centerline is valid? [True, False] Translation: X:32.98, Y:0.30, Z:-5.03 [[ 9.76095339e-01 6.25022091e-02 2.08161866e-01 3.29818581e+01] [-6.01436182e-02 9.98033733e-01 -1.76468806e-02 2.99716671e-01] [-2.08855533e-01 4.70543010e-03 9.77935185e-01 -5.03042997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters Centerline goodness : 0.996249 Centerline is valid? [False, True] Translation: X:33.01, Y:0.29, Z:-5.03 [[ 9.77449398e-01 5.96210464e-02 2.02578390e-01 3.30054617e+01] [-5.85832988e-02 9.98220584e-01 -1.11203646e-02 2.92605569e-01] [-2.02880927e-01 -9.98116742e-04 9.79202907e-01 -5.03236886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.53592 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:33.04, Y:0.28, Z:-5.03 [[ 9.75311311e-01 9.62630244e-02 1.98749280e-01 3.30438296e+01] [-1.00326896e-01 9.94899597e-01 1.04549436e-02 2.77846167e-01] [-1.96729155e-01 -3.01367232e-02 9.79994601e-01 -5.02604227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters Centerline goodness : 0.876513 Centerline is valid? [True, False] Translation: X:33.07, Y:0.28, Z:-5.03 [[ 9.77243020e-01 8.61833940e-02 1.93825961e-01 3.30682816e+01] [-8.91054565e-02 9.96001689e-01 6.39171076e-03 2.78915205e-01] [-1.92500125e-01 -2.35172054e-02 9.81015108e-01 -5.03180262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59592 meters Centerline goodness : 0.893522 Centerline is valid? [False, False] Translation: X:33.09, Y:0.28, Z:-5.04 [[ 9.78967913e-01 7.56646716e-02 1.89464199e-01 3.30928928e+01] [-7.75166262e-02 9.96988237e-01 2.37249179e-03 2.79156255e-01] [-1.88714064e-01 -1.70092188e-02 9.81884763e-01 -5.03771974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters Centerline goodness : 0.998122 Centerline is valid? [False, True] Translation: X:33.12, Y:0.28, Z:-5.04 [[ 9.80697825e-01 6.66159766e-02 1.83831686e-01 3.31158571e+01] [-6.77087467e-02 9.97705074e-01 -3.33333347e-04 2.77339776e-01] [-1.83432011e-01 -1.21201138e-02 9.82957680e-01 -5.04063365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655919999999995 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:33.14, Y:0.30, Z:-5.05 [[ 9.78094823e-01 6.54029161e-02 1.97618256e-01 3.31403523e+01] [-6.18080675e-02 9.97791925e-01 -2.43112693e-02 2.96687211e-01] [-1.98771928e-01 1.15643241e-02 9.79977544e-01 -5.05420654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:33.17, Y:0.28, Z:-5.05 [[ 9.78236414e-01 6.23818756e-02 1.97893963e-01 3.31732010e+01] [-6.25653440e-02 9.98026629e-01 -5.33151823e-03 2.77634893e-01] [-1.97836035e-01 -7.16581863e-03 9.80208934e-01 -5.05327052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.71592 meters Centerline goodness : 0.860152 Centerline is valid? [True, False] Translation: X:33.20, Y:0.27, Z:-5.06 [[ 9.79512668e-01 5.55462697e-02 1.93570517e-01 3.31962921e+01] [-5.58795658e-02 9.98430504e-01 -3.74203395e-03 2.73247498e-01] [-1.93474565e-01 -7.15126678e-03 9.81079228e-01 -5.05618018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters Centerline goodness : 0.998027 Centerline is valid? [False, True] Translation: X:33.22, Y:0.27, Z:-5.06 [[ 9.80607881e-01 4.82014459e-02 1.89960007e-01 3.32198976e+01] [-4.85828651e-02 9.98815637e-01 -2.65117636e-03 2.70151008e-01] [-1.89862816e-01 -6.62903695e-03 9.81788250e-01 -5.05974770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77592 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:33.25, Y:0.27, Z:-5.07 [[ 9.79848109e-01 4.94225768e-02 1.93533180e-01 3.32509454e+01] [-4.97807370e-02 9.98755620e-01 -3.01506595e-03 2.68890545e-01] [-1.93441363e-01 -6.67991763e-03 9.81089098e-01 -5.06697609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:33.28, Y:0.28, Z:-5.08 [[ 9.79759029e-01 5.16992630e-02 1.93389326e-01 3.32824479e+01] [-5.03854516e-02 9.98661203e-01 -1.17092662e-02 2.76289310e-01] [-1.93735777e-01 1.72825079e-03 9.81052222e-01 -5.07565367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83592 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:33.32, Y:0.27, Z:-5.08 [[ 9.80098474e-01 5.26688530e-02 1.91397420e-01 3.33152176e+01] [-5.28250861e-02 9.98594567e-01 -4.28973491e-03 2.69111691e-01] [-1.91354359e-01 -5.90622255e-03 9.81503248e-01 -5.07986995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:33.34, Y:0.28, Z:-5.09 [[ 9.73900973e-01 5.14900067e-02 2.21055817e-01 3.33423841e+01] [-4.81845033e-02 9.98631669e-01 -2.03234494e-02 2.81852706e-01] [-2.21799795e-01 9.14156236e-03 9.75049375e-01 -5.08781837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89592 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:33.37, Y:0.26, Z:-5.13 [[ 9.82758203e-01 5.12334300e-02 1.77655423e-01 3.33660288e+01] [-5.15774000e-02 9.98665392e-01 -2.68463806e-03 2.62004112e-01] [-1.77555866e-01 -6.52465475e-03 9.84089093e-01 -5.12882613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters Centerline goodness : 0.921610 Centerline is valid? [True, False] Translation: X:33.39, Y:0.26, Z:-5.13 [[ 9.83867920e-01 4.42211109e-02 1.73344771e-01 3.33897948e+01] [-4.45922918e-02 9.99003728e-01 -1.75447630e-03 2.59851461e-01] [-1.73249657e-01 -6.00366764e-03 9.84859641e-01 -5.13245758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95592 meters Centerline goodness : 0.996596 Centerline is valid? [False, True] Translation: X:33.41, Y:0.26, Z:-5.14 [[ 9.85054645e-01 3.81812388e-02 1.67956954e-01 3.34134863e+01] [-3.85844909e-02 9.99254969e-01 -8.63081528e-04 2.59295383e-01] [-1.67864774e-01 -5.63035111e-03 9.85793952e-01 -5.13589090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:33.45, Y:0.22, Z:-5.12 [[ 9.87929193e-01 3.25283996e-02 1.51452343e-01 3.34464154e+01] [-3.95919421e-02 9.98252931e-01 4.38584512e-02 2.17326738e-01] [-1.49761100e-01 -4.93253367e-02 9.87491075e-01 -5.12111037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01592 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:33.47, Y:0.30, Z:-5.16 [[ 0.98422684 0.04630644 0.17074318 33.47272821] [-0.03878676 0.99813598 -0.04711846 0.30252775] [-0.1726068 0.03975268 0.9841883 -5.16146032] [ 0. 0. 0. 1. ]] SLAMing on 34.045919999999995 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:33.51, Y:0.26, Z:-5.15 [[ 9.83567661e-01 3.47542437e-02 1.77163200e-01 3.35080348e+01] [-3.48493180e-02 9.99389258e-01 -2.57590535e-03 2.55577636e-01] [-1.77144523e-01 -3.64043949e-03 9.84178117e-01 -5.14835635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075919999999996 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:33.51, Y:0.26, Z:-5.17 [[ 9.85865309e-01 3.91061048e-02 1.62911953e-01 3.35087851e+01] [-3.64642474e-02 9.99150952e-01 -1.91764033e-02 2.64884041e-01] [-1.63523548e-01 1.29648890e-02 9.86454237e-01 -5.16942969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:33.57, Y:0.22, Z:-5.14 [[ 9.83941742e-01 3.09904042e-02 1.75778961e-01 3.35668000e+01] [-3.77500412e-02 9.98665580e-01 3.52419389e-02 2.20006160e-01] [-1.74452236e-01 -4.13116777e-02 9.83798639e-01 -5.14249934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13592 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:33.60, Y:0.24, Z:-5.15 [[ 9.84695197e-01 3.48812610e-02 1.70759089e-01 3.35983969e+01] [-3.83076905e-02 9.99124568e-01 1.68112515e-02 2.35785254e-01] [-1.70023203e-01 -2.30953449e-02 9.85169384e-01 -5.15480412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:33.63, Y:0.27, Z:-5.17 [[ 9.83889225e-01 4.01389014e-02 1.74214989e-01 3.36261447e+01] [-3.74917483e-02 9.99126406e-01 -1.84605766e-02 2.67755796e-01] [-1.74803783e-01 1.16315379e-02 9.84534583e-01 -5.17418808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19592 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:33.66, Y:0.25, Z:-5.17 [[ 9.84189719e-01 3.83890341e-02 1.72907139e-01 3.36595254e+01] [-3.94309794e-02 9.99218930e-01 2.59396426e-03 2.46938365e-01] [-1.72672507e-01 -9.37085080e-03 9.84934715e-01 -5.17259810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:33.69, Y:0.25, Z:-5.18 [[ 9.84090140e-01 4.25801795e-02 1.72492100e-01 3.36912932e+01] [-4.29372360e-02 9.99076389e-01 -1.66234490e-03 2.49842030e-01] [-1.72403567e-01 -5.77043677e-03 9.85009498e-01 -5.17992811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255919999999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:33.72, Y:0.26, Z:-5.19 [[ 9.83371227e-01 4.46013094e-02 1.76044749e-01 3.37215669e+01] [-4.38691172e-02 9.99004848e-01 -8.05077512e-03 2.56452183e-01] [-1.76228633e-01 1.93972866e-04 9.84349243e-01 -5.18746156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:33.75, Y:0.27, Z:-5.20 [[ 9.77823066e-01 4.89758278e-02 2.03625685e-01 3.37488972e+01] [-4.49865121e-02 9.98694991e-01 -2.41770321e-02 2.74800757e-01] [-2.04544042e-01 1.44804503e-02 9.78750250e-01 -5.19503957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31592 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:33.79, Y:0.23, Z:-5.18 [[ 9.83197857e-01 4.73235426e-02 1.76302173e-01 3.37896826e+01] [-5.37423463e-02 9.98048034e-01 3.18101076e-02 2.25559197e-01] [-1.74452671e-01 -4.07505220e-02 9.83821966e-01 -5.17873311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:33.81, Y:0.27, Z:-5.20 [[ 9.82211803e-01 6.04251961e-02 1.77788556e-01 3.38146162e+01] [-5.99131979e-02 9.98169480e-01 -8.25214229e-03 2.69032764e-01] [-1.77961748e-01 -2.54652939e-03 9.84034111e-01 -5.20404661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37592 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:33.85, Y:0.27, Z:-5.21 [[ 9.81374859e-01 6.14747477e-02 1.82000663e-01 3.38489760e+01] [-6.10266825e-02 9.98103539e-01 -8.06651634e-03 2.70750746e-01] [-1.82151393e-01 -3.19062033e-03 9.83265320e-01 -5.20624498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:33.87, Y:0.30, Z:-5.22 [[ 9.76163084e-01 6.07251829e-02 2.08370068e-01 3.38734462e+01] [-5.60315776e-02 9.98026140e-01 -2.83599384e-02 2.96533566e-01] [-2.09680937e-01 1.60086213e-02 9.77638803e-01 -5.21810987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435919999999996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:33.91, Y:0.26, Z:-5.21 [[ 9.80850501e-01 5.71649238e-02 1.86183955e-01 3.39135130e+01] [-6.15900819e-02 9.97938014e-01 1.80660691e-02 2.58486500e-01] [-1.84767301e-01 -2.91871980e-02 9.82348793e-01 -5.20610592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:33.94, Y:0.32, Z:-5.24 [[ 9.76055591e-01 6.38936708e-02 2.07925666e-01 3.39357801e+01] [-5.63758552e-02 9.97530465e-01 -4.18895590e-02 3.23362822e-01] [-2.10088664e-01 2.91645510e-02 9.77247247e-01 -5.23567345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49592 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:33.98, Y:0.22, Z:-5.20 [[ 0.98162438 0.04777032 0.18474734 33.98384966] [-0.06175775 0.99558325 0.07071054 0.21884002] [-0.18055349 -0.08082077 0.98023897 -5.19553829] [ 0. 0. 0. 1. ]] SLAMing on 34.52592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:34.00, Y:0.34, Z:-5.25 [[ 0.97649993 0.06391938 0.20582081 33.99863173] [-0.05325607 0.99695595 -0.05694399 0.34280649] [-0.20883411 0.04464459 0.97693151 -5.25232996] [ 0. 0. 0. 1. ]] SLAMing on 34.55592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:34.03, Y:0.29, Z:-5.24 [[ 9.77266885e-01 5.03323553e-02 2.05951667e-01 3.40339308e+01] [-5.14573951e-02 9.98675185e-01 1.06501083e-04 2.94322351e-01] [-2.05673458e-01 -1.07018163e-02 9.78562159e-01 -5.24193931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:34.07, Y:0.30, Z:-5.25 [[ 9.76553860e-01 4.84150816e-02 2.09758287e-01 3.40657742e+01] [-4.95244305e-02 9.98772912e-01 3.62405108e-05 3.00857302e-01] [-2.09499141e-01 -1.04235505e-02 9.77753271e-01 -5.24805061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:0.35, Z:-5.27 [[ 9.75204166e-01 5.51558242e-02 2.14323749e-01 3.40941111e+01] [-4.70385156e-02 9.97975926e-01 -4.27952029e-02 3.46539558e-01] [-2.16250346e-01 3.16525891e-02 9.75824729e-01 -5.26850429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:34.13, Y:0.26, Z:-5.24 [[ 0.976389 0.03566138 0.21305582 34.13419263] [-0.0463932 0.99788264 0.04558402 0.26412652] [-0.21097912 -0.05439207 0.97597608 -5.24100071] [ 0. 0. 0. 1. ]] SLAMing on 34.67592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:34.17, Y:0.29, Z:-5.26 [[ 9.81170588e-01 4.44174367e-02 1.87966404e-01 3.41698989e+01] [-4.93410803e-02 9.98548513e-01 2.15945578e-02 2.90390697e-01] [-1.86734399e-01 -3.04624104e-02 9.81938036e-01 -5.25700553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:34.20, Y:0.33, Z:-5.28 [[ 9.80471531e-01 4.65733512e-02 1.91066741e-01 3.41982717e+01] [-4.45447204e-02 9.98896253e-01 -1.49011586e-02 3.29058739e-01] [-1.91549848e-01 6.09914729e-03 9.81463935e-01 -5.27587371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:34.23, Y:0.33, Z:-5.28 [[ 9.76230251e-01 3.89445701e-02 2.13208390e-01 3.42251767e+01] [-3.64187835e-02 9.99212292e-01 -1.57628646e-02 3.30067606e-01] [-2.13654322e-01 7.62339511e-03 9.76879580e-01 -5.28006419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:34.26, Y:0.32, Z:-5.28 [[ 9.76390115e-01 3.41249031e-02 2.13302212e-01 3.42584781e+01] [-3.48652793e-02 9.99391979e-01 -2.90856619e-04 3.16652238e-01] [-2.13182446e-01 -7.15285169e-03 9.76986224e-01 -5.28077386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795919999999995 meters Centerline goodness : 0.980714 Centerline is valid? [True, True] Translation: X:34.25, Y:0.34, Z:-5.32 [[ 9.80779410e-01 3.74590166e-02 1.91490393e-01 3.42479928e+01] [-3.02483726e-02 9.98723930e-01 -4.04418994e-02 3.39461358e-01] [-1.92760952e-01 3.38723095e-02 9.80660941e-01 -5.31733741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:34.32, Y:0.26, Z:-5.27 [[ 9.76190060e-01 2.47525578e-02 2.15500063e-01 3.43167028e+01] [-3.94691984e-02 9.97152564e-01 6.42568850e-02 2.58318504e-01] [-2.13295918e-01 -7.12325472e-02 9.74387385e-01 -5.26604043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:34.35, Y:0.32, Z:-5.30 [[ 9.76262318e-01 3.51281750e-02 2.13723883e-01 3.43457845e+01] [-3.53472298e-02 9.99371176e-01 -2.79761456e-03 3.23128619e-01] [-2.13687763e-01 -4.82334152e-03 9.76890104e-01 -5.29676999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters Centerline goodness : 0.757912 Centerline is valid? [True, False] Translation: X:34.37, Y:0.32, Z:-5.30 [[ 9.77837396e-01 2.86624726e-02 2.07394526e-01 3.43722211e+01] [-2.91217934e-02 9.99575519e-01 -8.38630429e-04 3.19210873e-01] [-2.07330528e-01 -5.21965632e-03 9.78257025e-01 -5.30134291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91592 meters Centerline goodness : 0.998215 Centerline is valid? [False, True] Translation: X:34.40, Y:0.31, Z:-5.31 [[ 9.79119050e-01 2.35106498e-02 2.01923590e-01 3.44006127e+01] [-2.52185736e-02 9.99664613e-01 5.88946133e-03 3.08881637e-01] [-2.01717402e-01 -1.08587087e-02 9.79383570e-01 -5.30566619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:34.42, Y:0.39, Z:-5.33 [[ 9.63913411e-01 3.48887936e-02 2.63919891e-01 3.44220855e+01] [-1.50459183e-02 9.96930161e-01 -7.68366796e-02 3.85543912e-01] [-2.65790439e-01 7.00929888e-02 9.61479285e-01 -5.33403147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975919999999995 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:34.45, Y:0.24, Z:-5.31 [[ 9.84227815e-01 7.39194372e-03 1.76751145e-01 3.44525556e+01] [-1.97841937e-02 9.97458213e-01 6.84521665e-02 2.37232219e-01] [-1.75795886e-01 -7.08694051e-02 9.81872361e-01 -5.30785134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:34.49, Y:0.25, Z:-5.30 [[ 9.76496857e-01 9.68325268e-03 2.15314008e-01 3.44931784e+01] [-2.43917184e-02 9.97537306e-01 6.57599137e-02 2.46159037e-01] [-2.14146986e-01 -6.94662277e-02 9.74328236e-01 -5.29915331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.03592 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:34.49, Y:0.36, Z:-5.37 [[ 9.81595929e-01 3.73594492e-02 1.87279745e-01 3.44875667e+01] [-2.63214537e-02 9.97785547e-01 -6.10834163e-02 3.57054501e-01] [-1.89147066e-01 5.50297577e-02 9.80405586e-01 -5.36962908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:34.55, Y:0.22, Z:-5.30 [[ 9.76803354e-01 7.10113035e-03 2.14020518e-01 3.45479047e+01] [-2.88055509e-02 9.94723444e-01 9.84657829e-02 2.15679264e-01] [-2.12192008e-01 -1.02346686e-01 9.71853748e-01 -5.29979555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09592 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:34.57, Y:0.31, Z:-5.35 [[ 9.75751143e-01 3.02656932e-02 2.16780290e-01 3.45713188e+01] [-2.99839449e-02 9.99539844e-01 -4.58942906e-03 3.12402883e-01] [-2.16819439e-01 -2.02178760e-03 9.76209631e-01 -5.34518501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:34.60, Y:0.34, Z:-5.36 [[ 9.72691532e-01 3.80532755e-02 2.28960983e-01 3.46000413e+01] [-3.00622505e-02 9.98814375e-01 -3.82897644e-02 3.44482128e-01] [-2.30146572e-01 3.03610472e-02 9.72682251e-01 -5.36199616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155919999999995 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:34.64, Y:0.24, Z:-5.33 [[ 9.76812938e-01 1.40072086e-02 2.13635866e-01 3.46356830e+01] [-2.94910065e-02 9.97148474e-01 6.94636639e-02 2.40371283e-01] [-2.12053686e-01 -7.41533423e-02 9.74440617e-01 -5.32826086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:34.66, Y:0.39, Z:-5.39 [[ 9.70751521e-01 5.36782553e-02 2.34008824e-01 3.46573963e+01] [-3.24393903e-02 9.95073230e-01 -9.36853879e-02 3.94831411e-01] [-2.37884784e-01 8.33541292e-02 9.67710142e-01 -5.38915381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.21592 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:34.69, Y:0.34, Z:-5.39 [[ 9.61440082e-01 3.96943105e-02 2.72134764e-01 3.46858383e+01] [-2.96371454e-02 9.98720757e-01 -4.09693789e-02 3.38971570e-01] [-2.73412889e-01 3.13243055e-02 9.61386592e-01 -5.38547753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:34.73, Y:0.27, Z:-5.37 [[ 9.71652599e-01 3.00521231e-02 2.34495408e-01 3.47273872e+01] [-3.83195656e-02 9.98791406e-01 3.07788682e-02 2.70712853e-01] [-2.33287027e-01 -3.88921294e-02 9.71629850e-01 -5.36753336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27592 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:34.76, Y:0.29, Z:-5.38 [[ 9.72132915e-01 3.75212219e-02 2.31408199e-01 3.47569759e+01] [-4.10371377e-02 9.99103525e-01 1.03970697e-02 2.89342445e-01] [-2.30810636e-01 -1.96036638e-02 9.72801186e-01 -5.38078395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:34.78, Y:0.25, Z:-5.39 [[ 9.72576156e-01 -1.29150982e-02 2.32225798e-01 3.47817517e+01] [ 7.35966672e-03 9.99666009e-01 2.47730803e-02 2.53596341e-01] [-2.32468184e-01 -2.23846028e-02 9.72346375e-01 -5.38585519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335919999999994 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:34.81, Y:0.36, Z:-5.42 [[ 0.96830636 0.05636693 0.24332194 34.81153983] [-0.04241449 0.99716152 -0.06220858 0.3619103 ] [-0.24613778 0.04991659 0.96794862 -5.41578641] [ 0. 0. 0. 1. ]] SLAMing on 35.365919999999996 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:34.85, Y:0.30, Z:-5.40 [[ 9.69797091e-01 4.15496730e-02 2.40348137e-01 3.48482072e+01] [-4.25789639e-02 9.99092689e-01 -9.11258257e-04 2.97876285e-01] [-2.40167929e-01 -9.35003904e-03 9.70686326e-01 -5.40498025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39592 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:34.88, Y:0.28, Z:-5.41 [[ 9.71409536e-01 3.75454432e-02 2.34422382e-01 3.48815199e+01] [-4.10364408e-02 9.99107306e-01 1.00300289e-02 2.82628364e-01] [-2.33836532e-01 -1.93631259e-02 9.72083096e-01 -5.40900980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:34.91, Y:0.33, Z:-5.43 [[ 9.69011214e-01 4.50356893e-02 2.42876621e-01 3.49069663e+01] [-3.70401772e-02 9.98614082e-01 -3.73890511e-02 3.27513708e-01] [-2.44223855e-01 2.72342167e-02 9.69336374e-01 -5.43345226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45592 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:34.94, Y:0.29, Z:-5.43 [[ 9.69765342e-01 3.51948453e-02 2.41488104e-01 3.49405885e+01] [-3.54453675e-02 9.99366141e-01 -3.30802149e-03 2.93718633e-01] [-2.41451459e-01 -5.35162997e-03 9.70398141e-01 -5.43008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:34.97, Y:0.29, Z:-5.44 [[ 9.68970593e-01 3.56929331e-02 2.44585371e-01 3.49721752e+01] [-3.47456402e-02 9.99362645e-01 -8.18806317e-03 2.94138513e-01] [-2.44721740e-01 -5.64282889e-04 9.69593189e-01 -5.44021329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51592 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:35.00, Y:0.29, Z:-5.45 [[ 9.68706073e-01 3.59425054e-02 2.45594546e-01 3.50026487e+01] [-3.46241308e-02 9.99353473e-01 -9.68532024e-03 2.92088670e-01] [-2.45783878e-01 8.78730839e-04 9.69324256e-01 -5.44885994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:35.03, Y:0.29, Z:-5.46 [[ 9.68551138e-01 3.72482514e-02 2.46010691e-01 3.50338164e+01] [-3.58390342e-02 9.99305474e-01 -1.02046139e-02 2.87633852e-01] [-2.46219934e-01 1.06690487e-03 9.69213395e-01 -5.45835116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575919999999996 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:35.07, Y:0.27, Z:-5.46 [[ 9.69992116e-01 3.53652382e-02 2.40550606e-01 3.50658512e+01] [-3.69377343e-02 9.99315507e-01 2.02984356e-03 2.74756889e-01] [-2.40314165e-01 -1.08543266e-02 9.70634476e-01 -5.46193032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:35.10, Y:0.28, Z:-5.47 [[ 9.68829434e-01 3.92099956e-02 2.44606017e-01 3.50960869e+01] [-3.81042791e-02 9.99230929e-01 -9.25281096e-03 2.82624770e-01] [-2.44780701e-01 -3.56140346e-04 9.69578404e-01 -5.47317059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63592 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:35.13, Y:0.28, Z:-5.48 [[ 9.67815474e-01 3.90263051e-02 2.48616483e-01 3.51272557e+01] [-3.80967567e-02 9.99237468e-01 -8.55098459e-03 2.80020255e-01] [-2.48760619e-01 -1.19570647e-03 9.68564260e-01 -5.47853909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:35.16, Y:0.22, Z:-5.47 [[ 9.72199621e-01 2.84983739e-02 2.32412864e-01 3.51634281e+01] [-4.03748157e-02 9.98101830e-01 4.65038864e-02 2.24880194e-01] [-2.30646420e-01 -5.45946873e-02 9.71504837e-01 -5.46629000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69592 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:35.18, Y:0.32, Z:-5.51 [[ 0.96716819 0.05185713 0.24879014 35.18359254] [-0.03828363 0.99751812 -0.05909286 0.32452861] [-0.25123706 0.04762814 0.96675307 -5.51364326] [ 0. 0. 0. 1. ]] SLAMing on 35.725919999999995 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:35.22, Y:0.26, Z:-5.50 [[ 9.68694690e-01 3.69916986e-02 2.45483627e-01 3.52207588e+01] [-3.85464780e-02 9.99255637e-01 1.53006236e-03 2.63167635e-01] [-2.45244298e-01 -1.09446925e-02 9.69399529e-01 -5.50092158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755919999999996 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:35.27, Y:0.20, Z:-5.50 [[ 9.69728700e-01 -4.28296776e-03 2.44147302e-01 3.52672124e+01] [-6.23139864e-03 9.99086494e-01 4.22770241e-02 2.03078608e-01] [-2.44105343e-01 -4.25186227e-02 9.68816158e-01 -5.50106884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:35.28, Y:0.32, Z:-5.54 [[ 0.96821882 0.0512446 0.24479849 35.27786983] [-0.03817237 0.9975951 -0.0578523 0.31537603] [-0.24717439 0.04666915 0.96784648 -5.53515439] [ 0. 0. 0. 1. ]] SLAMing on 35.81592 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:35.31, Y:0.27, Z:-5.52 [[ 9.67613612e-01 4.01357589e-02 2.49224834e-01 3.53127562e+01] [-3.89599812e-02 9.99194167e-01 -9.65075559e-03 2.66203165e-01] [-2.49411341e-01 -3.71592385e-04 9.68397566e-01 -5.52454427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:35.34, Y:0.29, Z:-5.54 [[ 9.62509635e-01 4.49216882e-02 2.67501858e-01 3.53392727e+01] [-3.74896146e-02 9.98757628e-01 -3.28287945e-02 2.86182527e-01] [-2.68644246e-01 2.15694895e-02 9.62997937e-01 -5.54218736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87592 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:35.37, Y:0.26, Z:-5.54 [[ 9.62445653e-01 3.92846935e-02 2.68616974e-01 3.53719647e+01] [-3.94151115e-02 9.99210861e-01 -4.90955481e-03 2.58005489e-01] [-2.68597868e-01 -5.86238827e-03 9.63234560e-01 -5.54317586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:35.40, Y:0.26, Z:-5.55 [[ 9.62165047e-01 4.05748195e-02 2.69429222e-01 3.54027749e+01] [-4.06090885e-02 9.99160253e-01 -5.44893142e-03 2.59028253e-01] [-2.69424059e-01 -5.69850377e-03 9.63004778e-01 -5.55220509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935919999999996 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:35.44, Y:0.25, Z:-5.56 [[ 9.62455247e-01 4.15620667e-02 2.68239618e-01 3.54352725e+01] [-4.29824341e-02 9.99075661e-01 -5.77767380e-04 2.54506702e-01] [-2.68015687e-01 -1.09735165e-02 9.63352051e-01 -5.55914574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:35.47, Y:0.23, Z:-5.55 [[ 9.66727128e-01 3.66439049e-02 2.53171651e-01 3.54733150e+01] [-4.43950352e-02 9.98701962e-01 2.49694038e-02 2.30082508e-01] [-2.51928049e-01 -3.53781644e-02 9.67099087e-01 -5.55345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99592 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:35.50, Y:0.27, Z:-5.58 [[ 9.62901885e-01 4.50760689e-02 2.66060347e-01 3.54977958e+01] [-4.10820816e-02 9.98944197e-01 -2.05609880e-02 2.74478269e-01] [-2.66706248e-01 8.86790118e-03 9.63737069e-01 -5.58083517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:35.54, Y:0.21, Z:-5.56 [[ 9.68829327e-01 3.02366524e-02 2.45876961e-01 3.55386049e+01] [-4.25599872e-02 9.98081768e-01 4.49603420e-02 2.12219245e-01] [-2.44045862e-01 -5.40234182e-02 9.68257759e-01 -5.56262994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05592 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:35.56, Y:0.27, Z:-5.59 [[ 9.67703628e-01 4.33894875e-02 2.48328492e-01 3.55640116e+01] [-4.17666809e-02 9.99057682e-01 -1.18022390e-02 2.66015748e-01] [-2.48606581e-01 1.04921261e-03 9.68603979e-01 -5.59209814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:35.59, Y:0.30, Z:-5.61 [[ 9.62177693e-01 4.48867573e-02 2.68699211e-01 3.55883556e+01] [-3.26644770e-02 9.98225505e-01 -4.97882922e-02 3.00795689e-01] [-2.70457241e-01 3.91282649e-02 9.61936515e-01 -5.61308963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115919999999996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:35.63, Y:0.23, Z:-5.59 [[ 9.67449131e-01 2.72105643e-02 2.51598420e-01 3.56283712e+01] [-3.55565092e-02 9.98955924e-01 2.86844390e-02 2.26453059e-01] [-2.50555212e-01 -3.66966971e-02 9.67406553e-01 -5.59080749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:35.65, Y:0.27, Z:-5.62 [[ 9.66017247e-01 3.66473471e-02 2.55866469e-01 3.56544461e+01] [-3.39515702e-02 9.99311709e-01 -1.49465488e-02 2.69193727e-01] [-2.56238110e-01 5.75155556e-03 9.66596581e-01 -5.61555766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17592 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:35.69, Y:0.25, Z:-5.61 [[ 9.66208649e-01 3.12825728e-02 2.55855911e-01 3.56877892e+01] [-3.35939240e-02 9.99424667e-01 4.66733413e-03 2.49660911e-01] [-2.55562702e-01 -1.31048226e-02 9.66703661e-01 -5.61377277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:35.72, Y:0.26, Z:-5.62 [[ 9.64919369e-01 3.30070010e-02 2.60463335e-01 3.57189152e+01] [-3.27339961e-02 9.99449580e-01 -5.38719362e-03 2.56942630e-01] [-2.60497786e-01 -3.32779833e-03 9.65468710e-01 -5.62499489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23592 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:35.75, Y:0.25, Z:-5.63 [[ 9.66285961e-01 3.43298621e-02 2.55172300e-01 3.57500547e+01] [-3.50367585e-02 9.99384446e-01 -1.77606412e-03 2.53443845e-01] [-2.55076200e-01 -7.22422443e-03 9.66893967e-01 -5.63252568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:35.77, Y:0.29, Z:-5.65 [[ 9.59367967e-01 4.18879325e-02 2.79031369e-01 3.57744972e+01] [-3.24885788e-02 9.98740781e-01 -3.82275467e-02 2.87764510e-01] [-2.80281280e-01 2.76089511e-02 9.59520792e-01 -5.65418896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295919999999995 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:35.79, Y:0.23, Z:-5.64 [[ 9.67733369e-01 3.78842342e-02 2.49112245e-01 3.57925725e+01] [-4.52704681e-02 9.98686761e-01 2.39862137e-02 2.26743107e-01] [-2.47876402e-01 -3.44896874e-02 9.68177541e-01 -5.64364167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:35.81, Y:0.24, Z:-5.66 [[ 9.67124818e-01 4.69941305e-02 2.49922263e-01 3.58101579e+01] [-5.30767651e-02 9.98434430e-01 1.76506842e-02 2.38953178e-01] [-2.48701514e-01 -3.03354800e-02 9.68105013e-01 -5.66138043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35592 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:35.87, Y:0.23, Z:-5.65 [[ 0.95844636 0.04406419 0.28184911 35.86800966] [-0.0565286 0.99774296 0.0362424 0.23240548] [-0.27961597 -0.05066893 0.95877399 -5.65192136] [ 0. 0. 0. 1. ]] SLAMing on 36.38592 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:35.89, Y:0.30, Z:-5.69 [[ 9.59106977e-01 6.38651007e-02 2.75744549e-01 3.58935414e+01] [-5.89571414e-02 9.97920287e-01 -2.60606205e-02 2.99320137e-01] [-2.76835444e-01 8.73781255e-03 9.60877613e-01 -5.68833711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:35.94, Y:0.23, Z:-5.67 [[ 0.96691064 0.05026746 0.25011396 35.93662082] [-0.06430776 0.99676159 0.04827875 0.23191954] [-0.24687714 -0.06276551 0.96701198 -5.66679018] [ 0. 0. 0. 1. ]] SLAMing on 36.44592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:35.96, Y:0.32, Z:-5.71 [[ 9.60503722e-01 7.06323728e-02 2.69153613e-01 3.59580068e+01] [-6.29847829e-02 9.97330045e-01 -3.69553617e-02 3.15289456e-01] [-2.71045230e-01 1.85431806e-02 9.62387985e-01 -5.70632613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475919999999995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:36.00, Y:0.27, Z:-5.70 [[ 9.64199898e-01 5.90855477e-02 2.58510067e-01 3.59971515e+01] [-6.41913906e-02 9.97873087e-01 1.13475443e-02 2.70716846e-01] [-2.57289762e-01 -2.75354217e-02 9.65941913e-01 -5.69597975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:36.02, Y:0.32, Z:-5.72 [[ 9.59915532e-01 6.83279956e-02 2.71833510e-01 3.60203140e+01] [-6.25845789e-02 9.97596079e-01 -2.97528849e-02 3.17660884e-01] [-2.73212998e-01 1.15476706e-02 9.61884249e-01 -5.72174114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:36.05, Y:0.29, Z:-5.72 [[ 9.60728784e-01 6.15251193e-02 2.70582451e-01 3.60539990e+01] [-6.32787502e-02 9.97993363e-01 -2.24679726e-03 2.94176532e-01] [-2.70177725e-01 -1.49635566e-02 9.62694182e-01 -5.72114351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:36.10, Y:0.19, Z:-5.68 [[ 9.72841591e-01 3.07998586e-02 2.29413617e-01 3.60950758e+01] [-5.72293206e-02 9.92342608e-01 1.09457545e-01 1.92416576e-01] [-2.24285630e-01 -1.19614038e-01 9.67154816e-01 -5.67804771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.11, Y:0.39, Z:-5.76 [[ 0.96115606 0.0840378 0.2629005 36.11264077] [-0.06097807 0.99363763 -0.0946886 0.38803574] [-0.26918525 0.07497936 0.9601653 -5.75872333] [ 0. 0. 0. 1. ]] SLAMing on 36.62592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:36.15, Y:0.22, Z:-5.71 [[ 0.97094307 0.03630386 0.23654089 36.15336152] [-0.05587403 0.99549803 0.07656216 0.2244076 ] [-0.23269648 -0.08755399 0.96860035 -5.70550019] [ 0. 0. 0. 1. ]] SLAMing on 36.655919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:0.41, Z:-5.78 [[ 0.95713003 0.08079083 0.27816352 36.17018047] [-0.05197629 0.99263147 -0.10945883 0.40902682] [-0.28495713 0.09030843 0.9542766 -5.77872671] [ 0. 0. 0. 1. ]] SLAMing on 36.685919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:36.21, Y:0.28, Z:-5.75 [[ 9.62668873e-01 4.54701257e-02 2.66835359e-01 3.62149202e+01] [-5.27136902e-02 9.98408515e-01 2.00425765e-02 2.84258785e-01] [-2.65499356e-01 -3.33602409e-02 9.63533698e-01 -5.74582742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:0.37, Z:-5.78 [[ 0.95437371 0.06114221 0.29228832 36.23563323] [-0.04491748 0.99707061 -0.06190818 0.36640526] [-0.29521729 0.04595469 0.95432432 -5.78390548] [ 0. 0. 0. 1. ]] SLAMing on 36.74592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.27, Y:0.31, Z:-5.78 [[ 9.55027275e-01 4.38291127e-02 2.93260826e-01 3.62727295e+01] [-4.41222218e-02 9.99010339e-01 -5.61892796e-03 3.14758460e-01] [-2.93216870e-01 -7.57308977e-03 9.56015960e-01 -5.77673071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:36.32, Y:0.20, Z:-5.73 [[ 9.69461690e-01 1.43359119e-02 2.44823433e-01 3.63210341e+01] [-4.31068038e-02 9.92708668e-01 1.12566883e-01 2.04883886e-01] [-2.41424596e-01 -1.19682837e-01 9.63010999e-01 -5.73322359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:36.35, Y:0.26, Z:-5.77 [[ 9.68319806e-01 3.18073995e-02 2.47679316e-01 3.63493572e+01] [-4.80722711e-02 9.97046186e-01 5.98995753e-02 2.55262979e-01] [-2.45042467e-01 -6.99084523e-02 9.66988623e-01 -5.76682895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835919999999994 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:36.37, Y:0.33, Z:-5.80 [[ 9.67147336e-01 4.41747050e-02 2.50349010e-01 3.63707611e+01] [-4.09175720e-02 9.98996701e-01 -1.82028436e-02 3.29067601e-01] [-2.50901940e-01 7.36115804e-03 9.67984519e-01 -5.79612170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:36.40, Y:0.39, Z:-5.82 [[ 9.65162253e-01 5.50709812e-02 2.55790955e-01 3.63950829e+01] [-3.46142223e-02 9.95881053e-01 -8.38020482e-02 3.92680867e-01] [-2.59352427e-01 7.20285687e-02 9.63093040e-01 -5.82057641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:36.42, Y:0.38, Z:-5.83 [[ 9.50864423e-01 4.53705431e-02 3.06265185e-01 3.64212870e+01] [-2.24317127e-02 9.96700295e-01 -7.80085928e-02 3.84914837e-01] [-3.08793893e-01 6.73055429e-02 9.48744589e-01 -5.82844668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:36.47, Y:0.18, Z:-5.76 [[ 9.67238871e-01 -1.04436004e-02 2.53653105e-01 3.64729652e+01] [-2.46180639e-02 9.90586056e-01 1.34659630e-01 1.81025502e-01] [-2.52671560e-01 -1.36492477e-01 9.57876238e-01 -5.75854127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95592 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:36.49, Y:0.34, Z:-5.83 [[ 9.65044018e-01 3.52735247e-02 2.59703334e-01 3.64896368e+01] [-2.61365110e-02 9.98914683e-01 -3.85530598e-02 3.43133226e-01] [-2.60781376e-01 3.04176607e-02 9.64918566e-01 -5.82923575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:36.52, Y:0.32, Z:-5.83 [[ 9.64377586e-01 2.69793774e-02 2.63150118e-01 3.65208198e+01] [-2.49615328e-02 9.99627794e-01 -1.10088976e-02 3.15847617e-01] [-2.63349185e-01 4.04810382e-03 9.64692085e-01 -5.82789803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01592 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:36.55, Y:0.33, Z:-5.84 [[ 9.63138085e-01 2.73787770e-02 2.67610597e-01 3.65506127e+01] [-2.14390369e-02 9.99455210e-01 -2.50928344e-02 3.26420194e-01] [-2.68151817e-01 1.84305510e-02 9.63200352e-01 -5.84001764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:36.58, Y:0.32, Z:-5.85 [[ 9.62201571e-01 2.30583381e-02 2.71360370e-01 3.65808047e+01] [-1.88673545e-02 9.99659170e-01 -1.80434636e-02 3.16381245e-01] [-2.71683934e-01 1.22415967e-02 9.62308674e-01 -5.84647351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075919999999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:36.61, Y:0.31, Z:-5.86 [[ 9.60648977e-01 2.29753823e-02 2.76813431e-01 3.66102655e+01] [-1.76663705e-02 9.99609339e-01 -2.16580026e-02 3.14464749e-01] [-2.77202892e-01 1.59154494e-02 9.60679580e-01 -5.85672634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:36.64, Y:0.28, Z:-5.85 [[ 9.61651762e-01 1.52794819e-02 2.73847451e-01 3.66436281e+01] [-1.86299292e-02 9.99779992e-01 9.63815423e-03 2.80543398e-01] [-2.73639936e-01 -1.43703066e-02 9.61724846e-01 -5.85350397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13592 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:36.67, Y:0.31, Z:-5.88 [[ 9.59033109e-01 2.49388221e-02 2.82194173e-01 3.66708208e+01] [-1.78957606e-02 9.99461365e-01 -2.75085846e-02 3.13721958e-01] [-2.82728205e-01 2.13315640e-02 9.58962839e-01 -5.87554685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:36.70, Y:0.32, Z:-5.89 [[ 9.57682756e-01 2.72002947e-02 2.86537750e-01 3.67012745e+01] [-1.91314150e-02 9.99338674e-01 -3.09225579e-02 3.15567010e-01] [-2.87189358e-01 2.41321279e-02 9.57569795e-01 -5.88830594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:36.74, Y:0.28, Z:-5.88 [[ 9.58115112e-01 2.27677176e-02 2.85476905e-01 3.67357944e+01] [-2.48842127e-02 9.99683163e-01 3.78817424e-03 2.79116480e-01] [-2.85300208e-01 -1.07333750e-02 9.58378102e-01 -5.88326246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:36.77, Y:0.29, Z:-5.90 [[ 9.57549446e-01 3.03213944e-02 2.86669970e-01 3.67652998e+01] [-2.97459246e-02 9.99537237e-01 -6.36330737e-03 2.86840246e-01] [-2.86730254e-01 -2.43408186e-03 9.58008265e-01 -5.89513691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255919999999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:36.80, Y:0.30, Z:-5.91 [[ 9.55356911e-01 3.67172161e-02 2.93163809e-01 3.67952494e+01] [-3.14182620e-02 9.99247037e-01 -2.27651416e-02 3.01548933e-01] [-2.93778940e-01 1.25381380e-02 9.55791154e-01 -5.91031254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:36.83, Y:0.29, Z:-5.92 [[ 9.54871706e-01 3.49982884e-02 2.94949395e-01 3.68272675e+01] [-3.24438941e-02 9.99381689e-01 -1.35511111e-02 2.91503436e-01] [-2.95241290e-01 3.37026560e-03 9.55416779e-01 -5.91573451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31592 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:36.86, Y:0.29, Z:-5.93 [[ 9.54164002e-01 3.84521446e-02 2.96803792e-01 3.68576335e+01] [-3.66077371e-02 9.99260375e-01 -1.17718158e-02 2.88763336e-01] [-2.97036920e-01 3.66927701e-04 9.54865924e-01 -5.92611385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:36.89, Y:0.30, Z:-5.94 [[ 9.52504475e-01 4.19576553e-02 3.01620259e-01 3.68864272e+01] [-3.54107458e-02 9.99004163e-01 -2.71433310e-02 3.01907788e-01] [-3.02458765e-01 1.51735460e-02 9.53041688e-01 -5.94116976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37592 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:36.92, Y:0.29, Z:-5.95 [[ 9.51930636e-01 3.95715944e-02 3.03746859e-01 3.69184546e+01] [-3.63085586e-02 9.99206292e-01 -1.63852125e-02 2.89722631e-01] [-3.04154161e-01 4.56897518e-03 9.52611868e-01 -5.94793105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:36.95, Y:0.29, Z:-5.96 [[ 9.51153608e-01 3.87233723e-02 3.06279798e-01 3.69500328e+01] [-3.52670483e-02 9.99236491e-01 -1.68128177e-02 2.89745049e-01] [-3.06697000e-01 5.18998781e-03 9.51793052e-01 -5.95779525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435919999999996 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:36.98, Y:0.28, Z:-5.97 [[ 9.51104656e-01 3.67324649e-02 3.06676800e-01 3.69815999e+01] [-3.59305083e-02 9.99320136e-01 -8.26217726e-03 2.80519671e-01] [-3.06771792e-01 -3.16085805e-03 9.51777851e-01 -5.96541355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:37.01, Y:0.28, Z:-5.98 [[ 9.50722584e-01 3.68116440e-02 3.07849753e-01 3.70133921e+01] [-3.56063592e-02 9.99320420e-01 -9.53340935e-03 2.79992325e-01] [-3.07991485e-01 -1.89778132e-03 9.51387221e-01 -5.97647344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:37.05, Y:0.28, Z:-5.98 [[ 9.49832613e-01 3.53276467e-02 3.10757083e-01 3.70463371e+01] [-3.48540837e-02 9.99367342e-01 -7.07868326e-03 2.76832588e-01] [-3.10810554e-01 -4.10758918e-03 9.50463007e-01 -5.98448344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:37.08, Y:0.28, Z:-5.99 [[ 9.49166146e-01 3.77023853e-02 3.12509452e-01 3.70800148e+01] [-3.74018425e-02 9.99276080e-01 -6.95828267e-03 2.78707917e-01] [-3.12545564e-01 -5.08386296e-03 9.49889164e-01 -5.99431405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:37.11, Y:0.28, Z:-6.01 [[ 9.49935750e-01 3.94557395e-02 3.09944052e-01 3.71112451e+01] [-3.97339502e-02 9.99195605e-01 -5.41808009e-03 2.77490850e-01] [-3.09908509e-01 -7.16847354e-03 9.50739359e-01 -6.00517345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:37.14, Y:0.29, Z:-6.02 [[ 9.49432095e-01 4.47992678e-02 3.10759910e-01 3.71414371e+01] [-4.10941041e-02 9.98984671e-01 -1.84635157e-02 2.90747053e-01] [-3.11271539e-01 4.75945429e-03 9.50309095e-01 -6.02095531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615919999999996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:37.17, Y:0.29, Z:-6.03 [[ 9.48646846e-01 4.53426645e-02 3.13070607e-01 3.71736206e+01] [-4.34736295e-02 9.98970616e-01 -1.29519282e-02 2.88364491e-01] [-3.13335612e-01 -1.32350969e-03 9.49641534e-01 -6.03013957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:37.21, Y:0.23, Z:-6.02 [[ 9.54551710e-01 2.98385270e-02 2.96547965e-01 3.72127998e+01] [-4.53913024e-02 9.97923485e-01 4.56984366e-02 2.34226766e-01] [-2.94568605e-01 -5.70822192e-02 9.53923979e-01 -6.01720504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:37.24, Y:0.26, Z:-6.04 [[ 9.52742565e-01 4.28103067e-02 3.00747206e-01 3.72407992e+01] [-5.10244224e-02 9.98506873e-01 1.95072587e-02 2.64708039e-01] [-2.99463040e-01 -3.39308482e-02 9.53504371e-01 -6.03758918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:37.26, Y:0.40, Z:-6.09 [[ 0.93494751 0.08177227 0.34523391 37.25744108] [-0.04282294 0.99197184 -0.1189877 0.40417044] [-0.35219221 0.09646332 0.93094333 -6.08694289] [ 0. 0. 0. 1. ]] SLAMing on 37.73592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:37.30, Y:0.29, Z:-6.07 [[ 9.36283944e-01 4.38968496e-02 3.48490232e-01 3.73011126e+01] [-4.59652457e-02 9.98940310e-01 -2.33524745e-03 2.91177070e-01] [-3.48223451e-01 -1.38319845e-02 9.37309503e-01 -6.06675909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:37.33, Y:0.30, Z:-6.08 [[ 9.41994311e-01 4.59757320e-02 3.32464960e-01 3.73343733e+01] [-4.76584364e-02 9.98858893e-01 -3.09594372e-03 2.95482438e-01] [-3.32227920e-01 -1.29283988e-02 9.43110527e-01 -6.08043030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795919999999995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:37.37, Y:0.26, Z:-6.08 [[ 9.48747897e-01 3.29454220e-02 3.14311990e-01 3.73738932e+01] [-4.66203236e-02 9.98260597e-01 3.60877652e-02 2.62103936e-01] [-3.12576348e-01 -4.88915181e-02 9.48633568e-01 -6.07763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:37.40, Y:0.28, Z:-6.09 [[ 9.51220531e-01 3.69867223e-02 3.06286604e-01 3.74047233e+01] [-4.58486901e-02 9.98710773e-01 2.17873628e-02 2.76593259e-01] [-3.05085888e-01 -3.47674264e-02 9.51689985e-01 -6.09185580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85592 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:37.43, Y:0.34, Z:-6.12 [[ 9.46850178e-01 5.23666235e-02 3.17383800e-01 3.74293224e+01] [-3.92209490e-02 9.98092721e-01 -4.76721973e-02 3.42993587e-01] [-3.19274892e-01 3.26903346e-02 9.47098139e-01 -6.12272256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:37.46, Y:0.31, Z:-6.12 [[ 9.46960227e-01 3.98342076e-02 3.18872334e-01 3.74644900e+01] [-3.65512406e-02 9.99199240e-01 -1.62752874e-02 3.12881813e-01] [-3.19265307e-01 3.75687048e-03 9.47657929e-01 -6.12418643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:37.50, Y:0.30, Z:-6.13 [[ 9.47813077e-01 3.34282646e-02 3.17069271e-01 3.74975137e+01] [-3.50127019e-02 9.99386622e-01 -7.00994182e-04 2.99179779e-01] [-3.16898220e-01 -1.04370404e-02 9.48402123e-01 -6.13073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:37.53, Y:0.32, Z:-6.15 [[ 9.45902173e-01 3.80623969e-02 3.22211627e-01 3.75287399e+01] [-3.27872071e-02 9.99224904e-01 -2.17850751e-02 3.21460035e-01] [-3.22791074e-01 1.00421305e-02 9.46416968e-01 -6.14948391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975919999999995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:37.56, Y:0.32, Z:-6.16 [[ 9.35057471e-01 3.48494181e-02 3.52779030e-01 3.75584328e+01] [-2.79766003e-02 9.99306729e-01 -2.45636167e-02 3.22569041e-01] [-3.53390487e-01 1.30988354e-02 9.35384191e-01 -6.15976974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:37.59, Y:0.30, Z:-6.17 [[ 9.35064788e-01 2.61311021e-02 3.53512388e-01 3.75943030e+01] [-2.66991453e-02 9.99638164e-01 -3.27065282e-03 3.03845254e-01] [-3.53469940e-01 -6.38020632e-03 9.35424125e-01 -6.16537073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:37.64, Y:0.28, Z:-6.17 [[ 9.47099200e-01 2.00608812e-02 3.20313389e-01 3.76354101e+01] [-3.04321701e-02 9.99161069e-01 2.74051376e-02 2.77171752e-01] [-3.19494897e-01 -3.57032154e-02 9.46915145e-01 -6.16762951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:37.66, Y:0.32, Z:-6.19 [[ 9.46625476e-01 3.29717356e-02 3.20644776e-01 3.76636179e+01] [-2.95709038e-02 9.99442945e-01 -1.54713189e-02 3.17494882e-01] [-3.20976276e-01 5.16378878e-03 9.47073158e-01 -6.19332705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:37.70, Y:0.30, Z:-6.20 [[ 9.46700058e-01 2.84594331e-02 3.20856761e-01 3.76978017e+01] [-2.93525148e-02 9.99567011e-01 -2.05413483e-03 3.04291683e-01] [-3.20776293e-01 -7.47330328e-03 9.47125503e-01 -6.19926395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:37.72, Y:0.34, Z:-6.22 [[ 9.34551031e-01 3.68707172e-02 3.53913721e-01 3.77231170e+01] [-2.27695439e-02 9.98775247e-01 -4.39266917e-02 3.44918298e-01] [-3.55099872e-01 3.29932810e-02 9.34245966e-01 -6.22254411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155919999999995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:37.77, Y:0.28, Z:-6.21 [[ 9.45945817e-01 1.96735800e-02 3.23727449e-01 3.77667200e+01] [-2.87978532e-02 9.99310893e-01 2.34184222e-02 2.81959089e-01] [-3.23043642e-01 -3.14752141e-02 9.45860516e-01 -6.21400692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters Centerline goodness : 0.859589 Centerline is valid? [True, False] Translation: X:37.83, Y:0.29, Z:-6.24 [[ 9.52356774e-01 2.26262630e-02 3.04145733e-01 3.78254638e+01] [-2.88829709e-02 9.99453331e-01 1.60876797e-02 2.86717186e-01] [-3.03615462e-01 -2.41058432e-02 9.52489664e-01 -6.23545461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21592 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:37.88, Y:0.29, Z:-6.26 [[ 9.58450035e-01 2.51382604e-02 2.84150662e-01 3.78839529e+01] [-2.93234195e-02 9.99514996e-01 1.04837489e-02 2.91721143e-01] [-2.83749304e-01 -1.83804186e-02 9.58722323e-01 -6.25574703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:37.91, Y:0.33, Z:-6.28 [[ 9.55834112e-01 3.70572475e-02 2.91561160e-01 3.79108084e+01] [-3.09591545e-02 9.99195247e-01 -2.55027440e-02 3.30468038e-01] [-2.92271587e-01 1.53499057e-02 9.56212163e-01 -6.28023798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.33, Z:-6.29 [[ 9.47954449e-01 3.41331341e-02 3.16571148e-01 3.79397461e+01] [-2.78893101e-02 9.99317198e-01 -2.42347806e-02 3.28356218e-01] [-3.17182201e-01 1.41445172e-02 9.48259133e-01 -6.28788459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:37.97, Y:0.31, Z:-6.29 [[ 9.48027343e-01 2.93124579e-02 3.16835819e-01 3.79748942e+01] [-3.00296816e-02 9.99545573e-01 -2.62021607e-03 3.05554401e-01] [-3.16768645e-01 -7.03044228e-03 9.48476778e-01 -6.29020095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.02, Y:0.21, Z:-6.26 [[ 9.65018730e-01 8.16732456e-03 2.62053709e-01 3.80202362e+01] [-3.45022800e-02 9.94778211e-01 9.60515688e-02 2.13820781e-01] [-2.59900835e-01 -1.01733013e-01 9.60261397e-01 -6.26365191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.04, Y:0.37, Z:-6.33 [[ 9.56187683e-01 5.25262912e-02 2.88003651e-01 3.80367274e+01] [-3.50152247e-02 9.97229941e-01 -6.56230004e-02 3.71698721e-01] [-2.90652797e-01 5.26633922e-02 9.55378207e-01 -6.32688727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.07, Y:0.30, Z:-6.31 [[ 9.57927180e-01 3.13247542e-02 2.85296825e-01 3.80742872e+01] [-3.47731604e-02 9.99370518e-01 7.02818786e-03 3.01981833e-01] [-2.84897079e-01 -1.66531644e-02 9.58413442e-01 -6.31438026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:0.31, Z:-6.33 [[ 9.54873995e-01 2.53129189e-02 2.95930583e-01 3.81055586e+01] [-2.34442728e-02 9.99676503e-01 -9.86178499e-03 3.13285965e-01] [-2.96084481e-01 2.47888471e-03 9.55158539e-01 -6.33287145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.13, Y:0.35, Z:-6.35 [[ 9.54385854e-01 4.46098034e-02 2.95224672e-01 3.81337289e+01] [-3.41997826e-02 9.98600792e-01 -4.03340146e-02 3.48943316e-01] [-2.96610884e-01 2.83975933e-02 9.54576115e-01 -6.34802993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:0.32, Z:-6.35 [[ 9.53323231e-01 3.42373318e-02 3.00004370e-01 3.81658903e+01] [-3.04796615e-02 9.99387427e-01 -1.71977147e-02 3.24155418e-01] [-3.00409399e-01 7.25094926e-03 9.53782793e-01 -6.35150908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.20, Y:0.31, Z:-6.36 [[ 9.55507395e-01 2.95357453e-02 2.93484681e-01 3.82004012e+01] [-3.03170613e-02 9.99538550e-01 -1.88745729e-03 3.08690348e-01] [-2.93405000e-01 -7.09411365e-03 9.55961913e-01 -6.35560534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.23, Y:0.30, Z:-6.36 [[ 9.56236136e-01 2.75665309e-02 2.91294591e-01 3.82317606e+01] [-2.98412778e-02 9.99548974e-01 3.36844724e-03 3.03755311e-01] [-2.91070353e-01 -1.19136338e-02 9.56627469e-01 -6.36480693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:0.35, Z:-6.39 [[ 9.44498448e-01 3.32046525e-02 3.26833495e-01 3.82557073e+01] [-1.90853464e-02 9.98744605e-01 -4.63137583e-02 3.51070221e-01] [-3.27961022e-01 3.75055423e-02 9.43946451e-01 -6.38870582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters Centerline goodness : 0.872404 Centerline is valid? [True, False] Translation: X:38.34, Y:0.32, Z:-6.41 [[ 9.54972913e-01 2.43300110e-02 2.95693738e-01 3.83372287e+01] [-1.92587917e-02 9.99613452e-01 -2.00510905e-02 3.23490576e-01] [-2.96067281e-01 1.34535442e-02 9.55072336e-01 -6.40543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:38.40, Y:0.31, Z:-6.42 [[ 9.62225798e-01 2.11019589e-02 2.71433640e-01 3.84021641e+01] [-1.94408824e-02 9.99772215e-01 -8.80743289e-03 3.12235474e-01] [-2.71557665e-01 3.19782966e-03 9.62416858e-01 -6.42124395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:0.36, Z:-6.44 [[ 9.49507250e-01 2.73245896e-02 3.12552953e-01 3.84237765e+01] [-9.66346019e-03 9.98274670e-01 -5.79163306e-02 3.59852747e-01] [-3.13596236e-01 5.19716328e-02 9.48133087e-01 -6.44386745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:0.28, Z:-6.43 [[ 9.59704893e-01 9.82659485e-03 2.80837955e-01 3.84675091e+01] [-1.95345306e-02 9.99303680e-01 3.17892653e-02 2.75288938e-01] [-2.80330021e-01 -3.59943510e-02 9.59228589e-01 -6.42994778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:0.30, Z:-6.45 [[ 9.60789472e-01 1.94425263e-02 2.76596420e-01 3.84967677e+01] [-2.03451355e-02 9.99792939e-01 3.93683820e-04 3.04255745e-01] [-2.76531493e-01 -6.00563892e-03 9.60986090e-01 -6.44828704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.53, Y:0.32, Z:-6.46 [[ 9.58338255e-01 2.27828982e-02 2.84725708e-01 3.85258678e+01] [-1.84035879e-02 9.99667750e-01 -1.80470750e-02 3.21089690e-01] [-2.85042273e-01 1.20552277e-02 9.58439134e-01 -6.46227183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.56, Y:0.30, Z:-6.47 [[ 9.58687396e-01 1.74454308e-02 2.83926281e-01 3.85602144e+01] [-1.82939886e-02 9.99832594e-01 3.37080532e-04 3.04573029e-01] [-2.83872870e-01 -5.51729902e-03 9.58846053e-01 -6.46534763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:0.34, Z:-6.49 [[ 9.48790690e-01 2.04677198e-02 3.15241653e-01 3.85822906e+01] [-9.16972311e-03 9.99262755e-01 -3.72808670e-02 3.42203774e-01] [-3.15772297e-01 3.24810608e-02 9.48278882e-01 -6.48650549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:0.28, Z:-6.48 [[ 9.58538672e-01 6.26556556e-03 2.84893589e-01 3.86260672e+01] [-1.52572745e-02 9.99452651e-01 2.93532457e-02 2.78760748e-01] [-2.84553738e-01 -3.24829208e-02 9.58109613e-01 -6.47540409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:0.34, Z:-6.50 [[ 9.48248939e-01 2.03673577e-02 3.16873983e-01 3.86471629e+01] [-1.03890613e-02 9.99396466e-01 -3.31477167e-02 3.37482331e-01] [-3.17357871e-01 2.81402640e-02 9.47888236e-01 -6.50123535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:0.30, Z:-6.50 [[ 9.48422177e-01 1.06524738e-02 3.16831025e-01 3.86840050e+01] [-1.19022353e-02 9.99927147e-01 2.00941857e-03 3.03891217e-01] [-3.16786538e-01 -5.67677454e-03 9.48479870e-01 -6.50112990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.72, Y:0.30, Z:-6.51 [[ 9.48289954e-01 1.11737459e-02 3.17208624e-01 3.87170055e+01] [-1.23832628e-02 9.99921710e-01 1.79709049e-03 3.03854175e-01] [-3.17163710e-01 -5.63224061e-03 9.48354079e-01 -6.51225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.76, Y:0.28, Z:-6.51 [[ 9.57987118e-01 8.63112513e-03 2.86681330e-01 3.87556394e+01] [-1.70513006e-02 9.99493026e-01 2.68876141e-02 2.79701038e-01] [-2.86303920e-01 -3.06462775e-02 9.57648616e-01 -6.51477270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:0.33, Z:-6.54 [[ 9.47599825e-01 2.03132564e-02 3.18813336e-01 3.87789131e+01] [-1.16131138e-02 9.99507105e-01 -2.91664697e-02 3.32673263e-01] [-3.19248660e-01 2.39357261e-02 9.47368658e-01 -6.54254745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:0.28, Z:-6.54 [[ 9.57526104e-01 8.43629268e-03 2.88223160e-01 3.88196786e+01] [-1.62074703e-02 9.99566313e-01 2.45866499e-02 2.81810386e-01] [-2.87890741e-01 -2.82137274e-02 9.57247568e-01 -6.53549590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.84, Y:0.33, Z:-6.56 [[ 9.47702491e-01 2.22833223e-02 3.18376260e-01 3.88440197e+01] [-1.47716593e-02 9.99553090e-01 -2.59888264e-02 3.30528233e-01] [-3.18813092e-01 1.99267299e-02 9.47608114e-01 -6.56014861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:0.20, Z:-6.52 [[ 9.62118886e-01 -1.29802981e-02 2.72321064e-01 3.88902917e+01] [-1.70083267e-02 9.94062470e-01 1.07473359e-01 2.04755661e-01] [-2.72099185e-01 -1.08033874e-01 9.56185503e-01 -6.52211020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:0.41, Z:-6.60 [[ 9.46281115e-01 4.98572917e-02 3.19478170e-01 3.89021668e+01] [-1.72535605e-02 9.94418925e-01 -1.04083218e-01 4.12978019e-01] [-3.22884445e-01 9.29798475e-02 9.41860065e-01 -6.59833527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:0.31, Z:-6.58 [[ 9.47141646e-01 2.05501057e-02 3.20156831e-01 3.89441487e+01] [-2.20023051e-02 9.99757498e-01 9.18853631e-04 3.12151899e-01] [-3.20060310e-01 -7.91447282e-03 9.47364111e-01 -6.58127800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.98, Y:0.31, Z:-6.59 [[ 9.47451685e-01 2.22730669e-02 3.19122572e-01 3.89767710e+01] [-2.37430565e-02 9.99717837e-01 7.16391285e-04 3.13309599e-01] [-3.19016571e-01 -8.25569139e-03 9.47713180e-01 -6.59154684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.01, Y:0.32, Z:-6.60 [[ 9.47515811e-01 2.35362008e-02 3.18841394e-01 3.90093872e+01] [-2.50056344e-02 9.99687177e-01 5.15603822e-04 3.15471915e-01] [-3.18729517e-01 -8.46137409e-03 9.47807945e-01 -6.60225975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:0.26, Z:-6.59 [[ 9.60822222e-01 8.37642254e-03 2.77038795e-01 3.90502946e+01] [-2.78485127e-02 9.97402596e-01 6.64268133e-02 2.61230383e-01] [-2.75762794e-01 -7.15394767e-02 9.58559849e-01 -6.58848426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:0.36, Z:-6.63 [[ 9.56055478e-01 4.00488556e-02 2.90437620e-01 3.90752422e+01] [-3.28241045e-02 9.99019566e-01 -2.97066386e-02 3.58920235e-01] [-2.91342582e-01 1.88678398e-02 9.56432697e-01 -6.63010137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:0.38, Z:-6.64 [[ 9.44859315e-01 3.90982347e-02 3.25134130e-01 3.91003246e+01] [-2.58239337e-02 9.98651148e-01 -4.50445257e-02 3.75719655e-01] [-3.26456733e-01 3.41644975e-02 9.44594510e-01 -6.64298010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.14, Y:0.30, Z:-6.63 [[ 9.56982411e-01 2.14410149e-02 2.89352637e-01 3.91449258e+01] [-3.28024755e-02 9.98867186e-01 3.44723519e-02 3.02702597e-01] [-2.88285731e-01 -4.24809172e-02 9.56601646e-01 -6.63058388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:0.36, Z:-6.66 [[ 9.54644514e-01 3.61566823e-02 2.95544491e-01 3.91711725e+01] [-3.29142764e-02 9.99331055e-01 -1.59402805e-02 3.57727863e-01] [-2.95923136e-01 5.48966829e-03 9.55195980e-01 -6.65590763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:0.35, Z:-6.66 [[ 9.54977347e-01 3.17537374e-02 2.94974520e-01 3.92038750e+01] [-3.25776968e-02 9.99466954e-01 -2.12170461e-03 3.45720679e-01] [-2.94884657e-01 -7.58341062e-03 9.55502764e-01 -6.66061184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.24, Y:0.35, Z:-6.67 [[ 9.55081049e-01 2.94370193e-02 2.94879045e-01 3.92355895e+01] [-2.81382686e-02 9.99566636e-01 -8.64739399e-03 3.54526091e-01] [-2.95005809e-01 -3.84236407e-05 9.55495459e-01 -6.67140767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:0.36, Z:-6.68 [[ 9.55543998e-01 2.67080249e-02 2.93636424e-01 3.92671563e+01] [-2.62543591e-02 9.99640235e-01 -5.48712921e-03 3.55060590e-01] [-2.93677334e-01 -2.46604274e-03 9.55901429e-01 -6.68107928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.30, Y:0.37, Z:-6.69 [[ 9.53731513e-01 2.42751146e-02 2.99678027e-01 3.92964494e+01] [-2.09281734e-02 9.99677655e-01 -1.43735303e-02 3.69862643e-01] [-2.99930346e-01 7.43677507e-03 9.53932116e-01 -6.69499646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.33, Y:0.36, Z:-6.70 [[ 9.53346858e-01 2.05531448e-02 3.01176587e-01 3.93292309e+01] [-1.94711024e-02 9.99788673e-01 -6.59442713e-03 3.63985730e-01] [-3.01248476e-01 4.22536222e-04 9.53545582e-01 -6.70136456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53592 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:39.34, Y:0.27, Z:-6.69 [[ 9.53756152e-01 -8.28334100e-02 2.88942606e-01 3.93389981e+01] [ 7.00416080e-02 9.96062262e-01 5.43520368e-02 2.65716700e-01] [-2.92306990e-01 -3.16005847e-02 9.55802295e-01 -6.68854677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:0.41, Z:-6.73 [[ 9.41321378e-01 2.80861090e-02 3.36340950e-01 3.93812374e+01] [-1.03471074e-02 9.98464626e-01 -5.44180924e-02 4.12941922e-01] [-3.37352933e-01 4.77447578e-02 9.40166707e-01 -6.72740564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59592 meters Centerline goodness : 0.929729 Centerline is valid? [True, False] Translation: X:39.46, Y:0.38, Z:-6.75 [[ 9.52050656e-01 1.54044228e-02 3.05552371e-01 3.94633592e+01] [-7.66450170e-03 9.99619046e-01 -2.65144746e-02 3.83194768e-01] [-3.05844410e-01 2.29012162e-02 9.51806036e-01 -6.74833143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:39.54, Y:0.36, Z:-6.77 [[ 9.61680341e-01 8.36628711e-03 2.74045485e-01 3.95416897e+01] [-6.74835204e-03 9.99953794e-01 -6.84610094e-03 3.62919666e-01] [-2.74090099e-01 4.73440528e-03 9.61692364e-01 -6.76564009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655919999999995 meters Centerline goodness : 0.972899 Centerline is valid? [True, True] Translation: X:39.54, Y:0.29, Z:-6.77 [[ 9.55422149e-01 -9.75391076e-02 2.78665821e-01 3.95375987e+01] [ 9.60691961e-02 9.95194052e-01 1.89607104e-02 2.90002331e-01] [-2.79175978e-01 8.65571873e-03 9.60200943e-01 -6.76665696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters Centerline goodness : 0.953435 Centerline is valid? [True, True] Translation: X:39.63, Y:0.30, Z:-6.79 [[ 9.68927448e-01 -9.59091269e-03 2.47159089e-01 3.96337676e+01] [-1.05284301e-02 9.96743080e-01 7.99523936e-02 3.01297825e-01] [-2.47120928e-01 -8.00702659e-02 9.65670751e-01 -6.79232146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:39.64, Y:0.46, Z:-6.84 [[ 9.68399794e-01 3.94209909e-02 2.46267788e-01 3.96419737e+01] [-1.59636353e-02 9.95201880e-01 -9.65317603e-02 4.62264374e-01] [-2.48891544e-01 8.95500077e-02 9.64382598e-01 -6.84187246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.65, Y:0.40, Z:-6.82 [[ 9.55056702e-01 1.97686656e-02 2.95763243e-01 3.96496673e+01] [-3.56279096e-03 9.98467173e-01 -5.52323408e-02 4.01842185e-01] [-2.96401759e-01 5.16962746e-02 9.53663197e-01 -6.82342715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77592 meters Centerline goodness : 0.911915 Centerline is valid? [True, False] Translation: X:39.72, Y:0.37, Z:-6.83 [[ 9.63551804e-01 1.03920277e-02 2.67319896e-01 3.97231178e+01] [-4.09607746e-03 9.99701186e-01 -2.40989904e-02 3.66842894e-01] [-2.67490455e-01 2.21256627e-02 9.63306447e-01 -6.83455883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:39.79, Y:0.35, Z:-6.85 [[ 9.71291257e-01 6.14747807e-03 2.37814007e-01 3.97935866e+01] [-5.36973370e-03 9.99977907e-01 -3.91804869e-03 3.45206924e-01] [-2.37832839e-01 2.52856855e-03 9.71302809e-01 -6.84563080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835919999999994 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:39.81, Y:0.36, Z:-6.87 [[ 0.96789849 -0.04965297 0.24638812 39.80928487] [ 0.06471088 0.99647458 -0.05339399 0.35953592] [-0.24286833 0.06762396 0.96769932 -6.87270031] [ 0. 0. 0. 1. ]] SLAMing on 39.865919999999996 meters Centerline goodness : 0.919501 Centerline is valid? [True, False] Translation: X:39.85, Y:0.33, Z:-6.88 [[ 9.73827666e-01 -6.79390444e-02 2.16896205e-01 3.98544462e+01] [ 7.63394497e-02 9.96612860e-01 -3.05793399e-02 3.32573666e-01] [-2.14084016e-01 4.63367441e-02 9.75715604e-01 -6.87762367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89592 meters Centerline goodness : 0.881845 Centerline is valid? [False, False] Translation: X:39.89, Y:0.31, Z:-6.88 [[ 9.78155383e-01 -8.51124185e-02 1.89652111e-01 3.98858682e+01] [ 8.96571297e-02 9.95852103e-01 -1.54979717e-02 3.13330007e-01] [-1.87546384e-01 3.21630883e-02 9.81729031e-01 -6.87829751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:39.88, Y:0.30, Z:-6.87 [[ 9.78970456e-01 -1.02930671e-01 1.76130985e-01 3.98773411e+01] [ 1.05707533e-01 9.94376467e-01 -6.43109266e-03 2.99099147e-01] [-1.74478550e-01 2.49142216e-02 9.84345731e-01 -6.87411410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.90, Y:0.35, Z:-6.88 [[ 0.97837387 -0.06095909 0.19765769 39.90334455] [ 0.07064348 0.99660375 -0.04231396 0.34983842] [-0.19440697 0.0553621 0.97935743 -6.88166326] [ 0. 0. 0. 1. ]] SLAMing on 39.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.95, Y:0.20, Z:-6.84 [[ 0.98570026 -0.08329272 0.14648315 39.95378201] [ 0.06744708 0.99164002 0.11000436 0.19974364] [-0.15442112 -0.09855147 0.98307768 -6.83504566] [ 0. 0. 0. 1. ]] SLAMing on 40.01592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.97, Y:0.34, Z:-6.89 [[ 9.84088543e-01 -5.72197314e-02 1.68213082e-01 3.99662658e+01] [ 6.44522338e-02 9.97202693e-01 -3.78510077e-02 3.43872553e-01] [-1.65576714e-01 4.80904519e-02 9.85023685e-01 -6.88819510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.99, Y:0.35, Z:-6.89 [[ 9.75202236e-01 -6.00421957e-02 2.13015338e-01 3.99945287e+01] [ 6.92567145e-02 9.96947088e-01 -3.60556701e-02 3.45771859e-01] [-2.10200159e-01 4.99143125e-02 9.76383354e-01 -6.89241860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.04, Y:0.23, Z:-6.86 [[ 0.98474993 -0.0778455 0.15558812 40.04346282] [ 0.0649975 0.99417001 0.08603088 0.22754957] [-0.16137816 -0.07460606 0.98406861 -6.85686355] [ 0. 0. 0. 1. ]] SLAMing on 40.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.06, Y:0.29, Z:-6.89 [[ 9.84494954e-01 -6.49313624e-02 1.62952764e-01 4.00617265e+01] [ 6.28798792e-02 9.97863757e-01 1.77212670e-02 2.93092712e-01] [-1.63755323e-01 -7.20004782e-03 9.86474710e-01 -6.88875768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:0.38, Z:-6.92 [[ 0.97390411 -0.05074911 0.22121325 40.07872503] [ 0.06756573 0.99531743 -0.06912364 0.38203549] [-0.21666944 0.08226624 0.97277264 -6.91835854] [ 0. 0. 0. 1. ]] SLAMing on 40.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.12, Y:0.29, Z:-6.90 [[ 9.77282801e-01 -6.65169082e-02 2.01230783e-01 4.01230866e+01] [ 6.29044964e-02 9.97723664e-01 2.43005114e-02 2.91226834e-01] [-2.02389109e-01 -1.10901508e-02 9.79242389e-01 -6.89891458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:40.14, Y:0.20, Z:-6.88 [[ 0.97605085 -0.13383248 0.17150397 40.14422166] [ 0.11992449 0.98877813 0.08908382 0.2022796 ] [-0.18150169 -0.06638281 0.98114752 -6.87594977] [ 0. 0. 0. 1. ]] SLAMing on 40.225919999999995 meters Centerline goodness : 0.896253 Centerline is valid? [True, False] Translation: X:40.20, Y:0.22, Z:-6.89 [[ 0.98073648 -0.12926371 0.14644746 40.19659886] [ 0.12030473 0.99037085 0.06850081 0.22185032] [-0.15389196 -0.04956292 0.98684385 -6.88619846] [ 0. 0. 0. 1. ]] SLAMing on 40.255919999999996 meters Centerline goodness : 0.999653 Centerline is valid? [False, True] Translation: X:40.24, Y:0.24, Z:-6.89 [[ 9.84654514e-01 -1.23804679e-01 1.22995485e-01 4.02441625e+01] [ 1.18486416e-01 9.91712090e-01 4.96799704e-02 2.42621636e-01] [-1.28126722e-01 -3.43443129e-02 9.91162959e-01 -6.89437060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:40.27, Y:0.27, Z:-6.91 [[ 9.85406051e-01 -1.18087621e-01 1.22597831e-01 4.02680845e+01] [ 1.15861472e-01 9.92946762e-01 2.51564428e-02 2.70682231e-01] [-1.24703783e-01 -1.05849459e-02 9.92137554e-01 -6.90676216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.29, Y:0.32, Z:-6.92 [[ 9.84467124e-01 -1.11039393e-01 1.35995349e-01 4.02924671e+01] [ 1.13870517e-01 9.93407981e-01 -1.31942802e-02 3.15705688e-01] [-1.33633780e-01 2.84751958e-02 9.90621611e-01 -6.92478031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:40.33, Y:0.21, Z:-6.89 [[ 0.98477151 -0.1264141 0.11935056 40.33460541] [ 0.11527359 0.98867822 0.09605924 0.21223548] [-0.13014254 -0.08083843 0.98819435 -6.88920627] [ 0. 0. 0. 1. ]] SLAMing on 40.37592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:40.34, Y:0.38, Z:-6.95 [[ 0.98440957 -0.09761587 0.14631797 40.33850068] [ 0.10897183 0.99145557 -0.07170073 0.37962417] [-0.13806864 0.08652742 0.98663573 -6.94700567] [ 0. 0. 0. 1. ]] SLAMing on 40.405919999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:40.37, Y:0.34, Z:-6.94 [[ 9.77102437e-01 -1.10099609e-01 1.82068402e-01 4.03749414e+01] [ 1.15189378e-01 9.93187831e-01 -1.75880635e-02 3.35172590e-01] [-1.78891683e-01 3.81576857e-02 9.83128556e-01 -6.93919130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:0.27, Z:-6.92 [[ 9.83770722e-01 -1.17997371e-01 1.35173177e-01 4.04210314e+01] [ 1.12198947e-01 9.92438749e-01 4.97667084e-02 2.73518999e-01] [-1.40023439e-01 -3.37927425e-02 9.89571365e-01 -6.92181965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:40.44, Y:0.32, Z:-6.94 [[ 9.82798408e-01 -1.13053930e-01 1.46034581e-01 4.04431910e+01] [ 1.13101640e-01 9.93551190e-01 8.00327397e-03 3.20095664e-01] [-1.45997633e-01 8.65114571e-03 9.89247112e-01 -6.94162746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.48, Y:0.32, Z:-6.94 [[ 9.82513606e-01 -1.16244749e-01 1.45444739e-01 4.04755904e+01] [ 1.15148415e-01 9.93220029e-01 1.59629647e-02 3.18017153e-01] [-1.46314238e-01 1.06390103e-03 9.89237591e-01 -6.94343095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.52, Y:0.23, Z:-6.91 [[ 0.98681245 -0.12727793 0.10000757 40.5239782 ] [ 0.1165156 0.98741263 0.10695985 0.23052786] [-0.11236237 -0.09389687 0.98922094 -6.91011732] [ 0. 0. 0. 1. ]] SLAMing on 40.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:0.43, Z:-6.98 [[ 0.97541658 -0.10392004 0.19432736 40.51365372] [ 0.12338242 0.98819097 -0.09085915 0.43041961] [-0.18259046 0.1126021 0.97671976 -6.97693704] [ 0. 0. 0. 1. ]] SLAMing on 40.585919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.57, Y:0.30, Z:-6.94 [[ 9.81863828e-01 -1.25635062e-01 1.41983286e-01 4.05716902e+01] [ 1.20167174e-01 9.91664769e-01 4.64847880e-02 2.96510591e-01] [-1.46639942e-01 -2.85800016e-02 9.88776977e-01 -6.94236537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:0.34, Z:-6.96 [[ 9.81145082e-01 -1.20762624e-01 1.50899691e-01 4.05966316e+01] [ 1.20923101e-01 9.92628449e-01 8.14654259e-03 3.37315178e-01] [-1.50771124e-01 1.02543183e-02 9.88515512e-01 -6.96211802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.63, Y:0.33, Z:-6.96 [[ 9.81273246e-01 -1.23239282e-01 1.48036805e-01 4.06301519e+01] [ 1.21475530e-01 9.92373689e-01 2.09321863e-02 3.27648478e-01] [-1.49487498e-01 -2.55734499e-03 9.88760309e-01 -6.96188784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:0.27, Z:-6.94 [[ 0.98401458 -0.13220892 0.11931519 40.67189908] [ 0.12279315 0.98894557 0.08311743 0.26726528] [-0.1289851 -0.06713767 0.9893712 -6.93963063] [ 0. 0. 0. 1. ]] SLAMing on 40.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.68, Y:0.38, Z:-6.98 [[ 9.81932674e-01 -1.13710131e-01 1.51255513e-01 4.06815523e+01] [ 1.19917124e-01 9.92250543e-01 -3.25383415e-02 3.83546723e-01] [-1.46383426e-01 5.00885869e-02 9.87959020e-01 -6.98223627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:40.72, Y:0.33, Z:-6.97 [[ 9.81898628e-01 -1.22574353e-01 1.44397410e-01 4.07217356e+01] [ 1.20713145e-01 9.92452086e-01 2.16146628e-02 3.33761815e-01] [-1.45956914e-01 -3.79274231e-03 9.89283677e-01 -6.97058999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.75, Y:0.35, Z:-6.98 [[ 9.81551292e-01 -1.19828207e-01 1.48990809e-01 4.07506208e+01] [ 1.20029577e-01 9.92740667e-01 7.67260687e-03 3.50046127e-01] [-1.48828630e-01 1.03522466e-02 9.88808814e-01 -6.98125977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.78, Y:0.35, Z:-6.98 [[ 9.81354881e-01 -1.21758359e-01 1.48719536e-01 4.07835282e+01] [ 1.20591133e-01 9.92558822e-01 1.68749609e-02 3.45207525e-01] [-1.49667555e-01 1.37393213e-03 9.88735422e-01 -6.98332269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:40.81, Y:0.35, Z:-6.99 [[ 9.81051675e-01 -1.20967109e-01 1.51342555e-01 4.08131851e+01] [ 1.20353177e-01 9.92642785e-01 1.32444006e-02 3.52796199e-01] [-1.51831232e-01 5.22111589e-03 9.88392643e-01 -6.98955207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:40.85, Y:0.35, Z:-6.99 [[ 9.80732095e-01 -1.19685764e-01 1.54401671e-01 4.08454828e+01] [ 1.18611132e-01 9.92808830e-01 1.61872597e-02 3.54470906e-01] [-1.55228727e-01 2.43839179e-03 9.87875547e-01 -6.99146461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.88, Y:0.36, Z:-7.00 [[ 9.80060968e-01 -1.18612509e-01 1.59410073e-01 4.08763352e+01] [ 1.17592338e-01 9.92935431e-01 1.58515848e-02 3.60212440e-01] [-1.60164105e-01 3.20988349e-03 9.87085182e-01 -6.99696264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.91, Y:0.37, Z:-7.00 [[ 9.79968334e-01 -1.15904228e-01 1.61951456e-01 4.09066429e+01] [ 1.15097467e-01 9.93250012e-01 1.43870452e-02 3.68350270e-01] [-1.62525805e-01 4.54135355e-03 9.86693843e-01 -7.00441987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.94, Y:0.37, Z:-7.01 [[ 9.80388192e-01 -1.15589425e-01 1.59618539e-01 4.09397316e+01] [ 1.13224133e-01 9.93282805e-01 2.38655551e-02 3.65299448e-01] [-1.61304956e-01 -5.32483782e-03 9.86890246e-01 -7.00681453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.97, Y:0.37, Z:-7.01 [[ 9.81185527e-01 -1.13484166e-01 1.56193167e-01 4.09720764e+01] [ 1.11173816e-01 9.93523618e-01 2.34777203e-02 3.71394180e-01] [-1.57845950e-01 -5.67140893e-03 9.87447463e-01 -7.01305504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters Centerline goodness : 0.868107 Centerline is valid? [True, False] Translation: X:40.95, Y:0.37, Z:-7.01 [[ 9.79569438e-01 -1.26118985e-01 1.56645199e-01 4.09479333e+01] [ 1.23853051e-01 9.92005856e-01 2.41827276e-02 3.66682640e-01] [-1.58442856e-01 -4.28767500e-03 9.87358839e-01 -7.00994319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:40.95, Y:0.37, Z:-7.01 [[ 9.79693211e-01 -1.25611411e-01 1.56278554e-01 4.09489739e+01] [ 1.23564258e-01 9.92074947e-01 2.27853974e-02 3.71367533e-01] [-1.57902144e-01 -3.01225554e-03 9.87450171e-01 -7.00937593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.97, Y:0.42, Z:-7.03 [[ 9.77896371e-01 -1.17383023e-01 1.73031540e-01 4.09719045e+01] [ 1.21851081e-01 9.92429031e-01 -1.53926276e-02 4.18288394e-01] [-1.69914690e-01 3.61364748e-02 9.84795996e-01 -7.02843990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:0.40, Z:-7.03 [[ 9.77332715e-01 -1.22458364e-01 1.72698330e-01 4.10071674e+01] [ 1.22178139e-01 9.92432060e-01 1.22926173e-02 4.00759352e-01] [-1.72896693e-01 9.08598351e-03 9.84898055e-01 -7.02745270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters Centerline goodness : 0.924487 Centerline is valid? [True, False] Translation: X:41.02, Y:0.40, Z:-7.03 [[ 9.78232343e-01 -1.32840473e-01 1.59420489e-01 4.10198462e+01] [ 1.32160925e-01 9.91116196e-01 1.49055674e-02 3.99082299e-01] [-1.59984291e-01 6.48805123e-03 9.87098238e-01 -7.02784052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:41.02, Y:0.40, Z:-7.03 [[ 9.78661785e-01 -1.29596723e-01 1.59454693e-01 4.10181507e+01] [ 1.28403404e-01 9.91562107e-01 1.78087864e-02 4.02931111e-01] [-1.60417191e-01 3.04574673e-03 9.87044603e-01 -7.02583038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:0.41, Z:-7.03 [[ 9.78973239e-01 -1.29361967e-01 1.57724058e-01 4.10507690e+01] [ 1.27157690e-01 9.91591369e-01 2.40307943e-02 4.05813381e-01] [-1.59506486e-01 -3.46967767e-03 9.87190783e-01 -7.02891706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:41.09, Y:0.38, Z:-7.02 [[ 0.98377369 -0.13187763 0.12164543 41.09294538] [ 0.12546716 0.99034389 0.05896578 0.37914932] [-0.12824708 -0.04274648 0.99082058 -7.02182466] [ 0. 0. 0. 1. ]] SLAMing on 41.24592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.11, Y:0.44, Z:-7.04 [[ 9.83521516e-01 -1.23596008e-01 1.31944889e-01 4.11137966e+01] [ 1.24193583e-01 9.92251024e-01 3.72279402e-03 4.40945916e-01] [-1.31382574e-01 1.27252606e-02 9.91250063e-01 -7.04122377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.14, Y:0.46, Z:-7.05 [[ 9.78238265e-01 -1.28473863e-01 1.62924408e-01 4.11378775e+01] [ 1.30798241e-01 9.91402560e-01 -3.57544937e-03 4.63400767e-01] [-1.61064323e-01 2.48078674e-02 9.86632076e-01 -7.04779065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:0.39, Z:-7.03 [[ 0.98249268 -0.14350708 0.11880174 41.18820198] [ 0.13551913 0.98809451 0.07282721 0.39172454] [-0.12783857 -0.05545229 0.99024358 -7.03075609] [ 0. 0. 0. 1. ]] SLAMing on 41.335919999999994 meters Centerline goodness : 0.893841 Centerline is valid? [True, False] Translation: X:41.19, Y:0.41, Z:-7.03 [[ 9.83765025e-01 -1.38506755e-01 1.14115094e-01 4.11869213e+01] [ 1.32921322e-01 9.89587252e-01 5.52176867e-02 4.10103012e-01] [-1.20574865e-01 -3.91528997e-02 9.91931828e-01 -7.03379042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters Centerline goodness : 0.871441 Centerline is valid? [False, False] Translation: X:41.18, Y:0.43, Z:-7.04 [[ 9.84995378e-01 -1.32592287e-01 1.10468957e-01 4.11810704e+01] [ 1.28981755e-01 9.90870110e-01 3.92445144e-02 4.30395381e-01] [-1.14663907e-01 -2.44071853e-02 9.93104465e-01 -7.03515332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:41.17, Y:0.44, Z:-7.04 [[ 9.86075680e-01 -1.25363040e-01 1.09265101e-01 4.11724857e+01] [ 1.22852893e-01 9.91988228e-01 2.94367513e-02 4.41497019e-01] [-1.12079974e-01 -1.56033308e-02 9.93576678e-01 -7.03940026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.19, Y:0.48, Z:-7.05 [[ 9.81314683e-01 -1.26831943e-01 1.44689845e-01 4.11935959e+01] [ 1.28518389e-01 9.91704388e-01 -2.33041948e-03 4.81734218e-01] [-1.43193983e-01 2.08821806e-02 9.89474314e-01 -7.05341264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45592 meters Centerline goodness : 0.784286 Centerline is valid? [True, False] Translation: X:41.19, Y:0.48, Z:-7.05 [[ 9.81904464e-01 -1.21477586e-01 1.45281862e-01 4.11891808e+01] [ 1.21721036e-01 9.92537903e-01 7.24577691e-03 4.75279976e-01] [-1.45077954e-01 1.05691980e-02 9.89363775e-01 -7.05095600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:41.19, Y:0.47, Z:-7.05 [[ 9.82180722e-01 -1.18736366e-01 1.45680143e-01 4.11865876e+01] [ 1.18284364e-01 9.92909742e-01 1.17920816e-02 4.73684423e-01] [-1.46047382e-01 5.64972778e-03 9.89261463e-01 -7.05012638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.22, Y:0.47, Z:-7.05 [[ 9.82041094e-01 -1.19680881e-01 1.45848470e-01 4.12197962e+01] [ 1.18236716e-01 9.92811925e-01 1.85623589e-02 4.73446401e-01] [-1.47021660e-01 -9.84355092e-04 9.89132783e-01 -7.05332721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.26, Y:0.39, Z:-7.03 [[ 0.98641387 -0.13406553 0.09494264 41.2616256 ] [ 0.12447968 0.98711139 0.10057793 0.39324218] [-0.10720299 -0.08739304 0.9903888 -7.03250612] [ 0. 0. 0. 1. ]] SLAMing on 41.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:0.56, Z:-7.08 [[ 0.98125029 -0.11119067 0.15743094 41.26752063] [ 0.12272176 0.99027754 -0.06549625 0.56164542] [-0.14861775 0.08358841 0.98535564 -7.07973067] [ 0. 0. 0. 1. ]] SLAMing on 41.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:0.48, Z:-7.07 [[ 9.81216898e-01 -1.21350136e-01 1.49958472e-01 4.13126515e+01] [ 1.19865194e-01 9.92609580e-01 1.89355953e-02 4.82193827e-01] [-1.51148053e-01 -6.05124698e-04 9.88510951e-01 -7.06511822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.35, Y:0.40, Z:-7.04 [[ 0.98613684 -0.13191541 0.10066012 41.35465153] [ 0.12139767 0.98710775 0.10431153 0.39986505] [-0.11312268 -0.09064554 0.98943754 -7.03859025] [ 0. 0. 0. 1. ]] SLAMing on 41.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:0.58, Z:-7.09 [[ 0.98110427 -0.10612471 0.1617775 41.35813001] [ 0.11864518 0.9904818 -0.06977914 0.57668227] [-0.15283238 0.08765474 0.98435711 -7.09016516] [ 0. 0. 0. 1. ]] SLAMing on 41.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:0.49, Z:-7.08 [[ 9.81498602e-01 -1.17315772e-01 1.51319211e-01 4.14041007e+01] [ 1.15776961e-01 9.93094053e-01 1.89709554e-02 4.92599505e-01] [-1.52499801e-01 -1.10068770e-03 9.88302888e-01 -7.07606265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:0.50, Z:-7.08 [[ 9.81645355e-01 -1.14550048e-01 1.52481745e-01 4.14365763e+01] [ 1.12966517e-01 9.93416402e-01 1.90372960e-02 4.96176998e-01] [-1.53658589e-01 -1.46254156e-03 9.88122917e-01 -7.07926702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.47, Y:0.50, Z:-7.08 [[ 9.81903459e-01 -1.10434050e-01 1.53850309e-01 4.14687203e+01] [ 1.08784083e-01 9.93881349e-01 1.91281721e-02 5.02048199e-01] [-1.55021355e-01 -2.04555351e-03 9.87909002e-01 -7.08202142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.50, Y:0.51, Z:-7.09 [[ 9.82795149e-01 -1.04945613e-01 1.51987217e-01 4.15001689e+01] [ 1.03282332e-01 9.94474026e-01 1.88194203e-02 5.11844330e-01] [-1.53122355e-01 -2.79804077e-03 9.88203276e-01 -7.08786892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:0.52, Z:-7.09 [[ 9.83154067e-01 -1.02962857e-01 1.51018977e-01 4.15322090e+01] [ 1.01309406e-01 9.94680649e-01 1.86228730e-02 5.18133040e-01] [-1.52133119e-01 -3.00951048e-03 9.88355431e-01 -7.09301222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.58, Y:0.42, Z:-7.06 [[ 0.98882912 -0.11456585 0.09535012 41.57838077] [ 0.10262968 0.98722715 0.12185936 0.41937992] [-0.10809315 -0.11071233 0.98795681 -7.06076695] [ 0. 0. 0. 1. ]] SLAMing on 41.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:0.59, Z:-7.11 [[ 0.98803561 -0.08738983 0.12707736 41.58568554] [ 0.09465565 0.99413544 -0.0522975 0.59381304] [-0.12176184 0.06370038 0.99051316 -7.11216795] [ 0. 0. 0. 1. ]] SLAMing on 41.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:0.57, Z:-7.11 [[ 9.82775159e-01 -9.36439038e-02 1.59322961e-01 4.16187309e+01] [ 9.75832693e-02 9.95081016e-01 -1.70668559e-02 5.66672528e-01] [-1.56941047e-01 3.23201375e-02 9.87078982e-01 -7.11097930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.67, Y:0.47, Z:-7.09 [[ 0.98583402 -0.11952186 0.11766825 41.66710279] [ 0.10974659 0.99020293 0.08633567 0.46911243] [-0.12683444 -0.07219895 0.98929285 -7.08820599] [ 0. 0. 0. 1. ]] SLAMing on 41.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:0.62, Z:-7.12 [[ 0.98170182 -0.0910472 0.16724816 41.6745076 ] [ 0.10075794 0.99362814 -0.05050692 0.61784829] [-0.16158396 0.06643431 0.98462028 -7.12459679] [ 0. 0. 0. 1. ]] SLAMing on 41.99592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.72, Y:0.51, Z:-7.10 [[ 0.98521273 -0.11233323 0.12937203 41.72468237] [ 0.10487371 0.99248058 0.06311745 0.50895495] [-0.13548941 -0.04861639 0.9895853 -7.10496541] [ 0. 0. 0. 1. ]] SLAMing on 42.02592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.75, Y:0.55, Z:-7.12 [[ 9.86008676e-01 -1.05590113e-01 1.28986897e-01 4.17496496e+01] [ 1.03137852e-01 9.94338491e-01 2.55645872e-02 5.48771160e-01] [-1.30956004e-01 -1.19034733e-02 9.91316716e-01 -7.11675016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:41.78, Y:0.59, Z:-7.13 [[ 9.86682670e-01 -1.00163009e-01 1.28158807e-01 4.17762456e+01] [ 1.01680047e-01 9.94802858e-01 -5.33316697e-03 5.87155677e-01] [-1.26958562e-01 1.82933369e-02 9.91739319e-01 -7.12602767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:41.81, Y:0.59, Z:-7.13 [[ 9.85674373e-01 -1.02498214e-01 1.33940829e-01 4.18079795e+01] [ 1.02459823e-01 9.94711101e-01 7.19787672e-03 5.85770988e-01] [-1.33970199e-01 6.62879096e-03 9.90963190e-01 -7.12818295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115919999999996 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:41.84, Y:0.58, Z:-7.13 [[ 9.85340888e-01 -1.04661917e-01 1.34719035e-01 4.18397724e+01] [ 1.03658147e-01 9.94507818e-01 1.44633185e-02 5.83198295e-01] [-1.35492893e-01 -2.86573524e-04 9.90778277e-01 -7.13116767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:41.88, Y:0.56, Z:-7.13 [[ 9.86664783e-01 -1.08470524e-01 1.21353823e-01 4.18761400e+01] [ 1.04308868e-01 9.93733988e-01 4.01549754e-02 5.58441965e-01] [-1.24949050e-01 -2.69612201e-02 9.91796767e-01 -7.12756418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:41.90, Y:0.61, Z:-7.14 [[ 9.85687197e-01 -1.03809413e-01 1.32832060e-01 4.19005064e+01] [ 1.05204509e-01 9.94444418e-01 -3.50854006e-03 6.05066072e-01] [-1.31729881e-01 1.74328547e-02 9.91132349e-01 -7.14246181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:41.93, Y:0.59, Z:-7.14 [[ 9.85285067e-01 -1.09506572e-01 1.31231273e-01 4.19338429e+01] [ 1.08551919e-01 9.93986071e-01 1.44281315e-02 5.91713024e-01] [-1.32022033e-01 2.95840040e-05 9.91246782e-01 -7.14281198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23592 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:41.97, Y:0.60, Z:-7.15 [[ 9.84913957e-01 -1.12512322e-01 1.31474235e-01 4.19652780e+01] [ 1.11682272e-01 9.93649610e-01 1.36939053e-02 5.96734421e-01] [-1.32180055e-01 1.19602279e-03 9.91225001e-01 -7.14613285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:42.00, Y:0.60, Z:-7.15 [[ 9.84690564e-01 -1.13637547e-01 1.32177916e-01 4.19966976e+01] [ 1.12469634e-01 9.93521576e-01 1.62929388e-02 5.98392243e-01] [-1.33173101e-01 -1.17750120e-03 9.91092094e-01 -7.14874538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295919999999995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:42.03, Y:0.61, Z:-7.15 [[ 9.84326839e-01 -1.10591925e-01 1.37368482e-01 4.20260900e+01] [ 1.10566377e-01 9.93837818e-01 7.84012042e-03 6.12357416e-01] [-1.37389047e-01 7.47109438e-03 9.90488987e-01 -7.15498927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:42.06, Y:0.62, Z:-7.16 [[ 9.84181483e-01 -1.09107674e-01 1.39579094e-01 4.20580983e+01] [ 1.08905718e-01 9.94010364e-01 9.10714850e-03 6.15226418e-01] [-1.39736726e-01 6.23787452e-03 9.90169044e-01 -7.15970574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:42.09, Y:0.61, Z:-7.16 [[ 9.85080264e-01 -1.08123363e-01 1.33888803e-01 4.20898942e+01] [ 1.06750119e-01 9.94133365e-01 1.74145055e-02 6.10147125e-01] [-1.34986241e-01 -2.86204006e-03 9.90843339e-01 -7.16332069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:42.12, Y:0.62, Z:-7.17 [[ 9.85341417e-01 -1.04678296e-01 1.34702439e-01 4.21207872e+01] [ 1.03714857e-01 9.94506136e-01 1.41694791e-02 6.18511067e-01] [-1.35445639e-01 8.86963490e-06 9.90784779e-01 -7.16886963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:42.15, Y:0.63, Z:-7.17 [[ 9.84328580e-01 -1.03824237e-01 1.42540432e-01 4.21511197e+01] [ 1.03684263e-01 9.94574540e-01 8.42960446e-03 6.29686744e-01] [-1.42642282e-01 6.48169911e-03 9.89753084e-01 -7.17422139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:42.18, Y:0.63, Z:-7.18 [[ 9.84284031e-01 -1.04784625e-01 1.42144746e-01 4.21833066e+01] [ 1.03572329e-01 9.94494486e-01 1.59213933e-02 6.29464163e-01] [-1.43030483e-01 -9.48910786e-04 9.89717829e-01 -7.17762350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475919999999995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:42.21, Y:0.63, Z:-7.18 [[ 9.84467404e-01 -1.04641183e-01 1.40975717e-01 4.22148853e+01] [ 1.03245554e-01 9.94507203e-01 1.71981933e-02 6.34469795e-01] [-1.42001005e-01 -2.37594475e-03 9.89863662e-01 -7.18261602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:42.25, Y:0.64, Z:-7.19 [[ 9.84576701e-01 -1.06145620e-01 1.39074899e-01 4.22453840e+01] [ 1.04828833e-01 9.94348698e-01 1.67803953e-02 6.42303707e-01] [-1.40070111e-01 -1.94252685e-03 9.90139682e-01 -7.18995861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53592 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:42.24, Y:0.66, Z:-7.22 [[ 9.86552865e-01 -1.06767712e-01 1.23750156e-01 4.22374124e+01] [ 1.10096710e-01 9.93712278e-01 -2.03623076e-02 6.57935126e-01] [-1.20798013e-01 3.37129779e-02 9.92104468e-01 -7.21888844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:42.30, Y:0.61, Z:-7.18 [[ 0.98492149 -0.10452022 0.13785932 42.3013752 ] [ 0.09538353 0.99288295 0.07131227 0.60662904] [-0.14433174 -0.05708748 0.98788125 -7.1841749 ] [ 0. 0. 0. 1. ]] SLAMing on 42.59592 meters Centerline goodness : 0.971765 Centerline is valid? [True, True] Translation: X:42.28, Y:0.68, Z:-7.23 [[ 9.84513070e-01 -1.22211669e-01 1.25691379e-01 4.22804141e+01] [ 1.27054985e-01 9.91403699e-01 -3.12367678e-02 6.77051462e-01] [-1.20793401e-01 4.67227224e-02 9.91577502e-01 -7.23211796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:42.32, Y:0.64, Z:-7.22 [[ 9.85628563e-01 -1.17552714e-01 1.21316511e-01 4.23229935e+01] [ 1.16407333e-01 9.93064314e-01 1.65106317e-02 6.41132014e-01] [-1.22415968e-01 -2.15121856e-03 9.92476550e-01 -7.22471836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655919999999995 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:42.39, Y:0.62, Z:-7.20 [[ 0.98530237 -0.10823176 0.13215566 42.3866418 ] [ 0.09894757 0.99226799 0.07492404 0.61620729] [-0.139243 -0.06074636 0.98839328 -7.19810045] [ 0. 0. 0. 1. ]] SLAMing on 42.685919999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.40, Y:0.71, Z:-7.22 [[ 9.79469602e-01 -1.00510616e-01 1.74748147e-01 4.24029883e+01] [ 1.03644337e-01 9.94574813e-01 -8.87649039e-03 7.05222889e-01] [-1.72907924e-01 2.68059084e-02 9.84573153e-01 -7.22179661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.44, Y:0.68, Z:-7.22 [[ 9.79584962e-01 -1.04696364e-01 1.71615771e-01 4.24397837e+01] [ 1.02893295e-01 9.94503332e-01 1.93930801e-02 6.81540462e-01] [-1.72702841e-01 -1.33905752e-03 9.84973063e-01 -7.22156168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:42.48, Y:0.66, Z:-7.22 [[ 9.84696336e-01 -1.09445071e-01 1.35627811e-01 4.24789691e+01] [ 1.04105690e-01 9.93507637e-01 4.58757154e-02 6.58395648e-01] [-1.39768137e-01 -3.10540220e-02 9.89697184e-01 -7.21705952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:42.50, Y:0.73, Z:-7.23 [[ 9.78904026e-01 -1.04069203e-01 1.75830907e-01 4.24993194e+01] [ 1.07858563e-01 9.94092528e-01 -1.21068805e-02 7.25003654e-01] [-1.73532237e-01 3.08163429e-02 9.84345933e-01 -7.23374819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:42.55, Y:0.60, Z:-7.20 [[ 0.98468926 -0.12679934 0.1196202 42.5479924 ] [ 0.11183019 0.98589703 0.12450326 0.59505546] [-0.13372013 -0.10921987 0.98498221 -7.20184683] [ 0. 0. 0. 1. ]] SLAMing on 42.835919999999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:42.56, Y:0.77, Z:-7.25 [[ 0.98474591 -0.10053206 0.14201691 42.55818093] [ 0.10851378 0.99285659 -0.04960386 0.76829235] [-0.13601565 0.06425799 0.98862058 -7.24742326] [ 0. 0. 0. 1. ]] SLAMing on 42.865919999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:42.59, Y:0.74, Z:-7.25 [[ 9.77539403e-01 -1.09238585e-01 1.80232206e-01 4.25903954e+01] [ 1.14384003e-01 9.93266655e-01 -1.83753280e-02 7.43731702e-01] [-1.77011345e-01 3.85782883e-02 9.83452439e-01 -7.24975330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:42.63, Y:0.67, Z:-7.24 [[ 9.83362798e-01 -1.24502599e-01 1.32275129e-01 4.26334694e+01] [ 1.17853206e-01 9.91394206e-01 5.69925454e-02 6.67427073e-01] [-1.38232516e-01 -4.04553009e-02 9.89573211e-01 -7.23663959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.66, Y:0.71, Z:-7.25 [[ 9.83521320e-01 -1.20001411e-01 1.35223797e-01 4.26584753e+01] [ 1.18969674e-01 9.92773520e-01 1.57147867e-02 7.09989146e-01] [-1.36132402e-01 6.31703205e-04 9.90690451e-01 -7.24918847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:42.68, Y:0.76, Z:-7.26 [[ 9.76763399e-01 -1.14850535e-01 1.80949211e-01 4.26818990e+01] [ 1.21172239e-01 9.92335464e-01 -2.42407749e-02 7.56807285e-01] [-1.76778253e-01 4.56035226e-02 9.83193657e-01 -7.26270830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.72, Y:0.72, Z:-7.26 [[ 9.76335551e-01 -1.23722575e-01 1.77374228e-01 4.27197308e+01] [ 1.22134376e-01 9.92314304e-01 1.98876033e-02 7.19264337e-01] [-1.78471529e-01 2.24651649e-03 9.83942512e-01 -7.25975410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:42.76, Y:0.68, Z:-7.25 [[ 0.98219222 -0.13062785 0.13503629 42.75869689] [ 0.12320403 0.99044397 0.06197987 0.67715418] [-0.14184218 -0.04423913 0.98890025 -7.25259177] [ 0. 0. 0. 1. ]] SLAMing on 43.045919999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.78, Y:0.72, Z:-7.26 [[ 9.83061390e-01 -1.24595240e-01 1.34411050e-01 4.27812970e+01] [ 1.23017949e-01 9.92202697e-01 2.00097910e-02 7.17241236e-01] [-1.35856131e-01 -3.13588127e-03 9.90723613e-01 -7.26427640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:0.73, Z:-7.27 [[ 9.82274119e-01 -1.22914297e-01 1.41526079e-01 4.28110126e+01] [ 1.21946838e-01 9.92415250e-01 1.55222314e-02 7.26003204e-01] [-1.42360543e-01 2.01157157e-03 9.89812825e-01 -7.27313853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:0.74, Z:-7.28 [[ 9.81863040e-01 -1.19272442e-01 1.47373862e-01 4.28393809e+01] [ 1.20595664e-01 9.92701709e-01 -4.38895093e-05 7.44450313e-01] [-1.46293050e-01 1.78157422e-02 9.89080858e-01 -7.27875693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:0.72, Z:-7.28 [[ 9.81817514e-01 -1.23382595e-01 1.44260541e-01 4.28725988e+01] [ 1.21020098e-01 9.92333357e-01 2.50727809e-02 7.21217428e-01] [-1.46248092e-01 -7.15847054e-03 9.89222044e-01 -7.27880897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:0.74, Z:-7.29 [[ 9.82148638e-01 -1.18702207e-01 1.45924085e-01 4.29019616e+01] [ 1.18273108e-01 9.92912828e-01 1.16442224e-02 7.35500391e-01] [-1.46272090e-01 5.82253790e-03 9.89227261e-01 -7.28509655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:42.93, Y:0.78, Z:-7.30 [[ 9.75084249e-01 -1.12662500e-01 1.91096490e-01 4.29274211e+01] [ 1.19361912e-01 9.92563610e-01 -2.38791564e-02 7.77253650e-01] [-1.86985137e-01 4.60938318e-02 9.81280754e-01 -7.29998962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:42.97, Y:0.69, Z:-7.28 [[ 0.98158486 -0.1267929 0.14288009 42.97135927] [ 0.11887619 0.99092872 0.06267952 0.69196422] [-0.14953131 -0.04454022 0.98775329 -7.28478577] [ 0. 0. 0. 1. ]] SLAMing on 43.255919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:0.78, Z:-7.31 [[ 9.75121102e-01 -1.11889951e-01 1.91362157e-01 4.29894022e+01] [ 1.18942732e-01 9.92567475e-01 -2.57378009e-02 7.82989543e-01] [-1.87060051e-01 4.78586105e-02 9.81181986e-01 -7.31135001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:0.74, Z:-7.31 [[ 9.75184327e-01 -1.19781367e-01 1.86193321e-01 4.30286131e+01] [ 1.18045753e-01 9.92798147e-01 2.04215191e-02 7.41232577e-01] [-1.87298502e-01 2.06458551e-03 9.82300875e-01 -7.30749966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.07, Y:0.70, Z:-7.30 [[ 0.98157778 -0.12808912 0.14176823 43.06566853] [ 0.11984363 0.99064413 0.06528182 0.69572801] [-0.14880376 -0.04708916 0.98774493 -7.29899951] [ 0. 0. 0. 1. ]] SLAMing on 43.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:0.79, Z:-7.33 [[ 9.74538551e-01 -1.13187405e-01 1.93554191e-01 4.30849535e+01] [ 1.20699178e-01 9.92310112e-01 -2.74289897e-02 7.86403296e-01] [-1.88961165e-01 5.00924396e-02 9.80706085e-01 -7.32790623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:43.12, Y:0.74, Z:-7.32 [[ 9.74971694e-01 -1.21307916e-01 1.86318508e-01 4.31240269e+01] [ 1.19635417e-01 9.92611624e-01 2.02368621e-02 7.40796928e-01] [-1.87396808e-01 2.55992469e-03 9.82280959e-01 -7.32450068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.16, Y:0.74, Z:-7.33 [[ 9.74826562e-01 -1.21618812e-01 1.86874392e-01 4.31562354e+01] [ 1.19951490e-01 9.92573267e-01 2.02471973e-02 7.42828724e-01] [-1.87948965e-01 2.67835599e-03 9.82175144e-01 -7.33070409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435919999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:43.19, Y:0.70, Z:-7.32 [[ 0.98130228 -0.12977611 0.14214075 43.19303665] [ 0.12186659 0.99054242 0.06304158 0.69796085] [-0.14897774 -0.04454064 0.98783691 -7.32154825] [ 0. 0. 0. 1. ]] SLAMing on 43.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.22, Y:0.75, Z:-7.34 [[ 9.80863543e-01 -1.19908952e-01 1.53390199e-01 4.32163051e+01] [ 1.20326046e-01 9.92712517e-01 6.59550728e-03 7.53384276e-01] [-1.53063231e-01 1.19875435e-02 9.88143687e-01 -7.34001728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.24, Y:0.78, Z:-7.35 [[ 9.74053079e-01 -1.14119210e-01 1.95441564e-01 4.32438343e+01] [ 1.19770553e-01 9.92650749e-01 -1.73062330e-02 7.79357717e-01] [-1.92030241e-01 4.02653338e-02 9.80562639e-01 -7.35367024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.29, Y:0.70, Z:-7.34 [[ 9.80865793e-01 -1.26744019e-01 1.47777703e-01 4.32861051e+01] [ 1.19044307e-01 9.91082329e-01 5.98687679e-02 7.02917078e-01] [-1.54047878e-01 -4.11311322e-02 9.87206909e-01 -7.33691686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:43.31, Y:0.73, Z:-7.35 [[ 9.81121392e-01 -1.18041257e-01 1.53189674e-01 4.33117267e+01] [ 1.15140032e-01 9.92962822e-01 2.77057243e-02 7.33363427e-01] [-1.55382070e-01 -9.54441482e-03 9.87808340e-01 -7.35163500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.34, Y:0.79, Z:-7.37 [[ 9.79195802e-01 -1.07335998e-01 1.72205010e-01 4.33352794e+01] [ 1.12875366e-01 9.93350379e-01 -2.26754735e-02 7.85008865e-01] [-1.68626017e-01 4.16414321e-02 9.84800110e-01 -7.36995947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615919999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:43.37, Y:0.73, Z:-7.36 [[ 9.80430851e-01 -1.15498360e-01 1.59422314e-01 4.33749893e+01] [ 1.11091029e-01 9.93146450e-01 3.63168370e-02 7.27923407e-01] [-1.62524240e-01 -1.78957585e-02 9.86542251e-01 -7.36005507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.40, Y:0.78, Z:-7.38 [[ 9.74055932e-01 -1.04740848e-01 2.00610059e-01 4.33986126e+01] [ 1.09280251e-01 9.93942615e-01 -1.16578630e-02 7.80400641e-01] [-1.98173833e-01 3.32781282e-02 9.79601806e-01 -7.37848133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:43.44, Y:0.71, Z:-7.36 [[ 0.98090559 -0.1137375 0.15775932 43.44282148] [ 0.10500143 0.99249517 0.06267413 0.70686051] [-0.16370377 -0.04491245 0.98548666 -7.36013328] [ 0. 0. 0. 1. ]] SLAMing on 43.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.46, Y:0.80, Z:-7.39 [[ 9.73656754e-01 -9.75910767e-02 2.06078884e-01 4.34585686e+01] [ 1.05024791e-01 9.94144676e-01 -2.54196255e-02 7.97128878e-01] [-2.02391496e-01 4.63933818e-02 9.78205161e-01 -7.39015991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:43.50, Y:0.75, Z:-7.39 [[ 9.73906360e-01 -1.04445412e-01 2.01488355e-01 4.34970476e+01] [ 1.02252924e-01 9.94530612e-01 2.12885082e-02 7.53727211e-01] [-2.02609824e-01 -1.30240156e-04 9.79259538e-01 -7.38633786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.55, Y:0.63, Z:-7.35 [[ 0.9824405 -0.12592666 0.13767042 43.54681648] [ 0.10515438 0.98323589 0.14896221 0.62907841] [-0.15412081 -0.13186986 0.9792125 -7.34751333] [ 0. 0. 0. 1. ]] SLAMing on 43.795919999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:43.54, Y:0.88, Z:-7.42 [[ 0.97330846 -0.07839416 0.21569656 43.54021393] [ 0.1033745 0.98886307 -0.10706794 0.88288856] [-0.20490086 0.12650765 0.97057274 -7.41982094] [ 0. 0. 0. 1. ]] SLAMing on 43.825919999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:43.60, Y:0.70, Z:-7.38 [[ 0.98238962 -0.11029482 0.15081673 43.59938898] [ 0.09971937 0.99210931 0.07599449 0.70026692] [-0.15800848 -0.05961685 0.98563642 -7.38016063] [ 0. 0. 0. 1. ]] SLAMing on 43.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:0.82, Z:-7.42 [[ 9.73679487e-01 -8.81011386e-02 2.10205721e-01 4.36116409e+01] [ 9.82180767e-02 9.94432869e-01 -3.81638453e-02 8.17568554e-01] [-2.05673200e-01 5.78053550e-02 9.76912010e-01 -7.41903426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:43.65, Y:0.76, Z:-7.41 [[ 9.73818774e-01 -9.77888120e-02 2.05217794e-01 4.36524391e+01] [ 9.54173166e-02 9.95206337e-01 2.14448806e-02 7.63054762e-01] [-2.06331118e-01 -1.30209612e-03 9.78481361e-01 -7.41154560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:43.69, Y:0.76, Z:-7.42 [[ 9.73808617e-01 -9.51126099e-02 2.06519655e-01 4.36851913e+01] [ 9.26740177e-02 9.95464944e-01 2.14725896e-02 7.63166996e-01] [-2.07625391e-01 -1.77118661e-03 9.78206808e-01 -7.41835476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:43.72, Y:0.76, Z:-7.42 [[ 9.73928504e-01 -9.44594171e-02 2.06253938e-01 4.37176262e+01] [ 9.20356005e-02 9.95527090e-01 2.13368723e-02 7.64505378e-01] [-2.07346852e-01 -1.79788303e-03 9.78265838e-01 -7.42446063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975919999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:43.75, Y:0.77, Z:-7.43 [[ 9.74048562e-01 -9.34424430e-02 2.06150209e-01 4.37495574e+01] [ 9.10215448e-02 9.95622865e-01 2.12176744e-02 7.66113780e-01] [-2.07230493e-01 -1.90293476e-03 9.78290295e-01 -7.43105635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters Centerline goodness : 0.913274 Centerline is valid? [True, False] Translation: X:43.77, Y:0.77, Z:-7.43 [[ 9.76190253e-01 -1.03746743e-01 1.90497253e-01 4.37659051e+01] [ 1.01826287e-01 9.94603747e-01 1.98694227e-02 7.65164945e-01] [-1.91530669e-01 1.29121480e-06 9.81486629e-01 -7.43409068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03592 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:43.78, Y:0.76, Z:-7.44 [[ 9.78219838e-01 -1.13713455e-01 1.73652523e-01 4.37844462e+01] [ 1.12342472e-01 9.93511243e-01 1.77363506e-02 7.62360831e-01] [-1.74542596e-01 2.15850367e-03 9.84647258e-01 -7.43505727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:43.82, Y:0.76, Z:-7.44 [[ 9.78302800e-01 -1.13127966e-01 1.73567551e-01 4.38171340e+01] [ 1.11054420e-01 9.93578612e-01 2.16438885e-02 7.61577129e-01] [-1.74901536e-01 -1.89883291e-03 9.84584099e-01 -7.43787174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:43.85, Y:0.77, Z:-7.44 [[ 9.78444327e-01 -1.11179345e-01 1.74028310e-01 4.38497799e+01] [ 1.09080068e-01 9.93798005e-01 2.16116426e-02 7.65724178e-01] [-1.75351756e-01 -2.16276928e-03 9.84503471e-01 -7.44211742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:43.89, Y:0.72, Z:-7.43 [[ 0.98436445 -0.11332269 0.13485028 43.8903518 ] [ 0.10525015 0.99228106 0.06557982 0.72429356] [-0.14124106 -0.05036143 0.98869342 -7.43062451] [ 0. 0. 0. 1. ]] SLAMing on 44.155919999999995 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:43.90, Y:0.82, Z:-7.46 [[ 9.78355029e-01 -9.89978400e-02 1.81716440e-01 4.39035990e+01] [ 1.05638956e-01 9.94032075e-01 -2.72147932e-02 8.19755661e-01] [-1.77937764e-01 4.58220647e-02 9.82974308e-01 -7.46218942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:43.95, Y:0.73, Z:-7.44 [[ 0.98576203 -0.10945968 0.1276393 43.95346261] [ 0.10220574 0.99282436 0.06207882 0.73097308] [-0.13351854 -0.04814948 0.98987597 -7.4402734 ] [ 0. 0. 0. 1. ]] SLAMing on 44.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:43.97, Y:0.82, Z:-7.47 [[ 9.78355686e-01 -9.93877263e-02 1.81499951e-01 4.39653923e+01] [ 1.05697644e-01 9.94073714e-01 -2.54058740e-02 8.21026979e-01] [-1.77899298e-01 4.40400985e-02 9.83062719e-01 -7.47307215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:44.01, Y:0.78, Z:-7.46 [[ 9.78489449e-01 -1.05171278e-01 1.77475068e-01 4.40058836e+01] [ 1.02907267e-01 9.94448960e-01 2.19399470e-02 7.77074103e-01] [-1.78797349e-01 -3.20453257e-03 9.83880704e-01 -7.46456934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:44.04, Y:0.78, Z:-7.47 [[ 9.79065227e-01 -1.03784632e-01 1.75100062e-01 4.40384022e+01] [ 1.01575246e-01 9.94594250e-01 2.15579953e-02 7.82040315e-01] [-1.76390904e-01 -3.32085156e-03 9.84314595e-01 -7.46970122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:44.10, Y:0.69, Z:-7.45 [[ 0.98028602 -0.14530153 0.13389095 44.09716199] [ 0.13208946 0.98589116 0.10281534 0.69072747] [-0.14694113 -0.08310285 0.98564812 -7.45282393] [ 0. 0. 0. 1. ]] SLAMing on 44.335919999999994 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:44.10, Y:0.85, Z:-7.49 [[ 0.98576256 -0.08516452 0.14497996 44.09524063] [ 0.09255103 0.99469155 -0.04497802 0.85462542] [-0.14037981 0.0577557 0.98841175 -7.49377194] [ 0. 0. 0. 1. ]] SLAMing on 44.365919999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:44.13, Y:0.80, Z:-7.48 [[ 9.85608751e-01 -9.51384146e-02 1.39728567e-01 4.41343395e+01] [ 9.41337400e-02 9.95463954e-01 1.37969248e-02 8.01311730e-01] [-1.40407369e-01 -4.45197285e-04 9.90093719e-01 -7.48435842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:44.16, Y:0.81, Z:-7.49 [[ 9.85276747e-01 -9.35912576e-02 1.43074837e-01 4.41644331e+01] [ 9.30693587e-02 9.95605824e-01 1.03507104e-02 8.09053157e-01] [-1.43414878e-01 3.11756910e-03 9.89657746e-01 -7.49048466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:44.20, Y:0.81, Z:-7.50 [[ 9.85284007e-01 -9.44102651e-02 1.42485537e-01 4.41958606e+01] [ 9.32134403e-02 9.95532148e-01 1.50663860e-02 8.08445922e-01] [-1.43271354e-01 -1.56310205e-03 9.89682209e-01 -7.49577064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:0.81, Z:-7.50 [[ 9.83861016e-01 -1.00019430e-01 1.48369859e-01 4.42260454e+01] [ 9.90510808e-02 9.94984981e-01 1.39201698e-02 8.12632414e-01] [-1.49018069e-01 1.00068254e-03 9.88833967e-01 -7.50307234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:44.27, Y:0.76, Z:-7.50 [[ 9.78634987e-01 -1.41905698e-01 1.48782846e-01 4.42711497e+01] [ 1.35264086e-01 9.89342499e-01 5.38984853e-02 7.62833158e-01] [-1.54845695e-01 -3.26219677e-02 9.87399928e-01 -7.49977846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.27, Y:0.89, Z:-7.53 [[ 0.97728988 -0.09773391 0.18802281 44.27279687] [ 0.1093327 0.99262759 -0.05231473 0.88789568] [-0.18152371 0.0716837 0.98077041 -7.52668703] [ 0. 0. 0. 1. ]] SLAMing on 44.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.33, Y:0.73, Z:-7.48 [[ 0.98582314 -0.12237512 0.1147914 44.33162835] [ 0.11043264 0.98830013 0.10520214 0.73453319] [-0.12632248 -0.09103399 0.98780334 -7.48246333] [ 0. 0. 0. 1. ]] SLAMing on 44.575919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.34, Y:0.88, Z:-7.53 [[ 9.82529711e-01 -9.76707304e-02 1.58416522e-01 4.43382373e+01] [ 1.05781658e-01 9.93433839e-01 -4.35826580e-02 8.83192618e-01] [-1.53119584e-01 5.95788187e-02 9.86410035e-01 -7.53146155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.38, Y:0.83, Z:-7.52 [[ 9.82460992e-01 -1.08263255e-01 1.51820511e-01 4.43786414e+01] [ 1.06907596e-01 9.94122103e-01 1.70882787e-02 8.27839281e-01] [-1.52778158e-01 -5.57801325e-04 9.88260352e-01 -7.52127210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:0.84, Z:-7.53 [[ 9.81693570e-01 -1.09023928e-01 1.56177840e-01 4.44096097e+01] [ 1.08324721e-01 9.94030467e-01 1.30071165e-02 8.35669840e-01] [-1.56663618e-01 4.14891829e-03 9.87643305e-01 -7.52719749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.44, Y:0.84, Z:-7.53 [[ 9.80483404e-01 -1.12157082e-01 1.61471616e-01 4.44398584e+01] [ 1.11372957e-01 9.93681068e-01 1.39283446e-02 8.40720163e-01] [-1.62013450e-01 4.32706064e-03 9.86779063e-01 -7.53342650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:0.84, Z:-7.54 [[ 9.80988098e-01 -1.14454691e-01 1.56724201e-01 4.44735734e+01] [ 1.12203437e-01 9.93415165e-01 2.31667447e-02 8.35086012e-01] [-1.58343741e-01 -5.14130675e-03 9.87370663e-01 -7.53694937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.51, Y:0.78, Z:-7.52 [[ 0.98168959 -0.12934892 0.13983708 44.50931072] [ 0.11897742 0.98965443 0.08017786 0.77987822] [-0.1487613 -0.06207231 0.98692305 -7.51946484] [ 0. 0. 0. 1. ]] SLAMing on 44.755919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:0.89, Z:-7.56 [[ 9.81430984e-01 -1.11204204e-01 1.56290911e-01 4.45239593e+01] [ 1.17485447e-01 9.92574438e-01 -3.15143562e-02 8.89730496e-01] [-1.51625835e-01 4.92910732e-02 9.87208183e-01 -7.55686663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:44.54, Y:0.87, Z:-7.56 [[ 9.79863002e-01 -1.02063881e-01 1.71614283e-01 4.45430032e+01] [ 1.03552445e-01 9.94623956e-01 2.79530997e-04 8.68437479e-01] [-1.70720207e-01 1.74971765e-02 9.85164179e-01 -7.56029524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:0.85, Z:-7.56 [[ 9.76512944e-01 -1.22417014e-01 1.77303537e-01 4.45897762e+01] [ 1.21586285e-01 9.92458509e-01 1.55847171e-02 8.49891426e-01] [-1.77874238e-01 6.33900036e-03 9.84032811e-01 -7.55986127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.63, Y:0.78, Z:-7.54 [[ 0.98054141 -0.13488768 0.1426319 44.63254452] [ 0.12266857 0.98824076 0.09128314 0.77585425] [-0.15326763 -0.07201045 0.98555747 -7.53843025] [ 0. 0. 0. 1. ]] SLAMing on 44.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:0.92, Z:-7.59 [[ 0.97534533 -0.10853121 0.19215216 44.63774134] [ 0.12160002 0.99090969 -0.05754491 0.92395294] [-0.18416002 0.07949186 0.97967654 -7.58622432] [ 0. 0. 0. 1. ]] SLAMing on 44.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:0.85, Z:-7.57 [[ 9.75103427e-01 -1.21879175e-01 1.85253271e-01 4.46828096e+01] [ 1.20213646e-01 9.92541709e-01 2.02394610e-02 8.49543899e-01] [-1.86338367e-01 2.53440332e-03 9.82482361e-01 -7.57187091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:0.84, Z:-7.57 [[ 9.73185941e-01 -1.21177689e-01 1.95512382e-01 4.47159099e+01] [ 1.18315533e-01 9.92627785e-01 2.62966852e-02 8.44745195e-01] [-1.97257595e-01 -2.45941256e-03 9.80348608e-01 -7.57420336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:0.80, Z:-7.56 [[ 0.98144862 -0.12604424 0.14446955 44.75688062] [ 0.11625216 0.99043224 0.07436001 0.79666001] [-0.15245995 -0.05618564 0.98671127 -7.56201961] [ 0. 0. 0. 1. ]] SLAMing on 44.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.77, Y:0.89, Z:-7.60 [[ 9.79097746e-01 -1.07558262e-01 1.72623361e-01 4.47731696e+01] [ 1.12999942e-01 9.93351779e-01 -2.19831087e-02 8.93340052e-01] [-1.69111258e-01 4.10300420e-02 9.84742564e-01 -7.59791981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.81, Y:0.87, Z:-7.60 [[ 9.73321230e-01 -1.15824439e-01 1.98066866e-01 4.48060670e+01] [ 1.16086598e-01 9.93185400e-01 1.03277807e-02 8.66675379e-01] [-1.97913329e-01 1.29406604e-02 9.80134100e-01 -7.59587504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:0.85, Z:-7.60 [[ 9.73655821e-01 -1.17104441e-01 1.95655033e-01 4.48416764e+01] [ 1.14524126e-01 9.93118565e-01 2.44895965e-02 8.54469065e-01] [-1.97176486e-01 -1.43721664e-03 9.80366956e-01 -7.59506553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:0.86, Z:-7.60 [[ 9.74176212e-01 -1.16046388e-01 1.93685167e-01 4.48734245e+01] [ 1.13517375e-01 9.93242611e-01 2.41437744e-02 8.57807365e-01] [-1.95178158e-01 -1.53365905e-03 9.80766605e-01 -7.60215848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.91, Y:0.86, Z:-7.61 [[ 9.74103995e-01 -1.15344999e-01 1.94465776e-01 4.49051964e+01] [ 1.12801707e-01 9.93324237e-01 2.41399245e-02 8.60714580e-01] [-1.95951988e-01 -1.57872530e-03 9.80612220e-01 -7.60831379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:0.86, Z:-7.61 [[ 9.73949153e-01 -1.13968606e-01 1.96046436e-01 4.49377238e+01] [ 1.11376143e-01 9.93482777e-01 2.42348037e-02 8.62420610e-01] [-1.97530765e-01 -1.76857051e-03 9.80295093e-01 -7.61442604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.97, Y:0.86, Z:-7.62 [[ 9.74019088e-01 -1.11492969e-01 1.97119592e-01 4.49709887e+01] [ 1.08842064e-01 9.93762830e-01 2.42660830e-02 8.62565183e-01] [-1.98595621e-01 -2.18072498e-03 9.80079091e-01 -7.61878219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:0.87, Z:-7.62 [[ 9.74104108e-01 -1.09993055e-01 1.97541677e-01 4.50033186e+01] [ 1.07320864e-01 9.93929486e-01 2.42158865e-02 8.66724861e-01] [-1.99006076e-01 -2.38845117e-03 9.79995345e-01 -7.62463862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.03, Y:0.87, Z:-7.63 [[ 9.74693212e-01 -1.06614582e-01 1.96485300e-01 4.50346811e+01] [ 1.03923476e-01 9.94296017e-01 2.39862621e-02 8.72373225e-01] [-1.97921837e-01 -2.95981153e-03 9.80213337e-01 -7.63091088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:0.88, Z:-7.64 [[ 9.74891695e-01 -1.05228515e-01 1.96247656e-01 4.50664694e+01] [ 1.02536171e-01 9.94443121e-01 2.38581758e-02 8.75947246e-01] [-1.97667692e-01 -3.13665417e-03 9.80264069e-01 -7.63686556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:0.82, Z:-7.62 [[ 0.98278311 -0.10904261 0.14915452 45.11455833] [ 0.09710143 0.99162573 0.08514531 0.81645194] [-0.15718992 -0.06919625 0.98514121 -7.6187455 ] [ 0. 0. 0. 1. ]] SLAMing on 45.325919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:0.90, Z:-7.66 [[ 9.81609190e-01 -9.40550118e-02 1.66123606e-01 4.51295352e+01] [ 9.54640093e-02 9.95432757e-01 -4.99081249e-04 9.01003383e-01] [-1.65317938e-01 1.63487282e-02 9.86104811e-01 -7.65502809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.16, Y:0.89, Z:-7.65 [[ 9.82045918e-01 -1.00446589e-01 1.59675604e-01 4.51632866e+01] [ 9.87152222e-02 9.94938897e-01 1.87588930e-02 8.85942118e-01] [-1.60751736e-01 -2.65968158e-03 9.86991289e-01 -7.65471558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.19, Y:0.93, Z:-7.67 [[ 9.78464537e-01 -9.41829753e-02 1.83675576e-01 4.51866256e+01] [ 9.89794233e-02 9.94942509e-01 -1.71019461e-02 9.25622793e-01] [-1.81135926e-01 3.49137503e-02 9.82838138e-01 -7.67178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:0.89, Z:-7.67 [[ 9.78301595e-01 -1.04478753e-01 1.78913890e-01 4.52248706e+01] [ 1.02965660e-01 9.94526555e-01 1.77483415e-02 8.90608429e-01] [-1.79788939e-01 1.05875604e-03 9.83704639e-01 -7.66513989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:0.91, Z:-7.68 [[ 9.72537767e-01 -1.08450633e-01 2.05933854e-01 4.52485414e+01] [ 1.09676679e-01 9.93952169e-01 5.48734231e-03 9.05501061e-01] [-2.05283507e-01 1.72494936e-02 9.78550528e-01 -7.67559663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475919999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.28, Y:0.89, Z:-7.68 [[ 9.72057334e-01 -1.12958341e-01 2.05778891e-01 4.52847931e+01] [ 1.10063824e-01 9.93597429e-01 2.54971226e-02 8.87511408e-01] [-2.07341490e-01 -2.13585337e-03 9.78266295e-01 -7.67597829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.33, Y:0.86, Z:-7.67 [[ 9.79163980e-01 -1.13167724e-01 1.68614845e-01 4.53279376e+01] [ 1.05484878e-01 9.92960449e-01 5.38747387e-02 8.59940093e-01] [-1.73524754e-01 -3.49658872e-02 9.84208589e-01 -7.67077135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.35, Y:0.91, Z:-7.70 [[ 9.78240055e-01 -1.03322136e-01 1.79919238e-01 4.53504492e+01] [ 1.04175873e-01 9.94547676e-01 4.72310704e-03 9.09411985e-01] [-1.79426261e-01 1.41229112e-02 9.83670046e-01 -7.69583781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:0.91, Z:-7.70 [[ 9.77205637e-01 -1.00076028e-01 1.87226953e-01 4.53825581e+01] [ 9.99988707e-02 9.94938484e-01 9.88122673e-03 9.05361981e-01] [-1.87268175e-01 9.06649338e-03 9.82266985e-01 -7.70167289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:0.89, Z:-7.70 [[ 9.78659903e-01 -1.01099344e-01 1.78895829e-01 4.54187139e+01] [ 9.74242605e-02 9.94813504e-01 2.92336331e-02 8.87357737e-01] [-1.80923488e-01 -1.11809907e-02 9.83433616e-01 -7.69927979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.46, Y:0.85, Z:-7.69 [[ 0.98235169 -0.10522451 0.15463814 45.45503608] [ 0.09628611 0.99327993 0.06421813 0.85419121] [-0.16035628 -0.04819528 0.98588188 -7.6876793 ] [ 0. 0. 0. 1. ]] SLAMing on 45.655919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:0.95, Z:-7.73 [[ 9.78015920e-01 -8.45127909e-02 1.90636954e-01 4.54696037e+01] [ 9.20131484e-02 9.95280563e-01 -3.08250094e-02 9.51923478e-01] [-1.87132147e-01 4.76884562e-02 9.81176524e-01 -7.72729755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:0.92, Z:-7.73 [[ 9.72779599e-01 -9.55792771e-02 2.11102947e-01 4.54989987e+01] [ 9.76841462e-02 9.95217361e-01 4.59545163e-04 9.22460240e-01] [-2.10137240e-01 2.01743749e-02 9.77463726e-01 -7.72613588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:0.89, Z:-7.72 [[ 9.77962582e-01 -9.68761623e-02 1.84943770e-01 4.55439379e+01] [ 9.14362953e-02 9.95095525e-01 3.77399046e-02 8.88545497e-01] [-1.87692815e-01 -1.99976414e-02 9.82024186e-01 -7.72052439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:0.90, Z:-7.73 [[ 9.78509048e-01 -9.49515361e-02 1.83041656e-01 4.55723634e+01] [ 9.17883842e-02 9.95446937e-01 2.56960706e-02 9.03417913e-01] [-1.84648137e-01 -8.34273977e-03 9.82769283e-01 -7.72938722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:0.94, Z:-7.75 [[ 9.73636435e-01 -9.09612787e-02 2.09184458e-01 4.55923704e+01] [ 9.54623368e-02 9.95366603e-01 -1.15008083e-02 9.44600173e-01] [-2.07169095e-01 3.11668432e-02 9.77808567e-01 -7.75083680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:0.90, Z:-7.74 [[ 9.75869245e-01 -9.69063893e-02 1.95674140e-01 4.56352697e+01] [ 9.12758660e-02 9.95115095e-01 3.76120238e-02 8.99233408e-01] [-1.98363136e-01 -1.88440906e-02 9.79947430e-01 -7.74019606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.69, Y:0.81, Z:-7.70 [[ 0.98383074 -0.11013185 0.14123756 45.68691194] [ 0.09219138 0.98750176 0.12783201 0.8115925 ] [-0.15355072 -0.11274418 0.9816878 -7.7028091 ] [ 0. 0. 0. 1. ]] SLAMing on 45.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:1.02, Z:-7.79 [[ 0.97515537 -0.07144218 0.20968552 45.67485346] [ 0.09099769 0.99220535 -0.08513498 1.0241431 ] [-0.20196886 0.10210073 0.97405545 -7.78851578] [ 0. 0. 0. 1. ]] SLAMing on 45.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.75, Y:0.82, Z:-7.71 [[ 0.98390713 -0.10794132 0.14239185 45.74817276] [ 0.09037011 0.98808532 0.12458185 0.81994933] [-0.15414283 -0.109709 0.98193886 -7.71478385] [ 0. 0. 0. 1. ]] SLAMing on 45.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.76, Y:0.94, Z:-7.77 [[ 9.83540597e-01 -8.48034838e-02 1.59550187e-01 4.57560267e+01] [ 8.52436547e-02 9.96351716e-01 4.09589991e-03 9.36249295e-01] [-1.59315449e-01 9.57215722e-03 9.87181321e-01 -7.76674775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.77, Y:1.01, Z:-7.79 [[ 0.97502781 -0.07525558 0.20894346 45.77021286] [ 0.08980109 0.99408926 -0.06101073 1.00595585] [-0.20311705 0.07825051 0.97602271 -7.79483002] [ 0. 0. 0. 1. ]] SLAMing on 45.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:0.94, Z:-7.78 [[ 9.73190280e-01 -9.25834678e-02 2.10544487e-01 4.58127721e+01] [ 9.31942282e-02 9.95623049e-01 7.04135056e-03 9.42049550e-01] [-2.10274857e-01 1.27689571e-02 9.77558918e-01 -7.78307747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:0.93, Z:-7.78 [[ 9.73421485e-01 -9.62712683e-02 2.07803886e-01 4.58488573e+01] [ 9.28963731e-02 9.95337242e-01 2.59622349e-02 9.28377487e-01] [-2.09334364e-01 -5.96796995e-03 9.77825909e-01 -7.78374512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.90, Y:0.85, Z:-7.76 [[ 0.98143316 -0.11153203 0.15604343 45.89552015] [ 0.09664563 0.99028703 0.09995612 0.85380558] [-0.16567609 -0.08301934 0.98267961 -7.75554712] [ 0. 0. 0. 1. ]] SLAMing on 46.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:1.02, Z:-7.82 [[ 0.97113822 -0.08177698 0.22406043 45.89161927] [ 0.09832104 0.99311487 -0.06368542 1.01862681] [-0.21730974 0.0838772 0.97249221 -7.82482766] [ 0. 0. 0. 1. ]] SLAMing on 46.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:0.91, Z:-7.79 [[ 9.71869089e-01 -1.05285109e-01 2.10678710e-01 4.59443630e+01] [ 9.78407263e-02 9.94162247e-01 4.54820670e-02 9.11290277e-01] [-2.14237404e-01 -2.35896570e-02 9.76496729e-01 -7.79214636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:0.95, Z:-7.81 [[ 9.71582028e-01 -9.63177425e-02 2.16220388e-01 4.59686604e+01] [ 9.67646514e-02 9.95270616e-01 8.54416535e-03 9.52972691e-01] [-2.16020753e-01 1.26211330e-02 9.76307196e-01 -7.81400684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:0.86, Z:-7.77 [[ 0.98077904 -0.11215749 0.15966583 46.02050968] [ 0.09555799 0.989535 0.10811637 0.85684712] [-0.17012099 -0.09078092 0.98123273 -7.77332102] [ 0. 0. 0. 1. ]] SLAMing on 46.19592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.02, Y:1.03, Z:-7.85 [[ 0.97064787 -0.07803818 0.22749232 46.01582189] [ 0.09464579 0.99351455 -0.06301604 1.02962284] [-0.22109927 0.08269758 0.97173876 -7.84825102] [ 0. 0. 0. 1. ]] SLAMing on 46.225919999999995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:46.09, Y:0.85, Z:-7.78 [[ 0.98180241 -0.10846408 0.15588319 46.08648957] [ 0.09032401 0.98876563 0.11909702 0.84958357] [-0.16704969 -0.10284974 0.98056939 -7.7798589 ] [ 0. 0. 0. 1. ]] SLAMing on 46.255919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.08, Y:1.01, Z:-7.85 [[ 9.71199024e-01 -8.02283993e-02 2.24356546e-01 4.60801202e+01] [ 9.20309181e-02 9.94842940e-01 -4.26360690e-02 1.01242507e+00] [-2.19778902e-01 6.20558475e-02 9.73573986e-01 -7.85053845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:46.15, Y:0.86, Z:-7.79 [[ 0.98295132 -0.10390234 0.15169379 46.14719152] [ 0.08666683 0.98944547 0.11613147 0.86004193] [-0.16215907 -0.10100476 0.98158162 -7.79119583] [ 0. 0. 0. 1. ]] SLAMing on 46.31592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:46.15, Y:1.02, Z:-7.86 [[ 9.77945660e-01 -7.40980330e-02 1.95273570e-01 4.61453711e+01] [ 8.40358699e-02 9.95530328e-01 -4.30968464e-02 1.01919931e+00] [-1.91207370e-01 5.85563583e-02 9.79801457e-01 -7.85866766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:46.20, Y:0.93, Z:-7.83 [[ 9.80295685e-01 -9.02431173e-02 1.75717244e-01 4.61961111e+01] [ 8.12472295e-02 9.95019612e-01 5.77482483e-02 9.25024479e-01] [-1.80053486e-01 -4.23338194e-02 9.82745435e-01 -7.82654506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:46.22, Y:0.94, Z:-7.84 [[ 9.82029791e-01 -8.91784631e-02 1.66327059e-01 4.62217967e+01] [ 8.19722034e-02 9.95393997e-01 4.97126625e-02 9.36679552e-01] [-1.69994255e-01 -3.51851201e-02 9.84816714e-01 -7.83555920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.23, Y:1.05, Z:-7.88 [[ 0.97637856 -0.0676586 0.20520046 46.23096915] [ 0.08153739 0.99486613 -0.05994191 1.04940498] [-0.2000914 0.0752575 0.97688266 -7.87998744] [ 0. 0. 0. 1. ]] SLAMing on 46.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:0.99, Z:-7.87 [[ 9.78623477e-01 -7.72706302e-02 1.90592080e-01 4.62587032e+01] [ 7.76118127e-02 9.96967444e-01 5.68523497e-03 9.85453866e-01] [-1.90453400e-01 9.22849239e-03 9.81652860e-01 -7.86756787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:46.31, Y:0.95, Z:-7.85 [[ 9.77056195e-01 -9.26944785e-02 1.91752252e-01 4.63124566e+01] [ 8.36410895e-02 9.94988053e-01 5.47991166e-02 9.46277872e-01] [-1.95870775e-01 -3.75034490e-02 9.79912308e-01 -7.85412853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.34, Y:0.98, Z:-7.87 [[ 9.76874177e-01 -8.58199330e-02 1.95836108e-01 4.63363996e+01] [ 8.34488316e-02 9.96304412e-01 2.03423628e-02 9.84452614e-01] [-1.96858158e-01 -3.52963456e-03 9.80425625e-01 -7.87467236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.37, Y:0.99, Z:-7.88 [[ 9.76780384e-01 -8.60800993e-02 1.96189447e-01 4.63677468e+01] [ 8.35050891e-02 9.96278075e-01 2.13751695e-02 9.87531306e-01] [-1.97299221e-01 -4.49602907e-03 9.80333006e-01 -7.88075463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:46.40, Y:0.99, Z:-7.88 [[ 9.77366167e-01 -8.52127496e-02 1.93634093e-01 4.63991580e+01] [ 8.23483313e-02 9.96342561e-01 2.28090832e-02 9.89208032e-01] [-1.94869513e-01 -6.34738180e-03 9.80808638e-01 -7.88443812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:1.01, Z:-7.90 [[ 9.76308980e-01 -8.24180526e-02 2.00070089e-01 4.64265915e+01] [ 8.12179951e-02 9.96595019e-01 1.42128334e-02 1.00576934e+00] [-2.00560248e-01 2.37317460e-03 9.79678496e-01 -7.89607392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615919999999996 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:46.43, Y:1.00, Z:-7.91 [[ 9.80246706e-01 -8.31777764e-02 1.79437601e-01 4.64275696e+01] [ 8.26272939e-02 9.96524645e-01 1.05528131e-02 9.97767538e-01] [-1.79691751e-01 4.48208311e-03 9.83712756e-01 -7.91461618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:46.48, Y:0.98, Z:-7.89 [[ 9.75644459e-01 -8.64214382e-02 2.01616528e-01 4.64846003e+01] [ 7.69457527e-02 9.95550827e-01 5.43865977e-02 9.80299323e-01] [-2.05419669e-01 -3.75484473e-02 9.77953411e-01 -7.89439963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:1.03, Z:-7.92 [[ 9.72739338e-01 -7.82553795e-02 2.18298594e-01 4.65043228e+01] [ 7.88618362e-02 9.96867816e-01 5.94717018e-03 1.03352807e+00] [-2.18080240e-01 1.14303816e-02 9.75863902e-01 -7.91792320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:46.57, Y:0.91, Z:-7.86 [[ 0.98254217 -0.10418014 0.15413429 46.56532458] [ 0.08234471 0.98645883 0.1418391 0.91094726] [-0.16682395 -0.12667075 0.97781608 -7.86355804] [ 0. 0. 0. 1. ]] SLAMing on 46.73592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.56, Y:1.11, Z:-7.95 [[ 0.97593549 -0.06721306 0.20744235 46.55568539] [ 0.08046734 0.99517602 -0.05612216 1.11067399] [-0.20266951 0.07146394 0.97663605 -7.94563104] [ 0. 0. 0. 1. ]] SLAMing on 46.765919999999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.59, Y:1.07, Z:-7.94 [[ 9.71149687e-01 -8.26328907e-02 2.23696424e-01 4.65909828e+01] [ 8.64390823e-02 9.96230690e-01 -7.25923986e-03 1.06835601e+00] [-2.22253391e-01 2.63859221e-02 9.74631835e-01 -7.94132738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795919999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.64, Y:1.00, Z:-7.92 [[ 0.97641328 -0.0987522 0.19200288 46.64178705] [ 0.08771134 0.99401005 0.06519777 1.00005958] [-0.19729121 -0.04681914 0.9792263 -7.91611785] [ 0. 0. 0. 1. ]] SLAMing on 46.825919999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:46.65, Y:1.09, Z:-7.96 [[ 9.69236910e-01 -8.54593122e-02 2.30817066e-01 4.66498328e+01] [ 9.34196923e-02 9.95343243e-01 -2.37610898e-02 1.09322861e+00] [-2.27711600e-01 4.45929845e-02 9.72706992e-01 -7.95678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.69, Y:1.03, Z:-7.94 [[ 9.67979058e-01 -1.01877238e-01 2.29428794e-01 4.66940969e+01] [ 9.42271421e-02 9.94574122e-01 4.40858530e-02 1.03231225e+00] [-2.32675286e-01 -2.10557629e-02 9.72326522e-01 -7.94141367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:46.73, Y:1.02, Z:-7.94 [[ 9.76313549e-01 -1.01332561e-01 1.91163714e-01 4.67324486e+01] [ 9.25151926e-02 9.94217389e-01 5.45226794e-02 1.02296595e+00] [-1.95583212e-01 -3.55456827e-02 9.80042709e-01 -7.94300438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:46.76, Y:1.06, Z:-7.96 [[ 9.75185627e-01 -9.44691633e-02 2.00221301e-01 4.67550596e+01] [ 9.28225718e-02 9.95526797e-01 1.76172350e-02 1.06191873e+00] [-2.00989956e-01 1.40498171e-03 9.79592295e-01 -7.96353266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.79, Y:1.07, Z:-7.97 [[ 9.75074116e-01 -9.17322750e-02 2.02028854e-01 4.67865458e+01] [ 9.00234326e-02 9.95783227e-01 1.76506566e-02 1.06697436e+00] [-2.02796079e-01 9.76632586e-04 9.79220505e-01 -7.96923631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975919999999995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:46.80, Y:1.12, Z:-8.00 [[ 9.67709623e-01 -8.38934589e-02 2.37697231e-01 4.68021087e+01] [ 9.32171703e-02 9.95245225e-01 -2.82400782e-02 1.11963657e+00] [-2.34197877e-01 4.94856588e-02 9.70928692e-01 -7.99620543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:46.86, Y:1.03, Z:-7.96 [[ 0.97489054 -0.10102638 0.19844923 46.8591881 ] [ 0.08843744 0.99352447 0.07132986 1.02567461] [-0.20437037 -0.05198846 0.97751212 -7.96427262] [ 0. 0. 0. 1. ]] SLAMing on 47.03592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.88, Y:1.07, Z:-7.99 [[ 9.74522115e-01 -9.08898228e-02 2.05050451e-01 4.68822462e+01] [ 8.77664678e-02 9.95844756e-01 2.42954336e-02 1.07437835e+00] [-2.06406624e-01 -5.67988348e-03 9.78449817e-01 -7.98847412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:46.92, Y:1.03, Z:-7.98 [[ 0.97968593 -0.09846193 0.17470181 46.91849799] [ 0.08751906 0.99375002 0.06929153 1.03074997] [-0.1804325 -0.0525942 0.98218021 -7.97782298] [ 0. 0. 0. 1. ]] SLAMing on 47.09592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:46.92, Y:1.15, Z:-8.02 [[ 9.65289896e-01 -8.37235881e-02 2.47398016e-01 4.69228663e+01] [ 9.80010331e-02 9.94124985e-01 -4.59490192e-02 1.14706320e+00] [-2.42097532e-01 6.85993851e-02 9.67823801e-01 -8.02203683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.98, Y:1.06, Z:-8.00 [[ 9.73102434e-01 -1.01277529e-01 2.06916687e-01 4.69764881e+01] [ 9.45487136e-02 9.94626264e-01 4.21798134e-02 1.06208249e+00] [-2.10076639e-01 -2.14815725e-02 9.77448898e-01 -7.99891263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155919999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.00, Y:1.09, Z:-8.02 [[ 9.72691266e-01 -9.84949419e-02 2.10167666e-01 4.70037774e+01] [ 9.65331053e-02 9.95136798e-01 1.95987937e-02 1.08628667e+00] [-2.11075961e-01 1.22456203e-03 9.77468894e-01 -8.01551975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:47.04, Y:1.08, Z:-8.02 [[ 9.72072346e-01 -1.00340683e-01 2.12148770e-01 4.70360176e+01] [ 9.75451647e-02 9.94950535e-01 2.36299233e-02 1.08495750e+00] [-2.13448575e-01 -2.27590830e-03 9.76951650e-01 -8.02047420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:47.06, Y:1.10, Z:-8.03 [[ 9.65378836e-01 -9.84084523e-02 2.41577066e-01 4.70592090e+01] [ 1.00098037e-01 9.94963465e-01 5.29970906e-03 1.10381592e+00] [-2.40881891e-01 1.90651632e-02 9.70367165e-01 -8.03276761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.10, Y:1.08, Z:-8.03 [[ 9.66064666e-01 -9.83255392e-02 2.38853826e-01 4.70958929e+01] [ 9.40028471e-02 9.95136224e-01 2.94509698e-02 1.08337192e+00] [-2.40587877e-01 -5.99860164e-03 9.70608825e-01 -8.03310883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:47.13, Y:1.09, Z:-8.04 [[ 9.66157668e-01 -9.55350222e-02 2.39608889e-01 4.71276482e+01] [ 9.11295809e-02 9.95404232e-01 2.94247096e-02 1.08720640e+00] [-2.41318792e-01 -6.59345113e-03 9.70423499e-01 -8.04152131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:47.15, Y:1.03, Z:-8.05 [[ 9.81516716e-01 -1.00017230e-01 1.63160934e-01 4.71541936e+01] [ 9.07834974e-02 9.93868418e-01 6.31183327e-02 1.02852893e+00] [-1.68473421e-01 -4.71393783e-02 9.84578380e-01 -8.04849649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.18, Y:1.11, Z:-8.06 [[ 9.66664522e-01 -8.34597116e-02 2.42062345e-01 4.71780852e+01] [ 8.33720872e-02 9.96461858e-01 1.06236285e-02 1.10882684e+00] [-2.42092539e-01 9.91175812e-03 9.70202535e-01 -8.05960595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:47.24, Y:1.00, Z:-8.02 [[ 0.97945377 -0.09755801 0.17650139 47.2405411 ] [ 0.07665927 0.98961575 0.12158958 1.00217423] [-0.18653059 -0.1055609 0.97676161 -8.01569118] [ 0. 0. 0. 1. ]] SLAMing on 47.39592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:47.25, Y:1.12, Z:-8.07 [[ 9.77380865e-01 -7.06290522e-02 1.99344378e-01 4.72465719e+01] [ 7.15945563e-02 9.97431001e-01 2.37005380e-03 1.12015890e+00] [-1.98999657e-01 1.19555270e-02 9.79926631e-01 -8.07256360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.28, Y:1.11, Z:-8.08 [[ 9.78242652e-01 -6.97272978e-02 1.95395542e-01 4.72776423e+01] [ 6.85795393e-02 9.97565555e-01 1.26416403e-02 1.11382458e+00] [-1.95801329e-01 1.03354450e-03 9.80643040e-01 -8.07770825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:1.19, Z:-8.11 [[ 0.9655549 -0.05932913 0.25334521 47.28629599] [ 0.07636994 0.99539361 -0.05795858 1.18911461] [-0.24873957 0.07531015 0.96563814 -8.10726243] [ 0. 0. 0. 1. ]] SLAMing on 47.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:1.02, Z:-8.05 [[ 0.97803257 -0.087393 0.18924787 47.36162053] [ 0.0663412 0.99116402 0.11485966 1.02408076] [-0.19761361 -0.09978155 0.97518845 -8.04514759] [ 0. 0. 0. 1. ]] SLAMing on 47.515919999999994 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:47.41, Y:1.12, Z:-8.09 [[ 9.74349378e-01 -1.69439426e-02 2.24401854e-01 4.74093453e+01] [ 3.02528251e-03 9.98057578e-01 6.22247453e-02 1.12094634e+00] [-2.25020303e-01 -5.99497629e-02 9.72508041e-01 -8.08769484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:1.19, Z:-8.12 [[ 9.75187722e-01 -4.43972102e-02 2.16881981e-01 4.73863946e+01] [ 5.71917845e-02 9.96951462e-01 -5.30743148e-02 1.19488228e+00] [-2.13864456e-01 6.41612877e-02 9.74753981e-01 -8.12061261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.43, Y:1.13, Z:-8.10 [[ 9.76081512e-01 -6.09301264e-02 2.08692122e-01 4.74275836e+01] [ 5.87426420e-02 9.98133972e-01 1.66696381e-02 1.13046679e+00] [-2.09318380e-01 -4.01179896e-03 9.77839313e-01 -8.10320438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.46, Y:1.13, Z:-8.11 [[ 9.76355165e-01 -6.43336335e-02 2.06377747e-01 4.74568148e+01] [ 6.12329871e-02 9.97894422e-01 2.13832685e-02 1.13158760e+00] [-2.07318866e-01 -8.24053870e-03 9.78238714e-01 -8.10706981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.49, Y:1.14, Z:-8.11 [[ 9.76273736e-01 -6.38873991e-02 2.06900924e-01 4.74855272e+01] [ 6.02883079e-02 9.97900547e-01 2.36604978e-02 1.13781741e+00] [-2.07978153e-01 -1.06254159e-02 9.78075758e-01 -8.11323245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:1.21, Z:-8.15 [[ 9.72367275e-01 -6.38267876e-02 2.24561847e-01 4.74838422e+01] [ 7.59101740e-02 9.96072147e-01 -4.55842514e-02 1.21090940e+00] [-2.20770304e-01 6.13711632e-02 9.73393062e-01 -8.15439371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:47.55, Y:1.11, Z:-8.11 [[ 0.97396901 -0.07296194 0.21461806 47.5494148 ] [ 0.06017187 0.99603377 0.06554446 1.11027353] [-0.21854909 -0.0509243 0.97449629 -8.11110107] [ 0. 0. 0. 1. ]] SLAMing on 47.725919999999995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:47.57, Y:1.17, Z:-8.14 [[ 9.74829273e-01 -5.88907161e-02 2.15034349e-01 4.75684863e+01] [ 5.72916109e-02 9.98263931e-01 1.36672971e-02 1.16680690e+00] [-2.15465912e-01 -1.00361706e-03 9.76510847e-01 -8.13725283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755919999999996 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:47.55, Y:1.21, Z:-8.17 [[ 9.73343047e-01 -7.24779554e-02 2.17601145e-01 4.75544395e+01] [ 8.20520497e-02 9.96003482e-01 -3.52778299e-02 1.21058287e+00] [-2.14174633e-01 5.21920505e-02 9.75400029e-01 -8.16733459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:47.62, Y:1.16, Z:-8.14 [[ 9.70515041e-01 -6.60791964e-02 2.31806157e-01 4.76183296e+01] [ 5.77985544e-02 9.97429963e-01 4.23414294e-02 1.15529647e+00] [-2.34008295e-01 -2.76949333e-02 9.71840063e-01 -8.13698101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:47.64, Y:1.19, Z:-8.16 [[ 9.68205878e-01 -6.35659677e-02 2.41943684e-01 4.76410792e+01] [ 6.38740322e-02 9.97936288e-01 6.57827624e-03 1.19412735e+00] [-2.41862537e-01 9.08479295e-03 9.70267994e-01 -8.15875256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:47.68, Y:1.18, Z:-8.16 [[ 9.68689613e-01 -7.11918773e-02 2.37849007e-01 4.76765711e+01] [ 6.63833672e-02 9.97396291e-01 2.81760105e-02 1.17704846e+00] [-2.39235620e-01 -1.15045908e-02 9.70893384e-01 -8.15808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87592 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:47.72, Y:1.13, Z:-8.16 [[ 9.66674431e-01 -1.08195792e-01 2.32022015e-01 4.77239845e+01] [ 9.52549723e-02 9.93242273e-01 6.63044353e-02 1.13481790e+00] [-2.37627934e-01 -4.19935517e-02 9.70448096e-01 -8.15909560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:47.75, Y:1.18, Z:-8.19 [[ 9.65107145e-01 -1.09608386e-01 2.37811269e-01 4.77458674e+01] [ 1.09572968e-01 9.93888304e-01 1.34091174e-02 1.18443924e+00] [-2.37827590e-01 1.31164514e-02 9.71218820e-01 -8.18637242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935919999999996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:47.76, Y:1.21, Z:-8.19 [[ 9.71534469e-01 -7.93845121e-02 2.23201424e-01 4.77614522e+01] [ 8.18840174e-02 9.96639957e-01 -1.95056378e-03 1.21411474e+00] [-2.22296613e-01 2.01716692e-02 9.74770393e-01 -8.18678512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters Centerline goodness : 0.910534 Centerline is valid? [True, False] Translation: X:47.80, Y:1.20, Z:-8.19 [[ 9.75021022e-01 -9.07581951e-02 2.02723841e-01 4.77975365e+01] [ 9.14415342e-02 9.95792295e-01 6.01257948e-03 1.20439083e+00] [-2.02416530e-01 1.26749877e-02 9.79217490e-01 -8.18997488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99592 meters Centerline goodness : 0.999209 Centerline is valid? [False, True] Translation: X:47.82, Y:1.20, Z:-8.19 [[ 9.76815909e-01 -1.02657870e-01 1.87861762e-01 4.78151318e+01] [ 1.02891926e-01 9.94655951e-01 8.53176128e-03 1.20110670e+00] [-1.87733672e-01 1.09954983e-02 9.82158423e-01 -8.19211630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:47.85, Y:1.18, Z:-8.19 [[ 9.77299826e-01 -1.11260829e-01 1.80294422e-01 4.78514598e+01] [ 1.06573787e-01 9.93670540e-01 3.55089448e-02 1.17551964e+00] [-1.83104010e-01 -1.54882263e-02 9.82971534e-01 -8.18767593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:47.88, Y:1.20, Z:-8.20 [[ 9.76192569e-01 -1.07261936e-01 1.88528369e-01 4.78776891e+01] [ 1.07690961e-01 9.94152258e-01 7.99656616e-03 1.20299158e+00] [-1.88283631e-01 1.24966129e-02 9.82035187e-01 -8.20234839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:47.90, Y:1.22, Z:-8.21 [[ 9.68266319e-01 -1.08397784e-01 2.25189378e-01 4.79011255e+01] [ 1.13038047e-01 9.93560227e-01 -7.77659877e-03 1.22284574e+00] [-2.22896244e-01 3.29847862e-02 9.74283977e-01 -8.21472838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115919999999996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:47.95, Y:1.14, Z:-8.19 [[ 0.97809499 -0.12099826 0.16938005 47.95165492] [ 0.10874634 0.99085607 0.07986543 1.13571763] [-0.17749483 -0.05969651 0.98230948 -8.18599256] [ 0. 0. 0. 1. ]] SLAMing on 48.14592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:47.97, Y:1.20, Z:-8.22 [[ 9.77617209e-01 -1.09671920e-01 1.79545710e-01 4.79682607e+01] [ 1.08520567e-01 9.93961338e-01 1.62525384e-02 1.19776433e+00] [-1.80243942e-01 3.59564117e-03 9.83615368e-01 -8.21626580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17592 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:47.99, Y:1.24, Z:-8.24 [[ 9.70183989e-01 -1.01592761e-01 2.20049853e-01 4.79876526e+01] [ 1.10292221e-01 9.93516378e-01 -2.75831814e-02 1.24402240e+00] [-2.15820882e-01 5.10305481e-02 9.75098575e-01 -8.24260412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:48.03, Y:1.20, Z:-8.23 [[ 9.68478535e-01 -1.11006694e-01 2.22995161e-01 4.80297950e+01] [ 1.08033876e-01 9.93819459e-01 2.55257681e-02 1.19526166e+00] [-2.24450461e-01 -6.30126869e-04 9.74485297e-01 -8.22968919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:48.06, Y:1.19, Z:-8.23 [[ 9.71481553e-01 -1.08217397e-01 2.10980061e-01 4.80627979e+01] [ 1.03979444e-01 9.94092711e-01 3.11120092e-02 1.19230925e+00] [-2.13100602e-01 -8.28715348e-03 9.76995116e-01 -8.23402305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:48.10, Y:1.19, Z:-8.23 [[ 9.73140880e-01 -1.07335858e-01 2.03656185e-01 4.80975315e+01] [ 1.01025762e-01 9.94031919e-01 4.11623648e-02 1.18574304e+00] [-2.06858946e-01 -1.94822586e-02 9.78176783e-01 -8.23491946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295919999999995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:48.12, Y:1.23, Z:-8.26 [[ 9.71406183e-01 -9.53466263e-02 2.17437458e-01 4.81190958e+01] [ 9.68883005e-02 9.95288804e-01 3.58510236e-03 1.22701530e+00] [-2.16754895e-01 1.75845552e-02 9.76067671e-01 -8.25767072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:48.17, Y:1.14, Z:-8.22 [[ 0.98025376 -0.10510889 0.16749532 48.17285989] [ 0.08992201 0.99132778 0.09582939 1.13956589] [-0.17611529 -0.07887561 0.98120438 -8.22380013] [ 0. 0. 0. 1. ]] SLAMing on 48.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:1.28, Z:-8.28 [[ 9.72782117e-01 -7.46134424e-02 2.19380463e-01 4.81722123e+01] [ 8.56898565e-02 9.95461265e-01 -4.14019009e-02 1.28268205e+00] [-2.15295615e-01 5.90737092e-02 9.74760532e-01 -8.28313960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.22, Y:1.22, Z:-8.27 [[ 9.73789866e-01 -8.50083542e-02 2.10966530e-01 4.82173698e+01] [ 8.05548247e-02 9.96309650e-01 2.96311062e-02 1.21978258e+00] [-2.12706881e-01 -1.18600991e-02 9.77044073e-01 -8.26581899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.25, Y:1.23, Z:-8.27 [[ 9.73728454e-01 -8.38056885e-02 2.11729793e-01 4.82477600e+01] [ 8.01382865e-02 9.96448278e-01 2.58589220e-02 1.22759563e+00] [-2.13144913e-01 -8.21190531e-03 9.76986085e-01 -8.27365938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.27, Y:1.25, Z:-8.29 [[ 9.73282807e-01 -7.72596471e-02 2.16221009e-01 4.82746621e+01] [ 7.65766479e-02 9.96996823e-01 1.15478505e-02 1.25212425e+00] [-2.16463842e-01 5.31815576e-03 9.76276151e-01 -8.28651588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:1.26, Z:-8.29 [[ 9.72697359e-01 -7.78920871e-02 2.18615350e-01 4.83053440e+01] [ 7.62371827e-02 9.96961194e-01 1.60083997e-02 1.25504563e+00] [-2.19197948e-01 1.09529026e-03 9.75679794e-01 -8.29317576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:1.22, Z:-8.28 [[ 9.75283516e-01 -8.32805547e-02 2.04661703e-01 4.83472278e+01] [ 7.35501443e-02 9.95789566e-01 5.47130405e-02 1.22459210e+00] [-2.08356521e-01 -3.83078287e-02 9.77302446e-01 -8.28417975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.36, Y:1.29, Z:-8.31 [[ 9.72331607e-01 -7.42870727e-02 2.21478388e-01 4.83637752e+01] [ 7.71688061e-02 9.97008445e-01 -4.37437899e-03 1.28870119e+00] [-2.20490863e-01 2.13445697e-02 9.75155469e-01 -8.31316216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:1.25, Z:-8.30 [[ 9.72550590e-01 -8.57076646e-02 2.16332029e-01 4.84071440e+01] [ 7.76817367e-02 9.95946215e-01 4.53506834e-02 1.24588726e+00] [-2.19341967e-01 -2.73007862e-02 9.75265999e-01 -8.30382441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:1.25, Z:-8.31 [[ 9.78662316e-01 -8.22373082e-02 1.88300547e-01 4.84427486e+01] [ 7.47342338e-02 9.96113250e-01 4.66174639e-02 1.24978572e+00] [-1.91402365e-01 -3.15502581e-02 9.81004442e-01 -8.30800266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:1.21, Z:-8.29 [[ 0.9829262 -0.09209481 0.15929418 48.4822869 ] [ 0.07812096 0.99270122 0.09187714 1.21140758] [-0.16659293 -0.07786424 0.98294657 -8.29343581] [ 0. 0. 0. 1. ]] SLAMing on 48.655919999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.50, Y:1.26, Z:-8.32 [[ 9.83355880e-01 -8.05666442e-02 1.62850325e-01 4.85001588e+01] [ 7.36746363e-02 9.96129593e-01 4.79362361e-02 1.25885589e+00] [-1.66082090e-01 -3.51404412e-02 9.85485611e-01 -8.31601349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:1.35, Z:-8.35 [[ 9.78997473e-01 -6.50312369e-02 1.93222374e-01 4.85139346e+01] [ 7.48090170e-02 9.96238207e-01 -4.37383913e-02 1.35444379e+00] [-1.89651150e-01 5.72745504e-02 9.80179610e-01 -8.34629823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:1.36, Z:-8.35 [[ 9.68321629e-01 -7.40881364e-02 2.38462096e-01 4.85347439e+01] [ 8.70488575e-02 9.95219796e-01 -4.42724929e-02 1.36234908e+00] [-2.34042132e-01 6.36278654e-02 9.70142142e-01 -8.35449027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:1.29, Z:-8.33 [[ 9.74526228e-01 -9.17572918e-02 2.04644153e-01 4.85870926e+01] [ 8.45571118e-02 9.95461025e-01 4.36742727e-02 1.28682227e+00] [-2.07722712e-01 -2.52576057e-02 9.77861610e-01 -8.33423549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.62, Y:1.31, Z:-8.35 [[ 9.75195491e-01 -8.97509760e-02 2.02332690e-01 4.86160511e+01] [ 8.63429844e-02 9.95935847e-01 2.56257416e-02 1.31160917e+00] [-2.03810314e-01 -7.52009935e-03 9.78981514e-01 -8.34754896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:1.35, Z:-8.37 [[ 9.69907080e-01 -9.24156530e-02 2.25254529e-01 4.86338058e+01] [ 9.65154453e-02 9.95305207e-01 -7.23285402e-03 1.35263468e+00] [-2.23528576e-01 2.87557375e-02 9.74273105e-01 -8.36869856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:1.32, Z:-8.36 [[ 9.70480812e-01 -1.04057580e-01 2.17575308e-01 4.86735756e+01] [ 9.94930594e-02 9.94528046e-01 3.18605834e-02 1.31860753e+00] [-2.19700081e-01 -9.27285184e-03 9.75523392e-01 -8.36306190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:1.27, Z:-8.34 [[ 0.97709852 -0.12057506 0.17532866 48.7205411 ] [ 0.107054 0.99064176 0.08466605 1.26806949] [-0.18389651 -0.06395744 0.98086264 -8.34417008] [ 0. 0. 0. 1. ]] SLAMing on 48.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:1.38, Z:-8.39 [[ 9.72148196e-01 -1.03246481e-01 2.10399738e-01 4.87289795e+01] [ 1.10947068e-01 9.93509351e-01 -2.50981666e-02 1.38067240e+00] [-2.06442809e-01 4.77423715e-02 9.77293217e-01 -8.38710185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:1.31, Z:-8.37 [[ 9.73666421e-01 -1.25045282e-01 1.90623656e-01 4.87714057e+01] [ 1.18523115e-01 9.91918039e-01 4.52865798e-02 1.31474926e+00] [-1.94745916e-01 -2.15007125e-02 9.80618044e-01 -8.36963238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:1.35, Z:-8.39 [[ 9.72914317e-01 -1.21483478e-01 1.96671034e-01 4.87964666e+01] [ 1.20638653e-01 9.92562395e-01 1.63158705e-02 1.34626092e+00] [-1.97190382e-01 7.85218470e-03 9.80333768e-01 -8.38731243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:1.38, Z:-8.41 [[ 9.66743399e-01 -1.19260696e-01 2.26239003e-01 4.88191578e+01] [ 1.25153672e-01 9.92066811e-01 -1.18322112e-02 1.37798203e+00] [-2.23033089e-01 3.97533541e-02 9.73999955e-01 -8.40818849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:48.86, Y:1.32, Z:-8.39 [[ 9.71569655e-01 -1.32593264e-01 1.96141357e-01 4.88641648e+01] [ 1.24657102e-01 9.90819260e-01 5.23240084e-02 1.31583279e+00] [-2.01278445e-01 -2.63860057e-02 9.79178618e-01 -8.39028806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:1.38, Z:-8.42 [[ 9.63047476e-01 -1.22125090e-01 2.40052121e-01 4.88786974e+01] [ 1.27223354e-01 9.91857156e-01 -5.79659967e-03 1.37649719e+00] [-2.37389504e-01 3.61226368e-02 9.70742694e-01 -8.41917300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:1.33, Z:-8.41 [[ 9.69832986e-01 -1.29133482e-01 2.06757158e-01 4.89236139e+01] [ 1.22760893e-01 9.91486179e-01 4.34156647e-02 1.32917283e+00] [-2.10603280e-01 -1.67242504e-02 9.77428544e-01 -8.40911897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:1.37, Z:-8.43 [[ 9.66256821e-01 -1.20399985e-01 2.27709462e-01 4.89445258e+01] [ 1.22789039e-01 9.92425901e-01 3.69908677e-03 1.37252181e+00] [-2.26430138e-01 2.43859582e-02 9.73722095e-01 -8.43202632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:1.22, Z:-8.37 [[ 0.97462142 -0.15088493 0.16536874 49.00601051] [ 0.12533116 0.97986992 0.15539317 1.2244196 ] [-0.18548634 -0.13072365 0.9739128 -8.37324733] [ 0. 0. 0. 1. ]] SLAMing on 49.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:1.46, Z:-8.46 [[ 0.96918387 -0.09856529 0.22575987 48.9930277 ] [ 0.11877008 0.9898766 -0.07770453 1.45744871] [-0.21581544 0.1021235 0.97107903 -8.45925184] [ 0. 0. 0. 1. ]] SLAMing on 49.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:1.38, Z:-8.45 [[ 9.64652480e-01 -1.19156630e-01 2.35047420e-01 4.90370279e+01] [ 1.21402346e-01 9.92591054e-01 4.94679240e-03 1.37875766e+00] [-2.33895409e-01 2.37633727e-02 9.71971316e-01 -8.44847271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:1.35, Z:-8.45 [[ 9.62255289e-01 -1.26420520e-01 2.41003341e-01 4.90712263e+01] [ 1.22585669e-01 9.91976721e-01 3.09020773e-02 1.35424381e+00] [-2.42976361e-01 -1.92131411e-04 9.70032191e-01 -8.44792766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:1.23, Z:-8.40 [[ 0.97273074 -0.15120519 0.17587465 49.13084568] [ 0.12356133 0.97955491 0.15876011 1.22995805] [-0.19628423 -0.13269953 0.97152629 -8.39960907] [ 0. 0. 0. 1. ]] SLAMing on 49.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:1.49, Z:-8.50 [[ 0.96208333 -0.09123287 0.2570452 49.10880359] [ 0.12064334 0.98754004 -0.10104383 1.49282272] [-0.24462391 0.12822338 0.96110244 -8.49601701] [ 0. 0. 0. 1. ]] SLAMing on 49.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:1.37, Z:-8.47 [[ 9.63048290e-01 -1.21338285e-01 2.40447523e-01 4.91661480e+01] [ 1.17482394e-01 9.92610718e-01 3.03619823e-02 1.36561010e+00] [-2.42354860e-01 -9.91704415e-04 9.70187167e-01 -8.46798570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:1.38, Z:-8.48 [[ 9.64717695e-01 -1.15464456e-01 2.36617263e-01 4.91976207e+01] [ 1.12922233e-01 9.93306257e-01 2.43156005e-02 1.37594654e+00] [-2.37840995e-01 3.26165962e-03 9.71298627e-01 -8.47903220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:1.37, Z:-8.48 [[ 9.65924625e-01 -1.14507685e-01 2.32115507e-01 4.92325482e+01] [ 1.08524904e-01 9.93350763e-01 3.84266415e-02 1.36711855e+00] [-2.34972261e-01 -1.19269263e-02 9.71928899e-01 -8.48107008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:1.39, Z:-8.49 [[ 9.65637516e-01 -1.08962275e-01 2.35947899e-01 4.92611061e+01] [ 1.06042447e-01 9.94045553e-01 2.50686685e-02 1.38510547e+00] [-2.37274499e-01 8.13245933e-04 9.71442304e-01 -8.49285355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:1.36, Z:-8.49 [[ 9.71893412e-01 -1.10195323e-01 2.08038908e-01 4.92998608e+01] [ 1.00953563e-01 9.93393802e-01 5.45631042e-02 1.35972050e+00] [-2.12677160e-01 -3.20272525e-02 9.76597502e-01 -8.48517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.32, Y:1.40, Z:-8.51 [[ 9.71909290e-01 -9.91824883e-02 2.13436560e-01 4.93221449e+01] [ 9.82385994e-02 9.95049067e-01 1.50510063e-02 1.40326161e+00] [-2.13872646e-01 6.33949584e-03 9.76840981e-01 -8.50543328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:1.43, Z:-8.52 [[ 9.65348529e-01 -9.52423309e-02 2.42963200e-01 4.93446162e+01] [ 9.98197569e-02 9.94983845e-01 -6.57002741e-03 1.43394917e+00] [-2.41118714e-01 3.05948939e-02 9.70013257e-01 -8.52316740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.38, Y:1.41, Z:-8.52 [[ 9.65749385e-01 -1.00534119e-01 2.39209149e-01 4.93827977e+01] [ 9.72796620e-02 9.94932808e-01 2.54042126e-02 1.40829491e+00] [-2.40551021e-01 -1.26391749e-03 9.70635673e-01 -8.52185639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:1.34, Z:-8.50 [[ 0.97501324 -0.11308554 0.19120889 49.43014879] [ 0.09629205 0.9908114 0.09497684 1.34219988] [-0.20019245 -0.07419179 0.97694348 -8.49649476] [ 0. 0. 0. 1. ]] SLAMing on 49.585919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:1.45, Z:-8.54 [[ 9.72309295e-01 -8.86975527e-02 2.16211420e-01 4.94388625e+01] [ 9.31666419e-02 9.95594685e-01 -1.05451407e-02 1.45050833e+00] [-2.14323613e-01 3.03968303e-02 9.76289620e-01 -8.54084573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:1.38, Z:-8.52 [[ 0.97598517 -0.10416191 0.19131976 49.48391854] [ 0.0917533 0.99312919 0.07263427 1.37519244] [-0.19757097 -0.05333575 0.97883656 -8.51885452] [ 0. 0. 0. 1. ]] SLAMing on 49.64592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:49.49, Y:1.48, Z:-8.56 [[ 9.72401082e-01 -7.89051839e-02 2.19568001e-01 4.94933335e+01] [ 8.67915442e-02 9.95874219e-01 -2.64908960e-02 1.48300698e+00] [-2.16571842e-01 4.48164218e-02 9.75237471e-01 -8.55827905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:1.48, Z:-8.56 [[ 9.63511431e-01 -8.42285339e-02 2.54069432e-01 4.95204039e+01] [ 8.97924221e-02 9.95906613e-01 -1.03604402e-02 1.47696712e+00] [-2.52156783e-01 3.27959123e-02 9.67130490e-01 -8.56237979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.57, Y:1.42, Z:-8.55 [[ 9.70815407e-01 -9.46381068e-02 2.20365776e-01 4.95698309e+01] [ 8.42632109e-02 9.94866699e-01 5.60353689e-02 1.42106525e+00] [-2.24537653e-01 -3.58312716e-02 9.73806430e-01 -8.54636136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:1.42, Z:-8.55 [[ 9.73288111e-01 -9.62550766e-02 2.08435152e-01 4.96009000e+01] [ 8.49487005e-02 9.94419806e-01 6.25537203e-02 1.41754881e+00] [-2.13293157e-01 -4.31764970e-02 9.76033718e-01 -8.54869708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:1.52, Z:-8.59 [[ 9.69579123e-01 -7.56288254e-02 2.32801645e-01 4.96133485e+01] [ 8.42914210e-02 9.96062293e-01 -2.74748094e-02 1.51504334e+00] [-2.29807053e-01 4.62621831e-02 9.72136065e-01 -8.58590563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:1.44, Z:-8.57 [[ 9.72064727e-01 -9.52691879e-02 2.14508623e-01 4.96585380e+01] [ 8.64607163e-02 9.94994730e-01 5.01002114e-02 1.44446673e+00] [-2.18207956e-01 -3.01540791e-02 9.75436323e-01 -8.57136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:1.52, Z:-8.60 [[ 9.62400569e-01 -8.27998531e-02 2.58707032e-01 4.96711206e+01] [ 9.00902640e-02 9.95798044e-01 -1.64316743e-02 1.51999311e+00] [-2.56259416e-01 3.91208376e-02 9.65816065e-01 -8.59947284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:1.47, Z:-8.59 [[ 9.67799965e-01 -9.41613547e-02 2.33445639e-01 4.97164899e+01] [ 8.76136911e-02 9.95418561e-01 3.82848575e-02 1.47120339e+00] [-2.35981076e-01 -1.65990496e-02 9.71615872e-01 -8.59148731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.76, Y:1.41, Z:-8.57 [[ 0.97237007 -0.11189189 0.20488204 49.75681312] [ 0.0907877 0.98981141 0.10968573 1.40695041] [-0.21506752 -0.08805435 0.9726214 -8.56859262] [ 0. 0. 0. 1. ]] SLAMing on 49.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:1.57, Z:-8.62 [[ 9.68246821e-01 -7.00132397e-02 2.39992167e-01 4.97605820e+01] [ 8.35632528e-02 9.95405517e-01 -4.67443957e-02 1.56914967e+00] [-2.35616800e-01 6.53146386e-02 9.69648762e-01 -8.62422934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:1.52, Z:-8.62 [[ 9.64680598e-01 -8.56628748e-02 2.49104828e-01 4.97973396e+01] [ 8.52728735e-02 9.96280756e-01 1.23770664e-02 1.52018581e+00] [-2.49238601e-01 9.30196862e-03 9.68397435e-01 -8.62285074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.84, Y:1.50, Z:-8.62 [[ 9.68448851e-01 -9.09025853e-02 2.32042116e-01 4.98384201e+01] [ 8.33196432e-02 9.95624942e-01 4.22943416e-02 1.49652115e+00] [-2.34871583e-01 -2.16262402e-02 9.71785802e-01 -8.61952094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.86, Y:1.53, Z:-8.63 [[ 9.68420364e-01 -8.35384299e-02 2.34911320e-01 4.98594690e+01] [ 8.18579166e-02 9.96500481e-01 1.69136681e-02 1.52999473e+00] [-2.35502185e-01 2.84981062e-03 9.71869641e-01 -8.63442803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:1.49, Z:-8.63 [[ 9.70188120e-01 -9.59028703e-02 2.22570555e-01 4.99014649e+01] [ 8.50886041e-02 9.94701171e-01 5.77019029e-02 1.49498630e+00] [-2.26924970e-01 -3.70434828e-02 9.73207500e-01 -8.62902709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:1.58, Z:-8.66 [[ 9.64632848e-01 -8.03448893e-02 2.51054112e-01 4.99148021e+01] [ 8.60090933e-02 9.96226202e-01 -1.16529172e-02 1.57517620e+00] [-2.49170432e-01 3.28337232e-02 9.67902910e-01 -8.65742208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:1.55, Z:-8.66 [[ 9.64136003e-01 -8.95087256e-02 2.49859873e-01 4.99513033e+01] [ 8.62169875e-02 9.95984580e-01 2.41111498e-02 1.54631057e+00] [-2.51014739e-01 -1.70426200e-03 9.67981764e-01 -8.65803784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:1.55, Z:-8.66 [[ 9.63974845e-01 -9.21161527e-02 2.49533791e-01 4.99845320e+01] [ 8.74229739e-02 9.95723943e-01 2.98505108e-02 1.54702271e+00] [-2.51216484e-01 -6.96015550e-03 9.67905902e-01 -8.66477395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:1.56, Z:-8.67 [[ 9.61998381e-01 -9.22601976e-02 2.56996442e-01 5.00143205e+01] [ 8.83084246e-02 9.95729840e-01 2.69018132e-02 1.55667102e+00] [-2.58380992e-01 -3.18454987e-03 9.66037847e-01 -8.67326097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:1.57, Z:-8.68 [[ 9.61458321e-01 -9.44505515e-02 2.58218882e-01 5.00447973e+01] [ 9.03100968e-02 9.95523462e-01 2.78769158e-02 1.56522169e+00] [-2.59695945e-01 -3.48272044e-03 9.65684155e-01 -8.68111568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:1.57, Z:-8.69 [[ 9.61598013e-01 -9.44691270e-02 2.57691375e-01 5.00749259e+01] [ 8.89457312e-02 9.95488489e-01 3.30352155e-02 1.56575055e+00] [-2.59649606e-01 -8.84604981e-03 9.65662379e-01 -8.68776929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:1.55, Z:-8.69 [[ 9.60464857e-01 -1.00137861e-01 2.59768488e-01 5.01085636e+01] [ 9.06335645e-02 9.94710299e-01 4.83423064e-02 1.55425633e+00] [-2.63235286e-01 -2.28873423e-02 9.64460136e-01 -8.68965178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:50.15, Y:1.51, Z:-8.68 [[ 0.9716242 -0.11074989 0.2089997 50.15418633] [ 0.09208603 0.99101128 0.09704024 1.50860562] [-0.21786826 -0.07504069 0.97308906 -8.67963409] [ 0. 0. 0. 1. ]] SLAMing on 50.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:1.67, Z:-8.73 [[ 0.95983311 -0.07547767 0.27022867 50.15306248] [ 0.09505255 0.99365752 -0.06008109 1.67360581] [-0.26397997 0.08335374 0.96091973 -8.73140807] [ 0. 0. 0. 1. ]] SLAMing on 50.335919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:1.59, Z:-8.72 [[ 9.60866459e-01 -9.89611541e-02 2.58732176e-01 5.02015022e+01] [ 9.34581198e-02 9.95058955e-01 3.35150047e-02 1.58554032e+00] [-2.60770452e-01 -8.02282121e-03 9.65367498e-01 -8.72102844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:1.58, Z:-8.73 [[ 9.61673359e-01 -1.01504911e-01 2.54717695e-01 5.02344286e+01] [ 9.42937997e-02 9.94724504e-01 4.03960434e-02 1.58235620e+00] [-2.57474330e-01 -1.48294994e-02 9.66171339e-01 -8.72744118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:50.28, Y:1.51, Z:-8.71 [[ 0.97137782 -0.12037238 0.20478186 50.2823962 ] [ 0.0974646 0.98815611 0.11852489 1.50585033] [-0.21662357 -0.09517346 0.97160498 -8.70621178] [ 0. 0. 0. 1. ]] SLAMing on 50.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:1.69, Z:-8.76 [[ 0.95960088 -0.07534233 0.27108983 50.27721695] [ 0.09632716 0.99322929 -0.06493577 1.69381176] [-0.26436194 0.08842573 0.96036121 -8.76334624] [ 0. 0. 0. 1. ]] SLAMing on 50.45592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:50.35, Y:1.51, Z:-8.72 [[ 0.97232345 -0.1193862 0.20083338 50.34958235] [ 0.09490806 0.98729871 0.12741161 1.5087044 ] [-0.21349373 -0.10482459 0.9713044 -8.7162989 ] [ 0. 0. 0. 1. ]] SLAMing on 50.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:50.34, Y:1.72, Z:-8.78 [[ 0.95800314 -0.07165649 0.27766046 50.33732 ] [ 0.09725261 0.99207789 -0.07951974 1.71968923] [-0.2697627 0.10318337 0.95738251 -8.77886024] [ 0. 0. 0. 1. ]] SLAMing on 50.515919999999994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:50.41, Y:1.57, Z:-8.75 [[ 0.96735821 -0.1065161 0.22994004 50.40501022] [ 0.09037538 0.99271746 0.07965132 1.56500685] [-0.23674964 -0.05627044 0.96993982 -8.74753683] [ 0. 0. 0. 1. ]] SLAMing on 50.545919999999995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:50.42, Y:1.63, Z:-8.77 [[ 9.65894602e-01 -9.26477268e-02 2.41793333e-01 5.04231376e+01] [ 9.13586955e-02 9.95680310e-01 1.65622699e-02 1.62945644e+00] [-2.42283317e-01 6.09251639e-03 9.70186413e-01 -8.77305333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575919999999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:50.46, Y:1.62, Z:-8.78 [[ 9.66983646e-01 -9.66081517e-02 2.35816652e-01 5.04573785e+01] [ 9.17107131e-02 9.95281778e-01 3.16753427e-02 1.61886426e+00] [-2.37764113e-01 -9.00262500e-03 9.71281205e-01 -8.77710216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:50.49, Y:1.63, Z:-8.79 [[ 9.66565777e-01 -9.62403725e-02 2.37672861e-01 5.04865229e+01] [ 9.29281240e-02 9.95355687e-01 2.51280591e-02 1.63030789e+00] [-2.38987367e-01 -2.20142892e-03 9.71020181e-01 -8.78763882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:50.52, Y:1.64, Z:-8.80 [[ 9.65904713e-01 -9.58729974e-02 2.40492107e-01 5.05163952e+01] [ 9.37144347e-02 9.95389608e-01 2.04238353e-02 1.63939401e+00] [-2.41341439e-01 2.81010313e-03 9.70436197e-01 -8.79537447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:50.55, Y:1.64, Z:-8.80 [[ 9.65297237e-01 -9.64472037e-02 2.42691535e-01 5.05482489e+01] [ 9.36494339e-02 9.95337995e-01 2.30664265e-02 1.64343076e+00] [-2.43784798e-01 4.61967117e-04 9.69829242e-01 -8.80102154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695919999999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:50.57, Y:1.66, Z:-8.82 [[ 9.62243126e-01 -9.23608935e-02 2.56042245e-01 5.05732871e+01] [ 9.27846647e-02 9.95631345e-01 1.04513796e-02 1.66318023e+00] [-2.55888983e-01 1.37000257e-02 9.66609092e-01 -8.81606617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:50.61, Y:1.65, Z:-8.82 [[ 9.62223485e-01 -9.60256596e-02 2.54764672e-01 5.06068758e+01] [ 9.21083290e-02 9.95374938e-01 2.72908234e-02 1.65236181e+00] [-2.56206989e-01 -2.79392291e-03 9.66617904e-01 -8.82309952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755919999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:50.65, Y:1.58, Z:-8.81 [[ 0.97013259 -0.11462612 0.21378405 50.65189349] [ 0.09467514 0.99033393 0.10136724 1.58333774] [-0.22333693 -0.07809963 0.97160746 -8.80599353] [ 0. 0. 0. 1. ]] SLAMing on 50.78592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:50.66, Y:1.73, Z:-8.85 [[ 9.62199486e-01 -8.01505231e-02 2.60284541e-01 5.06577713e+01] [ 9.32219268e-02 9.94910409e-01 -3.82485269e-02 1.73098508e+00] [-2.55894160e-01 6.10669394e-02 9.64774071e-01 -8.84634689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:50.70, Y:1.67, Z:-8.84 [[ 9.61407129e-01 -9.94015412e-02 2.56545643e-01 5.06989987e+01] [ 9.53661552e-02 9.95043997e-01 2.81556346e-02 1.67477120e+00] [-2.58072915e-01 -2.60325624e-03 9.66121935e-01 -8.84010456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:50.73, Y:1.68, Z:-8.85 [[ 9.62781672e-01 -1.01698239e-01 2.50417493e-01 5.07321575e+01] [ 9.62584780e-02 9.94778621e-01 3.39087155e-02 1.67535887e+00] [-2.52558425e-01 -8.54188309e-03 9.67543941e-01 -8.84743057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:50.76, Y:1.70, Z:-8.86 [[ 9.60556872e-01 -1.00658909e-01 2.59226309e-01 5.07591397e+01] [ 9.88190726e-02 9.94901314e-01 2.01535918e-02 1.69699563e+00] [-2.59933234e-01 6.25783232e-03 9.65606314e-01 -8.86250840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:50.79, Y:1.70, Z:-8.87 [[ 9.58783890e-01 -1.03632499e-01 2.64563333e-01 5.07906175e+01] [ 1.01527735e-01 9.94596970e-01 2.16561098e-02 1.70058591e+00] [-2.65378166e-01 6.09698683e-03 9.64125124e-01 -8.87092011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935919999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:50.82, Y:1.70, Z:-8.88 [[ 9.58421737e-01 -1.09143433e-01 2.63657894e-01 5.08228088e+01] [ 1.05643495e-01 9.94024827e-01 2.74608132e-02 1.69878240e+00] [-2.65079660e-01 1.53470104e-03 9.64225295e-01 -8.87681177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:50.86, Y:1.69, Z:-8.88 [[ 9.59666896e-01 -1.13278555e-01 2.57308022e-01 5.08573965e+01] [ 1.06711655e-01 9.93509415e-01 3.93911871e-02 1.69184061e+00] [-2.60100119e-01 -1.03446533e-02 9.65526238e-01 -8.88176275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:50.89, Y:1.71, Z:-8.89 [[ 9.58225134e-01 -1.12790940e-01 2.62836064e-01 5.08855225e+01] [ 1.10409826e-01 9.93599676e-01 2.38611484e-02 1.71218994e+00] [-2.63845150e-01 6.15533215e-03 9.64545410e-01 -8.89349678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:50.92, Y:1.72, Z:-8.90 [[ 9.56239462e-01 -1.16274144e-01 2.68489133e-01 5.09157998e+01] [ 1.14417783e-01 9.93175452e-01 2.26073458e-02 1.71777915e+00] [-2.69285466e-01 9.10189513e-03 9.63017390e-01 -8.90451531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:50.95, Y:1.70, Z:-8.91 [[ 9.57890708e-01 -1.23851773e-01 2.59048510e-01 5.09521303e+01] [ 1.15787759e-01 9.92197975e-01 4.62209203e-02 1.69806839e+00] [-2.62751950e-01 -1.42799438e-02 9.64757740e-01 -8.90845242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:50.98, Y:1.72, Z:-8.92 [[ 9.56174670e-01 -1.19194648e-01 2.67437163e-01 5.09793824e+01] [ 1.17133967e-01 9.92833148e-01 2.37059989e-02 1.72478011e+00] [-2.68346109e-01 8.65890016e-03 9.63283649e-01 -8.92231435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115919999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:51.01, Y:1.72, Z:-8.93 [[ 9.55512425e-01 -1.22100942e-01 2.68490904e-01 5.10131530e+01] [ 1.18690556e-01 9.92508826e-01 2.89617344e-02 1.72215524e+00] [-2.70015847e-01 4.19403756e-03 9.62846744e-01 -8.92878133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:51.05, Y:1.71, Z:-8.93 [[ 9.57060908e-01 -1.27535681e-01 2.60324930e-01 5.10463661e+01] [ 1.18818504e-01 9.91705176e-01 4.90204646e-02 1.70514570e+00] [-2.64417439e-01 -1.59841515e-02 9.64275855e-01 -8.93108446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17592 meters Centerline goodness : 0.924632 Centerline is valid? [True, False] Translation: X:51.07, Y:1.71, Z:-8.94 [[ 9.59814645e-01 -1.39097940e-01 2.43736763e-01 5.10658589e+01] [ 1.32648976e-01 9.90240329e-01 4.27590829e-02 1.71024963e+00] [-2.47305673e-01 -8.70936198e-03 9.68898370e-01 -8.93642065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters Centerline goodness : 0.987699 Centerline is valid? [False, True] Translation: X:51.08, Y:1.71, Z:-8.94 [[ 9.61290186e-01 -1.52377777e-01 2.29569579e-01 5.10814384e+01] [ 1.47214937e-01 9.88313278e-01 3.95553530e-02 1.71057104e+00] [-2.32914020e-01 -4.22810148e-03 9.72488140e-01 -8.94066132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23592 meters Centerline goodness : 0.949024 Centerline is valid? [True, False] Translation: X:51.06, Y:1.71, Z:-8.94 [[ 9.59299954e-01 -1.66524535e-01 2.28063977e-01 5.10611359e+01] [ 1.62633706e-01 9.86033709e-01 3.58859781e-02 1.70681576e+00] [-2.30854665e-01 2.66547253e-03 9.72984593e-01 -8.93684128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:51.10, Y:1.72, Z:-8.94 [[ 9.65361157e-01 -1.62438461e-01 2.04185166e-01 5.11026521e+01] [ 1.60243158e-01 9.86698482e-01 2.73539049e-02 1.71581192e+00] [-2.05912520e-01 6.31287868e-03 9.78550040e-01 -8.94393357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295919999999995 meters Centerline goodness : 0.948365 Centerline is valid? [True, False] Translation: X:51.10, Y:1.72, Z:-8.94 [[ 9.65473883e-01 -1.62221878e-01 2.03824050e-01 5.11035618e+01] [ 1.60041449e-01 9.86734119e-01 2.72491045e-02 1.71646419e+00] [-2.05540545e-01 6.31199752e-03 9.78628246e-01 -8.94465637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters Centerline goodness : 0.837231 Centerline is valid? [False, False] Translation: X:51.10, Y:1.72, Z:-8.94 [[ 9.65569908e-01 -1.62045174e-01 2.03509494e-01 5.11047613e+01] [ 1.59888389e-01 9.86762818e-01 2.71080031e-02 1.71618891e+00] [-2.05208323e-01 6.36413297e-03 9.78697626e-01 -8.94415872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35592 meters Centerline goodness : 0.971581 Centerline is valid? [False, True] Translation: X:51.11, Y:1.72, Z:-8.94 [[ 9.65620771e-01 -1.61994730e-01 2.03308226e-01 5.11056837e+01] [ 1.59811050e-01 9.86772132e-01 2.72247506e-02 1.71504178e+00] [-2.05029158e-01 6.20211653e-03 9.78736215e-01 -8.94367122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters Centerline goodness : 0.921420 Centerline is valid? [True, False] Translation: X:51.11, Y:1.71, Z:-8.94 [[ 9.65718812e-01 -1.61919549e-01 2.02902034e-01 5.11071454e+01] [ 1.59653772e-01 9.86787250e-01 2.75970429e-02 1.71304543e+00] [-2.04689640e-01 5.74309141e-03 9.78810078e-01 -8.94352133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41592 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:51.11, Y:1.71, Z:-8.95 [[ 9.65887337e-01 -1.61843782e-01 2.02158951e-01 5.11090214e+01] [ 1.59382667e-01 9.86805257e-01 2.85052675e-02 1.71024348e+00] [-2.04104916e-01 4.68775596e-03 9.78937796e-01 -8.94569037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters Centerline goodness : 0.954041 Centerline is valid? [True, True] Translation: X:51.09, Y:1.69, Z:-8.96 [[ 9.72712395e-01 -1.38267355e-01 1.86313541e-01 5.10942431e+01] [ 1.33231943e-01 9.90303643e-01 3.93439115e-02 1.69374994e+00] [-1.89946957e-01 -1.34473953e-02 9.81702257e-01 -8.95958121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475919999999995 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:51.25, Y:1.54, Z:-8.92 [[ 0.96669711 -0.22831924 0.11561583 51.25083299] [ 0.20212365 0.95823471 0.20231723 1.53801166] [-0.15698002 -0.17221079 0.97247145 -8.91867448] [ 0. 0. 0. 1. ]] SLAMing on 51.505919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:51.48, Y:2.46, Z:-7.14 [[ 0.94172749 0.32099822 -0.10054586 51.48266107] [ 0.27784286 -0.91078405 -0.30541081 2.46013848] [-0.1896119 0.25967781 -0.94689744 -7.14056242] [ 0. 0. 0. 1. ]] SLAMing on 51.53592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:51.32, Y:1.71, Z:-8.98 [[ 9.38122263e-01 -2.53810985e-01 2.35598393e-01 5.13213095e+01] [ 2.60706895e-01 9.65416041e-01 1.94506701e-03 1.71122877e+00] [-2.27944147e-01 5.95974147e-02 9.71848555e-01 -8.97725273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:51.39, Y:1.55, Z:-8.93 [[ 0.94505756 -0.28580377 0.15868967 51.3916141 ] [ 0.2594172 0.95105183 0.16793789 1.54844433] [-0.19891938 -0.11754414 0.97294114 -8.9298485 ] [ 0. 0. 0. 1. ]] SLAMing on 51.59592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:51.37, Y:1.70, Z:-8.98 [[ 9.43876804e-01 -2.54876117e-01 2.10082707e-01 5.13703633e+01] [ 2.56244867e-01 9.66380439e-01 2.11521817e-02 1.69812980e+00] [-2.08411005e-01 3.38675616e-02 9.77454777e-01 -8.97991844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:51.39, Y:1.73, Z:-8.99 [[ 9.35833876e-01 -2.45112869e-01 2.53248173e-01 5.13936699e+01] [ 2.51520153e-01 9.67824636e-01 7.28610648e-03 1.72755378e+00] [-2.46885739e-01 5.68784340e-02 9.67373907e-01 -8.99113595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655919999999995 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:51.41, Y:1.68, Z:-9.00 [[ 9.39135553e-01 -2.52115549e-01 2.33371298e-01 5.14070572e+01] [ 2.50324442e-01 9.67425006e-01 3.77694390e-02 1.68226159e+00] [-2.35291492e-01 2.29479169e-02 9.71653903e-01 -8.99723904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:51.47, Y:1.67, Z:-8.99 [[ 9.35161589e-01 -2.67254153e-01 2.32482303e-01 5.14694205e+01] [ 2.56506610e-01 9.63559534e-01 7.58774220e-02 1.67429342e+00] [-2.44289095e-01 -1.13244031e-02 9.69636321e-01 -8.99112247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71592 meters Centerline goodness : 0.983295 Centerline is valid? [True, True] Translation: X:51.50, Y:1.59, Z:-8.99 [[ 0.95172616 -0.26166199 0.16046905 51.50351225] [ 0.24256004 0.96149242 0.1292167 1.59250584] [-0.18810087 -0.08405554 0.97854623 -8.98784846] [ 0. 0. 0. 1. ]] SLAMing on 51.74592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:51.51, Y:1.71, Z:-9.00 [[ 9.43060596e-01 -2.22458614e-01 2.47282989e-01 5.15133971e+01] [ 2.14054246e-01 9.74932499e-01 6.07239826e-02 1.70656508e+00] [-2.54592795e-01 -4.33442167e-03 9.67038635e-01 -9.00410557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77592 meters Centerline goodness : 0.921700 Centerline is valid? [True, False] Translation: X:51.55, Y:1.72, Z:-9.01 [[ 9.50109998e-01 -2.14718722e-01 2.26245138e-01 5.15508540e+01] [ 2.09420834e-01 9.76673245e-01 4.74582696e-02 1.72255849e+00] [-2.31157752e-01 2.28986899e-03 9.72913588e-01 -9.01226412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters Centerline goodness : 0.932631 Centerline is valid? [False, False] Translation: X:51.59, Y:1.74, Z:-9.02 [[ 9.56792459e-01 -2.06161762e-01 2.05050041e-01 5.15917616e+01] [ 2.02306290e-01 9.78512100e-01 3.98275750e-02 1.73748491e+00] [-2.08854869e-01 3.37618955e-03 9.77940819e-01 -9.02108759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835919999999994 meters Centerline goodness : 0.999057 Centerline is valid? [False, True] Translation: X:51.59, Y:1.74, Z:-9.02 [[ 9.57595219e-01 -2.03194886e-01 2.04262659e-01 5.15917413e+01] [ 1.98304863e-01 9.79136340e-01 4.43532297e-02 1.73577156e+00] [-2.09013342e-01 -1.96616211e-03 9.77910812e-01 -9.02065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:51.64, Y:1.79, Z:-9.03 [[ 9.62646501e-01 -1.40811548e-01 2.31265697e-01 5.16372791e+01] [ 1.32829080e-01 9.89886418e-01 4.98127902e-02 1.78724921e+00] [-2.35940989e-01 -1.72332984e-02 9.71614565e-01 -9.02796025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:51.62, Y:1.83, Z:-9.05 [[ 9.45424704e-01 -1.78357565e-01 2.72691599e-01 5.16218435e+01] [ 1.90920729e-01 9.81401164e-01 -2.00257407e-02 1.82532930e+00] [-2.64048111e-01 7.09953089e-02 9.61893061e-01 -9.04633564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:51.68, Y:1.76, Z:-9.04 [[ 9.47654609e-01 -1.96490789e-01 2.51678590e-01 5.16759358e+01] [ 1.86919873e-01 9.80439816e-01 6.16338236e-02 1.75584566e+00] [-2.58866189e-01 -1.13638469e-02 9.65846343e-01 -9.03629666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:51.71, Y:1.76, Z:-9.05 [[ 9.48541640e-01 -1.95058063e-01 2.49441595e-01 5.17061792e+01] [ 1.85645484e-01 9.80724106e-01 6.09588513e-02 1.76455429e+00] [-2.56523901e-01 -1.15143032e-02 9.66469301e-01 -9.04590748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:51.75, Y:1.75, Z:-9.05 [[ 9.57787030e-01 -1.96742225e-01 2.09610360e-01 5.17510689e+01] [ 1.82758282e-01 9.79536091e-01 8.43116595e-02 1.74545840e+00] [-2.21908576e-01 -4.24445846e-02 9.74143234e-01 -9.04564774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015919999999994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:51.77, Y:1.81, Z:-9.07 [[ 9.56241017e-01 -1.84955586e-01 2.26703657e-01 5.17658951e+01] [ 1.82377100e-01 9.82692807e-01 3.24567348e-02 1.80537234e+00] [-2.28783108e-01 1.03090945e-02 9.73422833e-01 -9.06722444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:51.80, Y:1.80, Z:-9.07 [[ 9.55997384e-01 -1.88874432e-01 2.24489311e-01 5.17974940e+01] [ 1.82481612e-01 9.81983147e-01 4.90872648e-02 1.80166143e+00] [-2.29716049e-01 -5.96212551e-03 9.73239431e-01 -9.06871594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075919999999996 meters Centerline goodness : 0.925155 Centerline is valid? [True, False] Translation: X:51.80, Y:1.81, Z:-9.07 [[ 9.56271553e-01 -1.87905466e-01 2.24134452e-01 5.17982598e+01] [ 1.82028350e-01 9.82179177e-01 4.67946951e-02 1.81006229e+00] [-2.28933171e-01 -3.94961131e-03 9.73434129e-01 -9.06834941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters Centerline goodness : 0.998559 Centerline is valid? [False, True] Translation: X:51.83, Y:1.83, Z:-9.07 [[ 9.61871829e-01 -1.81590905e-01 2.04517306e-01 5.18307771e+01] [ 1.78384353e-01 9.83367505e-01 3.41668469e-02 1.82548603e+00] [-2.07320061e-01 3.61855965e-03 9.78266476e-01 -9.07299834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13592 meters Centerline goodness : 0.952023 Centerline is valid? [True, True] Translation: X:51.91, Y:1.73, Z:-9.08 [[ 9.45364993e-01 -2.67193571e-01 1.86795680e-01 5.19080066e+01] [ 2.51720465e-01 9.62346244e-01 1.02598802e-01 1.73319129e+00] [-2.07175861e-01 -4.99730206e-02 9.77026540e-01 -9.07672188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters Centerline goodness : 0.967575 Centerline is valid? [True, True] Translation: X:51.91, Y:1.83, Z:-9.11 [[ 9.47879220e-01 -2.43296516e-01 2.05746907e-01 5.19125492e+01] [ 2.44153548e-01 9.69495701e-01 2.16132157e-02 1.82817060e+00] [-2.04729162e-01 2.97471193e-02 9.78366536e-01 -9.10522112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195919999999994 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:51.90, Y:1.91, Z:-9.11 [[ 9.60639741e-01 -1.74188666e-01 2.16401470e-01 5.18994902e+01] [ 1.84855196e-01 9.82310613e-01 -2.99067873e-02 1.91352826e+00] [-2.07364037e-01 6.87325845e-02 9.75846293e-01 -9.10541871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:51.95, Y:1.85, Z:-9.10 [[ 9.61232271e-01 -1.91529648e-01 1.98365610e-01 5.19516791e+01] [ 1.85913731e-01 9.81453838e-01 4.67380934e-02 1.84669487e+00] [-2.03638420e-01 -8.04727300e-03 9.79013093e-01 -9.09866979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255919999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:51.98, Y:1.85, Z:-9.10 [[ 9.60743265e-01 -1.94783334e-01 1.97564754e-01 5.19824980e+01] [ 1.88529547e-01 9.80785114e-01 5.01714063e-02 1.85148270e+00] [-2.03541123e-01 -1.09550471e-02 9.79005106e-01 -9.10432434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:52.01, Y:1.88, Z:-9.12 [[ 9.56842095e-01 -1.95662299e-01 2.14870823e-01 5.20070766e+01] [ 1.92998841e-01 9.80626303e-01 3.35186599e-02 1.87645237e+00] [-2.17266319e-01 9.39775507e-03 9.76067123e-01 -9.11541404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31592 meters Centerline goodness : 0.933539 Centerline is valid? [True, False] Translation: X:52.01, Y:1.87, Z:-9.11 [[ 9.57442478e-01 -1.93225231e-01 2.14401285e-01 5.20064743e+01] [ 1.89319481e-01 9.81148412e-01 3.88062749e-02 1.87166208e+00] [-2.17857832e-01 3.43556388e-03 9.75974468e-01 -9.11467246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters Centerline goodness : 0.998659 Centerline is valid? [False, True] Translation: X:52.01, Y:1.87, Z:-9.12 [[ 9.57533341e-01 -1.93026552e-01 2.14174349e-01 5.20069860e+01] [ 1.89217844e-01 9.81186141e-01 3.83453180e-02 1.87337711e+00] [-2.17546567e-01 3.80868797e-03 9.76042512e-01 -9.11505058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:52.00, Y:1.90, Z:-9.13 [[ 9.56370102e-01 -1.84060638e-01 2.26887437e-01 5.19988583e+01] [ 1.86724226e-01 9.82362899e-01 9.85896364e-03 1.90194954e+00] [-2.24700448e-01 3.29365630e-02 9.73871086e-01 -9.13342735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters Centerline goodness : 0.969322 Centerline is valid? [True, True] Translation: X:52.05, Y:1.82, Z:-9.13 [[ 0.96676039 -0.15816128 0.20089638 52.04850521] [ 0.13616939 0.98351046 0.11901709 1.81542897] [-0.21640758 -0.08770507 0.97235569 -9.12818225] [ 0. 0. 0. 1. ]] SLAMing on 52.435919999999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:52.08, Y:1.90, Z:-9.13 [[ 9.54396868e-01 -1.80943597e-01 2.37457433e-01 5.20836964e+01] [ 1.73974299e-01 9.83471550e-01 5.01662669e-02 1.89591625e+00] [-2.42609894e-01 -6.56703756e-03 9.70101703e-01 -9.13135318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:52.12, Y:1.90, Z:-9.14 [[ 9.54508281e-01 -1.82095945e-01 2.36124983e-01 5.21170779e+01] [ 1.73780492e-01 9.83205386e-01 5.57450334e-02 1.89913530e+00] [-2.42310300e-01 -1.21751803e-02 9.70122406e-01 -9.13626517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49592 meters Centerline goodness : 0.934347 Centerline is valid? [True, False] Translation: X:52.12, Y:1.90, Z:-9.14 [[ 9.53906569e-01 -1.84520956e-01 2.36673348e-01 5.21173570e+01] [ 1.77658159e-01 9.82811258e-01 5.01957160e-02 1.90464977e+00] [-2.41867393e-01 -5.83507193e-03 9.70291769e-01 -9.13700465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters Centerline goodness : 0.890952 Centerline is valid? [False, False] Translation: X:52.12, Y:1.91, Z:-9.14 [[ 9.53199192e-01 -1.87240520e-01 2.37386369e-01 5.21172777e+01] [ 1.81750899e-01 9.82314068e-01 4.50075795e-02 1.90860026e+00] [-2.41615213e-01 2.43997746e-04 9.70372109e-01 -9.13753420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55592 meters Centerline goodness : 0.999256 Centerline is valid? [False, True] Translation: X:52.12, Y:1.91, Z:-9.14 [[ 9.52966186e-01 -1.87695299e-01 2.37962020e-01 5.21156547e+01] [ 1.82239948e-01 9.82227148e-01 4.49269617e-02 1.90856008e+00] [-2.42165335e-01 5.52310660e-04 9.70234840e-01 -9.13690516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters Centerline goodness : 0.963700 Centerline is valid? [True, True] Translation: X:52.12, Y:1.85, Z:-9.15 [[ 9.60828664e-01 -2.08699943e-01 1.82352990e-01 5.21246801e+01] [ 1.99593006e-01 9.77575242e-01 6.71511654e-02 1.85212711e+00] [-1.92278212e-01 -2.81243831e-02 9.80937362e-01 -9.15349365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615919999999996 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:52.17, Y:1.89, Z:-9.14 [[ 9.52811236e-01 -1.89724484e-01 2.36971241e-01 5.21749199e+01] [ 1.75715306e-01 9.81257797e-01 7.91028922e-02 1.89128932e+00] [-2.47537634e-01 -3.37306501e-02 9.68290950e-01 -9.14025938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:52.20, Y:1.92, Z:-9.15 [[ 9.52880619e-01 -1.83027382e-01 2.41908048e-01 5.21992280e+01] [ 1.75706096e-01 9.83084638e-01 5.16910233e-02 1.92478272e+00] [-2.47276958e-01 -6.75065556e-03 9.68921325e-01 -9.15435250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67592 meters Centerline goodness : 0.852125 Centerline is valid? [True, False] Translation: X:52.20, Y:1.93, Z:-9.16 [[ 9.52431835e-01 -1.85128113e-01 2.42076807e-01 5.22005094e+01] [ 1.79347367e-01 9.82714348e-01 4.59024179e-02 1.93119823e+00] [-2.46390180e-01 -3.03086165e-04 9.69170670e-01 -9.15558154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters Centerline goodness : 0.998411 Centerline is valid? [False, True] Translation: X:52.20, Y:1.93, Z:-9.16 [[ 9.52511201e-01 -1.84788434e-01 2.42024062e-01 5.22006141e+01] [ 1.79250918e-01 9.82778133e-01 4.49026645e-02 1.93470393e+00] [-2.46153449e-01 6.12744435e-04 9.69230676e-01 -9.15528398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:52.23, Y:1.93, Z:-9.16 [[ 9.51142866e-01 -1.88907091e-01 2.44215807e-01 5.22308850e+01] [ 1.79573982e-01 9.81904204e-01 6.01441595e-02 1.92733031e+00] [-2.51158186e-01 -1.33508833e-02 9.67853976e-01 -9.15983128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:52.23, Y:2.06, Z:-9.19 [[ 0.93632336 -0.15211738 0.31647885 52.22787813] [ 0.1792467 0.98207687 -0.05827218 2.05778041] [-0.30194235 0.11128939 0.94680805 -9.18845814] [ 0. 0. 0. 1. ]] SLAMing on 52.795919999999995 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:52.26, Y:1.95, Z:-9.19 [[ 9.42737315e-01 -1.86848496e-01 2.76286075e-01 5.22552120e+01] [ 1.81516023e-01 9.82358281e-01 4.49904661e-02 1.94564340e+00] [-2.79818314e-01 7.73615835e-03 9.60021803e-01 -9.18858040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:52.33, Y:1.91, Z:-9.18 [[ 0.93851587 -0.1998417 0.28151601 52.32834782] [ 0.17557269 0.97838983 0.10921341 1.91242234] [-0.2972578 -0.053072 0.95332112 -9.17771331] [ 0. 0. 0. 1. ]] SLAMing on 52.85592 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:52.37, Y:1.88, Z:-9.17 [[ 0.94667448 -0.21427603 0.24061009 52.36843009] [ 0.18391864 0.97255853 0.14249154 1.88047439] [-0.26453992 -0.09064043 0.96010569 -9.17382959] [ 0. 0. 0. 1. ]] SLAMing on 52.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:52.42, Y:3.17, Z:-8.53 [[ 0.90826184 0.34078256 0.24275025 52.41563827] [ 0.19895084 0.15863668 -0.96708478 3.16741094] [-0.36807472 0.92666156 0.07628466 -8.53189969] [ 0. 0. 0. 1. ]] SLAMing on 52.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.45, Y:1.99, Z:-9.17 [[ 9.14600056e-01 -1.83114209e-01 3.60521739e-01 5.24458015e+01] [ 1.67922041e-01 9.83070048e-01 7.33175919e-02 1.98899436e+00] [-3.67843616e-01 -6.51672731e-03 9.29864832e-01 -9.17231827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:52.50, Y:1.92, Z:-9.16 [[ 0.92625684 -0.20983937 0.3130746 52.49704026] [ 0.17011376 0.97401194 0.14953949 1.91723583] [-0.33631767 -0.08525367 0.93788178 -9.16002626] [ 0. 0. 0. 1. ]] SLAMing on 52.975919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:3.22, Z:-8.54 [[ 0.87757238 0.41600552 0.23834035 52.61562113] [ 0.18702778 0.16069606 -0.96912197 3.21562896] [-0.44146044 0.89505094 0.06321784 -8.53905098] [ 0. 0. 0. 1. ]] SLAMing on 53.005919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:52.61, Y:1.96, Z:-9.15 [[ 0.90838589 -0.19514434 0.36980233 52.60903807] [ 0.15298266 0.97820328 0.14040889 1.96331485] [-0.38914185 -0.07097211 0.91843975 -9.15152397] [ 0. 0. 0. 1. ]] SLAMing on 53.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:3.30, Z:-8.28 [[ 0.8417127 0.53014434 0.10230688 52.90807794] [ 0.20350405 -0.13599488 -0.96958315 3.30442112] [-0.50010581 0.83693032 -0.22235514 -8.28089931] [ 0. 0. 0. 1. ]] SLAMing on 53.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:2.00, Z:-9.16 [[ 8.70034009e-01 -2.02456177e-01 4.49502302e-01 5.27335186e+01] [ 1.60389507e-01 9.78423493e-01 1.30240833e-01 1.99692670e+00] [-4.66171674e-01 -4.12185012e-02 8.83733560e-01 -9.16083241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:3.32, Z:-8.37 [[ 0.80716771 0.58182562 0.09979597 53.05215464] [ 0.17304961 -0.07158442 -0.98230825 3.31802787] [-0.56438827 0.81015716 -0.15846533 -8.36601223] [ 0. 0. 0. 1. ]] SLAMing on 53.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:2.01, Z:-9.17 [[ 8.30669307e-01 -2.24409750e-01 5.09537798e-01 5.28601870e+01] [ 1.78932172e-01 9.74225035e-01 1.37363967e-01 2.01189960e+00] [-5.27230292e-01 -2.29313264e-02 8.49412958e-01 -9.17474669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:3.33, Z:-8.19 [[ 7.63070752e-01 6.44626448e-01 -4.66880035e-02 5.33648320e+01] [ 2.16254301e-01 -3.22726877e-01 -9.21456152e-01 3.33196714e+00] [-6.09062479e-01 6.93039757e-01 -3.85666683e-01 -8.18504069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.03, Y:1.97, Z:-9.21 [[ 7.92233483e-01 -2.85460522e-01 5.39331437e-01 5.30302901e+01] [ 2.08423669e-01 9.57264612e-01 2.00509444e-01 1.97001832e+00] [-5.73520430e-01 -4.64408580e-02 8.17873807e-01 -9.20583676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:3.35, Z:-8.22 [[ 7.20988291e-01 6.91184211e-01 -4.93991014e-02 5.35620664e+01] [ 2.65952167e-01 -3.41839159e-01 -9.01340909e-01 3.35207146e+00] [-6.39879152e-01 6.36718443e-01 -4.30283970e-01 -8.22393559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:1.98, Z:-9.26 [[ 7.46787300e-01 -3.16825861e-01 5.84747896e-01 5.31871070e+01] [ 2.30558301e-01 9.48043638e-01 2.19217086e-01 1.98009827e+00] [-6.23820165e-01 -2.88900543e-02 7.81033781e-01 -9.26019648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:3.38, Z:-8.36 [[ 6.68909945e-01 7.42429561e-01 -3.68487812e-02 5.36892427e+01] [ 2.44123813e-01 -2.66230928e-01 -9.32483060e-01 3.38071233e+00] [-7.02113274e-01 6.14751528e-01 -3.59329251e-01 -8.35982695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:1.99, Z:-8.17 [[ 0.72150958 -0.24479941 -0.64768601 54.63114983] [ 0.32327472 -0.70810595 0.62775745 1.99269374] [-0.61230497 -0.66231353 -0.43176777 -8.17245395] [ 0. 0. 0. 1. ]] SLAMing on 53.335919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:2.00, Z:-9.52 [[ 7.03234259e-01 -4.00997924e-01 5.87079417e-01 5.35172136e+01] [ 2.97775530e-01 9.15967080e-01 2.68949888e-01 1.99600353e+00] [-6.45593766e-01 -1.43168909e-02 7.63546800e-01 -9.51856413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:2.00, Z:-9.55 [[ 7.23346125e-01 -4.03588591e-01 5.60255864e-01 5.35581528e+01] [ 3.02031929e-01 9.14591191e-01 2.68885975e-01 2.00402174e+00] [-6.20924389e-01 -2.52824683e-02 7.83462635e-01 -9.54813284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:3.33, Z:-8.34 [[ 0.65332585 0.71789373 -0.24040369 54.24947182] [ 0.37899746 -0.58502004 -0.71701637 3.32760121] [-0.65538253 0.37733294 -0.65428861 -8.34388855] [ 0. 0. 0. 1. ]] SLAMing on 53.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:2.00, Z:-9.64 [[ 6.77512953e-01 -4.70818893e-01 5.65071472e-01 5.37567078e+01] [ 3.44062427e-01 8.81905318e-01 3.22279470e-01 1.99602469e+00] [-6.50074800e-01 -2.39286534e-02 7.59493367e-01 -9.63825352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:3.37, Z:-8.46 [[ 0.6045913 0.75922502 -0.24092887 54.42100482] [ 0.4157626 -0.55879052 -0.71756158 3.36863949] [-0.67941947 0.33366228 -0.65349726 -8.45647209] [ 0. 0. 0. 1. ]] SLAMing on 53.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:2.00, Z:-9.74 [[ 6.08044777e-01 -5.34635781e-01 5.86895332e-01 5.39460036e+01] [ 3.75901423e-01 8.45015611e-01 3.80324517e-01 2.00176378e+00] [-6.99270813e-01 -1.06395453e-02 7.14777679e-01 -9.73894631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:2.02, Z:-9.77 [[ 6.09059088e-01 -5.32238766e-01 5.88021192e-01 5.39737292e+01] [ 3.74989019e-01 8.46539657e-01 3.77827799e-01 2.02309797e+00] [-6.98877860e-01 -9.61796448e-03 7.15176364e-01 -9.77216630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:2.05, Z:-9.81 [[ 6.20124820e-01 -5.26592560e-01 5.81502779e-01 5.39997219e+01] [ 3.76196831e-01 8.50061039e-01 3.68608430e-01 2.04734981e+00] [-6.88419314e-01 -9.82373360e-03 7.25246401e-01 -9.80868295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.96, Y:3.19, Z:-8.50 [[ 5.59817822e-01 6.07816395e-01 -5.63172474e-01 5.49616907e+01] [ 4.48502477e-01 -7.93756380e-01 -4.10848314e-01 3.19339137e+00] [-6.96742086e-01 -2.25840412e-02 -7.16966127e-01 -8.50309809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:2.02, Z:-9.96 [[ 0.58355622 -0.62828452 0.51451016 54.25943739] [ 0.42009019 0.77577138 0.47085348 2.0240611 ] [-0.6949722 -0.05862881 0.71664238 -9.95517908] [ 0. 0. 0. 1. ]] SLAMing on 53.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:2.10, Z:-10.01 [[ 5.91557603e-01 -5.86015829e-01 5.53755407e-01 5.42350042e+01] [ 4.19774959e-01 8.10243869e-01 4.09015716e-01 2.09573956e+00] [-6.88366607e-01 -9.50370324e-03 7.25300692e-01 -1.00051274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:3.03, Z:-8.68 [[ 0.53824801 0.44939262 -0.71297641 55.32450656] [ 0.51169129 -0.84645944 -0.14723601 3.02835712] [-0.66967239 -0.28557432 -0.6855554 -8.67962749] [ 0. 0. 0. 1. ]] SLAMing on 53.695919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:2.09, Z:-10.17 [[ 0.56862983 -0.67891286 0.46447546 54.49322265] [ 0.46817196 0.73137851 0.49588354 2.09248192] [ -0.67636908 -0.06451979 0.7337316 -10.17074291] [ 0. 0. 0. 1. ]] SLAMing on 53.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:2.15, Z:-10.22 [[ 5.86265149e-01 -6.48712258e-01 4.85247958e-01 5.44831760e+01] [ 4.73439388e-01 7.60406325e-01 4.44564244e-01 2.15377921e+00] [-6.57379891e-01 -3.08970262e-02 7.52925662e-01 -1.02164881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755919999999996 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:54.57, Y:3.69, Z:-9.22 [[ 0.50802259 0.84500948 0.16694917 54.5708851 ] [ 0.49623243 -0.12870295 -0.85859707 3.68686526] [-0.70403581 0.5190323 -0.48470512 -9.22043336] [ 0. 0. 0. 1. ]] SLAMing on 53.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:2.38, Z:-9.46 [[ 0.55933126 -0.34007839 -0.75597304 55.82214032] [ 0.5464012 -0.5345553 0.64474519 2.38407333] [-0.6233733 -0.77369071 -0.11317425 -9.4576628 ] [ 0. 0. 0. 1. ]] SLAMing on 53.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:3.45, Z:-10.07 [[ 0.51966124 0.37089037 0.7696704 54.27442784] [ 0.48032228 0.61819228 -0.62219676 3.45223255] [ -0.70657109 0.69302138 0.14310366 -10.07499814] [ 0. 0. 0. 1. ]] SLAMing on 53.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:3.42, Z:-9.19 [[ 0.45525577 0.54143033 -0.70682061 55.77619819] [ 0.58226236 -0.78161992 -0.22369811 3.41885685] [-0.67358201 -0.30971519 -0.67109148 -9.19378058] [ 0. 0. 0. 1. ]] SLAMing on 53.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:2.40, Z:-10.66 [[ 0.51065065 -0.77537918 0.37151454 55.05303999] [ 0.55252147 0.62700706 0.54916498 2.40011162] [ -0.65875332 -0.07516169 0.7485952 -10.66350189] [ 0. 0. 0. 1. ]] SLAMing on 53.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:3.93, Z:-9.78 [[ 0.41996976 0.81617189 0.39684865 54.79778842] [ 0.53409379 0.13126396 -0.83517279 3.93340413] [-0.73373648 0.56270172 -0.38078545 -9.77687508] [ 0. 0. 0. 1. ]] SLAMing on 53.935919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.16, Y:3.45, Z:-9.53 [[ 0.37759348 0.42795977 -0.82114165 56.16178783] [ 0.65667737 -0.74897495 -0.0883819 3.45144352] [-0.65283842 -0.50585271 -0.56383955 -9.53430557] [ 0. 0. 0. 1. ]] SLAMing on 53.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.39, Y:2.56, Z:-10.91 [[ 0.45008358 -0.85135025 0.26949493 55.38720227] [ 0.6060546 0.51286604 0.60800185 2.55711247] [ -0.65583733 -0.11032301 0.74679732 -10.90994728] [ 0. 0. 0. 1. ]] SLAMing on 53.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.70, Y:3.85, Z:-10.40 [[ 3.90504670e-01 4.69992653e-01 7.91588914e-01 5.46982574e+01] [ 5.38279681e-01 5.80990213e-01 -6.10495994e-01 3.85157947e+00] [-7.46834043e-01 6.64497765e-01 -2.61081037e-02 -1.04034280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:3.79, Z:-9.80 [[ 0.34175818 0.49834152 -0.79677919 56.33121108] [ 0.64047487 -0.7439546 -0.19058723 3.78959623] [-0.68774507 -0.44518231 -0.57342779 -9.7984578 ] [ 0. 0. 0. 1. ]] SLAMing on 54.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:2.78, Z:-11.17 [[ 3.66031084e-01 -8.62241994e-01 3.50085688e-01 5.55273226e+01] [ 5.97841575e-01 5.06168473e-01 6.21593861e-01 2.78293941e+00] [-7.13166668e-01 -1.82268952e-02 7.00757507e-01 -1.11696405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.54, Y:2.82, Z:-11.21 [[ 3.68351977e-01 -8.59313398e-01 3.54820103e-01 5.55371586e+01] [ 5.96314013e-01 5.11186164e-01 6.18949354e-01 2.81567099e+00] [-7.13250600e-01 -1.64070189e-02 7.00717055e-01 -1.12050732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:2.85, Z:-11.24 [[ 3.69912289e-01 -8.57609323e-01 3.57310994e-01 5.55500327e+01] [ 5.95134228e-01 5.14057450e-01 6.17705584e-01 2.84730936e+00] [-7.13428446e-01 -1.58488839e-02 7.00548831e-01 -1.12398766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:2.88, Z:-11.27 [[ 3.72228907e-01 -8.55612353e-01 3.59684782e-01 5.55637726e+01] [ 5.93691766e-01 5.17373751e-01 6.16323364e-01 2.87925230e+00] [-7.13425349e-01 -1.58714787e-02 7.00551474e-01 -1.12746122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:2.89, Z:-11.30 [[ 0.39360199 -0.87426131 0.28415602 55.64129216] [ 0.62153692 0.48083603 0.6184566 2.8903814 ] [ -0.67732513 -0.06681229 0.7326437 -11.296262 ] [ 0. 0. 0. 1. ]] SLAMing on 54.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:4.25, Z:-10.66 [[ 0.30314042 0.59664208 0.74305055 54.9915104 ] [ 0.57285096 0.50903255 -0.64243882 4.25380933] [ -0.76154295 0.62040639 -0.18747865 -10.65667942] [ 0. 0. 0. 1. ]] SLAMing on 54.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:3.02, Z:-11.38 [[ 3.48336031e-01 -8.75913422e-01 3.33822838e-01 5.57104637e+01] [ 5.67672175e-01 4.80516846e-01 6.68469792e-01 3.02121531e+00] [-7.45929160e-01 -4.33501773e-02 6.64613008e-01 -1.13780443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:4.53, Z:-10.62 [[ 0.27004602 0.78753763 0.55394913 55.23995338] [ 0.52922597 0.35921931 -0.76868808 4.53030636] [ -0.80436001 0.50074542 -0.31977962 -10.6209627 ] [ 0. 0. 0. 1. ]] SLAMing on 54.295919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.75, Y:4.29, Z:-10.45 [[ 0.21687229 0.44389235 -0.86944004 56.75336234] [ 0.62555889 -0.74693512 -0.22530869 4.29063015] [ -0.7494281 -0.49502274 -0.43967034 -10.45453743] [ 0. 0. 0. 1. ]] SLAMing on 54.325919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:3.20, Z:-11.67 [[ 0.2763915 -0.9435126 0.18273401 56.04104004] [ 0.61369105 0.31960063 0.72196865 3.20253433] [ -0.73958842 -0.08740377 0.66736014 -11.66657058] [ 0. 0. 0. 1. ]] SLAMing on 54.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:55.27, Y:4.61, Z:-10.99 [[ 0.19892753 0.66772495 0.7173362 55.27175239] [ 0.5593418 0.52367674 -0.6425725 4.60586488] [ -0.80471398 0.52906148 -0.26931275 -10.98522483] [ 0. 0. 0. 1. ]] SLAMing on 54.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:4.44, Z:-10.85 [[ 0.16703695 0.33311933 -0.927971 56.97937276] [ 0.65009135 -0.74483121 -0.15035858 4.44399958] [ -0.74126911 -0.57815048 -0.34097233 -10.85226932] [ 0. 0. 0. 1. ]] SLAMing on 54.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.21, Y:3.43, Z:-11.97 [[ 0.21850912 -0.96573485 0.1400356 56.21209938] [ 0.63538865 0.24971881 0.73069952 3.43479046] [ -0.74063151 -0.07068747 0.66818279 -11.9740972 ] [ 0. 0. 0. 1. ]] SLAMing on 54.445919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:4.71, Z:-11.33 [[ 0.14661154 0.55115142 0.82142387 55.3230657 ] [ 0.56919745 0.63214519 -0.52574396 4.71207704] [ -0.80902368 0.5446325 -0.2210342 -11.33105946] [ 0. 0. 0. 1. ]] SLAMing on 54.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:4.77, Z:-11.15 [[ 0.11992415 0.42536272 -0.89704223 57.0604845 ] [ 0.66042666 -0.7088178 -0.24781839 4.76796907] [ -0.7412522 -0.56271119 -0.36592525 -11.15237953] [ 0. 0. 0. 1. ]] SLAMing on 54.505919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:3.67, Z:-12.28 [[ 1.42084863e-01 -9.81349590e-01 1.29479243e-01 5.63318704e+01] [ 6.34756480e-01 1.90701366e-01 7.48810524e-01 3.67009300e+00] [-7.59536769e-01 -2.42068526e-02 6.50013788e-01 -1.22790390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:4.84, Z:-11.62 [[ 0.10972068 0.47410408 0.87360557 55.38984671] [ 0.58223007 0.68168431 -0.44307409 4.84449094] [ -0.80558644 0.55725382 -0.20124279 -11.62430754] [ 0. 0. 0. 1. ]] SLAMing on 54.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:5.36, Z:-11.28 [[ 2.36225342e-02 8.79472378e-01 -4.75363348e-01 5.66814697e+01] [ 6.48967277e-01 -3.75181716e-01 -6.61876237e-01 5.36070425e+00] [-7.60449505e-01 -2.92860063e-01 -5.79611537e-01 -1.12840858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:56.58, Y:3.92, Z:-12.53 [[ 2.36716949e-02 -9.99660934e-01 -1.08474942e-02 5.65803458e+01] [ 6.45467758e-01 6.99685516e-03 7.63755469e-01 3.92369727e+00] [-7.63420607e-01 -2.50810942e-02 6.45414529e-01 -1.25283499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:55.43, Y:4.64, Z:-12.16 [[ 4.49998355e-02 -3.46024358e-02 9.98387543e-01 5.54331699e+01] [ 5.76579558e-01 8.17037690e-01 2.32926477e-03 4.64362141e+00] [-8.15800850e-01 5.75545032e-01 5.67176189e-02 -1.21606709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:5.59, Z:-11.65 [[-3.91646599e-02 9.34423066e-01 3.54005175e-01 5.59259485e+01] [ 5.42827037e-01 3.17338105e-01 -7.77583008e-01 5.58720743e+00] [-8.38930830e-01 1.61709806e-01 -5.19658543e-01 -1.16453607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:5.47, Z:-11.88 [[ -0.06143701 0.47853769 -0.87591505 57.20243659] [ 0.57478916 -0.70048488 -0.42301106 5.4716364 ] [ -0.81599198 -0.52945501 -0.23202258 -11.8776185 ] [ 0. 0. 0. 1. ]] SLAMing on 54.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.81, Y:4.21, Z:-12.76 [[ -0.05933083 -0.98084832 -0.18551666 56.81019058] [ 0.57648153 -0.18538809 0.79580168 4.21154269] [ -0.81495331 -0.05973136 0.57644016 -12.76251172] [ 0. 0. 0. 1. ]] SLAMing on 54.74592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:55.53, Y:4.65, Z:-12.43 [[-4.96671386e-02 -1.87220925e-01 9.81061415e-01 5.55318303e+01] [ 5.23176995e-01 8.31850196e-01 1.85232509e-01 4.65474393e+00] [-8.50775533e-01 5.22468732e-01 5.66340620e-02 -1.24264774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:5.83, Z:-11.80 [[-1.13120887e-01 9.92508875e-01 4.61497298e-02 5.62049286e+01] [ 5.35748858e-01 1.00047139e-01 -8.38429324e-01 5.82627335e+00] [-8.36765693e-01 -7.01192040e-02 -5.43052918e-01 -1.18029385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:4.30, Z:-12.86 [[-1.18961032e-01 -9.70338855e-01 -2.10453749e-01 5.68382581e+01] [ 5.12990725e-01 -2.41543116e-01 8.23709560e-01 4.30287816e+00] [-8.50111045e-01 -9.97148183e-03 5.26509051e-01 -1.28631094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:4.48, Z:-12.65 [[ -0.09668103 -0.49168201 0.865391 55.69088857] [ 0.4611488 0.74838346 0.47672212 4.48395213] [ -0.88204 0.445164 0.15438409 -12.64604563] [ 0. 0. 0. 1. ]] SLAMing on 54.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:5.75, Z:-12.07 [[ -0.14363839 0.85673851 0.49534548 55.78238013] [ 0.44502925 0.50298967 -0.74091184 5.75299034] [ -0.88392136 0.11401985 -0.45352232 -12.06754832] [ 0. 0. 0. 1. ]] SLAMing on 54.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:4.38, Z:-12.92 [[-1.38124368e-01 -9.48780313e-01 -2.84143586e-01 5.68937073e+01] [ 4.09018541e-01 -3.15930070e-01 8.56091131e-01 4.38335566e+00] [-9.02011914e-01 2.02705156e-03 4.31706380e-01 -1.29176490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.94, Y:4.39, Z:-12.88 [[-1.39427284e-01 -9.36064145e-01 -3.23023139e-01 5.69355925e+01] [ 4.22038549e-01 -3.51271757e-01 8.35758108e-01 4.39353267e+00] [-8.95792105e-01 -1.98007339e-02 4.44032021e-01 -1.28836737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:4.75, Z:-12.63 [[-1.26963288e-01 -2.39812433e-01 9.62481335e-01 5.55368033e+01] [ 3.74050040e-01 8.87120436e-01 2.70377329e-01 4.74602296e+00] [-9.18676707e-01 3.94344176e-01 -2.29298776e-02 -1.26321542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:4.46, Z:-12.92 [[-1.05403738e-01 -9.13813979e-01 -3.92216859e-01 5.69835775e+01] [ 3.35293543e-01 -4.03976406e-01 8.51105929e-01 4.45757166e+00] [-9.36198853e-01 -4.17980344e-02 3.48976550e-01 -1.29206123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:4.60, Z:-12.82 [[ -0.07881902 -0.49021568 0.86803004 55.6658475 ] [ 0.31991904 0.81224471 0.48776054 4.59574498] [ -0.94416067 0.31614414 0.09280899 -12.8185107 ] [ 0. 0. 0. 1. ]] SLAMing on 55.045919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:5.99, Z:-12.43 [[-1.31468192e-01 8.95253916e-01 4.25718850e-01 5.58023862e+01] [ 3.01928640e-01 4.45204188e-01 -8.42990111e-01 5.98731333e+00] [-9.44222013e-01 1.77103279e-02 -3.28832988e-01 -1.24278781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.02, Y:4.57, Z:-13.05 [[-1.44859545e-01 -8.80898219e-01 -4.50592986e-01 5.70218912e+01] [ 2.67468332e-01 -4.73304550e-01 8.39311321e-01 4.56844562e+00] [-9.52615559e-01 1.06290143e-03 3.04175059e-01 -1.30519557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.57, Y:4.75, Z:-12.85 [[-1.36229767e-01 -3.52510889e-01 9.25838822e-01 5.55713922e+01] [ 2.19524541e-01 9.00576839e-01 3.75193728e-01 4.74745608e+00] [-9.66048874e-01 2.54356897e-01 -4.53005814e-02 -1.28467119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:55.58, Y:4.74, Z:-12.91 [[-1.08693208e-01 -3.90326005e-01 9.14238151e-01 5.55791408e+01] [ 1.58240398e-01 9.01166327e-01 4.03558207e-01 4.74320509e+00] [-9.81399900e-01 1.88533445e-01 -3.61853163e-02 -1.29129708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:5.82, Z:-12.90 [[-9.14368806e-02 2.91682866e-01 -9.52134656e-01 5.72269100e+01] [ 2.02461724e-01 -9.30724528e-01 -3.04567075e-01 5.82064986e+00] [-9.75012075e-01 -2.20619487e-01 2.60479316e-02 -1.29020901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.04, Y:4.63, Z:-13.20 [[-1.06948381e-01 -8.65757474e-01 -4.88902894e-01 5.70381664e+01] [ 2.10426796e-01 -5.00293538e-01 8.39896981e-01 4.63439317e+00] [-9.71742048e-01 -1.30526473e-02 2.35684155e-01 -1.31951235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:4.76, Z:-13.02 [[-9.34356530e-02 -3.88689117e-01 9.16619086e-01 5.55680083e+01] [ 1.63728076e-01 9.02114240e-01 3.99228025e-01 4.75714811e+00] [-9.82070718e-01 1.87378410e-01 -2.06503118e-02 -1.30196999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.87, Y:6.20, Z:-12.97 [[ -0.08812847 0.70759606 -0.70109998 56.87306949] [ 0.20969038 -0.67488829 -0.70749964 6.19762657] [ -0.97378813 -0.20936479 -0.08889922 -12.96968854] [ 0. 0. 0. 1. ]] SLAMing on 55.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:4.66, Z:-13.31 [[-1.13195934e-01 -8.65350519e-01 -4.88216304e-01 5.70354209e+01] [ 1.83601619e-01 -5.01130124e-01 8.45670766e-01 4.66235897e+00] [-9.76461533e-01 6.08918849e-03 2.15605649e-01 -1.33123434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:5.70, Z:-12.96 [[ -0.15538482 0.55468441 0.81742324 55.44076316] [ 0.1736835 0.82992384 -0.53015135 5.6951255 ] [ -0.97246573 0.05959546 -0.2252971 -12.95982517] [ 0. 0. 0. 1. ]] SLAMing on 55.34592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.21, Y:4.89, Z:-13.34 [[-1.40913103e-01 -6.96246177e-01 -7.03835747e-01 5.72096268e+01] [ 1.35065284e-01 -7.17802105e-01 6.83020869e-01 4.89231744e+00] [-9.80765449e-01 1.18281466e-03 1.95186409e-01 -1.33410184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37592 meters Centerline goodness : 0.910980 Centerline is valid? [True, False] Translation: X:57.17, Y:4.84, Z:-13.33 [[-1.48223439e-01 -7.41318661e-01 -6.54581130e-01 5.71745934e+01] [ 1.32237876e-01 -6.70805372e-01 7.29748790e-01 4.84079260e+00] [-9.80072934e-01 2.16054569e-02 1.97459484e-01 -1.33269244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:57.14, Y:4.79, Z:-13.31 [[-1.56604374e-01 -7.82963240e-01 -6.02032919e-01 5.71361474e+01] [ 1.29820404e-01 -6.20583553e-01 7.73319285e-01 4.79253613e+00] [-9.79092300e-01 4.29490259e-02 1.98830703e-01 -1.33120150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:5.91, Z:-12.85 [[ -0.22593192 0.72450058 0.65119404 55.56031263] [ 0.13613191 0.68540114 -0.71532746 5.91466582] [ -0.9645843 -0.07296702 -0.25348164 -12.84783232] [ 0. 0. 0. 1. ]] SLAMing on 55.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:5.21, Z:-13.40 [[-1.93423088e-01 -4.42452160e-01 -8.75684644e-01 5.73084961e+01] [ 9.62890961e-02 -8.96791761e-01 4.31848291e-01 5.21191621e+00] [-9.76378983e-01 -7.89452674e-04 2.16063550e-01 -1.34015063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:6.27, Z:-13.03 [[ -0.2757194 0.93258035 0.23296503 55.88107669] [ 0.11908317 0.27363151 -0.95443439 6.26768197] [ -0.95383333 -0.23541386 -0.18650014 -13.02501299] [ 0. 0. 0. 1. ]] SLAMing on 55.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.56, Y:4.46, Z:-13.45 [[-2.11133454e-01 -9.77439657e-01 5.86351254e-03 5.65583490e+01] [ 7.24278908e-02 -9.66209238e-03 9.97326849e-01 4.45943277e+00] [-9.74770160e-01 2.10993744e-01 7.28338837e-02 -1.34539354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.57, Y:6.38, Z:-13.31 [[-2.56471220e-01 8.35756192e-01 -4.85524562e-01 5.65658215e+01] [ 1.46136260e-01 -4.63022391e-01 -8.74216483e-01 6.38489157e+00] [-9.55440583e-01 -2.95164112e-01 -3.38236700e-03 -1.33147436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.84, Y:4.54, Z:-13.42 [[ -0.22753542 -0.72335842 0.65190507 55.83591562] [ 0.06426013 0.65685196 0.75127634 4.54305949] [ -0.97164719 0.21283348 -0.10297398 -13.41804744] [ 0. 0. 0. 1. ]] SLAMing on 55.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:5.35, Z:-13.68 [[-1.92653598e-01 -3.46807142e-01 -9.17937578e-01 5.72574984e+01] [ 9.08008086e-02 -9.37748726e-01 3.35235053e-01 5.35141229e+00] [-9.77056705e-01 -1.87652354e-02 2.12151034e-01 -1.36750103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:6.26, Z:-13.36 [[ -0.29700213 0.89742991 0.32620436 55.71905482] [ 0.07751829 0.36315224 -0.92849952 6.25995456] [ -0.95172509 -0.25047953 -0.17742422 -13.35576297] [ 0. 0. 0. 1. ]] SLAMing on 55.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.73, Y:4.61, Z:-13.54 [[-2.31353163e-01 -6.80507305e-01 6.95259320e-01 5.57290474e+01] [-8.21039276e-03 7.15988108e-01 6.98064194e-01 4.60705017e+00] [-9.72835188e-01 1.55791007e-01 -1.71233346e-01 -1.35422552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.17, Y:5.70, Z:-13.91 [[-2.22472990e-01 -1.71934032e-02 -9.74787236e-01 5.71709182e+01] [ 4.26070001e-02 -9.99060696e-01 7.89746360e-03 5.70025135e+00] [-9.74007399e-01 -3.97757875e-02 2.22996579e-01 -1.39062367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:4.47, Z:-13.75 [[-1.43159473e-01 -9.61608854e-01 2.34123424e-01 5.62044197e+01] [-1.54582956e-02 2.38703790e-01 9.70969382e-01 4.47063968e+00] [-9.89578904e-01 1.35384316e-01 -4.90375427e-02 -1.37533396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:6.45, Z:-13.83 [[-2.41235940e-01 8.99667010e-01 -3.63874281e-01 5.63323165e+01] [ 5.30681758e-02 -3.62157623e-01 -9.30604978e-01 6.44958160e+00] [-9.69014442e-01 -2.43805511e-01 3.96217478e-02 -1.38296341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:5.55, Z:-14.10 [[ -0.19937793 -0.16095779 -0.96661317 57.15228617] [ 0.09977862 -0.98462553 0.14337638 5.55300573] [ -0.97482956 -0.06786124 0.21237275 -14.10177812] [ 0. 0. 0. 1. ]] SLAMing on 55.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:5.09, Z:-13.78 [[-2.17487995e-01 -1.56564859e-01 9.63424318e-01 5.52647820e+01] [-1.05885965e-02 9.87371742e-01 1.58066204e-01 5.09184802e+00] [-9.76005560e-01 2.41761905e-02 -2.16399303e-01 -1.37829004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:5.69, Z:-14.17 [[-1.93892673e-01 -2.60812594e-02 -9.80675991e-01 5.71175235e+01] [ 3.16339279e-02 -9.99292907e-01 2.03219319e-02 5.68708743e+00] [-9.80512583e-01 -2.70823599e-02 1.94580626e-01 -1.41661213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:5.49, Z:-13.81 [[ -0.23475109 0.21876979 0.94711758 55.18263563] [ -0.05638098 0.96964042 -0.23794672 5.49419807] [ -0.97041904 -0.10925767 -0.21528969 -13.81212977] [ 0. 0. 0. 1. ]] SLAMing on 55.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:5.92, Z:-14.27 [[-2.04860677e-01 2.16269277e-01 -9.54599237e-01 5.70180930e+01] [-2.79189187e-02 -9.76178197e-01 -2.15166591e-01 5.91509086e+00] [-9.78392885e-01 -1.74277953e-02 2.06018531e-01 -1.42720942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:4.51, Z:-14.11 [[-1.57039297e-01 -9.87350709e-01 2.18457544e-02 5.63246229e+01] [-5.06751565e-02 3.01470746e-02 9.98260078e-01 4.50954100e+00] [-9.86291381e-01 1.55659024e-01 -5.47684270e-02 -1.41074072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:5.95, Z:-14.32 [[-1.54117843e-01 2.63291943e-01 -9.52326122e-01 5.69764742e+01] [-2.75488521e-02 -9.64612001e-01 -2.62230335e-01 5.95266850e+00] [-9.87668341e-01 -1.41788820e-02 1.55917312e-01 -1.43181070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:5.02, Z:-14.05 [[-1.65867478e-01 -2.66147619e-01 9.49554329e-01 5.52420205e+01] [-9.84544811e-02 9.62550680e-01 2.52592367e-01 5.02351852e+00] [-9.81221022e-01 -5.15910198e-02 -1.85859280e-01 -1.40520478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:6.19, Z:-14.43 [[-1.34052596e-01 5.42875919e-01 -8.29045016e-01 5.67728102e+01] [-6.77984652e-02 -8.39659952e-01 -5.38864114e-01 6.19496139e+00] [-9.88652249e-01 -1.60281539e-02 1.49364751e-01 -1.44283588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:6.12, Z:-14.48 [[-1.48175089e-01 4.52741376e-01 -8.79243646e-01 5.68376662e+01] [-6.63253442e-02 -8.91605490e-01 -4.47929233e-01 6.11723731e+00] [-9.86734560e-01 -8.05581655e-03 1.62141950e-01 -1.44754361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:5.85, Z:-14.24 [[ -0.21474662 0.54715886 0.8090124 55.17326779] [ -0.10592293 0.81040408 -0.57621659 5.85211918] [ -0.97090897 -0.20943353 -0.11607487 -14.24400569] [ 0. 0. 0. 1. ]] SLAMing on 56.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:6.18, Z:-14.65 [[-2.01302253e-01 5.42533699e-01 -8.15557839e-01 5.67424616e+01] [-1.22691862e-01 -8.40010194e-01 -5.28516396e-01 6.17827721e+00] [-9.71814854e-01 -6.32923186e-03 2.35660414e-01 -1.46469079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:4.66, Z:-14.51 [[-1.53880501e-01 -9.08702979e-01 -3.88045987e-01 5.66318560e+01] [-8.65215806e-02 -3.78823137e-01 9.21415784e-01 4.65992131e+00] [-9.84294066e-01 1.75362275e-01 -2.03289239e-02 -1.45140876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:5.31, Z:-14.39 [[-1.54094105e-01 4.48882060e-02 9.87035995e-01 5.50739989e+01] [-1.41294286e-01 9.87699353e-01 -6.69769582e-02 5.30808763e+00] [-9.77901289e-01 -1.49783300e-01 -1.45856201e-01 -1.43927032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:4.57, Z:-14.56 [[ -0.08979218 -0.96773139 -0.23544281 56.4704834 ] [ -0.15129236 -0.22040096 0.96360471 4.56929513] [ -0.98440235 0.12214487 -0.12662008 -14.55677564] [ 0. 0. 0. 1. ]] SLAMing on 56.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:6.40, Z:-14.84 [[-6.01568372e-02 8.83292901e-01 -4.64946025e-01 5.62629404e+01] [-1.36242064e-01 -4.68696197e-01 -8.72789766e-01 6.40303168e+00] [-9.88847438e-01 1.08409342e-02 1.48536929e-01 -1.48424299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:5.21, Z:-14.64 [[-9.22267548e-02 -1.84547285e-02 9.95566999e-01 5.50470526e+01] [-1.85299885e-01 9.82681459e-01 1.05016786e-03 5.21337817e+00] [-9.78344611e-01 -1.84381596e-01 -9.40491811e-02 -1.46431557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.00, Y:5.47, Z:-14.92 [[-6.11046363e-02 -1.78991051e-01 -9.81951336e-01 5.69985968e+01] [-1.62798190e-01 -9.68828576e-01 1.86729589e-01 5.46892679e+00] [-9.84765440e-01 1.71269944e-01 3.00604986e-02 -1.49234502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.09, Y:5.01, Z:-14.78 [[ -0.07035411 -0.19706993 0.97786182 55.09186437] [ -0.18655298 0.96559479 0.18117584 5.01373568] [ -0.97992259 -0.16967658 -0.10469754 -14.77623038] [ 0. 0. 0. 1. ]] SLAMing on 56.365919999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:56.83, Y:4.88, Z:-14.91 [[-1.16065390e-02 -7.20160861e-01 -6.93710042e-01 5.68317368e+01] [-1.84433499e-01 -6.80311945e-01 7.09337678e-01 4.87572029e+00] [-9.82776461e-01 1.36176326e-01 -1.24925720e-01 -1.49068636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:55.74, Y:6.36, Z:-15.16 [[ 1.00158323e-02 9.99880515e-01 -1.17745268e-02 5.57435702e+01] [-1.46503198e-01 -1.01807301e-02 -9.89157806e-01 6.35775480e+00] [-9.89159490e-01 1.16322445e-02 1.46383725e-01 -1.51613591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:55.26, Y:4.70, Z:-14.97 [[ 1.33381170e-02 -4.99364383e-01 8.66289390e-01 5.52623104e+01] [-1.99879558e-01 8.47548901e-01 4.91639118e-01 4.69889207e+00] [-9.79729686e-01 -1.79711081e-01 -8.85080259e-02 -1.49731921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:55.49, Y:6.25, Z:-15.30 [[ 3.09460875e-02 9.67996207e-01 2.49049559e-01 5.54856526e+01] [-2.03781734e-01 2.50045633e-01 -9.46546452e-01 6.24768582e+00] [-9.78527130e-01 -2.14598416e-02 2.04997879e-01 -1.53037777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:4.80, Z:-15.13 [[ 2.15343657e-02 -3.86661417e-01 9.21970292e-01 5.51621579e+01] [-2.75949954e-01 8.84061864e-01 3.77208489e-01 4.79744768e+00] [-9.60930744e-01 -2.62540605e-01 -8.76614887e-02 -1.51296756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.83, Y:4.92, Z:-15.23 [[ 0.06677576 -0.65500918 -0.75266458 56.83066523] [ -0.23748568 -0.74310292 0.62561858 4.91935283] [ -0.96909316 0.1369709 -0.20517656 -15.22630691] [ 0. 0. 0. 1. ]] SLAMing on 56.545919999999995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:55.65, Y:4.36, Z:-15.35 [[ 0.16127667 -0.85401233 0.49462388 55.65352734] [ -0.2563079 0.44774317 0.85664013 4.3644938 ] [ -0.95304569 -0.26493208 -0.14667958 -15.3531227 ] [ 0. 0. 0. 1. ]] SLAMing on 56.575919999999996 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:55.05, Y:5.75, Z:-15.94 [[ 2.06677833e-01 7.18341567e-01 6.64281315e-01 5.50521699e+01] [-2.34672825e-01 6.95517166e-01 -6.79105689e-01 5.75072878e+00] [-9.49848903e-01 -1.55326805e-02 3.12323226e-01 -1.59352595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.22, Y:5.91, Z:-16.04 [[ 1.67717763e-01 8.56463252e-01 4.88202263e-01 5.52199313e+01] [-2.81752980e-01 5.16204489e-01 -8.08794278e-01 5.91249696e+00] [-9.44714777e-01 -1.90327550e-03 3.27887735e-01 -1.60351864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:56.64, Y:5.94, Z:-15.98 [[ 0.08869835 0.54639295 -0.83281892 56.6428206 ] [ -0.24064276 -0.79959133 -0.55022247 5.93522931] [ -0.96655246 0.24921567 0.06056308 -15.98322979] [ 0. 0. 0. 1. ]] SLAMing on 56.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:4.40, Z:-15.78 [[ 1.70718783e-01 -8.85812538e-01 -4.31498835e-01 5.66323919e+01] [-2.12085404e-01 -4.60698084e-01 8.61845147e-01 4.40403575e+00] [-9.62223923e-01 -5.56185502e-02 -2.66517726e-01 -1.57819219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695919999999994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:55.11, Y:5.58, Z:-16.34 [[ 1.81491099e-01 7.13741839e-01 6.76486192e-01 5.51113156e+01] [-2.09614684e-01 7.00179255e-01 -6.82503257e-01 5.57619415e+00] [-9.60792728e-01 -1.79331737e-02 2.76687072e-01 -1.63351546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.39, Y:5.98, Z:-16.35 [[ 0.09035686 0.79608431 -0.59840238 56.38814098] [ -0.1790823 -0.57807843 -0.79608722 5.98092337] [ -0.97967605 0.17909522 0.09033126 -16.34755758] [ 0. 0. 0. 1. ]] SLAMing on 56.755919999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:57.01, Y:4.78, Z:-16.24 [[ 1.24379058e-01 -4.63198880e-01 -8.77483132e-01 5.70074805e+01] [-7.46607594e-02 -8.86212204e-01 4.57223906e-01 4.78457934e+00] [-9.89421862e-01 8.64447812e-03 -1.44809020e-01 -1.62411456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:55.74, Y:4.02, Z:-16.51 [[ 2.16505585e-01 -8.22605215e-01 5.25781316e-01 5.57359896e+01] [-1.06198406e-01 5.15515353e-01 8.50273967e-01 4.01746926e+00] [-9.70488140e-01 -2.39926200e-01 2.42525901e-02 -1.65138780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.06, Y:5.16, Z:-16.87 [[ 1.84404290e-01 4.66428913e-01 8.65123764e-01 5.50550137e+01] [-1.21044607e-01 8.84295928e-01 -4.50964428e-01 5.16264077e+00] [-9.75368269e-01 -2.15587912e-02 2.19526667e-01 -1.68657592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:55.08, Y:5.22, Z:-16.93 [[ 2.12908977e-01 5.23897857e-01 8.24742871e-01 5.50844479e+01] [-1.46854205e-01 8.51665958e-01 -5.03089394e-01 5.21903584e+00] [-9.65972882e-01 -1.40047105e-02 2.58263932e-01 -1.69256408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.82, Y:5.61, Z:-16.78 [[ 0.18403752 0.44415103 -0.87684665 56.8230412 ] [ -0.05956322 -0.8854053 -0.46098773 5.61447246] [ -0.98111284 0.13706685 -0.13649273 -16.77630273] [ 0. 0. 0. 1. ]] SLAMing on 56.905919999999995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:55.11, Y:4.91, Z:-17.08 [[ 1.92227816e-01 3.11940409e-01 9.30452389e-01 5.51081853e+01] [-7.40426579e-02 9.50042452e-01 -3.03211187e-01 4.91485716e+00] [-9.78553091e-01 -1.06075437e-02 2.05721482e-01 -1.70842581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:55.14, Y:5.02, Z:-17.17 [[ 1.79356481e-01 4.12655080e-01 8.93054891e-01 5.51403398e+01] [-1.03812874e-01 9.10645722e-01 -3.99934064e-01 5.02448378e+00] [-9.78291439e-01 -2.09798288e-02 2.06169123e-01 -1.71706960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:56.22, Y:5.89, Z:-17.23 [[ 6.48044551e-02 9.50178900e-01 -3.04894148e-01 5.62219055e+01] [-7.60062356e-02 -2.99948962e-01 -9.50922538e-01 5.88656514e+00] [-9.94999213e-01 8.47978733e-02 5.27814923e-02 -1.72278761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99592 meters Centerline goodness : 0.921647 Centerline is valid? [True, False] Translation: X:56.91, Y:5.35, Z:-17.91 [[ 0.08644878 -0.85868223 -0.50516475 56.91245746] [ 0.35310784 0.50055418 -0.79041785 5.34761798] [ 0.93158009 -0.11004698 0.34647973 -17.90500156] [ 0. 0. 0. 1. ]] SLAMing on 57.02592 meters Centerline goodness : 0.999554 Centerline is valid? [False, True] Translation: X:55.27, Y:5.04, Z:-17.68 [[-4.88329147e-02 5.93867256e-01 8.03079715e-01 5.52713390e+01] [-3.44443387e-01 7.44703201e-01 -5.71643154e-01 5.04275649e+00] [-9.37536186e-01 -3.04530499e-01 1.68187621e-01 -1.76810641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05592 meters Centerline goodness : 0.848890 Centerline is valid? [True, False] Translation: X:55.25, Y:4.94, Z:-17.62 [[-4.13623731e-02 5.00147917e-01 8.64951568e-01 5.52477814e+01] [-3.56270059e-01 8.01404631e-01 -4.80439655e-01 4.94499994e+00] [-9.33467085e-01 -3.28028471e-01 1.45039731e-01 -1.76235080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:55.23, Y:4.86, Z:-17.58 [[-3.22236703e-02 4.16410956e-01 9.08605278e-01 5.52333265e+01] [-3.62455596e-01 8.42325872e-01 -3.98889793e-01 4.86072644e+00] [-9.31443813e-01 -3.42182760e-01 1.23787650e-01 -1.75772081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115919999999996 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:57.08, Y:5.02, Z:-18.47 [[ -0.08301398 0.30650199 -0.94824322 57.0768817 ] [ -0.24900778 -0.92772415 -0.27807019 5.02493787] [ -0.9649372 0.21303623 0.15333545 -18.47397968] [ 0. 0. 0. 1. ]] SLAMing on 57.14592 meters Centerline goodness : 0.916840 Centerline is valid? [True, False] Translation: X:57.08, Y:4.17, Z:-18.97 [[ 0.35200976 -0.19705303 -0.91501871 57.08478672] [ 0.30266409 0.94903141 -0.08794225 4.16718311] [ 0.88571078 -0.24598677 0.39370919 -18.97313964] [ 0. 0. 0. 1. ]] SLAMing on 57.17592 meters Centerline goodness : 0.899628 Centerline is valid? [False, False] Translation: X:57.07, Y:4.12, Z:-19.01 [[ 3.76412761e-01 -1.64590851e-01 -9.11714476e-01 5.70661563e+01] [ 2.98863960e-01 9.53054110e-01 -4.86641153e-02 4.12070020e+00] [ 8.76922897e-01 -2.54160804e-01 4.07932003e-01 -1.90073229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters Centerline goodness : 0.999356 Centerline is valid? [False, True] Translation: X:57.04, Y:4.07, Z:-19.05 [[ 4.02474973e-01 -1.34344738e-01 -9.05519402e-01 5.70442339e+01] [ 2.94379473e-01 9.55626038e-01 -1.09362200e-02 4.07423684e+00] [ 8.66807142e-01 -2.62164770e-01 4.24163897e-01 -1.90470346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23592 meters Centerline goodness : 0.903374 Centerline is valid? [True, False] Translation: X:57.03, Y:4.05, Z:-19.06 [[ 4.09785704e-01 -1.11399888e-01 -9.05353932e-01 5.70324766e+01] [ 2.83159007e-01 9.59019143e-01 1.01616478e-02 4.04939858e+00] [ 8.67119745e-01 -2.60523219e-01 4.24536217e-01 -1.90572573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters Centerline goodness : 0.999257 Centerline is valid? [False, True] Translation: X:57.02, Y:4.03, Z:-19.07 [[ 4.16511887e-01 -8.88092781e-02 -9.04782162e-01 5.70204552e+01] [ 2.71430870e-01 9.61973632e-01 3.05288954e-02 4.02834930e+00] [ 8.67665333e-01 -2.58301457e-01 4.24779033e-01 -1.90674753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295919999999995 meters Centerline goodness : 0.890248 Centerline is valid? [True, False] Translation: X:57.01, Y:4.01, Z:-19.08 [[ 4.22517377e-01 -6.84692255e-02 -9.03764920e-01 5.70106285e+01] [ 2.60818344e-01 9.64149100e-01 4.88907453e-02 4.00971914e+00] [ 8.68016623e-01 -2.56375659e-01 4.25227779e-01 -1.90770254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters Centerline goodness : 0.884766 Centerline is valid? [False, False] Translation: X:56.99, Y:3.98, Z:-19.12 [[ 4.39726054e-01 -5.40589598e-02 -8.96503556e-01 5.69863995e+01] [ 2.55406873e-01 9.64501355e-01 6.71153124e-02 3.98237771e+00] [ 8.61050711e-01 -2.58485521e-01 4.37923405e-01 -1.91185724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35592 meters Centerline goodness : 0.847632 Centerline is valid? [False, False] Translation: X:56.97, Y:3.97, Z:-19.14 [[ 4.57439821e-01 -4.09994130e-02 -8.88294916e-01 5.69732810e+01] [ 2.38910743e-01 9.67874829e-01 7.83579715e-02 3.96877897e+00] [ 8.56545660e-01 -2.48067255e-01 4.52539689e-01 -1.91424461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters Centerline goodness : 0.913227 Centerline is valid? [False, False] Translation: X:56.96, Y:3.96, Z:-19.17 [[ 4.74546196e-01 -2.90049121e-02 -8.79752592e-01 5.69600095e+01] [ 2.21782715e-01 9.71152074e-01 8.76132263e-02 3.95831980e+00] [ 8.51832340e-01 -2.36690441e-01 4.67289310e-01 -1.91682780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41592 meters Centerline goodness : 0.998512 Centerline is valid? [False, True] Translation: X:56.94, Y:3.95, Z:-19.20 [[ 4.92952536e-01 -1.69728390e-02 -8.69890637e-01 5.69444039e+01] [ 2.05156038e-01 9.73885084e-01 9.72565870e-02 3.94848694e+00] [ 8.45522795e-01 -2.26406197e-01 4.83561202e-01 -1.91967288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:56.98, Y:4.40, Z:-19.29 [[ 5.07536577e-01 -3.83978713e-01 -7.71341021e-01 5.69785898e+01] [ 1.93396537e-01 9.23136547e-01 -3.32290076e-01 4.39500497e+00] [ 8.39645403e-01 1.94746853e-02 5.42785717e-01 -1.92851413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475919999999995 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:57.00, Y:4.34, Z:-19.25 [[ 5.12315284e-01 -3.35468192e-01 -7.90565710e-01 5.69992272e+01] [ 1.97720465e-01 9.41894679e-01 -2.71552998e-01 4.33723407e+00] [ 8.35727030e-01 -1.71902687e-02 5.48875967e-01 -1.92520745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters Centerline goodness : 0.843526 Centerline is valid? [True, False] Translation: X:56.98, Y:4.27, Z:-19.29 [[ 5.29978961e-01 -2.84736716e-01 -7.98778632e-01 5.69786402e+01] [ 1.91707243e-01 9.57787549e-01 -2.14222650e-01 4.27189938e+00] [ 8.26057282e-01 -3.95981518e-02 5.62193341e-01 -1.92900518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53592 meters Centerline goodness : 0.998218 Centerline is valid? [False, True] Translation: X:56.96, Y:4.21, Z:-19.32 [[ 0.54572431 -0.23571097 -0.80413016 56.95634106] [ 0.18495823 0.96983768 -0.15876183 4.21145051] [ 0.81729764 -0.06209031 0.57286068 -19.32416105] [ 0. 0. 0. 1. ]] SLAMing on 57.56592 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:56.97, Y:4.33, Z:-19.32 [[ 5.46551688e-01 -3.24391431e-01 -7.72043685e-01 5.69656908e+01] [ 1.82622376e-01 9.45906530e-01 -2.68160220e-01 4.33153758e+00] [ 8.17270041e-01 5.57096913e-03 5.76227945e-01 -1.93220548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59592 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:56.98, Y:4.29, Z:-19.29 [[ 5.44801713e-01 -2.90272169e-01 -7.86723052e-01 5.69821690e+01] [ 1.82882853e-01 9.56723196e-01 -2.26350589e-01 4.29359933e+00] [ 8.18379469e-01 -2.05619673e-02 5.74310239e-01 -1.92907592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:57.00, Y:4.33, Z:-19.27 [[ 5.49263661e-01 -3.10536697e-01 -7.75806928e-01 5.69958946e+01] [ 1.86373618e-01 9.50527002e-01 -2.48522220e-01 4.32728808e+00] [ 8.14600703e-01 -8.08571935e-03 5.79965789e-01 -1.92734089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655919999999995 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:57.01, Y:4.34, Z:-19.25 [[ 5.51528954e-01 -3.13117448e-01 -7.73157989e-01 5.70107387e+01] [ 1.88274514e-01 9.49684667e-01 -2.50303297e-01 4.33692987e+00] [ 8.12630617e-01 -7.51642943e-03 5.82730627e-01 -1.92511738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:57.02, Y:4.37, Z:-19.23 [[ 5.82587845e-01 -3.35653447e-01 -7.40221701e-01 5.70238331e+01] [ 2.03738793e-01 9.41974240e-01 -2.66786499e-01 4.36908924e+00] [ 7.86817582e-01 4.61469553e-03 6.17168371e-01 -1.92349840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:57.04, Y:4.37, Z:-19.21 [[ 5.83711164e-01 -3.29145362e-01 -7.42256430e-01 5.70409348e+01] [ 2.05017676e-01 9.44277417e-01 -2.57503227e-01 4.36512601e+00] [ 7.85651977e-01 -1.86818000e-03 6.18665887e-01 -1.92114167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:57.06, Y:4.30, Z:-19.17 [[ 5.45195309e-01 -2.74305075e-01 -7.92160843e-01 5.70620143e+01] [ 1.96307427e-01 9.60451742e-01 -1.97473657e-01 4.29933801e+00] [ 8.15000288e-01 -4.78453456e-02 5.77481907e-01 -1.91742231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77592 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:57.07, Y:4.43, Z:-19.17 [[ 5.69804731e-01 -3.68566289e-01 -7.34494015e-01 5.70662728e+01] [ 2.04426688e-01 9.29260271e-01 -3.07709404e-01 4.42819517e+00] [ 7.95947421e-01 2.51840950e-02 6.04841685e-01 -1.91729909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:57.10, Y:4.23, Z:-19.11 [[ 0.54278528 -0.21628353 -0.81154517 57.09544061] [ 0.2040711 0.97127843 -0.12236502 4.23223239] [ 0.81470186 -0.09919498 0.57133286 -19.11406414] [ 0. 0. 0. 1. ]] SLAMing on 57.835919999999994 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:57.08, Y:4.50, Z:-19.13 [[ 0.54838528 -0.41388519 -0.72661726 57.08499586] [ 0.1967887 0.9083947 -0.36890823 4.49657764] [ 0.81274092 0.05931377 0.57959821 -19.131354 ] [ 0. 0. 0. 1. ]] SLAMing on 57.865919999999996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:57.12, Y:4.41, Z:-19.10 [[ 5.69171327e-01 -3.47712596e-01 -7.45077145e-01 5.71183068e+01] [ 2.09731560e-01 9.37599821e-01 -2.77343197e-01 4.41063179e+00] [ 7.95019920e-01 1.58960396e-03 6.06581239e-01 -1.90991873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89592 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:57.14, Y:4.40, Z:-19.07 [[ 5.72718168e-01 -3.39030575e-01 -7.46359276e-01 5.71380519e+01] [ 2.13578430e-01 9.40736671e-01 -2.63436462e-01 4.40044824e+00] [ 7.91440556e-01 -8.53139462e-03 6.11186601e-01 -1.90737494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters Centerline goodness : 0.974896 Centerline is valid? [True, True] Translation: X:57.18, Y:4.43, Z:-19.04 [[ 5.61613203e-01 -3.32805234e-01 -7.57516525e-01 5.71775908e+01] [ 2.03454905e-01 9.42975427e-01 -2.63445338e-01 4.42724770e+00] [ 8.01995456e-01 -6.16607235e-03 5.97298307e-01 -1.90440150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95592 meters Centerline goodness : 0.974896 Centerline is valid? [True, True] Translation: X:57.17, Y:4.09, Z:-18.94 [[ 0.58434026 -0.0670523 -0.80873386 57.16506974] [ 0.21475566 0.97382769 0.07442868 4.08639931] [ 0.78257681 -0.21717185 0.58344659 -18.93916397] [ 0. 0. 0. 1. ]] SLAMing on 57.98592 meters Centerline goodness : 0.969284 Centerline is valid? [True, True] Translation: X:57.18, Y:4.05, Z:-18.90 [[ 5.86408261e-01 -3.64056718e-02 -8.09197120e-01 5.71769659e+01] [ 2.21037217e-01 9.68267835e-01 1.16618814e-01 4.04810025e+00] [ 7.79273957e-01 -2.47248915e-01 5.75847266e-01 -1.88990854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015919999999994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:57.19, Y:4.20, Z:-18.95 [[ 0.60021529 -0.19738096 -0.77510152 57.18826941] [ 0.23176783 0.97041637 -0.0676442 4.20276617] [ 0.76552288 -0.13904252 0.6282053 -18.94773995] [ 0. 0. 0. 1. ]] SLAMing on 58.045919999999995 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:57.20, Y:4.40, Z:-18.97 [[ 5.94924528e-01 -3.46387335e-01 -7.25314152e-01 5.71958301e+01] [ 2.31584904e-01 9.37979772e-01 -2.57996860e-01 4.40143327e+00] [ 7.69696848e-01 -1.44831478e-02 6.38245251e-01 -1.89735121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075919999999996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:57.21, Y:4.42, Z:-18.95 [[ 5.97600147e-01 -3.56756285e-01 -7.18052238e-01 5.72111835e+01] [ 2.32195250e-01 9.34184945e-01 -2.70894545e-01 4.42093293e+00] [ 7.67436922e-01 -4.84169892e-03 6.41106176e-01 -1.89536477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:57.23, Y:4.41, Z:-18.93 [[ 6.02743030e-01 -3.47206989e-01 -7.18434511e-01 5.72272530e+01] [ 2.34194325e-01 9.37690823e-01 -2.56688407e-01 4.41257983e+00] [ 7.62793457e-01 -1.35361370e-02 6.46500515e-01 -1.89290807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:57.25, Y:4.37, Z:-18.90 [[ 5.64615552e-01 -3.08447131e-01 -7.65551857e-01 5.72503788e+01] [ 2.17956775e-01 9.50338945e-01 -2.22150250e-01 4.36751018e+00] [ 7.96055352e-01 -4.14277277e-02 6.03804290e-01 -1.88954951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters Centerline goodness : 0.820993 Centerline is valid? [True, False] Translation: X:57.23, Y:4.30, Z:-18.93 [[ 0.58025313 -0.26270861 -0.77090239 57.2283195 ] [ 0.21380997 0.96248397 -0.16706256 4.30074397] [ 0.78586997 -0.06788804 0.61465405 -18.92830398] [ 0. 0. 0. 1. ]] SLAMing on 58.195919999999994 meters Centerline goodness : 0.984000 Centerline is valid? [False, True] Translation: X:57.20, Y:4.24, Z:-18.96 [[ 0.59602499 -0.2224127 -0.77154832 57.20343351] [ 0.21140366 0.97043864 -0.11643602 4.2408339 ] [ 0.77463715 -0.09370936 0.62542453 -18.96034044] [ 0. 0. 0. 1. ]] SLAMing on 58.225919999999995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:57.16, Y:4.12, Z:-18.93 [[ 5.88327101e-01 -8.86318839e-02 -8.03750964e-01 5.71644698e+01] [ 1.68056711e-01 9.85673303e-01 1.43206497e-02 4.12009774e+00] [ 7.90966601e-01 -1.43500970e-01 5.94793500e-01 -1.89285123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255919999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:57.20, Y:4.35, Z:-18.96 [[ 5.98820244e-01 -2.64543671e-01 -7.55930527e-01 5.71969960e+01] [ 1.66342282e-01 9.64370323e-01 -2.05718560e-01 4.34638476e+00] [ 7.83418509e-01 -2.55477082e-03 6.21489270e-01 -1.89641471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:57.21, Y:4.35, Z:-18.94 [[ 6.19607070e-01 -2.70089143e-01 -7.36979602e-01 5.72129451e+01] [ 1.74295512e-01 9.62835126e-01 -2.06324003e-01 4.35472066e+00] [ 7.65315721e-01 -6.12426097e-04 6.43654777e-01 -1.89446091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31592 meters Centerline goodness : 0.905045 Centerline is valid? [True, False] Translation: X:57.18, Y:4.29, Z:-18.98 [[ 6.35030951e-01 -2.25349045e-01 -7.38886662e-01 5.71841752e+01] [ 1.69250378e-01 9.73851780e-01 -1.51548737e-01 4.29206740e+00] [ 7.53717454e-01 -2.88187080e-02 6.56566433e-01 -1.89776039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:57.16, Y:4.24, Z:-19.00 [[ 6.53170220e-01 -1.86362653e-01 -7.33919359e-01 5.71592479e+01] [ 1.60945332e-01 9.81261900e-01 -1.05932446e-01 4.24221656e+00] [ 7.39908956e-01 -4.89289759e-02 6.70925251e-01 -1.90011849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:4.32, Z:-19.00 [[ 6.67526234e-01 -2.37084881e-01 -7.05832477e-01 5.71793365e+01] [ 1.61252826e-01 9.71486429e-01 -1.73814973e-01 4.31678015e+00] [ 7.26915575e-01 2.20857272e-03 6.86723284e-01 -1.89982326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.20, Y:4.35, Z:-18.99 [[ 6.84085852e-01 -2.60666869e-01 -6.81233682e-01 5.71997939e+01] [ 1.67215143e-01 9.65134148e-01 -2.01383147e-01 4.35435657e+00] [ 7.09975804e-01 2.38507744e-02 7.03822064e-01 -1.89860921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435919999999996 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:57.22, Y:4.26, Z:-18.98 [[ 6.40619765e-01 -2.18243047e-01 -7.36190389e-01 5.72227806e+01] [ 1.68527912e-01 9.75343527e-01 -1.42489815e-01 4.26492543e+00] [ 7.49135942e-01 -3.27868373e-02 6.61604386e-01 -1.89758902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:4.47, Z:-18.97 [[ 0.67507705 -0.32860287 -0.66052337 57.22154485] [ 0.16149766 0.93943214 -0.30230078 4.46606941] [ 0.71985379 0.09740335 0.68725767 -18.96822338] [ 0. 0. 0. 1. ]] SLAMing on 58.49592 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:57.28, Y:4.32, Z:-18.89 [[ 6.63260918e-01 -1.79401984e-01 -7.26567191e-01 5.72758699e+01] [ 1.19137806e-01 9.83772884e-01 -1.34153259e-01 4.31626008e+00] [ 7.38844462e-01 2.41699242e-03 6.73871664e-01 -1.88929902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:4.10, Z:-18.85 [[ 6.78405643e-01 -7.41421711e-02 -7.30936879e-01 5.72507804e+01] [ 1.67947732e-01 9.84201423e-01 5.60456858e-02 4.10157040e+00] [ 7.15233768e-01 -1.60780900e-01 6.80139809e-01 -1.88451427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.28, Y:4.25, Z:-18.87 [[ 0.65113883 -0.18175331 -0.73687446 57.27854292] [ 0.1671377 0.98140612 -0.09437695 4.24764547] [ 0.74032643 -0.061707 0.66940946 -18.87077715] [ 0. 0. 0. 1. ]] SLAMing on 58.585919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.30, Y:4.37, Z:-18.87 [[ 6.56466317e-01 -2.65784767e-01 -7.05981892e-01 5.72965449e+01] [ 1.63964893e-01 9.63773375e-01 -2.10372043e-01 4.37076661e+00] [ 7.36320235e-01 2.23459147e-02 6.76264129e-01 -1.88745480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:4.38, Z:-18.86 [[ 6.80156322e-01 -2.68977580e-01 -6.81937269e-01 5.73166943e+01] [ 1.71740192e-01 9.62830125e-01 -2.08478913e-01 4.37983431e+00] [ 7.12665900e-01 2.46822132e-02 7.01069258e-01 -1.88576229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:57.33, Y:4.29, Z:-18.82 [[ 6.56414709e-01 -2.02329507e-01 -7.26761653e-01 5.73343264e+01] [ 1.66503863e-01 9.78462399e-01 -1.22015561e-01 4.28946428e+00] [ 7.35796299e-01 -4.09158137e-02 6.75965755e-01 -1.88152510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.35, Y:4.38, Z:-18.81 [[ 6.64742134e-01 -2.63379725e-01 -6.99105869e-01 5.73516553e+01] [ 1.68282327e-01 9.64532800e-01 -2.03365523e-01 4.37931767e+00] [ 7.27872897e-01 1.75384690e-02 6.85487744e-01 -1.88133325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:4.35, Z:-18.79 [[ 6.64511968e-01 -2.40666203e-01 -7.07462807e-01 5.73721757e+01] [ 1.70854037e-01 9.70574049e-01 -1.69690642e-01 4.34664194e+00] [ 7.27483844e-01 -8.11141421e-03 6.86076863e-01 -1.87863523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:4.36, Z:-18.77 [[ 6.54196879e-01 -2.50616235e-01 -7.13595086e-01 5.73886222e+01] [ 1.72470532e-01 9.68077872e-01 -1.81876740e-01 4.36052368e+00] [ 7.36396876e-01 -4.09092853e-03 6.76537438e-01 -1.87694191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:4.41, Z:-18.76 [[ 6.88134924e-01 -2.74113152e-01 -6.71812701e-01 5.74098062e+01] [ 1.78289712e-01 9.61385684e-01 -2.09643376e-01 4.40575242e+00] [ 7.03337120e-01 2.44856355e-02 7.10434620e-01 -1.87583788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:4.35, Z:-18.72 [[ 6.74704591e-01 -2.29459117e-01 -7.01514240e-01 5.74323093e+01] [ 1.70816087e-01 9.73188373e-01 -1.54033290e-01 4.35015287e+00] [ 7.18049845e-01 -1.59029492e-02 6.95809972e-01 -1.87238899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:4.37, Z:-18.71 [[ 6.68888714e-01 -2.38243558e-01 -7.04150478e-01 5.74501454e+01] [ 1.67497144e-01 9.71194661e-01 -1.69486389e-01 4.36921748e+00] [ 7.24246226e-01 -4.57566108e-03 6.89526264e-01 -1.87058449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:4.40, Z:-18.69 [[ 6.92296687e-01 -2.54258663e-01 -6.75335346e-01 5.74667485e+01] [ 1.74763337e-01 9.67084402e-01 -1.84947387e-01 4.39720724e+00] [ 7.00130755e-01 1.00146045e-02 7.13944420e-01 -1.86917660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:4.38, Z:-18.66 [[ 6.71232729e-01 -2.33150624e-01 -7.03624481e-01 5.74871636e+01] [ 1.65337810e-01 9.72422595e-01 -1.64492266e-01 4.37827285e+00] [ 7.22571818e-01 -5.92313850e-03 6.91270485e-01 -1.86627158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:4.40, Z:-18.65 [[ 6.83371779e-01 -2.46120506e-01 -6.87333768e-01 5.75066454e+01] [ 1.71569254e-01 9.69235535e-01 -1.76483623e-01 4.39996846e+00] [ 7.09624551e-01 2.67858542e-03 7.04574923e-01 -1.86498993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:4.41, Z:-18.63 [[ 6.85091008e-01 -2.49347916e-01 -6.84453014e-01 5.75250719e+01] [ 1.73582369e-01 9.68406294e-01 -1.79048625e-01 4.40797118e+00] [ 7.07474008e-01 3.85562766e-03 7.06728846e-01 -1.86302117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.54, Y:4.42, Z:-18.61 [[ 6.85723403e-01 -2.53191089e-01 -6.82405808e-01 5.75448350e+01] [ 1.74301335e-01 9.67390397e-01 -1.83779391e-01 4.41895656e+00] [ 7.06684130e-01 7.07758603e-03 7.07493779e-01 -1.86109221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:4.42, Z:-18.59 [[ 6.85034585e-01 -2.52200932e-01 -6.83463464e-01 5.75628996e+01] [ 1.76593667e-01 9.67671226e-01 -1.80075194e-01 4.42163657e+00] [ 7.06783060e-01 2.66241667e-03 7.07425344e-01 -1.85898699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.58, Y:4.41, Z:-18.56 [[ 6.70405281e-01 -2.41755695e-01 -7.01506196e-01 5.75817871e+01] [ 1.70538549e-01 9.70325702e-01 -1.71419470e-01 4.41496502e+00] [ 7.22131126e-01 -4.71333126e-03 6.91740141e-01 -1.85618785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:57.60, Y:4.42, Z:-18.54 [[ 6.69528730e-01 -2.46011111e-01 -7.00863619e-01 5.75996054e+01] [ 1.74492540e-01 9.69247719e-01 -1.73525828e-01 4.42385244e+00] [ 7.21999746e-01 -6.11494554e-03 6.91866298e-01 -1.85425985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.62, Y:4.43, Z:-18.52 [[ 6.68500589e-01 -2.48464616e-01 -7.00979527e-01 5.76180377e+01] [ 1.76227337e-01 9.68620063e-01 -1.75268647e-01 4.42931180e+00] [ 7.22530891e-01 -6.36456179e-03 6.91309340e-01 -1.85223433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.64, Y:4.44, Z:-18.50 [[ 6.67812282e-01 -2.53343737e-01 -6.99888353e-01 5.76371894e+01] [ 1.77217759e-01 9.67371320e-01 -1.81070693e-01 4.43929001e+00] [ 7.22925046e-01 -3.11141290e-03 6.90919458e-01 -1.85018541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:4.44, Z:-18.48 [[ 6.66717131e-01 -2.49394317e-01 -7.02346597e-01 5.76560834e+01] [ 1.78014016e-01 9.68365257e-01 -1.74870637e-01 4.43872723e+00] [ 7.23739786e-01 -8.43828906e-03 6.90021389e-01 -1.84807282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:57.68, Y:4.45, Z:-18.46 [[ 6.63956013e-01 -2.51811420e-01 -7.04097594e-01 5.76755691e+01] [ 1.79058000e-01 9.67739970e-01 -1.77250059e-01 4.44723176e+00] [ 7.26016973e-01 -8.38806407e-03 6.87625621e-01 -1.84617457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:4.46, Z:-18.45 [[ 6.90928584e-01 -2.62953019e-01 -6.73404337e-01 5.76950675e+01] [ 1.90817742e-01 9.64802398e-01 -1.80955578e-01 4.46369585e+00] [ 6.97284935e-01 -3.47011395e-03 7.16785656e-01 -1.84465004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.71, Y:4.47, Z:-18.42 [[ 6.66306701e-01 -2.63461540e-01 -6.97583971e-01 5.77122099e+01] [ 1.85542903e-01 9.64658146e-01 -1.87105563e-01 4.46716574e+00] [ 7.22225180e-01 -4.76206486e-03 6.91641606e-01 -1.84224226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.73, Y:4.46, Z:-18.40 [[ 6.66183414e-01 -2.55937652e-01 -7.00496664e-01 5.77309455e+01] [ 1.87159086e-01 9.66585862e-01 -1.75166341e-01 4.45975755e+00] [ 7.21921834e-01 -1.44114038e-02 6.91824527e-01 -1.83992248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:4.48, Z:-18.38 [[ 6.89141223e-01 -2.71498600e-01 -6.71842902e-01 5.77513357e+01] [ 1.95884574e-01 9.62436665e-01 -1.88002392e-01 4.48322179e+00] [ 6.97648628e-01 -2.04346279e-03 7.16437168e-01 -1.83848657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.77, Y:4.47, Z:-18.36 [[ 6.63172710e-01 -2.57093354e-01 -7.02926002e-01 5.77723555e+01] [ 1.87373878e-01 9.66276735e-01 -1.76636067e-01 4.46921919e+00] [ 7.24633001e-01 -1.45697518e-02 6.88980940e-01 -1.83585610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:4.49, Z:-18.34 [[ 6.68594919e-01 -2.69046581e-01 -6.93249430e-01 5.77917218e+01] [ 1.88511419e-01 9.63124345e-01 -1.91976408e-01 4.49174591e+00] [ 7.19335999e-01 -2.33098315e-03 6.94658396e-01 -1.83433764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.81, Y:4.47, Z:-18.32 [[ 6.64622902e-01 -2.51826640e-01 -7.03462680e-01 5.78113970e+01] [ 1.85917705e-01 9.67617527e-01 -1.70736429e-01 4.47284365e+00] [ 7.23678800e-01 -1.73108259e-02 6.89919799e-01 -1.83178220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:4.51, Z:-18.30 [[ 6.75526435e-01 -2.71156373e-01 -6.85666287e-01 5.78284300e+01] [ 1.84640074e-01 9.62504960e-01 -1.98726560e-01 4.50862280e+00] [ 7.13843175e-01 7.64357058e-03 7.00263877e-01 -1.83018023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.85, Y:4.48, Z:-18.27 [[ 6.69944078e-01 -2.43584359e-01 -7.01314190e-01 5.78491316e+01] [ 1.78833826e-01 9.69775576e-01 -1.65993361e-01 4.48275960e+00] [ 7.20550758e-01 -1.42124308e-02 6.93256527e-01 -1.82737477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:4.52, Z:-18.26 [[ 6.77283166e-01 -2.63112780e-01 -6.87065628e-01 5.78674619e+01] [ 1.80809726e-01 9.64750634e-01 -1.91217305e-01 4.51747471e+00] [ 7.13158717e-01 5.28011352e-03 7.00982714e-01 -1.82613419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.89, Y:4.51, Z:-18.24 [[ 6.77219215e-01 -2.53734660e-01 -6.90646695e-01 5.78881313e+01] [ 1.78392770e-01 9.67273334e-01 -1.80439231e-01 4.51239041e+00] [ 7.13827819e-01 -1.00946296e-03 7.00320517e-01 -1.82381054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:57.91, Y:4.52, Z:-18.22 [[ 6.77604880e-01 -2.51030379e-01 -6.91256374e-01 5.79072374e+01] [ 1.78207942e-01 9.67973359e-01 -1.76831857e-01 4.51537952e+00] [ 7.13507923e-01 -3.36524613e-03 7.00639079e-01 -1.82159768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575919999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:57.93, Y:4.52, Z:-18.19 [[ 6.75492204e-01 -2.51484144e-01 -6.93156553e-01 5.79260338e+01] [ 1.78339863e-01 9.67853890e-01 -1.77352027e-01 4.52283865e+00] [ 7.15475489e-01 -3.81753284e-03 6.98627405e-01 -1.81947789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:57.94, Y:4.54, Z:-18.18 [[ 6.78594676e-01 -2.59841723e-01 -6.87016408e-01 5.79438927e+01] [ 1.81530690e-01 9.65650131e-01 -1.85920500e-01 4.54213538e+00] [ 7.11727388e-01 1.45009925e-03 7.02454285e-01 -1.81787378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:57.96, Y:4.48, Z:-18.14 [[ 6.61087850e-01 -2.11032833e-01 -7.20019443e-01 5.79648114e+01] [ 1.76441708e-01 9.76445287e-01 -1.24189071e-01 4.48102351e+00] [ 7.29267563e-01 -4.49415745e-02 6.82751109e-01 -1.81435759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.98, Y:4.63, Z:-18.15 [[ 6.83088386e-01 -3.08034434e-01 -6.62197133e-01 5.79753163e+01] [ 1.85811660e-01 9.50166404e-01 -2.50315465e-01 4.62712920e+00] [ 7.06303252e-01 4.79436388e-02 7.06284025e-01 -1.81527504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695919999999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:58.00, Y:4.56, Z:-18.12 [[ 6.75865196e-01 -2.55877617e-01 -6.91182235e-01 5.80030624e+01] [ 1.82657617e-01 9.66695775e-01 -1.79263700e-01 4.55941783e+00] [ 7.14032515e-01 -5.09160397e-03 7.00094025e-01 -1.81178992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:58.02, Y:4.58, Z:-18.10 [[ 6.81389678e-01 -2.65677741e-01 -6.81999592e-01 5.80210823e+01] [ 1.85476956e-01 9.64056798e-01 -1.90244026e-01 4.57953762e+00] [ 7.08029946e-01 3.13510738e-03 7.06175450e-01 -1.81019215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755919999999996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:58.04, Y:4.59, Z:-18.08 [[ 6.80284596e-01 -2.67202463e-01 -6.82506932e-01 5.80401606e+01] [ 1.86462136e-01 9.63635892e-01 -1.91409873e-01 4.58569347e+00] [ 7.08833366e-01 2.95148804e-03 7.05369796e-01 -1.80825323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:58.06, Y:4.60, Z:-18.06 [[ 6.82558733e-01 -2.69318048e-01 -6.79397796e-01 5.80603740e+01] [ 1.88107440e-01 9.63043871e-01 -1.92774720e-01 4.59541537e+00] [ 7.06207595e-01 3.78028881e-03 7.07994733e-01 -1.80624754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:58.08, Y:4.60, Z:-18.04 [[ 6.81031207e-01 -2.67075929e-01 -6.81811515e-01 5.80801405e+01] [ 1.88881376e-01 9.63675470e-01 -1.88821115e-01 4.59738785e+00] [ 7.07474608e-01 -1.88425535e-04 7.06738738e-01 -1.80407663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:58.10, Y:4.60, Z:-18.02 [[ 6.80656623e-01 -2.68493794e-01 -6.81628670e-01 5.80990562e+01] [ 1.89306708e-01 9.63281251e-01 -1.90400109e-01 4.60415106e+00] [ 7.07721366e-01 5.60215322e-04 7.06491440e-01 -1.80212540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875919999999994 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:58.12, Y:4.62, Z:-18.00 [[ 6.82099551e-01 -2.72970261e-01 -6.78400647e-01 5.81179714e+01] [ 1.91055270e-01 9.62016490e-01 -1.94992708e-01 4.61505240e+00] [ 7.05859820e-01 3.39241979e-03 7.08343423e-01 -1.80012699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters Centerline goodness : 0.762691 Centerline is valid? [True, False] Translation: X:58.09, Y:4.56, Z:-18.03 [[ 6.94544743e-01 -2.37431646e-01 -6.79141969e-01 5.80916387e+01] [ 1.89261934e-01 9.71023721e-01 -1.45920711e-01 4.55721760e+00] [ 6.94109156e-01 -2.71872599e-02 7.19356193e-01 -1.80296701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935919999999996 meters Centerline goodness : 0.965670 Centerline is valid? [False, True] Translation: X:58.08, Y:4.51, Z:-18.04 [[ 7.07712882e-01 -2.02948615e-01 -6.76723235e-01 5.80767940e+01] [ 1.81148287e-01 9.77957846e-01 -1.03844837e-01 4.51215917e+00] [ 6.82881963e-01 -4.90949257e-02 7.28877159e-01 -1.80427171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters Centerline goodness : 0.835485 Centerline is valid? [True, False] Translation: X:58.04, Y:4.46, Z:-18.07 [[ 0.72720047 -0.1712292 -0.66472553 58.04102303] [ 0.17484855 0.98265122 -0.06184302 4.4642121 ] [ 0.66378269 -0.07125403 0.74452361 -18.07315657] [ 0. 0. 0. 1. ]] SLAMing on 59.99592 meters Centerline goodness : 0.857710 Centerline is valid? [False, False] Translation: X:58.03, Y:4.44, Z:-18.08 [[ 7.32485523e-01 -1.51244305e-01 -6.63769627e-01 5.80294286e+01] [ 1.64412627e-01 9.85449236e-01 -4.31079015e-02 4.44338724e+00] [ 6.60631097e-01 -7.75561946e-02 7.46693773e-01 -1.80793387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters Centerline goodness : 0.833110 Centerline is valid? [False, False] Translation: X:57.99, Y:4.41, Z:-18.11 [[ 7.50549182e-01 -1.34213228e-01 -6.47041525e-01 5.79867006e+01] [ 1.61037120e-01 9.86786253e-01 -1.78867801e-02 4.41220040e+00] [ 6.40892324e-01 -9.07727953e-02 7.62244927e-01 -1.81140026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05592 meters Centerline goodness : 0.818186 Centerline is valid? [False, False] Translation: X:57.94, Y:4.39, Z:-18.15 [[ 7.68847310e-01 -1.21735433e-01 -6.27737444e-01 5.79385436e+01] [ 1.58348212e-01 9.87380258e-01 2.46350439e-03 4.38536390e+00] [ 6.19515664e-01 -1.01295161e-01 7.78421244e-01 -1.81509368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters Centerline goodness : 0.915811 Centerline is valid? [False, False] Translation: X:57.92, Y:4.37, Z:-18.17 [[ 7.83075541e-01 -1.04088581e-01 -6.13154356e-01 5.79175483e+01] [ 1.42831948e-01 9.89641997e-01 1.44136195e-02 4.37297551e+00] [ 6.05303008e-01 -9.88649838e-02 7.89831617e-01 -1.81680922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115919999999996 meters Centerline goodness : 0.755439 Centerline is valid? [False, False] Translation: X:57.90, Y:4.37, Z:-18.18 [[ 7.95311320e-01 -8.89229370e-02 -5.99643740e-01 5.78984701e+01] [ 1.27233780e-01 9.91635388e-01 2.16984408e-02 4.36542355e+00] [ 5.92698464e-01 -9.35519551e-02 7.99972851e-01 -1.81836592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters Centerline goodness : 0.996972 Centerline is valid? [False, True] Translation: X:57.88, Y:4.36, Z:-18.20 [[ 8.05797644e-01 -7.52619008e-02 -5.87388970e-01 5.78821978e+01] [ 1.11360746e-01 9.93453419e-01 2.54772131e-02 4.36412024e+00] [ 5.81626117e-01 -8.59415521e-02 8.08903646e-01 -1.81978634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17592 meters Centerline goodness : 0.947068 Centerline is valid? [True, False] Translation: X:57.86, Y:4.36, Z:-18.21 [[ 8.16852964e-01 -6.21053875e-02 -5.73492943e-01 5.78620386e+01] [ 9.63573330e-02 9.94909422e-01 2.95043524e-02 4.36178168e+00] [ 5.68741153e-01 -7.93609682e-02 8.18679020e-01 -1.82123309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters Centerline goodness : 0.995385 Centerline is valid? [False, True] Translation: X:57.84, Y:4.36, Z:-18.23 [[ 8.27041539e-01 -4.99947719e-02 -5.59913222e-01 5.78419640e+01] [ 8.14321441e-02 9.96186258e-01 3.13328214e-02 4.36256525e+00] [ 5.56211380e-01 -7.15084790e-02 8.27958597e-01 -1.82268665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23592 meters Centerline goodness : 0.956390 Centerline is valid? [True, True] Translation: X:57.83, Y:4.47, Z:-18.26 [[ 8.31336394e-01 -2.63531261e-02 -5.55144407e-01 5.78332016e+01] [ 9.99317367e-03 9.99422477e-01 -3.24784280e-02 4.46693803e+00] [ 5.55679707e-01 2.14528447e-02 8.31119630e-01 -1.82648363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters Centerline goodness : 0.919273 Centerline is valid? [True, False] Translation: X:57.82, Y:4.45, Z:-18.27 [[ 8.33948465e-01 -7.92037209e-03 -5.51785489e-01 5.78217133e+01] [-8.75642254e-04 9.99876745e-01 -1.56757228e-02 4.45382506e+00] [ 5.51841636e-01 1.35559117e-02 8.33838741e-01 -1.82709638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295919999999995 meters Centerline goodness : 0.952355 Centerline is valid? [False, True] Translation: X:57.80, Y:4.44, Z:-18.28 [[ 8.39054130e-01 3.20595548e-03 -5.44038499e-01 5.77987074e+01] [-6.28341626e-03 9.99973047e-01 -3.79799831e-03 4.44334815e+00] [ 5.44011659e-01 6.60514652e-03 8.39051659e-01 -1.82843065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters Centerline goodness : 0.860477 Centerline is valid? [True, False] Translation: X:57.78, Y:4.43, Z:-18.29 [[ 8.42926700e-01 1.48029164e-02 -5.37824742e-01 5.77794798e+01] [-1.26381361e-02 9.99890387e-01 7.71305441e-03 4.43491271e+00] [ 5.37879965e-01 2.95562768e-04 8.43021385e-01 -1.82934658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35592 meters Centerline goodness : 0.995374 Centerline is valid? [False, True] Translation: X:57.75, Y:4.43, Z:-18.31 [[ 8.46803305e-01 1.95073973e-02 -5.31548327e-01 5.77537574e+01] [-1.15843769e-02 9.99766603e-01 1.82356998e-02 4.42776168e+00] [ 5.31779997e-01 -9.28439471e-03 8.46831645e-01 -1.83076501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:57.78, Y:4.48, Z:-18.30 [[ 8.73604400e-01 -1.19007968e-02 -4.86491236e-01 5.77835816e+01] [-5.80102095e-03 9.99375220e-01 -3.48642640e-02 4.48003933e+00] [ 4.86602199e-01 3.32797203e-02 8.72989553e-01 -1.83049209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41592 meters Centerline goodness : 0.876935 Centerline is valid? [True, False] Translation: X:57.76, Y:4.48, Z:-18.32 [[ 8.82625438e-01 4.99000074e-03 -4.70050461e-01 5.77616539e+01] [-2.01014149e-02 9.99429647e-01 -2.71350982e-02 4.47550816e+00] [ 4.69646962e-01 3.33988073e-02 8.82222336e-01 -1.83158385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters Centerline goodness : 0.957906 Centerline is valid? [False, True] Translation: X:57.74, Y:4.46, Z:-18.32 [[ 8.85177889e-01 2.30503519e-02 -4.64681382e-01 5.77443513e+01] [-3.11069001e-02 9.99469211e-01 -9.67764870e-03 4.46031524e+00] [ 4.64211661e-01 2.30212380e-02 8.85425071e-01 -1.83206286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475919999999995 meters Centerline goodness : 0.949724 Centerline is valid? [True, False] Translation: X:57.70, Y:4.44, Z:-18.34 [[ 8.95468105e-01 3.01727926e-02 -4.44101876e-01 5.77005259e+01] [-2.85202591e-02 9.99539082e-01 1.04028001e-02 4.44429964e+00] [ 4.44211063e-01 3.35052485e-03 8.95915903e-01 -1.83371027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters Centerline goodness : 0.993539 Centerline is valid? [False, True] Translation: X:57.66, Y:4.44, Z:-18.35 [[ 9.01432311e-01 3.11118365e-02 -4.31800697e-01 5.76643767e+01] [-2.71606392e-02 9.99513750e-01 1.53154699e-02 4.44317754e+00] [ 4.32067226e-01 -2.07787646e-03 9.01839007e-01 -1.83533756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53592 meters Centerline goodness : 0.940267 Centerline is valid? [True, False] Translation: X:57.63, Y:4.44, Z:-18.37 [[ 9.06825400e-01 2.72305594e-02 -4.20625951e-01 5.76304602e+01] [-2.20811870e-02 9.99609789e-01 1.71081992e-02 4.44173970e+00] [ 4.20927684e-01 -6.22622930e-03 9.07072830e-01 -1.83675573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters Centerline goodness : 0.993185 Centerline is valid? [False, True] Translation: X:57.60, Y:4.44, Z:-18.38 [[ 9.10706451e-01 2.51974189e-02 -4.12284914e-01 5.76022079e+01] [-1.78516120e-02 9.99606014e-01 2.16595683e-02 4.43915448e+00] [ 4.12668245e-01 -1.23655583e-02 9.10797460e-01 -1.83786952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59592 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:57.63, Y:4.49, Z:-18.38 [[ 9.29026973e-01 3.16794686e-03 -3.69998442e-01 5.76308299e+01] [-1.36671855e-02 9.99574765e-01 -2.57584442e-02 4.48903385e+00] [ 3.69759505e-01 2.89871268e-02 9.28675215e-01 -1.83777364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:57.65, Y:4.43, Z:-18.35 [[ 9.11212568e-01 2.64162848e-02 -4.11088599e-01 5.76529115e+01] [-1.35237140e-02 9.99322159e-01 3.42393359e-02 4.43429038e+00] [ 4.11714422e-01 -2.56398686e-02 9.10952157e-01 -1.83547737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655919999999995 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:57.68, Y:4.49, Z:-18.36 [[ 9.28850093e-01 -2.37441069e-04 -3.70455732e-01 5.76835848e+01] [-9.91460541e-03 9.99625661e-01 -2.54997656e-02 4.49322591e+00] [ 3.70323110e-01 2.73583821e-02 9.28500034e-01 -1.83562049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:57.69, Y:4.43, Z:-18.34 [[ 9.04524173e-01 2.06826943e-02 -4.25920469e-01 5.76948170e+01] [-3.01056177e-03 9.99107890e-01 4.21231625e-02 4.42794250e+00] [ 4.26411722e-01 -3.68191588e-02 9.03779505e-01 -1.83354236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71592 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:57.73, Y:4.45, Z:-18.32 [[ 9.06298847e-01 1.31094258e-02 -4.22434069e-01 5.77276462e+01] [-2.39627459e-03 9.99662144e-01 2.58815673e-02 4.44970881e+00] [ 4.22630639e-01 -2.24441666e-02 9.06024063e-01 -1.83221773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:57.76, Y:4.55, Z:-18.33 [[ 9.30000376e-01 -3.17630016e-02 -3.66183578e-01 5.77608254e+01] [ 4.90622558e-03 9.97243120e-01 -7.40411225e-02 4.54755862e+00] [ 3.67525822e-01 6.70616925e-02 9.27592313e-01 -1.83287343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77592 meters Centerline goodness : 0.819961 Centerline is valid? [True, False] Translation: X:57.71, Y:4.52, Z:-18.35 [[ 9.39342437e-01 -1.81253314e-02 -3.42501473e-01 5.77149365e+01] [ 1.11607328e-03 9.98758894e-01 -4.97938323e-02 4.52484878e+00] [ 3.42978923e-01 4.63912030e-02 9.38196842e-01 -1.83469741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters Centerline goodness : 0.991059 Centerline is valid? [False, True] Translation: X:57.67, Y:4.51, Z:-18.36 [[ 9.47979579e-01 -1.05527736e-02 -3.18156183e-01 5.76662352e+01] [ 8.36755477e-05 9.99458604e-01 -3.29012549e-02 4.51146049e+00] [ 3.18331134e-01 3.11630958e-02 9.47467229e-01 -1.83645200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835919999999994 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:57.69, Y:4.44, Z:-18.34 [[ 9.47554884e-01 6.92580113e-03 -3.19518036e-01 5.76902313e+01] [ 6.84180663e-03 9.99096450e-01 4.19460848e-02 4.43725488e+00] [ 3.19519845e-01 -4.19322981e-02 9.46651335e-01 -1.83403640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:57.74, Y:4.43, Z:-18.33 [[ 9.46021445e-01 -9.61217865e-03 -3.23961468e-01 5.77403431e+01] [ 2.54333944e-02 9.98679416e-01 4.46381838e-02 4.42885402e+00] [ 3.23104579e-01 -5.04681189e-02 9.45016614e-01 -1.83294142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89592 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:57.78, Y:4.41, Z:-18.33 [[ 9.47461607e-01 -1.38627209e-02 -3.19568973e-01 5.77832524e+01] [ 3.56761694e-02 9.97406733e-01 6.25061609e-02 4.41126460e+00] [ 3.17873740e-01 -7.06231844e-02 9.45499155e-01 -1.83259581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:57.76, Y:4.37, Z:-18.30 [[ 9.50837923e-01 -1.21966073e-02 -3.09448681e-01 5.77647899e+01] [ 4.21095353e-02 9.95035670e-01 9.01709574e-02 4.36749736e+00] [ 3.06812696e-01 -9.87687061e-02 9.46631244e-01 -1.83021300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95592 meters Centerline goodness : 0.979269 Centerline is valid? [True, True] Translation: X:57.84, Y:4.47, Z:-18.32 [[ 9.39825836e-01 -3.12739255e-02 -3.40219547e-01 5.78432173e+01] [ 3.56807455e-02 9.99340762e-01 6.70266571e-03 4.46759438e+00] [ 3.39785642e-01 -1.84386255e-02 9.40322144e-01 -1.83220833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters Centerline goodness : 0.966764 Centerline is valid? [True, True] Translation: X:57.87, Y:4.38, Z:-18.29 [[ 9.43643684e-01 -1.18355758e-02 -3.30751442e-01 5.78688073e+01] [ 4.51262954e-02 9.94628457e-01 9.31549775e-02 4.37906686e+00] [ 3.27872254e-01 -1.02830693e-01 9.39108957e-01 -1.82931658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015919999999994 meters Centerline goodness : 0.913353 Centerline is valid? [True, False] Translation: X:57.83, Y:4.40, Z:-18.31 [[ 9.49338974e-01 -1.17639745e-02 -3.14033631e-01 5.78304922e+01] [ 3.66911652e-02 9.96613758e-01 7.35851577e-02 4.39572357e+00] [ 3.12104583e-01 -8.13795179e-02 9.46555917e-01 -1.83105817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters Centerline goodness : 0.992544 Centerline is valid? [False, True] Translation: X:57.79, Y:4.41, Z:-18.33 [[ 9.55270859e-01 -7.05409390e-03 -2.95648145e-01 5.77943873e+01] [ 2.62016066e-02 9.97802788e-01 6.08528652e-02 4.40751864e+00] [ 2.94569282e-01 -6.58774252e-02 9.53356755e-01 -1.83273263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075919999999996 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:57.83, Y:4.51, Z:-18.34 [[ 9.54004103e-01 -3.69642639e-02 -2.97505991e-01 5.78292420e+01] [ 2.48061634e-02 9.98699561e-01 -4.45403213e-02 4.51065520e+00] [ 2.98765503e-01 3.51116670e-02 9.53680421e-01 -1.83396495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:57.86, Y:4.49, Z:-18.33 [[ 9.64676434e-01 -3.01518625e-02 -2.61706404e-01 5.78559855e+01] [ 2.47822480e-02 9.99409653e-01 -2.37946479e-02 4.49190492e+00] [ 2.62269360e-01 1.64684631e-02 9.64854172e-01 -1.83298167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13592 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:57.88, Y:4.44, Z:-18.31 [[ 9.55233430e-01 -1.34515764e-02 -2.95547204e-01 5.78798488e+01] [ 2.21779928e-02 9.99410837e-01 2.61938154e-02 4.44336046e+00] [ 2.95020731e-01 -3.15758519e-02 9.54968970e-01 -1.83104665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:57.91, Y:4.46, Z:-18.30 [[ 9.55839792e-01 -1.74520930e-02 -2.93369589e-01 5.79062088e+01] [ 1.99372259e-02 9.99786201e-01 5.48261344e-03 4.46162667e+00] [ 2.93211184e-01 -1.10894759e-02 9.55983381e-01 -1.83040023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195919999999994 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:57.93, Y:4.45, Z:-18.29 [[ 9.54545912e-01 -1.27578456e-02 -2.97790764e-01 5.79297748e+01] [ 1.96287080e-02 9.99605402e-01 2.00936103e-02 4.44640248e+00] [ 2.97416905e-01 -2.50255215e-02 9.54419671e-01 -1.82921799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:57.96, Y:4.48, Z:-18.29 [[ 9.54910747e-01 -1.97053200e-02 -2.96238361e-01 5.79584246e+01] [ 1.75210465e-02 9.99796219e-01 -1.00266178e-02 4.47689066e+00] [ 2.96375571e-01 4.38411900e-03 9.55061412e-01 -1.82918087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255919999999996 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:57.98, Y:4.47, Z:-18.28 [[ 9.55865646e-01 -1.49432306e-02 -2.93423868e-01 5.79838802e+01] [ 1.60483070e-02 9.99870294e-01 1.35889732e-03 4.46658026e+00] [ 2.93365503e-01 -6.00787957e-03 9.55981478e-01 -1.82807720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.02, Y:4.51, Z:-18.31 [[ 9.50633112e-01 -4.33415623e-02 -3.07275438e-01 5.80223001e+01] [ 3.24060304e-02 9.98649647e-01 -4.06045808e-02 4.50755149e+00] [ 3.08620374e-01 2.86424818e-02 9.50753950e-01 -1.83100368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31592 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:58.04, Y:4.43, Z:-18.26 [[ 9.57154324e-01 -5.17149988e-03 -2.89532132e-01 5.80358488e+01] [ 1.59165138e-02 9.99268611e-01 3.47693446e-02 4.43416622e+00] [ 2.89140562e-01 -3.78879707e-02 9.56536584e-01 -1.82564360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:58.07, Y:4.47, Z:-18.26 [[ 9.57503623e-01 -1.48985317e-02 -2.88036190e-01 5.80656806e+01] [ 1.48332552e-02 9.99887079e-01 -2.40925862e-03 4.47300895e+00] [ 2.88039559e-01 -1.96564046e-03 9.57616494e-01 -1.82583942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375919999999994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:58.09, Y:4.47, Z:-18.25 [[ 9.57858347e-01 -1.63548426e-02 -2.86775011e-01 5.80926536e+01] [ 1.57440956e-02 9.99866215e-01 -4.43567651e-03 4.47496748e+00] [ 2.86809189e-01 -2.66263411e-04 9.57987692e-01 -1.82495484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.12, Y:4.46, Z:-18.24 [[ 9.58182500e-01 -1.53707279e-02 -2.85744706e-01 5.81181092e+01] [ 1.86805047e-02 9.99786241e-01 8.86067330e-03 4.46175108e+00] [ 2.85547430e-01 -1.38279974e-02 9.58264813e-01 -1.82395501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.14, Y:4.40, Z:-18.22 [[ 9.58950479e-01 2.96920585e-03 -2.83558042e-01 5.81377652e+01] [ 1.99741421e-02 9.96754280e-01 7.79867911e-02 4.39535568e+00] [ 2.82869250e-01 -8.04492993e-02 9.55778686e-01 -1.82155239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.18, Y:4.55, Z:-18.24 [[ 9.59036906e-01 -3.89288295e-02 -2.80593582e-01 5.81761269e+01] [ 1.76540195e-02 9.96800627e-01 -7.79541188e-02 4.55046066e+00] [ 2.82730521e-01 6.98072724e-02 9.56655840e-01 -1.82375954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:4.47, Z:-18.21 [[ 9.58917957e-01 -1.64577871e-02 -2.83205745e-01 5.81986544e+01] [ 1.96803397e-02 9.99769872e-01 8.53736733e-03 4.46513463e+00] [ 2.83000065e-01 -1.37602201e-02 9.59021178e-01 -1.82149783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.22, Y:4.48, Z:-18.21 [[ 9.59497101e-01 -2.23176871e-02 -2.80833106e-01 5.82238650e+01] [ 2.10665133e-02 9.99750142e-01 -7.47366441e-03 4.48133220e+00] [ 2.80929733e-01 1.25478497e-03 9.59727519e-01 -1.82102284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:4.47, Z:-18.20 [[ 9.59284070e-01 -2.05594616e-02 -2.81693772e-01 5.82499457e+01] [ 2.20006910e-02 9.99756046e-01 1.95413055e-03 4.47270471e+00] [ 2.81584876e-01 -8.07202393e-03 9.59502371e-01 -1.82015773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.28, Y:4.47, Z:-18.19 [[ 9.58657929e-01 -2.35065960e-02 -2.83588462e-01 5.82760163e+01] [ 2.48098037e-02 9.99691685e-01 1.00415371e-03 4.47273849e+00] [ 2.83477423e-01 -7.99841399e-03 9.58945554e-01 -1.81942074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.30, Y:4.45, Z:-18.18 [[ 9.55732882e-01 -1.97044595e-02 -2.93575191e-01 5.83010309e+01] [ 2.68999758e-02 9.99428067e-01 2.04921998e-02 4.45193008e+00] [ 2.93003498e-01 -2.74822347e-02 9.55716316e-01 -1.81810670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:4.44, Z:-18.17 [[ 9.58033994e-01 -2.02429354e-02 -2.85938963e-01 5.83278237e+01] [ 3.00949291e-02 9.99093667e-01 3.01021464e-02 4.43944620e+00] [ 2.85070451e-01 -3.74441923e-02 9.57774906e-01 -1.81729647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:4.57, Z:-18.19 [[ 9.70762605e-01 -5.70612660e-02 -2.33160837e-01 5.83608638e+01] [ 3.36244303e-02 9.94083171e-01 -1.03286234e-01 4.56901441e+00] [ 2.37674907e-01 9.24265128e-02 9.66937422e-01 -1.81877173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:4.47, Z:-18.17 [[ 9.71385227e-01 -3.05487756e-02 -2.35536648e-01 5.83850651e+01] [ 3.08246013e-02 9.99521653e-01 -2.51171230e-03 4.46760184e+00] [ 2.35500710e-01 -4.82048306e-03 9.71862222e-01 -1.81652397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.41, Y:4.47, Z:-18.16 [[ 9.71255824e-01 -3.05410958e-02 -2.36070680e-01 5.84126193e+01] [ 3.07869131e-02 9.99522469e-01 -2.64557568e-03 4.46567652e+00] [ 2.36038748e-01 -4.69835671e-03 9.71732286e-01 -1.81583548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:4.47, Z:-18.15 [[ 9.71239859e-01 -3.10561929e-02 -2.36069163e-01 5.84402297e+01] [ 3.12856796e-02 9.99506633e-01 -2.77449100e-03 4.46586665e+00] [ 2.36038860e-01 -4.69088796e-03 9.71732295e-01 -1.81509296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:4.47, Z:-18.15 [[ 9.70054531e-01 -3.46425617e-02 -2.40404035e-01 5.84671006e+01] [ 3.28448831e-02 9.99394508e-01 -1.14817468e-02 4.47422461e+00] [ 2.40656229e-01 3.24187806e-03 9.70605002e-01 -1.81473131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.49, Y:4.46, Z:-18.14 [[ 9.69986973e-01 -3.13683084e-02 -2.41125075e-01 5.84932964e+01] [ 3.30020733e-02 9.99451530e-01 2.73914851e-03 4.45942943e+00] [ 2.40906902e-01 -1.06145658e-02 9.70490183e-01 -1.81374533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.51, Y:4.40, Z:-18.11 [[ 9.64217937e-01 -1.60123078e-02 -2.64626862e-01 5.85143751e+01] [ 3.31603148e-02 9.97619603e-01 6.04608997e-02 4.39861214e+00] [ 2.63028827e-01 -6.70725940e-02 9.62453689e-01 -1.81145364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters Centerline goodness : 0.850800 Centerline is valid? [True, False] Translation: X:58.48, Y:4.41, Z:-18.13 [[ 9.69030428e-01 -1.00641448e-02 -2.46736182e-01 5.84779611e+01] [ 2.22886159e-02 9.98655494e-01 4.68019463e-02 4.41086151e+00] [ 2.45933422e-01 -5.08519181e-02 9.67951876e-01 -1.81319380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:58.45, Y:4.42, Z:-18.14 [[ 9.72724092e-01 -1.47315347e-03 -2.31960493e-01 5.84525720e+01] [ 1.05776581e-02 9.99221321e-01 3.80113716e-02 4.41869951e+00] [ 2.31723874e-01 -3.94281757e-02 9.71982235e-01 -1.81416728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.48, Y:4.45, Z:-18.14 [[ 9.72678359e-01 -8.22298063e-03 -2.32011189e-01 5.84821770e+01] [ 9.65549952e-03 9.99940686e-01 5.03942310e-03 4.44879189e+00] [ 2.31955988e-01 -7.14192171e-03 9.72700063e-01 -1.81426531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975919999999995 meters Centerline goodness : 0.814761 Centerline is valid? [True, False] Translation: X:58.47, Y:4.45, Z:-18.15 [[ 9.75739797e-01 4.74728903e-03 -2.18881957e-01 5.84673371e+01] [-3.90558430e-03 9.99983222e-01 4.27799241e-03 4.44801425e+00] [ 2.18898593e-01 -3.31934552e-03 9.75741968e-01 -1.81464660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:58.43, Y:4.45, Z:-18.15 [[ 9.80402368e-01 4.19327491e-03 -1.96960942e-01 5.84322864e+01] [-2.95189870e-03 9.99973890e-01 6.59581002e-03 4.44654878e+00] [ 1.96983458e-01 -5.88513902e-03 9.80389149e-01 -1.81530854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03592 meters Centerline goodness : 0.816596 Centerline is valid? [True, False] Translation: X:58.40, Y:4.45, Z:-18.16 [[ 9.84420950e-01 3.26008645e-03 -1.75797511e-01 5.84004120e+01] [-1.98983227e-03 9.99970629e-01 7.40145924e-03 4.44526637e+00] [ 1.75816478e-01 -6.93634398e-03 9.84398524e-01 -1.81594068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:58.37, Y:4.44, Z:-18.16 [[ 9.87779186e-01 3.09007472e-03 -1.55829171e-01 5.83720237e+01] [-5.59534842e-04 9.99867308e-01 1.62804423e-02 4.43602496e+00] [ 1.55858801e-01 -1.59942902e-02 9.87649845e-01 -1.81615724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:58.40, Y:4.43, Z:-18.16 [[ 9.87662586e-01 4.31840979e-03 -1.56537429e-01 5.83979916e+01] [-1.05824091e-03 9.99780925e-01 2.09041300e-02 4.42838264e+00] [ 1.56593408e-01 -2.04805728e-02 9.87450784e-01 -1.81563418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.43, Y:4.51, Z:-18.17 [[ 9.93558021e-01 -6.20074808e-03 -1.13154808e-01 5.84333252e+01] [-5.27774182e-04 9.98237906e-01 -5.93363744e-02 4.50533626e+00] [ 1.13323348e-01 5.90138508e-02 9.91804005e-01 -1.81700913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.45, Y:4.36, Z:-18.13 [[ 9.87561255e-01 1.19766827e-02 -1.56777951e-01 5.84495901e+01] [ 2.56688876e-03 9.95733879e-01 9.22358570e-02 4.35596674e+00] [ 1.57213797e-01 -9.14909903e-02 9.83317457e-01 -1.81266835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:4.44, Z:-18.15 [[ 9.89253445e-01 -1.43038686e-04 -1.46210808e-01 5.84730693e+01] [ 1.06315001e-03 9.99980122e-01 6.21492337e-03 4.43659855e+00] [ 1.46207012e-01 -6.30357838e-03 9.89233933e-01 -1.81457709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:4.38, Z:-18.13 [[ 9.89646965e-01 5.27407928e-03 -1.43426181e-01 5.85011396e+01] [ 2.99441744e-03 9.98348325e-01 5.73729588e-02 4.38195809e+00] [ 1.43491877e-01 -5.72084524e-02 9.87996596e-01 -1.81274084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.54, Y:4.52, Z:-18.15 [[ 9.88893227e-01 -1.05892688e-02 -1.48249966e-01 5.85404161e+01] [-2.01507403e-03 9.96411800e-01 -8.46136141e-02 4.52023308e+00] [ 1.48614012e-01 8.39725645e-02 9.85323543e-01 -1.81523986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.56, Y:4.45, Z:-18.14 [[ 9.90082148e-01 -2.24501334e-03 -1.40471707e-01 5.85636944e+01] [ 9.10498614e-04 9.99953851e-01 -9.56378579e-03 4.44521084e+00] [ 1.40486695e-01 9.34103429e-03 9.90038501e-01 -1.81354276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.59, Y:4.43, Z:-18.13 [[ 9.89973152e-01 -6.83380901e-04 -1.41253996e-01 5.85904045e+01] [ 1.63058281e-03 9.99976956e-01 6.59002982e-03 4.42908031e+00] [ 1.41246238e-01 -6.75427893e-03 9.89951453e-01 -1.81272954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.62, Y:4.44, Z:-18.13 [[ 9.90359234e-01 -5.39131130e-04 -1.38521826e-01 5.86199112e+01] [-9.17441632e-04 9.99944965e-01 -1.04510480e-02 4.44393441e+00] [ 1.38519837e-01 1.04773776e-02 9.90304236e-01 -1.81295974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters Centerline goodness : 0.966539 Centerline is valid? [True, True] Translation: X:58.62, Y:4.44, Z:-18.15 [[ 9.87546218e-01 -9.34473188e-03 -1.57051403e-01 5.86235484e+01] [ 4.77174002e-03 9.99554285e-01 -2.94696699e-02 4.43768503e+00] [ 1.57256789e-01 2.83532526e-02 9.87150645e-01 -1.81512451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.68, Y:4.41, Z:-18.12 [[ 9.90315756e-01 -4.01969477e-03 -1.38775163e-01 5.86773096e+01] [ 5.23158725e-03 9.99951293e-01 8.36910775e-03 4.41498774e+00] [ 1.38734763e-01 -9.01407364e-03 9.90288550e-01 -1.81186831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:4.45, Z:-18.13 [[ 9.94879093e-01 -1.01589255e-02 -1.00560363e-01 5.87039518e+01] [ 7.47812626e-03 9.99607468e-01 -2.69997667e-02 4.45056147e+00] [ 1.00795178e-01 2.61095003e-02 9.94564541e-01 -1.81254692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45592 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:58.77, Y:4.38, Z:-18.11 [[ 9.86829778e-01 3.60046731e-03 -1.61722065e-01 5.87670675e+01] [ 6.17734517e-03 9.98184242e-01 5.99171048e-02 4.37983003e+00] [ 1.61644146e-01 -6.01269962e-02 9.85015692e-01 -1.81105185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.76, Y:4.44, Z:-18.12 [[ 9.93848559e-01 -2.27454690e-02 -1.08386739e-01 5.87602438e+01] [ 1.95713923e-02 9.99350460e-01 -3.02591897e-02 4.44162625e+00] [ 1.09004597e-01 2.79517727e-02 9.93648175e-01 -1.81173943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515919999999994 meters Centerline goodness : 0.953784 Centerline is valid? [True, True] Translation: X:58.82, Y:4.43, Z:-18.13 [[ 9.91009839e-01 -6.41604145e-03 -1.33635075e-01 5.88165518e+01] [ 7.21507621e-03 9.99958868e-01 5.49581739e-03 4.43455536e+00] [ 1.33594317e-01 -6.41059635e-03 9.91015370e-01 -1.81271640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.80, Y:4.36, Z:-18.09 [[ 9.90428232e-01 -1.34590085e-02 -1.37370930e-01 5.88020361e+01] [ 2.01542438e-02 9.98669583e-01 4.74644065e-02 4.36256371e+00] [ 1.36549346e-01 -4.97786954e-02 9.89381806e-01 -1.80864016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575919999999996 meters Centerline goodness : 0.930851 Centerline is valid? [True, False] Translation: X:58.79, Y:4.37, Z:-18.09 [[ 9.92119067e-01 -4.22489577e-03 -1.25227419e-01 5.87909961e+01] [ 9.40322422e-03 9.99123526e-01 4.07891923e-02 4.37092801e+00] [ 1.24945330e-01 -4.16452770e-02 9.91289229e-01 -1.80901830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters Centerline goodness : 0.920562 Centerline is valid? [False, False] Translation: X:58.76, Y:4.38, Z:-18.10 [[ 9.94500308e-01 -4.95662536e-03 -1.04616298e-01 5.87635306e+01] [ 8.13276219e-03 9.99518157e-01 2.99551552e-02 4.38263101e+00] [ 1.04417413e-01 -3.06412306e-02 9.94061426e-01 -1.80975230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:58.76, Y:4.38, Z:-18.10 [[ 9.94616549e-01 -5.84488063e-03 -1.03458963e-01 5.87642820e+01] [ 8.86442209e-03 9.99547321e-01 2.87502024e-02 4.38474465e+00] [ 1.03244088e-01 -2.95125310e-02 9.94218119e-01 -1.81005592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters Centerline goodness : 0.927375 Centerline is valid? [True, False] Translation: X:58.76, Y:4.39, Z:-18.10 [[ 9.94614612e-01 -5.89642903e-03 -1.03474662e-01 5.87643548e+01] [ 8.89186597e-03 9.99553925e-01 2.85111446e-02 4.38626257e+00] [ 1.03260390e-01 -2.92776838e-02 9.94223370e-01 -1.81005127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695919999999994 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:58.74, Y:4.40, Z:-18.11 [[ 9.96549605e-01 -8.22438821e-03 -8.25908201e-02 5.87373350e+01] [ 9.72309356e-03 9.99794994e-01 1.77603624e-02 4.39877490e+00] [ 8.24278204e-02 -1.85021204e-02 9.96425274e-01 -1.81050381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.77, Y:4.42, Z:-18.11 [[ 9.96678587e-01 -1.07768700e-02 -8.07195936e-02 5.87660310e+01] [ 1.08628135e-02 9.99940802e-01 6.25641803e-04 4.41687300e+00] [ 8.07080727e-02 -1.50040568e-03 9.96736653e-01 -1.81088121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.79, Y:4.41, Z:-18.11 [[ 9.96642624e-01 -1.33454910e-02 -8.07798071e-02 5.87937135e+01] [ 1.39676935e-02 9.99876938e-01 7.14225495e-03 4.41330067e+00] [ 8.06745493e-02 -8.24658330e-03 9.96706382e-01 -1.81052091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:4.41, Z:-18.10 [[ 9.96605775e-01 -1.55566313e-02 -8.08388524e-02 5.88177581e+01] [ 1.66662290e-02 9.99775688e-01 1.30694375e-02 4.40691710e+00] [ 8.06174029e-02 -1.43723557e-02 9.96641495e-01 -1.81003005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.85, Y:4.43, Z:-18.10 [[ 9.96876305e-01 -1.96327612e-02 -7.64995938e-02 5.88465303e+01] [ 1.85181683e-02 9.99712182e-01 -1.52522038e-02 4.43408229e+00] [ 7.67770188e-02 1.37879282e-02 9.96952949e-01 -1.81046625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.88, Y:4.46, Z:-18.11 [[ 9.98734416e-01 -2.41319959e-02 -4.41272386e-02 5.88780697e+01] [ 2.21694802e-02 9.98766255e-01 -4.44351464e-02 4.46258144e+00] [ 4.51451056e-02 4.34006320e-02 9.98037226e-01 -1.81122949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.90, Y:4.42, Z:-18.10 [[ 9.98818589e-01 -2.52495601e-02 -4.15197109e-02 5.89043478e+01] [ 2.50849309e-02 9.99675279e-01 -4.48138255e-03 4.42276070e+00] [ 4.16193815e-02 3.43456911e-03 9.99127635e-01 -1.81037985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:4.36, Z:-18.08 [[ 9.96954202e-01 -2.16154471e-02 -7.49339119e-02 5.89291164e+01] [ 2.64105647e-02 9.97625773e-01 6.36026628e-02 4.35557303e+00] [ 7.33812018e-02 -6.53879889e-02 9.95158083e-01 -1.80807590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:4.40, Z:-18.09 [[ 9.95965297e-01 -2.57445478e-02 -8.59671129e-02 5.89579862e+01] [ 2.69807875e-02 9.99548143e-01 1.32494054e-02 4.40259041e+00] [ 8.55871681e-02 -1.55154084e-02 9.96209872e-01 -1.80905989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.99, Y:4.43, Z:-18.10 [[ 9.96937160e-01 -2.94274932e-02 -7.24591014e-02 5.89862486e+01] [ 2.80853169e-02 9.99415835e-01 -1.94731443e-02 4.43200244e+00] [ 7.29898192e-02 1.73784644e-02 9.97181265e-01 -1.80968709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.02, Y:4.46, Z:-18.10 [[ 9.98855277e-01 -3.65654192e-02 -3.08400020e-02 5.90164434e+01] [ 3.48670308e-02 9.97936415e-01 -5.39184677e-02 4.46112254e+00] [ 3.27479124e-02 5.27814467e-02 9.98068982e-01 -1.81036472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:59.04, Y:4.36, Z:-18.07 [[ 9.97136039e-01 -3.14384984e-02 -6.87847475e-02 5.90425767e+01] [ 3.49750167e-02 9.98094774e-01 5.08288353e-02 4.35563950e+00] [ 6.70557148e-02 -5.30890112e-02 9.96335831e-01 -1.80732756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:4.35, Z:-18.07 [[ 9.96738504e-01 -3.20207408e-02 -7.40744690e-02 5.90704362e+01] [ 3.56928730e-02 9.98170977e-01 4.87926097e-02 4.35442800e+00] [ 7.23766096e-02 -5.12774035e-02 9.96058359e-01 -1.80735024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:59.10, Y:4.44, Z:-18.09 [[ 9.96768048e-01 -3.81431880e-02 -7.07004691e-02 5.91016302e+01] [ 3.52514452e-02 9.98507787e-01 -4.17077290e-02 4.44184974e+00] [ 7.21858347e-02 3.90806379e-02 9.96625260e-01 -1.80946969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.13, Y:4.39, Z:-18.08 [[ 9.96964423e-01 -3.44183160e-02 -6.98377967e-02 5.91276461e+01] [ 3.48944002e-02 9.99375270e-01 5.60816366e-03 4.39332249e+00] [ 6.96011433e-02 -8.02808768e-03 9.97542596e-01 -1.80823215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.15, Y:4.32, Z:-18.06 [[ 9.97621015e-01 -2.86512551e-02 -6.27010077e-02 5.91533593e+01] [ 3.36744171e-02 9.96179047e-01 8.05812592e-02 4.31866368e+00] [ 6.01526759e-02 -8.25009775e-02 9.94773966e-01 -1.80599305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:4.46, Z:-18.09 [[ 9.97066706e-01 -3.38557712e-02 -6.86423316e-02 5.91870928e+01] [ 2.93348434e-02 9.97399362e-01 -6.58329746e-02 4.45822065e+00] [ 7.06926438e-02 6.36262551e-02 9.95466850e-01 -1.80922500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:4.46, Z:-18.10 [[ 9.99082754e-01 -3.27930262e-02 -2.75366819e-02 5.92173370e+01] [ 3.08565479e-02 9.97206367e-01 -6.80245220e-02 4.45980768e+00] [ 2.96904844e-02 6.71124398e-02 9.97303562e-01 -1.80965511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:4.32, Z:-18.05 [[ 9.97409098e-01 -2.55525088e-02 -6.72470143e-02 5.92399359e+01] [ 3.08398140e-02 9.96413317e-01 7.87997969e-02 4.31574268e+00] [ 6.49922881e-02 -8.06695198e-02 9.94619742e-01 -1.80529096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:4.41, Z:-18.08 [[ 9.97567894e-01 -2.97431283e-02 -6.30368364e-02 5.92714155e+01] [ 2.88749450e-02 9.99475826e-01 -1.46393699e-02 4.40553582e+00] [ 6.34392147e-02 1.27835803e-02 9.97903826e-01 -1.80784742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:4.43, Z:-18.09 [[ 9.98826325e-01 -3.25805529e-02 -3.58396326e-02 5.93006346e+01] [ 3.10502005e-02 9.98615629e-01 -4.24583476e-02 4.43157028e+00] [ 3.71733337e-02 4.12956876e-02 9.98455212e-01 -1.80870316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.33, Y:4.39, Z:-18.08 [[ 9.98973308e-01 -3.22834296e-02 -3.17822135e-02 5.93287701e+01] [ 3.20677161e-02 9.99459230e-01 -7.27385842e-03 4.39408523e+00] [ 3.19998518e-02 6.24720741e-03 9.99468350e-01 -1.80798601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:4.39, Z:-18.08 [[ 9.99303191e-01 -3.18672644e-02 -1.94321670e-02 5.93567194e+01] [ 3.18367447e-02 9.99491318e-01 -1.87799529e-03 4.38843477e+00] [ 1.94821288e-02 1.25802974e-03 9.99809414e-01 -1.80770318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:4.38, Z:-18.07 [[ 9.98984001e-01 -3.26962508e-02 -3.10148502e-02 5.93852783e+01] [ 3.28428716e-02 9.99451577e-01 4.22971008e-03 4.38051266e+00] [ 3.08595453e-02 -5.24402944e-03 9.99509974e-01 -1.80738891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:4.39, Z:-18.08 [[ 9.99201045e-01 -3.18537344e-02 -2.41373618e-02 5.94140214e+01] [ 3.15640044e-02 9.99426159e-01 -1.22908739e-02 4.39320145e+00] [ 2.45150210e-02 1.15191823e-02 9.99633094e-01 -1.80773025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.44, Y:4.37, Z:-18.07 [[ 9.98945240e-01 -3.05038543e-02 -3.43208642e-02 5.94421641e+01] [ 3.09417464e-02 9.99445497e-01 1.23006945e-02 4.36811315e+00] [ 3.39266146e-02 -1.33496677e-02 9.99335165e-01 -1.80688005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:4.38, Z:-18.07 [[ 9.99197303e-01 -3.03948436e-02 -2.60941119e-02 5.94712620e+01] [ 3.02604331e-02 9.99526747e-01 -5.53059444e-03 4.38481851e+00] [ 2.62498643e-02 4.73653592e-03 9.99644192e-01 -1.80740118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.50, Y:4.37, Z:-18.07 [[ 9.99171043e-01 -2.85778747e-02 -2.89919184e-02 5.94995114e+01] [ 2.87113721e-02 9.99578925e-01 4.19876823e-03 4.37465205e+00] [ 2.88597188e-02 -5.02768539e-03 9.99570827e-01 -1.80709334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.52, Y:4.30, Z:-18.04 [[ 9.97181046e-01 -2.21314792e-02 -7.16949023e-02 5.95244035e+01] [ 2.76980138e-02 9.96599545e-01 7.76026197e-02 4.30417636e+00] [ 6.97336462e-02 -7.93696678e-02 9.94403175e-01 -1.80433503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:4.45, Z:-18.08 [[ 9.99307754e-01 -2.80899627e-02 -2.43919392e-02 5.95557257e+01] [ 2.62013121e-02 9.96871503e-01 -7.45700885e-02 4.45470323e+00] [ 2.64103001e-02 7.38793668e-02 9.96917416e-01 -1.80839268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:4.33, Z:-18.05 [[ 9.97609016e-01 -2.12603688e-02 -6.57590103e-02 5.95835976e+01] [ 2.47064988e-02 9.98339121e-01 5.20440923e-02 4.32758444e+00] [ 6.45433160e-02 -5.35443307e-02 9.96477378e-01 -1.80469900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:59.61, Y:4.39, Z:-18.06 [[ 9.97844342e-01 -2.53770572e-02 -6.05200258e-02 5.96116181e+01] [ 2.48976763e-02 9.99652476e-01 -8.66213534e-03 4.38671063e+00] [ 6.07188132e-02 7.13665472e-03 9.98129397e-01 -1.80628151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655919999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:59.64, Y:4.38, Z:-18.06 [[ 9.97903234e-01 -2.57770693e-02 -5.93689933e-02 5.96380244e+01] [ 2.58792692e-02 9.99664621e-01 9.53061253e-04 4.37698826e+00] [ 5.93245151e-02 -2.48748907e-03 9.98235651e-01 -1.80587891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:4.37, Z:-18.06 [[ 9.97802631e-01 -2.54012098e-02 -6.11938559e-02 5.96636044e+01] [ 2.59894056e-02 9.99623174e-01 8.83518963e-03 4.36992953e+00] [ 6.09463720e-02 -1.04061674e-02 9.98086796e-01 -1.80565377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.69, Y:4.40, Z:-18.06 [[ 9.98014796e-01 -2.74037243e-02 -5.67054044e-02 5.96912552e+01] [ 2.63431068e-02 9.99465321e-01 -1.93678509e-02 4.39854580e+00] [ 5.72058364e-02 1.78356053e-02 9.98203077e-01 -1.80624601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:4.39, Z:-18.06 [[ 9.98212934e-01 -2.55684380e-02 -5.40110445e-02 5.97195623e+01] [ 2.52731660e-02 9.99661708e-01 -6.14295089e-03 4.38642776e+00] [ 5.41498387e-02 4.76694294e-03 9.98521443e-01 -1.80571650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:4.38, Z:-18.05 [[ 9.98091312e-01 -2.58204431e-02 -5.60984559e-02 5.97469742e+01] [ 2.60632534e-02 9.99653810e-01 3.60085614e-03 4.37640620e+00] [ 5.59860595e-02 -5.05609150e-03 9.98418748e-01 -1.80528456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:4.38, Z:-18.05 [[ 9.98054772e-01 -2.32701284e-02 -5.78374640e-02 5.97745908e+01] [ 2.34388973e-02 9.99722759e-01 2.24121787e-03 4.37887960e+00] [ 5.77692757e-02 -3.59250457e-03 9.98323497e-01 -1.80523528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.80, Y:4.38, Z:-18.05 [[ 9.98050430e-01 -2.31918665e-02 -5.79437314e-02 5.98022960e+01] [ 2.31691989e-02 9.99730993e-01 -1.06308002e-03 4.38392645e+00] [ 5.79527990e-02 -2.81502365e-04 9.98319285e-01 -1.80524166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.83, Y:4.42, Z:-18.06 [[ 9.99318778e-01 -2.36140779e-02 -2.83611555e-02 5.98311626e+01] [ 2.26632536e-02 9.99185355e-01 -3.33916549e-02 4.41788181e+00] [ 2.91265644e-02 3.27261517e-02 9.99039860e-01 -1.80618998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:4.39, Z:-18.05 [[ 9.99496717e-01 -2.07712735e-02 -2.39764015e-02 5.98599976e+01] [ 2.07991624e-02 9.99783256e-01 9.14357984e-04 4.38536190e+00] [ 2.39522124e-02 -1.41258687e-03 9.99712107e-01 -1.80527545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:4.39, Z:-18.05 [[ 9.99497866e-01 -2.12326854e-02 -2.35199803e-02 5.98883673e+01] [ 2.12062195e-02 9.99774179e-01 -1.37412924e-03 4.38927868e+00] [ 2.35438454e-02 8.74669378e-04 9.99722423e-01 -1.80515101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.92, Y:4.37, Z:-18.04 [[ 9.98496087e-01 -2.01998787e-02 -5.09659543e-02 5.99166160e+01] [ 2.14580436e-02 9.99475337e-01 2.42611369e-02 4.36541976e+00] [ 5.04491423e-02 -2.53182799e-02 9.98405663e-01 -1.80400528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.94, Y:4.38, Z:-18.04 [[ 9.98105582e-01 -1.99674811e-02 -5.81940486e-02 5.99444336e+01] [ 2.06985412e-02 9.99713902e-01 1.19868107e-02 4.37867988e+00] [ 5.79380530e-02 -1.31686346e-02 9.98233324e-01 -1.80429232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.97, Y:4.35, Z:-18.04 [[ 9.98363456e-01 -2.22995780e-02 -5.26605903e-02 5.99709177e+01] [ 2.42428309e-02 9.99037522e-01 3.65556357e-02 4.35294142e+00] [ 5.17947304e-02 -3.77724526e-02 9.97943159e-01 -1.80381151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:4.47, Z:-18.06 [[ 9.99634577e-01 -2.33886775e-02 -1.35529086e-02 5.99991625e+01] [ 2.22282020e-02 9.96528217e-01 -8.02335349e-02 4.47170737e+00] [ 1.53824121e-02 7.99029589e-02 9.96683951e-01 -1.80647755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.03, Y:4.39, Z:-18.04 [[ 9.99584305e-01 -2.05130740e-02 -2.02591134e-02 6.00285006e+01] [ 2.06344409e-02 9.99770264e-01 5.79995220e-03 4.38810242e+00] [ 2.01354843e-02 -6.21557666e-03 9.99777940e-01 -1.80442864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:4.41, Z:-18.05 [[ 9.99788160e-01 -1.74073393e-02 -1.09826721e-02 6.00574427e+01] [ 1.72579142e-02 9.99759161e-01 -1.35566885e-02 4.41062601e+00] [ 1.12160129e-02 1.33642786e-02 9.99847787e-01 -1.80505692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:4.33, Z:-18.02 [[ 9.98426012e-01 -1.48168001e-02 -5.40921537e-02 6.00846031e+01] [ 1.84464387e-02 9.97566920e-01 6.72307219e-02 4.33019796e+00] [ 5.29643989e-02 -6.81227092e-02 9.96270078e-01 -1.80233855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:4.38, Z:-18.04 [[ 9.98332966e-01 -1.49458716e-02 -5.57486402e-02 6.01132580e+01] [ 1.58695290e-02 9.99743433e-01 1.61624914e-02 4.38068528e+00] [ 5.54927744e-02 -1.70202527e-02 9.98314010e-01 -1.80378049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:4.47, Z:-18.06 [[ 9.99743228e-01 -1.70785811e-02 -1.48929318e-02 6.01425318e+01] [ 1.59169575e-02 9.97063603e-01 -7.49054144e-02 4.47428022e+00] [ 1.61284784e-02 7.46491306e-02 9.97079425e-01 -1.80591603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.17, Y:4.32, Z:-18.02 [[ 9.98350531e-01 -1.27500115e-02 -5.59790608e-02 6.01700771e+01] [ 1.72558996e-02 9.96584036e-01 8.07619583e-02 4.32181043e+00] [ 5.47581224e-02 -8.15947130e-02 9.95160214e-01 -1.80169296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.20, Y:4.45, Z:-18.05 [[ 9.98895488e-01 -1.67628163e-02 -4.38954741e-02 6.01984931e+01] [ 1.47824094e-02 9.98874962e-01 -4.50587554e-02 4.44819770e+00] [ 4.46014016e-02 4.43601066e-02 9.98019487e-01 -1.80466255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.23, Y:4.38, Z:-18.03 [[ 9.98585576e-01 -1.64398831e-02 -5.05626169e-02 6.02267961e+01] [ 1.78434303e-02 9.99464361e-01 2.74336042e-02 4.37621391e+00] [ 5.00845283e-02 -2.82970120e-02 9.98344038e-01 -1.80275963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:4.47, Z:-18.05 [[ 9.99780443e-01 -1.97094828e-02 -7.11354412e-03 6.02559893e+01] [ 1.92100539e-02 9.97731732e-01 -6.45163909e-02 4.46814788e+00] [ 8.36899339e-03 6.43655743e-02 9.97891293e-01 -1.80495537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.28, Y:4.36, Z:-18.02 [[ 9.98925223e-01 -1.91848846e-02 -4.21940662e-02 6.02836366e+01] [ 2.12330908e-02 9.98590537e-01 4.86425209e-02 4.35631660e+00] [ 4.12013941e-02 -4.94861515e-02 9.97924629e-01 -1.80179558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:4.41, Z:-18.03 [[ 9.98975054e-01 -2.17647535e-02 -3.96879944e-02 6.03103862e+01] [ 2.17377925e-02 9.99763089e-01 -1.11078138e-03 4.40601454e+00] [ 3.97027677e-02 2.46913502e-04 9.99211504e-01 -1.80298439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.34, Y:4.41, Z:-18.03 [[ 9.99058748e-01 -2.29558344e-02 -3.68055473e-02 6.03386998e+01] [ 2.26468418e-02 9.99704881e-01 -8.79036624e-03 4.41486578e+00] [ 3.69964754e-02 7.94856288e-03 9.99283784e-01 -1.80316797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:4.38, Z:-18.02 [[ 9.98551449e-01 -2.39209136e-02 -4.81953672e-02 6.03660625e+01] [ 2.50982236e-02 9.99397517e-01 2.39725501e-02 4.38431682e+00] [ 4.75928850e-02 -2.51474427e-02 9.98550211e-01 -1.80223736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.39, Y:4.45, Z:-18.04 [[ 9.99376675e-01 -2.70380252e-02 -2.26981537e-02 6.03939555e+01] [ 2.61014908e-02 9.98834930e-01 -4.05893320e-02 4.44913640e+00] [ 2.37691641e-02 3.99715760e-02 9.98918065e-01 -1.80386558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:4.37, Z:-18.02 [[ 9.98913310e-01 -2.68641398e-02 -3.80856459e-02 6.04204543e+01] [ 2.81823773e-02 9.99006956e-01 3.45087824e-02 4.37228843e+00] [ 3.71207764e-02 -3.55446261e-02 9.98678440e-01 -1.80159279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:4.45, Z:-18.04 [[ 9.99568098e-01 -2.91631970e-02 -3.62282516e-03 6.04485332e+01] [ 2.89668115e-02 9.98529476e-01 -4.58236693e-02 4.45191460e+00] [ 4.95386241e-03 4.56989363e-02 9.98942975e-01 -1.80366258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:4.32, Z:-18.00 [[ 9.98612378e-01 -2.82235346e-02 -4.44606637e-02 6.04770059e+01] [ 3.20532145e-02 9.95611549e-01 8.79217575e-02 4.31965799e+00] [ 4.17840875e-02 -8.92248625e-02 9.95134671e-01 -1.79980525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:4.49, Z:-18.05 [[ 9.99460073e-01 -3.27200791e-02 -2.99300110e-03 6.05052514e+01] [ 3.23478602e-02 9.95860468e-01 -8.49443602e-02 4.49042318e+00] [ 5.75999766e-03 8.48016793e-02 9.96381201e-01 -1.80450456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:4.41, Z:-18.03 [[ 9.99438735e-01 -3.34958078e-02 -4.95562310e-04 6.05343077e+01] [ 3.34942142e-02 9.99434603e-01 -2.93457958e-03 4.40952604e+00] [ 5.93578234e-04 2.91633403e-03 9.99995571e-01 -1.80272188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:4.41, Z:-18.03 [[ 9.99439402e-01 -3.34696049e-02 -8.17382032e-04 6.05628210e+01] [ 3.34680457e-02 9.99438072e-01 -1.85208926e-03 4.40922501e+00] [ 8.78911418e-04 1.82369480e-03 9.99997951e-01 -1.80260821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.59, Y:4.41, Z:-18.02 [[ 9.99450681e-01 -3.30182202e-02 2.85208358e-03 6.05915607e+01] [ 3.30213400e-02 9.99454091e-01 -1.05376699e-03 4.40870716e+00] [-2.81573310e-03 1.14736775e-03 9.99995378e-01 -1.80246461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.62, Y:4.40, Z:-18.02 [[ 9.99450639e-01 -3.30269300e-02 2.76440102e-03 6.06208740e+01] [ 3.30128527e-02 9.99442461e-01 4.99185285e-03 4.40310833e+00] [-2.92772533e-03 -4.89784976e-03 9.99983720e-01 -1.80230499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.65, Y:4.41, Z:-18.02 [[ 9.99425981e-01 -3.36997540e-02 3.46917436e-03 6.06483924e+01] [ 3.37103843e-02 9.99426981e-01 -3.05272690e-03 4.41172811e+00] [-3.36431031e-03 3.16792178e-03 9.99989323e-01 -1.80246904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.68, Y:4.41, Z:-18.02 [[ 9.99373521e-01 -3.51649867e-02 3.99865341e-03 6.06769978e+01] [ 3.51524771e-02 9.99376975e-01 3.15685449e-03 4.40592949e+00] [-4.10717289e-03 -3.01431422e-03 9.99987022e-01 -1.80238807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.70, Y:4.34, Z:-18.00 [[ 9.98490412e-01 -3.67924626e-02 -4.07824947e-02 6.07033203e+01] [ 3.94660315e-02 9.96984451e-01 6.68164354e-02 4.34129547e+00] [ 3.82011719e-02 -6.83250933e-02 9.96931468e-01 -1.79979189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.73, Y:4.41, Z:-18.02 [[ 9.98630959e-01 -3.99070544e-02 -3.38176681e-02 6.07298462e+01] [ 3.97046034e-02 9.99189416e-01 -6.63736492e-03 4.41295186e+00] [ 3.40551338e-02 5.28556100e-03 9.99405979e-01 -1.80160672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:4.48, Z:-18.03 [[ 9.98987571e-01 -4.23042633e-02 1.53030371e-02 6.07586633e+01] [ 4.33516504e-02 9.96147846e-01 -7.62240324e-02 4.48390921e+00] [-1.20194859e-02 7.68102729e-02 9.96973276e-01 -1.80346050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:4.40, Z:-18.02 [[ 9.98966086e-01 -4.35096839e-02 1.31782606e-02 6.07918868e+01] [ 4.34009951e-02 9.99022214e-01 8.42437251e-03 4.40031058e+00] [-1.35319169e-02 -7.84371281e-03 9.99877674e-01 -1.80170503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:4.41, Z:-18.02 [[ 9.99016745e-01 -4.23803498e-02 1.30172309e-02 6.08249146e+01] [ 4.23667677e-02 9.99101257e-01 1.31751581e-03 4.40725731e+00] [-1.30613686e-02 -7.64722358e-04 9.99914404e-01 -1.80182001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.86, Y:4.41, Z:-18.02 [[ 9.99018892e-01 -4.28035175e-02 1.13627175e-02 6.08559017e+01] [ 4.28025564e-02 9.99083497e-01 3.27865290e-04 4.40723183e+00] [-1.13663373e-02 1.58809736e-04 9.99935388e-01 -1.80173990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:4.35, Z:-18.00 [[ 9.98711384e-01 -4.21772744e-02 -2.82249700e-02 6.08850316e+01] [ 4.36560940e-02 9.97585691e-01 5.40086551e-02 4.35384664e+00] [ 2.58788883e-02 -5.51712506e-02 9.98141481e-01 -1.79950135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.91, Y:4.46, Z:-18.03 [[ 9.98859884e-01 -4.36717290e-02 1.92798523e-02 6.09140049e+01] [ 4.46943700e-02 9.97415678e-01 -5.62528175e-02 4.46107725e+00] [-1.67733692e-02 5.70503836e-02 9.98230388e-01 -1.80267080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.95, Y:4.39, Z:-18.01 [[ 9.99013252e-01 -4.39922252e-02 6.09974273e-03 6.09474511e+01] [ 4.39145332e-02 9.98959149e-01 1.23341643e-02 4.39228363e+00] [-6.63600115e-03 -1.20541262e-02 9.99905326e-01 -1.80105312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:4.40, Z:-18.02 [[ 9.98853727e-01 -4.73733229e-02 6.85569074e-03 6.09752719e+01] [ 4.73867075e-02 9.98874991e-01 -1.80315241e-03 4.40123190e+00] [-6.76255671e-03 2.12595412e-03 9.99974874e-01 -1.80151782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.00, Y:4.31, Z:-17.98 [[ 9.98802805e-01 -4.61517523e-02 -1.62164203e-02 6.10018418e+01] [ 4.73749867e-02 9.95204027e-01 8.55836192e-02 4.31374736e+00] [ 1.21888128e-02 -8.62494117e-02 9.96199012e-01 -1.79841378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:4.48, Z:-18.03 [[ 9.98647852e-01 -4.97106506e-02 1.52091994e-02 6.10277079e+01] [ 5.08020427e-02 9.95281830e-01 -8.26633596e-02 4.47709550e+00] [-1.10281904e-02 8.33242449e-02 9.96461464e-01 -1.80306271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:61.06, Y:4.31, Z:-17.98 [[ 9.98545727e-01 -4.73514073e-02 -2.57735318e-02 6.10569235e+01] [ 4.94002569e-02 9.95093750e-01 8.57207293e-02 4.31045014e+00] [ 2.15880832e-02 -8.68692870e-02 9.95985784e-01 -1.79825144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:4.48, Z:-18.03 [[ 9.98596086e-01 -4.54277791e-02 2.72428818e-02 6.10872153e+01] [ 4.75902686e-02 9.95258025e-01 -8.48329587e-02 4.47580753e+00] [-2.32599238e-02 8.60103566e-02 9.96022688e-01 -1.80321317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.12, Y:4.39, Z:-18.01 [[ 9.98770529e-01 -4.29388838e-02 2.47726118e-02 6.11220308e+01] [ 4.29406377e-02 9.99077519e-01 4.61401336e-04 4.38839335e+00] [-2.47695716e-02 6.02917691e-04 9.99693005e-01 -1.80127917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:4.39, Z:-18.01 [[ 9.98877330e-01 -4.01742201e-02 2.51020364e-02 6.11547546e+01] [ 4.01755117e-02 9.99192535e-01 4.53070540e-04 4.38723402e+00] [-2.50999691e-02 5.55925265e-04 9.99684792e-01 -1.80125348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:4.39, Z:-18.01 [[ 9.98946898e-01 -3.69943570e-02 2.71387660e-02 6.11876677e+01] [ 3.69950712e-02 9.99315335e-01 4.75947541e-04 4.38564133e+00] [-2.71377924e-02 5.28554261e-04 9.99631563e-01 -1.80107719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:4.38, Z:-18.01 [[ 9.99019449e-01 -3.44436759e-02 2.78167779e-02 6.12208519e+01] [ 3.44438321e-02 9.99406523e-01 4.73674397e-04 4.38321057e+00] [-2.78165843e-02 4.84906493e-04 9.99612926e-01 -1.80121123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.25, Y:4.38, Z:-18.01 [[ 9.99130624e-01 -3.22467978e-02 2.64223462e-02 6.12533544e+01] [ 3.22465313e-02 9.99479850e-01 4.36286367e-04 4.38314087e+00] [-2.64226715e-02 4.16121945e-04 9.99650774e-01 -1.80127407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.29, Y:4.38, Z:-18.01 [[ 9.99264365e-01 -2.94957207e-02 2.45098192e-02 6.12859390e+01] [ 2.94949746e-02 9.99564852e-01 3.92029375e-04 4.38298288e+00] [-2.45107170e-02 3.31175512e-04 9.99699512e-01 -1.80131221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.32, Y:4.38, Z:-18.01 [[ 9.99290486e-01 -2.82184463e-02 2.49448324e-02 6.13189211e+01] [ 2.82175887e-02 9.99601730e-01 3.86445541e-04 4.38253510e+00] [-2.49458025e-02 3.17711668e-04 9.99688755e-01 -1.80122958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:4.38, Z:-18.01 [[ 9.99296934e-01 -2.65519127e-02 2.64694893e-02 6.13514956e+01] [ 2.65507162e-02 9.99647389e-01 3.96718422e-04 4.38192899e+00] [-2.64706895e-02 3.06344394e-04 9.99649543e-01 -1.80109205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:4.38, Z:-18.01 [[ 9.99341856e-01 -2.37167465e-02 2.74475931e-02 6.13848143e+01] [ 2.37147759e-02 9.99718686e-01 3.97354823e-04 4.38142971e+00] [-2.74492957e-02 2.53820213e-04 9.99623165e-01 -1.80095793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.42, Y:4.38, Z:-18.01 [[ 9.99351550e-01 -2.27791561e-02 2.78852815e-02 6.14176245e+01] [ 2.27771513e-02 9.99740491e-01 3.89568774e-04 4.38316817e+00] [-2.78869190e-02 2.45831117e-04 9.99611054e-01 -1.80104710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:4.39, Z:-18.01 [[ 9.99483194e-01 -1.89490953e-02 2.59668380e-02 6.14502591e+01] [ 1.89464141e-02 9.99820440e-01 3.49303918e-04 4.38632747e+00] [-2.59687944e-02 1.42855070e-04 9.99662744e-01 -1.80127292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:4.39, Z:-18.01 [[ 9.99552030e-01 -1.51864909e-02 2.57897200e-02 6.14835245e+01] [ 1.51829305e-02 9.99884677e-01 3.33876359e-04 4.38746717e+00] [-2.57918163e-02 5.78367341e-05 9.99667334e-01 -1.80124286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:4.39, Z:-18.01 [[ 9.99555417e-01 -1.49618266e-02 2.57897775e-02 6.15169633e+01] [ 1.49583065e-02 9.99888064e-01 3.29412307e-04 4.38798951e+00] [-2.57918193e-02 5.65055415e-05 9.99667334e-01 -1.80122697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.55, Y:4.39, Z:-18.01 [[ 9.99592946e-01 -1.31257561e-02 2.53309297e-02 6.15497411e+01] [ 1.31221340e-02 9.99913853e-01 3.09218100e-04 4.38879825e+00] [-2.53328063e-02 2.33036231e-05 9.99679073e-01 -1.80100815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.58, Y:4.39, Z:-18.01 [[ 9.99611965e-01 -1.13411206e-02 2.54420751e-02 6.15829477e+01] [ 1.13372151e-02 9.99935687e-01 2.97750051e-04 4.39116889e+00] [-2.54438157e-02 -9.19223646e-06 9.99676254e-01 -1.80092320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:61.64, Y:4.41, Z:-18.03 [[ 9.99951232e-01 -9.44715438e-03 2.87827636e-03 6.16380382e+01] [ 9.45271227e-03 9.99953472e-01 -1.92353411e-03 4.40673493e+00] [-2.85997052e-03 1.95064782e-03 9.99994008e-01 -1.80276255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:61.64, Y:4.39, Z:-18.01 [[ 9.99801892e-01 -1.27832737e-02 1.52566056e-02 6.16423328e+01] [ 1.27869279e-02 9.99918234e-01 -1.41988352e-04 4.39164374e+00] [-1.52535431e-02 3.37045338e-04 9.99883601e-01 -1.80141564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:61.67, Y:4.39, Z:-18.01 [[ 9.99535479e-01 -1.43181357e-02 2.69038583e-02 6.16728616e+01] [ 1.42261903e-02 9.99892301e-01 3.60586476e-03 4.39101408e+00] [-2.69525900e-02 -3.22145035e-03 9.99631522e-01 -1.80095713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.71, Y:4.40, Z:-18.01 [[ 9.99584746e-01 -1.34557495e-02 2.54809290e-02 6.17051532e+01] [ 1.34500873e-02 9.99909466e-01 3.93597592e-04 4.39784697e+00] [-2.54839183e-02 -5.07134300e-05 9.99675231e-01 -1.80107848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:61.74, Y:4.40, Z:-18.01 [[ 9.99584109e-01 -1.15699216e-02 2.64148681e-02 6.17375113e+01] [ 1.15635286e-02 9.99933062e-01 3.94765176e-04 4.40148627e+00] [-2.64176673e-02 -8.91519137e-05 9.99650989e-01 -1.80102067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81591999999999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:61.77, Y:4.40, Z:-18.01 [[ 9.99580154e-01 -1.06541320e-02 2.69444663e-02 6.17708716e+01] [ 1.06475122e-02 9.99943238e-01 3.89148377e-04 4.40227777e+00] [-2.69470829e-02 -1.02093461e-04 9.99636856e-01 -1.80080272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters Centerline goodness : 0.838275 Centerline is valid? [True, False] Translation: X:61.77, Y:4.40, Z:-18.01 [[ 9.99616180e-01 -6.71833947e-03 2.68766972e-02 6.17711658e+01] [ 6.58343248e-03 9.99965299e-01 5.10482020e-03 4.39974550e+00] [-2.69100605e-02 -4.92591995e-03 9.99625722e-01 -1.80072277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87592 meters Centerline goodness : 0.998611 Centerline is valid? [False, True] Translation: X:61.77, Y:4.40, Z:-18.01 [[ 9.99636896e-01 -2.78629438e-03 2.68013671e-02 6.17715155e+01] [ 2.53170021e-03 9.99951397e-01 9.52854483e-03 4.39864772e+00] [-2.68266138e-02 -9.45723195e-03 9.99595365e-01 -1.80067410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.80, Y:4.41, Z:-18.01 [[ 9.99527867e-01 -4.78169658e-03 3.03509381e-02 6.18037830e+01] [ 4.71150541e-03 9.99986060e-01 2.38374745e-03 4.40828653e+00] [-3.03619133e-02 -2.23962339e-03 9.99536462e-01 -1.80074854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:61.84, Y:4.35, Z:-17.99 [[ 9.99763124e-01 -1.85454576e-03 -2.16853914e-02 6.18376769e+01] [ 3.17744718e-03 9.98124759e-01 6.11299313e-02 4.35244220e+00] [ 2.15313578e-02 -6.11843553e-02 9.97894220e-01 -1.79866932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:61.86, Y:4.47, Z:-18.02 [[ 9.99411075e-01 -4.45535684e-03 3.40242959e-02 6.18648934e+01] [ 6.46583453e-03 9.98224606e-01 -5.92100370e-02 4.47071948e+00] [-3.37000876e-02 5.93951622e-02 9.97665535e-01 -1.80196088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:61.90, Y:4.41, Z:-18.00 [[ 9.99408726e-01 -3.77732444e-03 3.41749977e-02 6.18986991e+01] [ 3.76996622e-03 9.99992855e-01 2.79745781e-04 4.41328459e+00] [-3.41758102e-02 -1.50741787e-04 9.99415825e-01 -1.80048369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:61.93, Y:4.42, Z:-18.01 [[ 9.99430406e-01 -1.50139142e-03 3.37136404e-02 6.19311215e+01] [ 1.49353883e-03 9.99998851e-01 2.58102332e-04 4.41668329e+00] [-3.37139891e-02 -2.07602687e-04 9.99431500e-01 -1.80052928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:61.96, Y:4.36, Z:-17.98 [[ 9.99856293e-01 6.86285902e-04 -1.69388078e-02 6.19639357e+01] [ 3.68040294e-04 9.98066020e-01 6.21617564e-02 4.35877130e+00] [ 1.69487092e-02 -6.21590574e-02 9.97922338e-01 -1.79834424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:61.97, Y:4.46, Z:-18.03 [[ 9.99372539e-01 4.62054936e-03 -3.51166505e-02 6.19704507e+01] [-6.51458285e-03 9.98518930e-01 -5.40139556e-02 4.46404064e+00] [ 3.48150661e-02 5.42088343e-02 9.97922499e-01 -1.80319469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.01, Y:4.46, Z:-18.01 [[ 9.99262528e-01 9.05656439e-03 3.73145996e-02 6.20116920e+01] [-7.67356926e-03 9.99284282e-01 -3.70410574e-02 4.46182818e+00] [-3.76233576e-02 3.67274045e-02 9.98616834e-01 -1.80132017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters Centerline goodness : 0.941888 Centerline is valid? [True, False] Translation: X:62.02, Y:4.44, Z:-18.01 [[ 9.99453500e-01 7.95444670e-03 3.20846955e-02 6.20172894e+01] [-7.51170258e-03 9.99875227e-01 -1.38962440e-02 4.44174400e+00] [-3.21912292e-02 1.36476390e-02 9.99388546e-01 -1.80098744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17591999999999 meters Centerline goodness : 0.995631 Centerline is valid? [False, True] Translation: X:62.03, Y:4.44, Z:-18.01 [[ 9.99575005e-01 1.00553407e-02 2.73623825e-02 6.20301657e+01] [-9.81998244e-03 9.99913741e-01 -8.72235195e-03 4.43962217e+00] [-2.74477285e-02 8.44994688e-03 9.99587525e-01 -1.80089283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:62.08, Y:4.38, Z:-17.97 [[ 9.99030300e-01 1.13373469e-02 4.25431995e-02 6.20802144e+01] [-1.41614778e-02 9.97673926e-01 6.66797523e-02 4.38306532e+00] [-4.16882694e-02 -6.72175675e-02 9.96867036e-01 -1.79743551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23592 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:62.11, Y:4.45, Z:-17.99 [[ 9.98915444e-01 1.34283993e-02 4.45826615e-02 6.21105910e+01] [-1.34226338e-02 9.99909820e-01 -4.28688976e-04 4.45025649e+00] [-4.45843977e-02 -1.70192700e-04 9.99005607e-01 -1.79932215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters Centerline goodness : 0.827994 Centerline is valid? [True, False] Translation: X:62.13, Y:4.45, Z:-17.99 [[ 9.99246886e-01 8.59891468e-03 3.78380682e-02 6.21333750e+01] [-8.63262962e-03 9.99962473e-01 7.27740099e-04 4.45006423e+00] [-3.78303905e-02 -1.05383406e-03 9.99283619e-01 -1.79927885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:62.16, Y:4.45, Z:-17.99 [[ 9.99493853e-01 3.91786349e-03 3.15703658e-02 6.21551651e+01] [-3.98596515e-03 9.99989863e-01 2.09449254e-03 4.45074345e+00] [-3.15618398e-02 -2.21927080e-03 9.99499337e-01 -1.79906334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:62.19, Y:4.45, Z:-17.99 [[ 9.99465594e-01 4.07949887e-03 3.24327702e-02 6.21883666e+01] [-4.07964610e-03 9.99991676e-01 -6.16351726e-05 4.45295329e+00] [-3.24327517e-02 -7.07119900e-05 9.99473917e-01 -1.79901340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:62.22, Y:4.41, Z:-17.97 [[ 9.99967470e-01 5.00971636e-03 -6.32147262e-03 6.22213879e+01] [-4.73907975e-03 9.99101137e-01 4.21243188e-02 4.41408183e+00] [ 6.52682138e-03 -4.20929906e-02 9.99092378e-01 -1.79732023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:62.25, Y:4.50, Z:-18.00 [[ 9.99430340e-01 1.68460852e-03 3.37069435e-02 6.22506093e+01] [-2.93894156e-04 9.99149991e-01 -4.12214727e-02 4.49538967e+00] [-3.37477343e-02 4.11880842e-02 9.98581310e-01 -1.79970575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41592 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:62.28, Y:4.35, Z:-17.95 [[ 9.98949931e-01 3.90068015e-03 -4.56488735e-02 6.22809426e+01] [ 1.55042507e-03 9.92920204e-01 1.18773164e-01 4.34514228e+00] [ 4.57889849e-02 -1.18719220e-01 9.91871522e-01 -1.79477256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:62.31, Y:4.51, Z:-17.99 [[ 9.99802688e-01 -9.16578977e-05 -1.98639413e-02 6.23095682e+01] [-8.42030515e-04 9.98894971e-01 -4.69907242e-02 4.50662357e+00] [ 1.98462981e-02 4.69981785e-02 9.98697800e-01 -1.79913454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47592 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:62.34, Y:4.46, Z:-17.98 [[ 9.99835052e-01 -1.59310541e-03 -1.80922811e-02 6.23366167e+01] [ 1.55137682e-03 9.99996105e-01 -2.32023143e-03 4.46357022e+00] [ 1.80959070e-02 2.29178077e-03 9.99833629e-01 -1.79822460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:62.37, Y:4.48, Z:-17.98 [[ 9.99949304e-01 -4.43998981e-03 -9.03742354e-03 6.23663472e+01] [ 4.29292631e-03 9.99859108e-01 -1.62275863e-02 4.47879651e+00] [ 9.10820056e-03 1.61879667e-02 9.99827480e-01 -1.79824713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53591999999999 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:62.39, Y:4.49, Z:-17.99 [[ 9.99702986e-01 -9.71313410e-03 2.23516386e-02 6.23929330e+01] [ 1.03529799e-02 9.99534714e-01 -2.86909681e-02 4.48984207e+00] [-2.20625594e-02 2.89138525e-02 9.99338397e-01 -1.79886703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:62.42, Y:4.47, Z:-17.98 [[ 9.99495684e-01 -9.89244613e-03 3.01747819e-02 6.24233419e+01] [ 1.00814397e-02 9.99930467e-01 -6.11759945e-03 4.46862762e+00] [-3.01121657e-02 6.41871949e-03 9.99525916e-01 -1.79847814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59591999999999 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:62.45, Y:4.35, Z:-17.95 [[ 9.99664056e-01 -7.58848192e-03 -2.47828669e-02 6.24533747e+01] [ 1.05003837e-02 9.92770498e-01 1.19567893e-01 4.34928728e+00] [ 2.36963603e-02 -1.19787954e-01 9.92516664e-01 -1.79459319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:62.48, Y:4.59, Z:-18.00 [[ 9.99239603e-01 -1.20668966e-02 3.70756720e-02 6.24845145e+01] [ 1.64038135e-02 9.92759352e-01 -1.18994894e-01 4.58669896e+00] [-3.53713210e-02 1.19512593e-01 9.92202404e-01 -1.80017527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65592 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:62.52, Y:4.45, Z:-17.98 [[ 9.99678025e-01 -1.09853661e-02 2.28728702e-02 6.25179718e+01] [ 1.05992668e-02 9.99800435e-01 1.69335847e-02 4.45390213e+00] [-2.30543272e-02 -1.66856968e-02 9.99594961e-01 -1.79761139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:62.54, Y:4.35, Z:-17.94 [[ 9.99853808e-01 -1.19958994e-02 -1.21844983e-02 6.25444008e+01] [ 1.34853405e-02 9.91343206e-01 1.30601660e-01 4.34514513e+00] [ 1.05123352e-02 -1.30746880e-01 9.91360048e-01 -1.79416788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71592 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:62.58, Y:4.62, Z:-18.00 [[ 9.99078353e-01 -9.72335086e-03 4.18078969e-02 6.25758793e+01] [ 1.56211676e-02 9.89577864e-01 -1.43148977e-01 4.61570028e+00] [-3.99802816e-02 1.43670133e-01 9.88817713e-01 -1.79983964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:62.60, Y:4.33, Z:-17.93 [[ 9.99862226e-01 -1.29222392e-02 -1.04184860e-02 6.26042943e+01] [ 1.43556988e-02 9.88287737e-01 1.51925185e-01 4.32586642e+00] [ 8.33324837e-03 -1.52053819e-01 9.88337085e-01 -1.79336997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77592 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:62.64, Y:4.60, Z:-18.00 [[ 9.99356093e-01 -1.02779291e-02 3.43768025e-02 6.26367065e+01] [ 1.47361701e-02 9.91131800e-01 -1.32062866e-01 4.60420614e+00] [-3.27146093e-02 1.32484412e-01 9.90645060e-01 -1.79999796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:62.67, Y:4.47, Z:-17.98 [[ 9.99266865e-01 -1.23204113e-02 3.62483186e-02 6.26684014e+01] [ 1.23661484e-02 9.99922998e-01 -1.03783479e-03 4.47463057e+00] [-3.62327409e-02 1.48532601e-03 9.99342275e-01 -1.79810346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83592 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:62.70, Y:4.36, Z:-17.94 [[ 9.99875979e-01 -1.45021223e-02 -6.14118038e-03 6.26957488e+01] [ 1.51266708e-02 9.92871389e-01 1.18226855e-01 4.35997044e+00] [ 4.38286198e-03 -1.18305088e-01 9.92967621e-01 -1.79429212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:62.73, Y:4.51, Z:-17.98 [[ 9.99923514e-01 -8.98113576e-03 -8.50323471e-03 6.27294547e+01] [ 8.69265776e-03 9.99405080e-01 -3.33755109e-02 4.50767217e+00] [ 8.79792596e-03 3.32990425e-02 9.99406709e-01 -1.79790821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89592 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:62.76, Y:4.56, Z:-17.99 [[ 9.98626507e-01 -8.74417868e-03 5.16588695e-02 6.27560876e+01] [ 1.29735556e-02 9.96538644e-01 -8.21122220e-02 4.55519376e+00] [-5.07620559e-02 8.26696406e-02 9.95283349e-01 -1.79918256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:62.79, Y:4.40, Z:-17.96 [[ 9.99943528e-01 -9.82780099e-03 -4.04409692e-03 6.27886989e+01] [ 1.00915383e-02 9.97396636e-01 7.14010564e-02 4.40219490e+00] [ 3.33185329e-03 -7.14378354e-02 9.97439489e-01 -1.79558876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95591999999999 meters Centerline goodness : 0.962692 Centerline is valid? [True, True] Translation: X:62.87, Y:4.41, Z:-17.98 [[ 9.99608213e-01 -1.63010024e-02 -2.27529522e-02 6.28705578e+01] [ 1.80253738e-02 9.96808947e-01 7.77625131e-02 4.40548842e+00] [ 2.14127394e-02 -7.81421773e-02 9.96712243e-01 -1.79815799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:62.84, Y:4.50, Z:-17.98 [[ 9.99852558e-01 -1.46133344e-02 9.01735834e-03 6.28417292e+01] [ 1.49242031e-02 9.99260774e-01 -3.54284299e-02 4.49722078e+00] [-8.49296498e-03 3.55577831e-02 9.99331533e-01 -1.79813838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01592 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:62.87, Y:4.46, Z:-17.97 [[ 9.99819209e-01 -1.48037651e-02 1.19330735e-02 6.28709952e+01] [ 1.48159180e-02 9.99889805e-01 -9.30658314e-04 4.46396263e+00] [-1.19179813e-02 1.10728950e-03 9.99928365e-01 -1.79734359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:62.90, Y:4.46, Z:-17.97 [[ 9.99866559e-01 -1.38220387e-02 8.70721159e-03 6.29002720e+01] [ 1.37988740e-02 9.99901105e-01 2.71488688e-03 4.46172102e+00] [-8.74387577e-03 -2.59437489e-03 9.99958406e-01 -1.79720113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07592 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:62.93, Y:4.48, Z:-17.98 [[ 9.99815296e-01 -1.25845325e-02 1.45259812e-02 6.29286610e+01] [ 1.28724645e-02 9.99719074e-01 -1.99015639e-02 4.48451943e+00] [-1.42714486e-02 2.00848732e-02 9.99696416e-01 -1.79789934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:62.96, Y:4.50, Z:-17.98 [[ 9.99448135e-01 -1.25333639e-02 3.07626534e-02 6.29590258e+01] [ 1.35900266e-02 9.99316305e-01 -3.43836360e-02 4.49887305e+00] [-3.03106785e-02 3.47827261e-02 9.98935145e-01 -1.79821368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13592 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:62.99, Y:4.48, Z:-17.98 [[ 9.98810353e-01 -1.40469402e-02 4.66964799e-02 6.29887757e+01] [ 1.46162984e-02 9.99822674e-01 -1.18737182e-02 4.47802984e+00] [-4.65214099e-02 1.25421223e-02 9.98838552e-01 -1.79804791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:63.02, Y:4.47, Z:-17.98 [[ 9.98798623e-01 -1.42847382e-02 4.68749072e-02 6.30216638e+01] [ 1.43189620e-02 9.99897401e-01 -3.94389475e-04 4.46759044e+00] [-4.68644642e-02 1.06511568e-03 9.98900690e-01 -1.79794898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:63.05, Y:4.47, Z:-17.98 [[ 9.98732130e-01 -1.48283758e-02 4.81066804e-02 6.30528150e+01] [ 1.51568728e-02 9.99864189e-01 -6.47090897e-03 4.47336346e+00] [-4.80041940e-02 7.19185154e-03 9.98821243e-01 -1.79845243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:63.08, Y:4.47, Z:-17.99 [[ 9.98806190e-01 -1.48469690e-02 4.65377468e-02 6.30841261e+01] [ 1.50783774e-02 9.99875616e-01 -4.62537266e-03 4.47176096e+00] [-4.64632855e-02 5.32156455e-03 9.98905823e-01 -1.79859889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:63.12, Y:4.48, Z:-17.99 [[ 9.98636956e-01 -1.59838133e-02 4.96864876e-02 6.31162363e+01] [ 1.63306995e-02 9.99844972e-01 -6.58337370e-03 4.47520285e+00] [-4.95735574e-02 7.38581537e-03 9.98743166e-01 -1.79896548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:63.15, Y:4.47, Z:-17.99 [[ 9.98676367e-01 -1.70126117e-02 4.85395152e-02 6.31482618e+01] [ 1.68473280e-02 9.99850806e-01 3.81225936e-03 4.46531552e+00] [-4.85971299e-02 -2.98945220e-03 9.98813988e-01 -1.79879176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31591999999999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:63.18, Y:4.48, Z:-17.99 [[ 9.98517347e-01 -1.56605997e-02 5.21330325e-02 6.31799205e+01] [ 1.61197062e-02 9.99834804e-01 -8.39762463e-03 4.47632720e+00] [-5.19929085e-02 9.22554304e-03 9.98604840e-01 -1.79922088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:63.21, Y:4.40, Z:-17.97 [[ 9.99698141e-01 -1.97386622e-02 1.46291303e-02 6.32103738e+01] [ 1.87161638e-02 9.97576670e-01 6.70111419e-02 4.40248961e+00] [-1.59163894e-02 -6.67171128e-02 9.97644975e-01 -1.79701666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37592 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:63.24, Y:4.49, Z:-17.99 [[ 9.99676099e-01 -1.51329930e-02 2.04619036e-02 6.32381090e+01] [ 1.54437430e-02 9.99766487e-01 -1.51149925e-02 4.48564315e+00] [-2.02283904e-02 1.54261051e-02 9.99676371e-01 -1.79911497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:63.27, Y:4.53, Z:-18.00 [[ 9.98085513e-01 -1.18153535e-02 6.07100096e-02 6.32688834e+01] [ 1.56027075e-02 9.97935874e-01 -6.22940305e-02 4.53412661e+00] [-5.98486705e-02 6.31220099e-02 9.96209691e-01 -1.80048000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:63.30, Y:4.38, Z:-17.97 [[ 9.99754469e-01 -1.90677925e-02 1.12881283e-02 6.32997228e+01] [ 1.79580376e-02 9.95655642e-01 9.13638455e-02 4.38239855e+00] [-1.29811954e-02 -9.11387002e-02 9.95753597e-01 -1.79663254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:63.33, Y:4.47, Z:-17.99 [[ 9.99784699e-01 -1.41799216e-02 1.51487644e-02 6.33294874e+01] [ 1.41512881e-02 9.99897874e-01 1.99568545e-03 4.47068699e+00] [-1.51755160e-02 -1.78088125e-03 9.99883259e-01 -1.79898955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:63.36, Y:4.51, Z:-18.00 [[ 9.99655690e-01 -1.00998230e-02 2.42176653e-02 6.33589693e+01] [ 1.08907273e-02 9.99404178e-01 -3.27518033e-02 4.50732924e+00] [-2.38724485e-02 3.30042745e-02 9.99170068e-01 -1.79989789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:63.39, Y:4.54, Z:-18.01 [[ 9.97744757e-01 -7.16777645e-03 6.67384643e-02 6.33889986e+01] [ 1.12650271e-02 9.98060709e-01 -6.12202532e-02 4.53747166e+00] [-6.61702260e-02 6.18339973e-02 9.95890585e-01 -1.80078205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:63.42, Y:4.49, Z:-18.00 [[ 9.97510611e-01 -9.37290886e-03 6.98908362e-02 6.34231287e+01] [ 1.02164398e-02 9.99879107e-01 -1.17215855e-02 4.48997891e+00] [-6.97725215e-02 1.24064415e-02 9.97485777e-01 -1.80021774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:63.46, Y:4.35, Z:-17.96 [[ 9.99877282e-01 -1.54347060e-02 2.68139488e-03 6.34564833e+01] [ 1.49291272e-02 9.90664954e-01 1.35499336e-01 4.34667857e+00] [-4.74775635e-03 -1.35442677e-01 9.90773809e-01 -1.79587945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:63.48, Y:4.48, Z:-18.00 [[ 9.99777907e-01 -8.98643514e-03 1.90625218e-02 6.34836550e+01] [ 9.00963834e-03 9.99958772e-01 -1.13168258e-03 4.48269423e+00] [-1.90515661e-02 1.30317767e-03 9.99817653e-01 -1.79964750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:63.51, Y:4.54, Z:-18.01 [[ 9.99746105e-01 -7.21306955e-03 2.13470478e-02 6.35125531e+01] [ 8.42875793e-03 9.98314644e-01 -5.74180077e-02 4.54055942e+00] [-2.08969103e-02 5.75833586e-02 9.98121974e-01 -1.80074472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67591999999999 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:63.54, Y:4.49, Z:-18.00 [[ 9.99669003e-01 -1.29328112e-02 2.22401989e-02 6.35432193e+01] [ 1.30438628e-02 9.99903136e-01 -4.85548369e-03 4.49055675e+00] [-2.21752495e-02 5.14397465e-03 9.99740865e-01 -1.80006833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:63.57, Y:4.49, Z:-18.00 [[ 9.99637993e-01 -1.36849264e-02 2.31647396e-02 6.35737265e+01] [ 1.37957902e-02 9.99894101e-01 -4.63285215e-03 4.49092918e+00] [-2.30988862e-02 4.95075091e-03 9.99720927e-01 -1.80032502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73592 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:63.58, Y:4.50, Z:-18.02 [[ 9.99801464e-01 -1.54768758e-02 1.25498557e-02 6.35773355e+01] [ 1.58275399e-02 9.99472993e-01 -2.83412178e-02 4.49929110e+00] [-1.21046083e-02 2.85342243e-02 9.99519523e-01 -1.80220962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters Centerline goodness : 0.972160 Centerline is valid? [True, True] Translation: X:63.74, Y:4.16, Z:-17.92 [[ 9.93749756e-01 -1.11060147e-01 -1.12723224e-02 6.37408525e+01] [ 1.09328752e-01 9.47881408e-01 2.99279235e-01 4.15520018e+00] [-2.25531709e-02 -2.98641056e-01 9.54098986e-01 -1.79199276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79592 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:63.61, Y:4.63, Z:-18.04 [[ 9.99963300e-01 1.05567775e-03 8.50199273e-03 6.36058482e+01] [ 3.92147821e-04 9.85698999e-01 -1.68515074e-01 4.62952416e+00] [-8.55830334e-03 1.68512223e-01 9.85662410e-01 -1.80360984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:63.65, Y:4.47, Z:-18.00 [[ 9.99517016e-01 -9.39634162e-03 2.96216700e-02 6.36528015e+01] [ 9.57459159e-03 9.99936866e-01 -5.88146551e-03 4.47436990e+00] [-2.95645356e-02 6.16224025e-03 9.99543878e-01 -1.80035916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85592 meters Centerline goodness : 0.898157 Centerline is valid? [True, False] Translation: X:63.65, Y:4.47, Z:-18.00 [[ 9.99562935e-01 -1.47718041e-03 2.95255223e-02 6.36530277e+01] [ 1.34567185e-03 9.99989089e-01 4.47343787e-03 4.46545803e+00] [-2.95318082e-02 -4.43175102e-03 9.99554016e-01 -1.80029136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters Centerline goodness : 0.858961 Centerline is valid? [False, False] Translation: X:63.67, Y:4.47, Z:-18.00 [[ 9.99904059e-01 -2.03142586e-03 1.37020536e-02 6.36652704e+01] [ 1.98724014e-03 9.99992784e-01 3.23759653e-03 4.46533349e+00] [-1.37085317e-02 -3.21005664e-03 9.99900881e-01 -1.80042678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91592 meters Centerline goodness : 0.929321 Centerline is valid? [False, False] Translation: X:63.67, Y:4.46, Z:-18.00 [[ 9.99903234e-01 2.02429981e-03 1.37631378e-02 6.36652298e+01] [-2.13508200e-03 9.99965405e-01 8.03927278e-03 4.46251357e+00] [-1.37463878e-02 -8.06788029e-03 9.99872965e-01 -1.80038493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters Centerline goodness : 0.998708 Centerline is valid? [False, True] Translation: X:63.64, Y:4.45, Z:-18.01 [[ 9.99812011e-01 -1.37137373e-03 1.93407063e-02 6.36424784e+01] [ 1.06186920e-03 9.99871365e-01 1.60039525e-02 4.45445181e+00] [-1.93601658e-02 -1.59804067e-02 9.99684856e-01 -1.80065511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97592 meters Centerline goodness : 0.846970 Centerline is valid? [True, False] Translation: X:63.64, Y:4.45, Z:-18.01 [[ 9.99813303e-01 -1.41014856e-03 1.92709649e-02 6.36427393e+01] [ 1.09912019e-03 9.99869125e-01 1.61408113e-02 4.45378148e+00] [-1.92912038e-02 -1.61166168e-02 9.99684002e-01 -1.80067093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters Centerline goodness : 0.998905 Centerline is valid? [False, True] Translation: X:63.65, Y:4.46, Z:-18.01 [[ 9.99826840e-01 -3.20827491e-03 1.83301990e-02 6.36479633e+01] [ 2.95275350e-03 9.99898334e-01 1.39500140e-02 4.45543058e+00] [-1.83730909e-02 -1.38934739e-02 9.99734665e-01 -1.80117175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03591999999999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:63.68, Y:4.51, Z:-18.03 [[ 9.98649566e-01 -1.48792320e-03 5.19310117e-02 6.36788121e+01] [ 3.49311515e-03 9.99250828e-01 -3.85432397e-02 4.50815054e+00] [-5.18347571e-02 3.86725906e-02 9.97906603e-01 -1.80277058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:63.71, Y:4.38, Z:-17.99 [[ 9.99913003e-01 -4.18342963e-03 1.25094064e-02 6.37087426e+01] [ 3.06989111e-03 9.96138155e-01 8.77459564e-02 4.38434298e+00] [-1.28281761e-02 -8.76999202e-02 9.96064336e-01 -1.79933916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:63.74, Y:4.50, Z:-18.02 [[ 9.99847648e-01 2.87949899e-05 1.74550618e-02 6.37400572e+01] [ 5.50110775e-04 9.99449912e-01 -3.31597860e-02 4.50327193e+00] [-1.74464148e-02 3.31643363e-02 9.99297628e-01 -1.80222787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:63.77, Y:4.50, Z:-18.02 [[ 9.99375735e-01 -1.76511422e-03 3.52849031e-02 6.37720081e+01] [ 2.66195521e-03 9.99674171e-01 -2.53863346e-02 4.49599152e+00] [-3.52285964e-02 2.54644136e-02 9.99054808e-01 -1.80248263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:4.50, Z:-18.03 [[ 9.97695071e-01 -3.68690720e-03 6.77565627e-02 6.38022883e+01] [ 6.05900998e-03 9.99374637e-01 -3.48371103e-02 4.50473478e+00] [-6.75857491e-02 3.51673509e-02 9.97093488e-01 -1.80285774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:4.45, Z:-18.02 [[ 9.98689577e-01 -5.47908343e-03 5.08832831e-02 6.38355290e+01] [ 4.56143901e-03 9.99825179e-01 1.81329492e-02 4.45180215e+00] [-5.09737396e-02 -1.78770863e-02 9.98539978e-01 -1.80194685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:4.47, Z:-18.02 [[ 9.98802020e-01 -5.71679775e-03 4.85987877e-02 6.38678744e+01] [ 5.57655367e-03 9.99979888e-01 3.02085118e-03 4.46632256e+00] [-4.86150799e-02 -2.74621852e-03 9.98813813e-01 -1.80233301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:63.90, Y:4.49, Z:-18.03 [[ 9.98579599e-01 -5.40370182e-03 5.30055118e-02 6.38995117e+01] [ 6.25143794e-03 9.99854987e-01 -1.58406201e-02 4.48505729e+00] [-5.29122274e-02 1.61494807e-02 9.98468573e-01 -1.80311013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:4.40, Z:-18.01 [[ 9.99839732e-01 -6.91764922e-03 1.65123259e-02 6.39301462e+01] [ 5.79733408e-03 9.97739068e-01 6.69562809e-02 4.40365755e+00] [-1.69381728e-02 -6.68498225e-02 9.97619266e-01 -1.80076761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:63.96, Y:4.46, Z:-18.02 [[ 9.99814187e-01 -3.49191639e-03 1.89578053e-02 6.39584190e+01] [ 3.34320554e-03 9.99963440e-01 7.87034110e-03 4.46153483e+00] [-1.89845947e-02 -7.80549885e-03 9.99789307e-01 -1.80243826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:4.54, Z:-18.04 [[ 9.98026121e-01 -1.65107100e-03 6.27784674e-02 6.39877135e+01] [ 6.35082709e-03 9.97183060e-01 -7.47369518e-02 4.54401381e+00] [-6.24782282e-02 7.49881253e-02 9.95225227e-01 -1.80402149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:4.47, Z:-18.03 [[ 9.98251899e-01 -5.00502633e-03 5.88905457e-02 6.40190824e+01] [ 4.74949044e-03 9.99978693e-01 4.47833913e-03 4.46566907e+00] [-5.89117051e-02 -4.19081046e-03 9.98254400e-01 -1.80283876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:64.05, Y:4.43, Z:-18.02 [[ 9.99562881e-01 -4.71585969e-03 2.91857554e-02 6.40490270e+01] [ 3.51504095e-03 9.99150525e-01 4.10593869e-02 4.43048219e+00] [-2.93545931e-02 -4.09388499e-02 9.98730353e-01 -1.80160937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:64.08, Y:4.48, Z:-18.03 [[ 9.99491467e-01 -2.90230439e-03 3.17550722e-02 6.40807610e+01] [ 3.14062457e-03 9.99967259e-01 -7.45764629e-03 4.47784898e+00] [-3.17323882e-02 7.55358459e-03 9.99467858e-01 -1.80278395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:64.11, Y:4.46, Z:-18.03 [[ 9.99543347e-01 -3.75120429e-03 2.99837630e-02 6.41096378e+01] [ 3.24176783e-03 9.99849877e-01 1.70210016e-02 4.45562980e+00] [-3.00431110e-02 -1.69160285e-02 9.99405453e-01 -1.80250132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:64.14, Y:4.48, Z:-18.03 [[ 9.99538606e-01 -2.48914161e-03 3.02717705e-02 6.41382287e+01] [ 2.62263392e-03 9.99987008e-01 -4.37088996e-03 4.47833219e+00] [-3.02604974e-02 4.44826503e-03 9.99532148e-01 -1.80280439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:4.54, Z:-18.04 [[ 9.96529041e-01 -1.05781430e-03 8.32391228e-02 6.41688354e+01] [ 6.46796417e-03 9.97880393e-01 -6.47525082e-02 4.53902885e+00] [-8.29941924e-02 6.50661425e-02 9.94423633e-01 -1.80429637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:64.20, Y:4.42, Z:-18.02 [[ 9.99186398e-01 -7.08591701e-03 3.97030418e-02 6.42007415e+01] [ 4.93063167e-03 9.98522134e-01 5.41224242e-02 4.42065320e+00] [-4.00278730e-02 -5.38826290e-02 9.97744673e-01 -1.80173775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:64.23, Y:4.43, Z:-18.02 [[ 9.99041309e-01 -5.84087476e-03 4.33860176e-02 6.42276386e+01] [ 3.70639805e-03 9.98786212e-01 4.91158334e-02 4.42505316e+00] [-4.36202356e-02 -4.89079407e-02 9.97850334e-01 -1.80211281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:64.26, Y:4.47, Z:-18.03 [[ 9.99201806e-01 -2.92029026e-03 3.98399765e-02 6.42596291e+01] [ 2.96968516e-03 9.99994893e-01 -1.18070927e-03 4.47450101e+00] [-3.98363251e-02 1.29807903e-03 9.99205375e-01 -1.80317969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:64.29, Y:4.51, Z:-18.04 [[ 9.99039362e-01 -1.77583384e-03 4.37858486e-02 6.42891243e+01] [ 3.34205110e-03 9.99356151e-01 -3.57227319e-02 4.50834514e+00] [-4.36942195e-02 3.58347498e-02 9.98402066e-01 -1.80405878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:64.32, Y:4.47, Z:-18.04 [[ 9.98869901e-01 -4.58975014e-03 4.73059654e-02 6.43192326e+01] [ 4.55642185e-03 9.99989290e-01 8.12335856e-04 4.47211993e+00] [-4.73091871e-02 -5.95871902e-04 9.98880116e-01 -1.80367873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69592 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:64.39, Y:4.43, Z:-18.05 [[ 9.99482659e-01 -1.04142182e-02 3.04295598e-02 6.43944937e+01] [ 8.86739522e-03 9.98683028e-01 5.05329415e-02 4.43031848e+00] [-3.09157460e-02 -5.02369678e-02 9.98258716e-01 -1.80514446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:64.37, Y:4.50, Z:-18.04 [[ 9.98676285e-01 -5.78564718e-03 5.11097215e-02 6.43739128e+01] [ 7.61400408e-03 9.99335288e-01 -3.56512198e-02 4.50131690e+00] [-5.08694829e-02 3.59931774e-02 9.98056505e-01 -1.80425557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75592 meters Centerline goodness : 0.919692 Centerline is valid? [True, False] Translation: X:64.38, Y:4.48, Z:-18.04 [[ 9.98978750e-01 -8.44754350e-03 4.43857752e-02 6.43777665e+01] [ 9.12877458e-03 9.99843290e-01 -1.51677453e-02 4.48042952e+00] [-4.42506894e-02 1.55574430e-02 9.98899315e-01 -1.80405717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters Centerline goodness : 0.995470 Centerline is valid? [False, True] Translation: X:64.41, Y:4.47, Z:-18.04 [[ 9.99697138e-01 -8.64013082e-03 2.30430220e-02 6.44067387e+01] [ 8.72208964e-03 9.99955981e-01 -3.45864166e-03 4.46930791e+00] [-2.30121245e-02 3.65857747e-03 9.99728492e-01 -1.80402348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81591999999999 meters Centerline goodness : 0.935182 Centerline is valid? [True, False] Translation: X:64.41, Y:4.46, Z:-18.04 [[ 9.99722059e-01 -4.66376623e-03 2.31096091e-02 6.44065010e+01] [ 4.61800712e-03 9.99987270e-01 2.03306210e-03 4.46374152e+00] [-2.31187967e-02 -1.92577669e-03 9.99730870e-01 -1.80391813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters Centerline goodness : 0.993619 Centerline is valid? [False, True] Translation: X:64.42, Y:4.46, Z:-18.04 [[ 9.99974288e-01 -1.17081379e-03 7.07483489e-03 6.44165079e+01] [ 1.12053359e-03 9.99974119e-01 7.10669777e-03 4.45844990e+00] [-7.08297241e-03 -7.09858745e-03 9.99949720e-01 -1.80373574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87592 meters Centerline goodness : 0.915112 Centerline is valid? [True, False] Translation: X:64.42, Y:4.45, Z:-18.04 [[ 9.99971325e-01 2.85426877e-03 7.01446683e-03 6.44167298e+01] [-2.94152860e-03 9.99918028e-01 1.24613110e-02 4.45299923e+00] [-6.97832391e-03 -1.24815870e-02 9.99897751e-01 -1.80371334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters Centerline goodness : 0.906674 Centerline is valid? [False, False] Translation: X:64.42, Y:4.45, Z:-18.04 [[ 9.99974434e-01 2.71015053e-03 6.61711179e-03 6.44177294e+01] [-2.79675833e-03 9.99910090e-01 1.31144771e-02 4.44964388e+00] [-6.58097464e-03 -1.31326483e-02 9.99892106e-01 -1.80376304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93592 meters Centerline goodness : 0.991059 Centerline is valid? [False, True] Translation: X:64.42, Y:4.44, Z:-18.04 [[ 9.99974803e-01 4.57827603e-03 5.42514767e-03 6.44233713e+01] [-4.66613615e-03 9.99856347e-01 1.62945294e-02 4.44305328e+00] [-5.34976748e-03 -1.63194333e-02 9.99852517e-01 -1.80414632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:64.44, Y:4.46, Z:-18.05 [[ 9.99591538e-01 2.37644101e-02 1.58748377e-02 6.44421249e+01] [-2.38935909e-02 9.99682514e-01 7.99794154e-03 4.45606054e+00] [-1.56797313e-02 -8.37398157e-03 9.99841999e-01 -1.80499859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99592 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:64.48, Y:4.46, Z:-18.05 [[ 9.99878933e-01 1.21943967e-02 9.66521376e-03 6.44799911e+01] [-1.21380492e-02 9.99909117e-01 -5.86731109e-03 4.46254971e+00] [-9.73588368e-03 5.74928391e-03 9.99936077e-01 -1.80469574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters Centerline goodness : 0.769170 Centerline is valid? [True, False] Translation: X:64.48, Y:4.45, Z:-18.05 [[ 9.99968400e-01 7.60946231e-03 2.30129613e-03 6.44847809e+01] [-7.63272506e-03 9.99918084e-01 1.02745973e-02 4.44558277e+00] [-2.22292346e-03 -1.02918378e-02 9.99944567e-01 -1.80465840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05592 meters Centerline goodness : 0.945826 Centerline is valid? [False, False] Translation: X:64.49, Y:4.45, Z:-18.05 [[ 9.99969125e-01 7.55954934e-03 2.14543638e-03 6.44852848e+01] [-7.58118313e-03 9.99918612e-01 1.02613028e-02 4.44563800e+00] [-2.06769094e-03 -1.02772509e-02 9.99945050e-01 -1.80469363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters Centerline goodness : 0.822168 Centerline is valid? [False, False] Translation: X:64.51, Y:4.43, Z:-18.04 [[ 9.99938088e-01 1.11222089e-02 -3.42829325e-04 6.45097611e+01] [-1.11090943e-02 9.99581882e-01 2.66955029e-02 4.43160146e+00] [ 6.39598942e-04 -2.66900416e-02 9.99643553e-01 -1.80429261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11592 meters Centerline goodness : 0.989795 Centerline is valid? [False, True] Translation: X:64.51, Y:4.44, Z:-18.04 [[ 9.99995082e-01 3.09590744e-03 -5.02021038e-04 6.45100361e+01] [-3.08707429e-03 9.99855233e-01 1.67326656e-02 4.43987191e+00] [ 5.53751146e-04 -1.67310335e-02 9.99859873e-01 -1.80442998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters Centerline goodness : 0.983043 Centerline is valid? [True, True] Translation: X:64.50, Y:4.46, Z:-18.07 [[ 9.99286686e-01 3.72824481e-02 6.01154864e-03 6.45022471e+01] [-3.73172214e-02 9.99286755e-01 5.77987023e-03 4.46147856e+00] [-5.79177322e-03 -6.00008165e-03 9.99965227e-01 -1.80675931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17591999999999 meters Centerline goodness : 0.985561 Centerline is valid? [True, True] Translation: X:64.54, Y:4.39, Z:-18.09 [[ 9.99938346e-01 -1.09479272e-02 -1.85686263e-03 6.45422470e+01] [ 1.10419393e-02 9.98018408e-01 6.19462172e-02 4.38506698e+00] [ 1.17500041e-03 -6.19629013e-02 9.98077762e-01 -1.80865995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:64.60, Y:4.49, Z:-18.06 [[ 9.99715405e-01 -1.48678051e-04 2.38555518e-02 6.46046495e+01] [ 1.07008670e-03 9.99253536e-01 -3.86163817e-02 4.49351556e+00] [-2.38320030e-02 3.86309192e-02 9.98969313e-01 -1.80630914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23592 meters Centerline goodness : 0.987681 Centerline is valid? [True, True] Translation: X:64.66, Y:4.43, Z:-18.06 [[ 9.99592983e-01 -1.86877856e-02 2.15553784e-02 6.46560573e+01] [ 1.82947399e-02 9.99665342e-01 1.82895408e-02 4.43461960e+00] [-2.18899557e-02 -1.78877466e-02 9.99600349e-01 -1.80615219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters Centerline goodness : 0.987761 Centerline is valid? [True, True] Translation: X:64.69, Y:4.46, Z:-18.07 [[ 9.99635775e-01 -2.05819555e-02 1.74556900e-02 6.46914466e+01] [ 2.06703884e-02 9.99774333e-01 -4.90092106e-03 4.46181817e+00] [-1.73508802e-02 5.25995191e-03 9.99835626e-01 -1.80697914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29592 meters Centerline goodness : 0.985425 Centerline is valid? [True, True] Translation: X:64.73, Y:4.46, Z:-18.08 [[ 9.99475456e-01 -2.94254013e-02 1.35262172e-02 6.47298711e+01] [ 2.94371957e-02 9.99566405e-01 -6.73657498e-04 4.46093132e+00] [-1.35005297e-02 1.07147804e-03 9.99908290e-01 -1.80769453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters Centerline goodness : 0.928554 Centerline is valid? [True, False] Translation: X:64.76, Y:4.46, Z:-18.08 [[ 9.99853922e-01 -1.42766663e-02 9.39738535e-03 6.47582454e+01] [ 1.42598168e-02 9.99896598e-01 1.85756856e-03 4.46265401e+00] [-9.42293353e-03 -1.72329222e-03 9.99954118e-01 -1.80753458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35592 meters Centerline goodness : 0.909516 Centerline is valid? [False, False] Translation: X:64.78, Y:4.47, Z:-18.07 [[ 9.99988667e-01 -4.34770324e-03 1.93990147e-03 6.47818511e+01] [ 4.34113961e-03 9.99984882e-01 3.37496459e-03 4.46742063e+00] [-1.95454549e-03 -3.36650496e-03 9.99992423e-01 -1.80719510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters Centerline goodness : 0.909516 Centerline is valid? [False, False] Translation: X:64.78, Y:4.46, Z:-18.07 [[ 9.99998245e-01 -5.99778175e-04 1.77484143e-03 6.47823415e+01] [ 5.85735840e-04 9.99968608e-01 7.90185268e-03 4.46494222e+00] [-1.77952507e-03 -7.90079922e-03 9.99967205e-01 -1.80716068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41592 meters Centerline goodness : 0.883074 Centerline is valid? [False, False] Translation: X:64.78, Y:4.47, Z:-18.07 [[ 9.99996594e-01 1.13027159e-03 2.35260886e-03 6.47780899e+01] [-1.15306314e-03 9.99952201e-01 9.70907474e-03 4.46537892e+00] [-2.34152251e-03 -9.71175437e-03 9.99950098e-01 -1.80670866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters Centerline goodness : 0.956013 Centerline is valid? [False, True] Translation: X:64.78, Y:4.47, Z:-18.07 [[ 9.99997287e-01 1.10506559e-03 2.05042605e-03 6.47788488e+01] [-1.12381046e-03 9.99957383e-01 9.16341884e-03 4.46819329e+00] [-2.04021249e-03 -9.16569827e-03 9.99955913e-01 -1.80673296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47592 meters Centerline goodness : 0.978951 Centerline is valid? [True, True] Translation: X:64.62, Y:4.58, Z:-18.07 [[ 9.99747451e-01 2.23477757e-02 -2.36863724e-03 6.46213512e+01] [-2.24678902e-02 9.96191609e-01 -8.42465007e-02 4.57654760e+00] [ 4.76894639e-04 8.42784426e-02 9.96442129e-01 -1.80669229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:64.71, Y:4.47, Z:-18.06 [[ 9.99999270e-01 8.24667603e-04 -8.83267127e-04 6.47051140e+01] [-8.15901736e-04 9.99950867e-01 9.87916813e-03 4.46816833e+00] [ 8.91370759e-04 -9.87844026e-03 9.99950810e-01 -1.80611778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53591999999999 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:64.69, Y:4.40, Z:-18.03 [[ 9.99411855e-01 2.46691262e-03 -3.42032068e-02 6.46869460e+01] [ 2.00995629e-04 9.96970547e-01 7.77797430e-02 4.40412103e+00] [ 3.42914656e-02 -7.77408718e-02 9.96383687e-01 -1.80269638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters Centerline goodness : 0.923995 Centerline is valid? [True, False] Translation: X:64.69, Y:4.42, Z:-18.03 [[ 9.99621318e-01 8.97788013e-04 -2.75029889e-02 6.46898486e+01] [ 7.31522121e-04 9.98247420e-01 5.91739203e-02 4.42072336e+00] [ 2.75079134e-02 -5.91716313e-02 9.97868745e-01 -1.80286166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59591999999999 meters Centerline goodness : 0.996608 Centerline is valid? [False, True] Translation: X:64.70, Y:4.44, Z:-18.03 [[ 9.99757286e-01 9.36251129e-04 -2.20112123e-02 6.46969421e+01] [ 2.15852356e-05 9.99054498e-01 4.34753837e-02 4.43663697e+00] [ 2.20311045e-02 -4.34653067e-02 9.98811993e-01 -1.80289858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters Centerline goodness : 0.871210 Centerline is valid? [True, False] Translation: X:64.72, Y:4.45, Z:-18.03 [[ 9.99738651e-01 2.97229420e-03 -2.26670633e-02 6.47195775e+01] [-2.22675714e-03 9.99457965e-01 3.28453636e-02 4.44735277e+00] [ 2.27524030e-02 -3.27863055e-02 9.99203376e-01 -1.80297127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65592 meters Centerline goodness : 0.987710 Centerline is valid? [False, True] Translation: X:64.72, Y:4.45, Z:-18.03 [[ 9.99721461e-01 1.07224804e-03 -2.35764667e-02 6.47249118e+01] [-3.45567442e-04 9.99525360e-01 3.08047821e-02 4.44841317e+00] [ 2.35983067e-02 -3.07880545e-02 9.99247325e-01 -1.80341691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters Centerline goodness : 0.985822 Centerline is valid? [True, True] Translation: X:64.74, Y:4.48, Z:-18.05 [[ 9.99316837e-01 1.58335920e-02 -3.33939543e-02 6.47399284e+01] [-1.60061740e-02 9.99859852e-01 -4.90706089e-03 4.48137332e+00] [ 3.33115778e-02 5.43821801e-03 9.99430220e-01 -1.80460894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71592 meters Centerline goodness : 0.959413 Centerline is valid? [True, True] Translation: X:64.76, Y:4.49, Z:-18.06 [[ 9.98802097e-01 2.68849427e-02 -4.08848561e-02 6.47589634e+01] [-2.74297636e-02 9.99541477e-01 -1.28235746e-02 4.48929346e+00] [ 4.05213483e-02 1.39296751e-02 9.99081570e-01 -1.80554163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:64.87, Y:4.22, Z:-17.97 [[ 9.99078114e-01 -3.14039552e-02 -2.92696680e-02 6.48748221e+01] [ 3.76089430e-02 9.69038566e-01 2.44028329e-01 4.21817881e+00] [ 2.06999824e-02 -2.44904164e-01 9.69326292e-01 -1.79661813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77592 meters Centerline goodness : 0.938924 Centerline is valid? [True, False] Translation: X:64.84, Y:4.26, Z:-17.98 [[ 9.99164078e-01 -3.47862091e-02 -2.14724302e-02 6.48433158e+01] [ 3.83407482e-02 9.79650754e-01 1.97013675e-01 4.26124622e+00] [ 1.41821236e-02 -1.97672256e-01 9.80165571e-01 -1.79842835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters Centerline goodness : 0.994155 Centerline is valid? [False, True] Translation: X:64.81, Y:4.30, Z:-18.00 [[ 9.99258044e-01 -3.68482966e-02 -1.12055178e-02 6.48101152e+01] [ 3.81324451e-02 9.87423032e-01 1.53432955e-01 4.30296294e+00] [ 5.41084332e-03 -1.53746409e-01 9.88095524e-01 -1.79980609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83592 meters Centerline goodness : 0.919891 Centerline is valid? [True, False] Translation: X:64.79, Y:4.34, Z:-18.01 [[ 9.99334929e-01 -3.62321204e-02 -4.11496690e-03 6.47883431e+01] [ 3.64649014e-02 9.92631113e-01 1.15558577e-01 4.34091575e+00] [-1.02288088e-04 -1.15631774e-01 9.93292144e-01 -1.80075087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters Centerline goodness : 0.993383 Centerline is valid? [False, True] Translation: X:64.77, Y:4.37, Z:-18.01 [[ 9.99390200e-01 -3.45143184e-02 5.29056567e-03 6.47713533e+01] [ 3.39290228e-02 9.95683983e-01 8.63841856e-02 4.37075753e+00] [-8.24922279e-03 -8.61520048e-02 9.96247852e-01 -1.80139484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89591999999999 meters Centerline goodness : 0.860341 Centerline is valid? [True, False] Translation: X:64.78, Y:4.39, Z:-18.02 [[ 9.99558876e-01 -2.90507524e-02 6.17313900e-03 6.47814673e+01] [ 2.85858939e-02 9.97452400e-01 6.53571427e-02 4.39155195e+00] [-8.05608648e-03 -6.51518474e-02 9.97842841e-01 -1.80180669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters Centerline goodness : 0.864956 Centerline is valid? [False, False] Translation: X:64.78, Y:4.41, Z:-18.02 [[ 9.99595233e-01 -2.40728776e-02 1.51613804e-02 6.47795889e+01] [ 2.32801223e-02 9.98454917e-01 5.04560716e-02 4.40949385e+00] [-1.63525776e-02 -5.00826899e-02 9.98611194e-01 -1.80223736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95591999999999 meters Centerline goodness : 0.866660 Centerline is valid? [False, False] Translation: X:64.80, Y:4.43, Z:-18.03 [[ 9.99875260e-01 -1.44114434e-02 6.46336552e-03 6.48015974e+01] [ 1.42065933e-02 9.99427905e-01 3.06926053e-02 4.43163529e+00] [-6.90199260e-03 -3.05969543e-02 9.99507973e-01 -1.80253154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters Centerline goodness : 0.997212 Centerline is valid? [False, True] Translation: X:64.81, Y:4.45, Z:-18.03 [[ 9.99972245e-01 -7.32260123e-03 1.37410768e-03 6.48064458e+01] [ 7.30032430e-03 9.99852109e-01 1.55712727e-02 4.44804137e+00] [-1.48792668e-03 -1.55608091e-02 9.99877816e-01 -1.80271229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:64.88, Y:4.49, Z:-18.04 [[ 9.99491707e-01 1.90827229e-02 2.55377692e-02 6.48796297e+01] [-1.84261010e-02 9.99499748e-01 -2.57047359e-02 4.49248699e+00] [-2.60155103e-02 2.52211089e-02 9.99343329e-01 -1.80427284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:64.88, Y:4.44, Z:-18.02 [[ 9.99689905e-01 2.09804842e-02 1.34131783e-02 6.48831347e+01] [-2.12115843e-02 9.99624874e-01 1.73257106e-02 4.44295468e+00] [-1.30446449e-02 -1.76048528e-02 9.99759924e-01 -1.80193723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:64.91, Y:4.45, Z:-18.02 [[ 9.99736123e-01 2.17608128e-02 7.35874180e-03 6.49146458e+01] [-2.18585173e-02 9.99670350e-01 1.34683377e-02 4.44710338e+00] [-7.06323402e-03 -1.36256349e-02 9.99882219e-01 -1.80195247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:64.95, Y:4.47, Z:-18.03 [[ 9.99720015e-01 2.17040470e-02 9.42472332e-03 6.49461605e+01] [-2.16140394e-02 9.99720784e-01 -9.54925640e-03 4.46956374e+00] [-9.62934929e-03 9.34287641e-03 9.99909989e-01 -1.80289004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:64.98, Y:4.49, Z:-18.04 [[ 9.99061748e-01 2.12429956e-02 3.77406758e-02 6.49774375e+01] [-2.00465395e-02 9.99293118e-01 -3.18025173e-02 4.48958476e+00] [-3.83895783e-02 3.10161086e-02 9.98781378e-01 -1.80350666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:65.01, Y:4.46, Z:-18.03 [[ 9.99030883e-01 1.81671506e-02 4.00905045e-02 6.50101330e+01] [-1.80878075e-02 9.99833662e-01 -2.34096358e-03 4.45636394e+00] [-4.01263645e-02 1.61354559e-03 9.99193310e-01 -1.80316855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:65.04, Y:4.36, Z:-18.01 [[ 9.99914884e-01 1.29395197e-02 1.67169303e-03 6.50372153e+01] [-1.30396903e-02 9.95418602e-01 9.47194489e-02 4.35923973e+00] [-4.38410167e-04 -9.47331851e-02 9.95502602e-01 -1.80070206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:65.07, Y:4.54, Z:-18.04 [[ 9.99099724e-01 1.82299009e-02 3.83068242e-02 6.50706939e+01] [-1.49198490e-02 9.96270540e-01 -8.49847593e-02 4.53723270e+00] [-3.97132242e-02 8.43367175e-02 9.95645609e-01 -1.80409766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:65.10, Y:4.42, Z:-18.02 [[ 9.99737638e-01 1.32219662e-02 1.87038849e-02 6.51016479e+01] [-1.36693187e-02 9.99618610e-01 2.39954934e-02 4.42457768e+00] [-1.83794838e-02 -2.42448673e-02 9.99537083e-01 -1.80220399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:65.13, Y:4.46, Z:-18.03 [[ 9.99460534e-01 1.29226354e-02 3.01934888e-02 6.51338079e+01] [-1.24005588e-02 9.99771450e-01 -1.74147775e-02 4.46234080e+00] [-3.04116329e-02 1.70309667e-02 9.99392355e-01 -1.80328951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31591999999999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:65.17, Y:4.44, Z:-18.03 [[ 9.99369596e-01 1.06153161e-02 3.38781007e-02 6.51655366e+01] [-1.04884431e-02 9.99937309e-01 -3.92051129e-03 4.44301432e+00] [-3.39175943e-02 3.56271125e-03 9.99418283e-01 -1.80337510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:65.20, Y:4.44, Z:-18.03 [[ 9.99233485e-01 9.68580498e-03 3.79292512e-02 6.51970365e+01] [-9.52200772e-03 9.99944554e-01 -4.49676631e-03 4.44140909e+00] [-3.79707029e-02 4.13215685e-03 9.99270309e-01 -1.80349047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:65.23, Y:4.44, Z:-18.03 [[ 9.99032460e-01 1.10621008e-02 4.25649293e-02 6.52296805e+01] [-1.08872376e-02 9.99931324e-01 -4.33777968e-03 4.43661686e+00] [-4.26099910e-02 3.87016821e-03 9.99084286e-01 -1.80343945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:65.26, Y:4.37, Z:-18.02 [[ 9.99894464e-01 1.17462879e-02 8.54897665e-03 6.52598496e+01] [-1.22673903e-02 9.97893862e-01 6.36973491e-02 4.36664702e+00] [-7.78276392e-03 -6.37955004e-02 9.97932644e-01 -1.80151921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43592 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:65.29, Y:4.47, Z:-18.04 [[ 9.99555391e-01 1.42936559e-02 2.61670105e-02 6.52917768e+01] [-1.32280226e-02 9.99093833e-01 -4.04540711e-02 4.46579601e+00] [-2.67215354e-02 4.00899470e-02 9.98838704e-01 -1.80387675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:65.32, Y:4.42, Z:-18.03 [[ 9.99640058e-01 1.52962797e-02 2.20403996e-02 6.53230181e+01] [-1.53890062e-02 9.99873406e-01 4.04365355e-03 4.42062000e+00] [-2.19757565e-02 -4.38137791e-03 9.99748903e-01 -1.80314911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49592 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:65.35, Y:4.46, Z:-18.04 [[ 9.98602957e-01 1.72216236e-02 4.99554783e-02 6.53527629e+01] [-1.54657570e-02 9.99256210e-01 -3.53247276e-02 4.45536023e+00] [-5.05266711e-02 3.45027782e-02 9.98126552e-01 -1.80440527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:65.39, Y:4.42, Z:-18.04 [[ 9.98448283e-01 1.85360685e-02 5.25113407e-02 6.53855200e+01] [-1.85496374e-02 9.99827914e-01 -2.28999583e-04 4.41726461e+00] [-5.25065490e-02 -7.45422090e-04 9.98620302e-01 -1.80376240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:65.42, Y:4.41, Z:-18.03 [[ 9.98530458e-01 2.15455851e-02 4.97263798e-02 6.54185673e+01] [-2.19750174e-02 9.99725663e-01 8.10535336e-03 4.40678048e+00] [-4.95381034e-02 -9.18618026e-03 9.98729989e-01 -1.80345569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:65.45, Y:4.41, Z:-18.03 [[ 9.98498078e-01 2.73909094e-02 4.74481523e-02 6.54504665e+01] [-2.76778353e-02 9.99602306e-01 5.40061320e-03 4.40826974e+00] [-4.72813548e-02 -6.70576404e-03 9.98859102e-01 -1.80349626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:65.48, Y:4.42, Z:-18.04 [[ 9.98433275e-01 2.99170804e-02 4.72859733e-02 6.54824850e+01] [-2.97323750e-02 9.99547288e-01 -4.60483338e-03 4.41895948e+00] [-4.74023295e-02 3.19169459e-03 9.98870779e-01 -1.80397900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:65.52, Y:4.42, Z:-18.04 [[ 9.98182070e-01 3.57839067e-02 4.84981146e-02 6.55154330e+01] [-3.56503342e-02 9.99357780e-01 -3.61666121e-03 4.41786618e+00] [-4.85963865e-02 1.88111238e-03 9.98816726e-01 -1.80427644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:65.55, Y:4.42, Z:-18.05 [[ 9.97782988e-01 3.73723062e-02 5.50674037e-02 6.55468239e+01] [-3.68632089e-02 9.99267934e-01 -1.02322684e-02 4.42276359e+00] [-5.54094942e-02 8.17962214e-03 9.98430209e-01 -1.80454071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:65.58, Y:4.31, Z:-18.01 [[ 9.99216631e-01 3.82490451e-02 1.01555778e-02 6.55776947e+01] [-3.90874651e-02 9.94002886e-01 1.02129487e-01 4.31102012e+00] [-6.18831832e-03 -1.02446437e-01 9.94719273e-01 -1.80130415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:65.61, Y:4.52, Z:-18.06 [[ 9.97208802e-01 4.65767839e-02 5.83541625e-02 6.56102400e+01] [-4.00474218e-02 9.93294349e-01 -1.08455241e-01 4.51921017e+00] [-6.30143563e-02 1.05815588e-01 9.92387148e-01 -1.80619359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:65.64, Y:4.40, Z:-18.04 [[ 9.97421429e-01 4.45444968e-02 5.62697059e-02 6.56428621e+01] [-4.51551393e-02 9.98933598e-01 9.62701127e-03 4.39961552e+00] [-5.57808694e-02 -1.21430537e-02 9.98369191e-01 -1.80434659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:65.67, Y:4.43, Z:-18.05 [[ 9.96972067e-01 4.65098566e-02 6.23179859e-02 6.56748475e+01] [-4.54096139e-02 9.98788555e-01 -1.89575438e-02 4.42879120e+00] [-6.31242038e-02 1.60703059e-02 9.97876285e-01 -1.80520655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:65.71, Y:4.40, Z:-18.05 [[ 9.97062597e-01 4.85523127e-02 5.92355529e-02 6.57086135e+01] [-4.92149317e-02 9.98740346e-01 9.77814938e-03 4.40136344e+00] [-5.86861848e-02 -1.26647007e-02 9.98196142e-01 -1.80461078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85592 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:65.73, Y:4.28, Z:-18.01 [[ 9.98910076e-01 4.36292315e-02 1.65876489e-02 6.57346685e+01] [-4.54583935e-02 9.89990467e-01 1.33612913e-01 4.28134066e+00] [-1.05921856e-02 -1.34221333e-01 9.90894767e-01 -1.80084094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:65.77, Y:4.57, Z:-18.07 [[ 9.96378288e-01 5.75733533e-02 6.25748846e-02 6.57721150e+01] [-4.76103221e-02 9.87471159e-01 -1.50445897e-01 4.56677476e+00] [-7.04525686e-02 1.46921815e-01 9.86635908e-01 -1.80703300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91592 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:65.80, Y:4.30, Z:-18.01 [[ 9.98789952e-01 4.54084073e-02 1.88867182e-02 6.58009248e+01] [-4.73508091e-02 9.91660926e-01 1.19860376e-01 4.29770736e+00] [-1.32865517e-02 -1.20609640e-01 9.92611093e-01 -1.80133250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:65.83, Y:4.40, Z:-18.04 [[ 9.98569393e-01 4.92210608e-02 2.08915085e-02 6.58302615e+01] [-4.96512792e-02 9.98554162e-01 2.05994001e-02 4.39548784e+00] [-1.98473784e-02 -2.16072205e-02 9.99569512e-01 -1.80417975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:65.86, Y:4.42, Z:-18.05 [[ 9.98766853e-01 4.70027774e-02 1.59847711e-02 6.58598624e+01] [-4.69671719e-02 9.98893061e-01 -2.59583077e-03 4.41922931e+00] [-1.60890882e-02 1.84187023e-03 9.99868866e-01 -1.80478280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:65.89, Y:4.43, Z:-18.05 [[ 9.98976454e-01 4.38842685e-02 1.09642486e-02 6.58904314e+01] [-4.38289331e-02 9.99025323e-01 -5.23732072e-03 4.42616656e+00] [-1.11833980e-02 4.75140876e-03 9.99926175e-01 -1.80477086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03591999999999 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:65.91, Y:4.51, Z:-18.07 [[ 9.98550643e-01 5.26314622e-02 1.12491512e-02 6.59052844e+01] [-5.14982206e-02 9.95097188e-01 -8.44364831e-02 4.50691911e+00] [-1.56380143e-02 8.37347932e-02 9.96365363e-01 -1.80704074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:65.94, Y:4.35, Z:-18.03 [[ 9.98606068e-01 4.06215783e-02 3.37017521e-02 6.59362777e+01] [-4.30634470e-02 9.96237482e-01 7.52091643e-02 4.35031664e+00] [-3.05198337e-02 -7.65556415e-02 9.96598100e-01 -1.80317486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09591999999999 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:65.97, Y:4.48, Z:-18.06 [[ 9.97847298e-01 4.92401456e-02 4.33148590e-02 6.59721506e+01] [-4.67064169e-02 9.97241878e-01 -5.76814378e-02 4.47915462e+00] [-4.60356337e-02 5.55341851e-02 9.97394944e-01 -1.80586043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:66.00, Y:4.43, Z:-18.05 [[ 9.97760114e-01 4.51228383e-02 4.93830330e-02 6.60023886e+01] [-4.47319930e-02 9.98958555e-01 -8.99189200e-03 4.42853476e+00] [-4.97373430e-02 6.76274970e-03 9.98739436e-01 -1.80522367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15592 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:66.03, Y:4.37, Z:-18.04 [[ 9.98967932e-01 3.89047618e-02 2.34412025e-02 6.60310208e+01] [-4.01019192e-02 9.97790451e-01 5.29721767e-02 4.36871680e+00] [-2.13285381e-02 -5.38575431e-02 9.98320819e-01 -1.80380136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:66.06, Y:4.48, Z:-18.06 [[ 9.97705074e-01 4.45778803e-02 5.09646689e-02 6.60624719e+01] [-4.12848182e-02 9.97099622e-01 -6.39367448e-02 4.48345734e+00] [-5.36670167e-02 6.16859477e-02 9.96651742e-01 -1.80643031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21592 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:66.09, Y:4.42, Z:-18.05 [[ 9.97954057e-01 4.20352267e-02 4.81740479e-02 6.60877119e+01] [-4.20795674e-02 9.99114258e-01 -9.38137897e-05 4.41547320e+00] [-4.81353217e-02 -1.93352124e-03 9.98838952e-01 -1.80543426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:66.12, Y:4.41, Z:-18.05 [[ 9.97852528e-01 4.11614725e-02 5.09515953e-02 6.61217861e+01] [-4.13855638e-02 9.99137633e-01 3.35049934e-03 4.40964563e+00] [-5.07697449e-02 -5.45196474e-03 9.98695504e-01 -1.80545108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27592 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:66.15, Y:4.41, Z:-18.06 [[ 9.97787267e-01 4.16746012e-02 5.18053760e-02 6.61532982e+01] [-4.16086058e-02 9.99131218e-01 -2.35222602e-03 4.41461911e+00] [-5.18583965e-02 1.91471705e-04 9.98654430e-01 -1.80574551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:66.19, Y:4.41, Z:-18.06 [[ 9.97628696e-01 4.36146398e-02 5.32423438e-02 6.61859450e+01] [-4.35726925e-02 9.99048358e-01 -1.94893507e-03 4.41168255e+00] [-5.32766782e-02 -3.75598715e-04 9.98579719e-01 -1.80576873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33592 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:66.22, Y:4.41, Z:-18.06 [[ 9.97410978e-01 4.55483711e-02 5.56478771e-02 6.62176505e+01] [-4.54160368e-02 9.98961524e-01 -3.64104614e-03 4.41157469e+00] [-5.57559318e-02 1.10431335e-03 9.98443817e-01 -1.80607545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:66.25, Y:4.41, Z:-18.06 [[ 9.97235472e-01 4.83041516e-02 5.64634602e-02 6.62486903e+01] [-4.81403763e-02 9.98831504e-01 -4.25793043e-03 4.41043057e+00] [-5.66031586e-02 1.52798704e-03 9.98395587e-01 -1.80642476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39591999999999 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:66.28, Y:4.41, Z:-18.07 [[ 9.97092514e-01 5.01545269e-02 5.73676094e-02 6.62804665e+01] [-4.98805382e-02 9.98735954e-01 -6.19893390e-03 4.41156680e+00] [-5.76059987e-02 3.31938335e-03 9.98333877e-01 -1.80669934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:66.35, Y:4.40, Z:-18.08 [[ 9.97668723e-01 4.99471500e-02 4.65016178e-02 6.63458843e+01] [-5.07336259e-02 9.98585829e-01 1.58883835e-02 4.39850848e+00] [-4.56422771e-02 -1.82105390e-02 9.98791850e-01 -1.80844961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45591999999999 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:66.34, Y:4.42, Z:-18.08 [[ 9.96823981e-01 4.90321890e-02 6.27518601e-02 6.63394397e+01] [-4.75523417e-02 9.98559252e-01 -2.48635090e-02 4.42119331e+00] [-6.38805628e-02 2.18005442e-02 9.97719404e-01 -1.80765863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:66.34, Y:4.42, Z:-18.09 [[ 9.97153370e-01 5.14404653e-02 5.51274470e-02 6.63433562e+01] [-5.01052013e-02 9.98422516e-01 -2.53367141e-02 4.41565684e+00] [-5.63438167e-02 2.25024180e-02 9.98157811e-01 -1.80882405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51592 meters Centerline goodness : 0.943963 Centerline is valid? [True, False] Translation: X:66.36, Y:4.40, Z:-18.09 [[ 9.97982289e-01 4.37695766e-02 4.59953881e-02 6.63592600e+01] [-4.34770169e-02 9.99027446e-01 -7.34237809e-03 4.39732572e+00] [-4.62720279e-02 5.32782103e-03 9.98914668e-01 -1.80869582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters Centerline goodness : 0.996866 Centerline is valid? [False, True] Translation: X:66.36, Y:4.39, Z:-18.09 [[ 9.98602526e-01 3.25032715e-02 4.16717129e-02 6.63611403e+01] [-3.25922025e-02 9.99467672e-01 1.45630309e-03 4.38974905e+00] [-4.16021953e-02 -2.81244086e-03 9.99130296e-01 -1.80863734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57592 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:66.39, Y:4.43, Z:-18.10 [[ 9.97168374e-01 3.23549553e-02 6.78851305e-02 6.63880135e+01] [-2.98626968e-02 9.98853619e-01 -3.74121312e-02 4.42917347e+00] [-6.90177761e-02 3.52789610e-02 9.96991445e-01 -1.81000700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:66.42, Y:4.40, Z:-18.10 [[ 9.97105223e-01 3.36997239e-02 6.81579198e-02 6.64208828e+01] [-3.36009262e-02 9.99431959e-01 -2.59576659e-03 4.39558461e+00] [-6.82066799e-02 2.98083191e-04 9.97671168e-01 -1.80950937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63592 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:66.45, Y:4.39, Z:-18.10 [[ 9.97137968e-01 3.56878543e-02 6.66501991e-02 6.64533465e+01] [-3.58904671e-02 9.99354027e-01 1.84465253e-03 4.39199044e+00] [-6.65413132e-02 -4.23147985e-03 9.97774698e-01 -1.80956119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:66.49, Y:4.39, Z:-18.10 [[ 9.97284573e-01 3.80001309e-02 6.30830440e-02 6.64864721e+01] [-3.83370692e-02 9.99256293e-01 4.13895330e-03 4.39066917e+00] [-6.28788479e-02 -6.54613330e-03 9.97999699e-01 -1.80972536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69592 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:66.52, Y:4.40, Z:-18.10 [[ 9.96786657e-01 3.74382334e-02 7.08148183e-02 6.65178520e+01] [-3.70893842e-02 9.99292500e-01 -6.23517210e-03 4.40342833e+00] [-7.09981506e-02 3.58865836e-03 9.97469992e-01 -1.81022454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:66.55, Y:4.41, Z:-18.10 [[ 9.96885762e-01 3.61605638e-02 7.00798864e-02 6.65479067e+01] [-3.59882322e-02 9.99345288e-01 -3.72050822e-03 4.40567278e+00] [-7.01685399e-02 1.18687045e-03 9.97534444e-01 -1.81045757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75592 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:66.58, Y:4.41, Z:-18.11 [[ 9.96679798e-01 3.61482746e-02 7.29567106e-02 6.65810132e+01] [-3.57835135e-02 9.99339701e-01 -6.30100867e-03 4.40878021e+00] [-7.31363079e-02 3.66944061e-03 9.97315204e-01 -1.81077461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:66.61, Y:4.40, Z:-18.11 [[ 9.96737814e-01 3.62597416e-02 7.21038261e-02 6.66144548e+01] [-3.64812879e-02 9.99332791e-01 1.75760937e-03 4.39941931e+00] [-7.19919873e-02 -4.38231616e-03 9.97395583e-01 -1.81075089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81591999999999 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:66.65, Y:4.40, Z:-18.11 [[ 9.96882316e-01 3.62684519e-02 7.00731564e-02 6.66484532e+01] [-3.66546062e-02 9.99319032e-01 4.23235422e-03 4.39666438e+00] [-6.98719379e-02 -6.78766303e-03 9.97532877e-01 -1.81075356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:66.68, Y:4.42, Z:-18.12 [[ 9.96361153e-01 3.53256316e-02 7.75664381e-02 6.66798509e+01] [-3.41796794e-02 9.99286780e-01 -1.60524562e-02 4.42140294e+00] [-7.80781793e-02 1.33428478e-02 9.96857947e-01 -1.81157130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87592 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:66.71, Y:4.41, Z:-18.12 [[ 9.96485530e-01 3.39402318e-02 7.65810027e-02 6.67126393e+01] [-3.38495103e-02 9.99423857e-01 -2.48273268e-03 4.40811441e+00] [-7.66211457e-02 -1.18222248e-04 9.97060272e-01 -1.81165883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:66.74, Y:4.41, Z:-18.12 [[ 9.96414045e-01 3.26223901e-02 7.80693982e-02 6.67447427e+01] [-3.20821290e-02 9.99451886e-01 -8.16485557e-03 4.41270339e+00] [-7.82929643e-02 5.63094425e-03 9.96914492e-01 -1.81199035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93592 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:66.78, Y:4.40, Z:-18.12 [[ 9.96684477e-01 2.93516184e-02 7.58850211e-02 6.67786969e+01] [-2.96800586e-02 9.99554316e-01 3.20375358e-03 4.40121026e+00] [-7.57571650e-02 -5.44540333e-03 9.97111428e-01 -1.81173715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:66.81, Y:4.29, Z:-18.09 [[ 9.99052199e-01 2.29156429e-02 3.70078010e-02 6.68075566e+01] [-2.70496681e-02 9.92953351e-01 1.15377457e-01 4.29158598e+00] [-3.41030714e-02 -1.16269151e-01 9.92632089e-01 -1.80864796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99592 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:66.84, Y:4.53, Z:-18.14 [[ 9.96326417e-01 3.27248692e-02 7.91375659e-02 6.68392236e+01] [-2.28224495e-02 9.92151274e-01 -1.22943020e-01 4.52924012e+00] [-8.25397310e-02 1.20685265e-01 9.89253385e-01 -1.81367033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:66.87, Y:4.26, Z:-18.08 [[ 9.99168133e-01 1.44817434e-02 3.81224364e-02 6.68703747e+01] [-1.98863079e-02 9.89165674e-01 1.45450350e-01 4.25899071e+00] [-3.56030309e-02 -1.46087469e-01 9.88630809e-01 -1.80790624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05592 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:66.90, Y:4.37, Z:-18.11 [[ 9.99134129e-01 2.00771497e-02 3.64403613e-02 6.69013659e+01] [-2.11746586e-02 9.99326005e-01 2.99861541e-02 4.37330230e+00] [-3.58137642e-02 -3.07318021e-02 9.98885845e-01 -1.81113607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:66.93, Y:4.45, Z:-18.13 [[ 9.99004592e-01 2.47678602e-02 3.70995793e-02 6.69324728e+01] [-2.28722733e-02 9.98453225e-01 -5.06756106e-02 4.45433812e+00] [-3.82973210e-02 4.97766160e-02 9.98025853e-01 -1.81255474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:66.96, Y:4.49, Z:-18.14 [[ 9.95733610e-01 2.54903725e-02 8.86838105e-02 6.69625967e+01] [-1.73870953e-02 9.95701506e-01 -9.09736179e-02 4.49314685e+00] [-9.06215551e-02 8.90435351e-02 9.91896659e-01 -1.81359689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:67.00, Y:4.38, Z:-18.12 [[ 9.96900004e-01 1.79081272e-02 7.66138452e-02 6.69970259e+01] [-1.95221378e-02 9.99601896e-01 2.03699658e-02 4.37725287e+00] [-7.62185570e-02 -2.18024850e-02 9.96852739e-01 -1.81197135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17591999999999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:67.03, Y:4.35, Z:-18.11 [[ 9.99097252e-01 1.55009345e-02 3.95525115e-02 6.70278302e+01] [-1.73629532e-02 9.98735661e-01 4.71763397e-02 4.35052521e+00] [-3.87712264e-02 -4.78204997e-02 9.98103197e-01 -1.81121227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:67.06, Y:4.40, Z:-18.12 [[ 9.99024214e-01 1.97099247e-02 3.95238973e-02 6.70599283e+01] [-1.96474175e-02 9.99805031e-01 -1.96934158e-03 4.40080026e+00] [-3.95550070e-02 1.19087741e-03 9.99216685e-01 -1.81231630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:67.09, Y:4.39, Z:-18.12 [[ 9.98904011e-01 1.91366917e-02 4.27149148e-02 6.70889783e+01] [-1.94824237e-02 9.99780607e-01 7.69234675e-03 4.39261216e+00] [-4.25583374e-02 -8.51610609e-03 9.99057688e-01 -1.81238158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:4.47, Z:-18.14 [[ 9.95335680e-01 2.18274781e-02 9.39704444e-02 6.71168692e+01] [-1.56936692e-02 9.97727514e-01 -6.55249278e-02 4.46864411e+00] [-9.51871419e-02 6.37445576e-02 9.93416347e-01 -1.81377480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:67.15, Y:4.38, Z:-18.12 [[ 9.98149888e-01 2.07686681e-02 5.71442276e-02 6.71547283e+01] [-2.24855890e-02 9.99309821e-01 2.95682399e-02 4.37561200e+00] [-5.64906949e-02 -3.07984570e-02 9.97927982e-01 -1.81206199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:4.44, Z:-18.14 [[ 9.95316536e-01 2.50769713e-02 9.33602658e-02 6.71811953e+01] [-2.22333099e-02 9.99260350e-01 -3.13756828e-02 4.43717960e+00] [-9.40780189e-02 2.91530282e-02 9.95137894e-01 -1.81364648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:67.22, Y:4.33, Z:-18.11 [[ 9.98869972e-01 2.51146514e-02 4.03488843e-02 6.72168016e+01] [-2.82823716e-02 9.96396850e-01 7.99588958e-02 4.32988125e+00] [-3.81953614e-02 -8.10097022e-02 9.95981196e-01 -1.81099976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:67.25, Y:4.45, Z:-18.14 [[ 9.97761642e-01 3.52774829e-02 5.68084934e-02 6.72479516e+01] [-3.30240790e-02 9.98648636e-01 -4.01286981e-02 4.45180068e+00] [-5.81473639e-02 3.81628275e-02 9.97578309e-01 -1.81379797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:67.28, Y:4.43, Z:-18.14 [[ 9.97091855e-01 3.67016552e-02 6.67893829e-02 6.72788445e+01] [-3.57201643e-02 9.99236432e-01 -1.58310512e-02 4.43313791e+00] [-6.73194105e-02 1.33992845e-02 9.97641497e-01 -1.81373481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:67.29, Y:4.44, Z:-18.14 [[ 9.97170809e-01 4.41842911e-02 6.08122230e-02 6.72908953e+01] [-4.30280641e-02 9.98869762e-01 -2.01936845e-02 4.44211676e+00] [-6.16357344e-02 1.75199204e-02 9.97944933e-01 -1.81445069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:67.34, Y:4.40, Z:-18.13 [[ 9.96623457e-01 3.98207200e-02 7.18052654e-02 6.73381553e+01] [-4.15908735e-02 9.98862372e-01 2.33272760e-02 4.40247723e+00] [-7.07946687e-02 -2.62349542e-02 9.97145848e-01 -1.81321661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:67.37, Y:4.44, Z:-18.14 [[ 9.96584610e-01 4.35166893e-02 7.01812808e-02 6.73697068e+01] [-4.29867272e-02 9.99034701e-01 -9.04474637e-03 4.43760262e+00] [-7.05071323e-02 5.99699146e-03 9.97493248e-01 -1.81434320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53591999999999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:67.40, Y:4.37, Z:-18.13 [[ 9.97964996e-01 3.44447811e-02 5.36602588e-02 6.73961010e+01] [-3.75057216e-02 9.97662522e-01 5.71210464e-02 4.37465819e+00] [-5.15673071e-02 -5.90173715e-02 9.96924151e-01 -1.81310597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:67.39, Y:4.53, Z:-18.17 [[ 9.96771360e-01 5.21254940e-02 6.10719931e-02 6.73932776e+01] [-4.53867496e-02 9.93226914e-01 -1.06959527e-01 4.53495158e+00] [-6.62336654e-02 1.03842334e-01 9.92385949e-01 -1.81740694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:67.45, Y:4.42, Z:-18.14 [[ 9.95627716e-01 4.57408040e-02 8.14446492e-02 6.74533731e+01] [-4.77194774e-02 9.98606987e-01 2.25152644e-02 4.41741112e+00] [-8.03013295e-02 -2.63033173e-02 9.96423520e-01 -1.81443016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:67.48, Y:4.37, Z:-18.13 [[ 9.97676075e-01 3.80066036e-02 5.65504003e-02 6.74833238e+01] [-4.23640891e-02 9.96055598e-01 7.79649289e-02 4.36560773e+00] [-5.33641606e-02 -8.01794504e-02 9.95350954e-01 -1.81307153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:67.51, Y:4.53, Z:-18.16 [[ 9.94327509e-01 4.87253881e-02 9.45443881e-02 6.75129790e+01] [-4.00150736e-02 9.94960847e-01 -9.19331656e-02 4.53377482e+00] [-9.85474436e-02 8.76284749e-02 9.91266691e-01 -1.81586553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:67.55, Y:4.44, Z:-18.15 [[ 9.95110150e-01 3.90990162e-02 9.07031192e-02 6.75455994e+01] [-3.97434386e-02 9.99195814e-01 5.30881248e-03 4.43713637e+00] [-9.04226077e-02 -8.88770704e-03 9.95863826e-01 -1.81507450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71592 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:67.57, Y:4.37, Z:-18.14 [[ 9.97934735e-01 3.05841567e-02 5.64878247e-02 6.75740492e+01] [-3.47744980e-02 9.96595553e-01 7.47531870e-02 4.37264048e+00] [-5.40092517e-02 -7.65631376e-02 9.95600867e-01 -1.81391353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:67.61, Y:4.51, Z:-18.16 [[ 9.96937522e-01 4.08550365e-02 6.66816537e-02 6.76067241e+01] [-3.70739878e-02 9.97686263e-01 -5.69880750e-02 4.50600252e+00] [-6.88556198e-02 5.43413955e-02 9.96145530e-01 -1.81602596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:67.64, Y:4.47, Z:-18.16 [[ 9.95011499e-01 3.56204632e-02 9.31842212e-02 6.76357658e+01] [-3.40365206e-02 9.99248741e-01 -1.85328976e-02 4.46885856e+00] [-9.37743661e-02 1.52687795e-02 9.95476385e-01 -1.81621494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:67.66, Y:4.32, Z:-18.13 [[ 9.98314960e-01 1.73460912e-02 5.53746670e-02 6.76614460e+01] [-2.47966667e-02 9.90283073e-01 1.36837713e-01 4.31822971e+00] [-5.24629959e-02 -1.37980243e-01 9.89044532e-01 -1.81272750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:67.69, Y:4.46, Z:-18.16 [[ 9.97210819e-01 3.05108392e-02 6.81151252e-02 6.76897563e+01] [-3.03021660e-02 9.99532396e-01 -4.09489739e-03 4.45679154e+00] [-6.82082131e-02 2.01944015e-03 9.97669064e-01 -1.81595846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:67.72, Y:4.60, Z:-18.17 [[ 9.92791081e-01 4.13127101e-02 1.12512796e-01 6.77200513e+01] [-2.48493619e-02 9.89269108e-01 -1.43976184e-01 4.59749534e+00] [-1.17253480e-01 1.40142400e-01 9.83164142e-01 -1.81718209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:67.75, Y:4.33, Z:-18.13 [[ 9.98115877e-01 1.21864268e-02 6.01347357e-02 6.77486489e+01] [-1.97754863e-02 9.91671054e-01 1.27269207e-01 4.32853126e+00] [-5.80829199e-02 -1.28218610e-01 9.90043616e-01 -1.81329535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:67.78, Y:4.53, Z:-18.17 [[ 9.96131921e-01 3.36514888e-02 8.11712555e-02 6.77789280e+01] [-2.75664575e-02 9.96805836e-01 -7.49547630e-02 4.53081395e+00] [-8.34343205e-02 7.24272281e-02 9.93877765e-01 -1.81684050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95591999999999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:67.81, Y:4.46, Z:-18.16 [[ 9.95886445e-01 2.59072547e-02 8.68274327e-02 6.78087898e+01] [-2.55394034e-02 9.99659527e-01 -5.34495096e-03 4.46159547e+00] [-8.69363434e-02 3.10544338e-03 9.96209028e-01 -1.81637045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:67.84, Y:4.42, Z:-18.16 [[ 9.97045475e-01 2.01961206e-02 7.41109753e-02 6.78378102e+01] [-2.33497709e-02 9.98847403e-01 4.19363101e-02 4.41714410e+00] [-7.31786045e-02 -4.35428825e-02 9.96367858e-01 -1.81616259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:67.87, Y:4.50, Z:-18.17 [[ 9.96099262e-01 2.94262727e-02 8.31886650e-02 6.78682459e+01] [-2.61304459e-02 9.98840481e-01 -4.04338084e-02 4.49990703e+00] [-8.42820225e-02 3.81023298e-02 9.95713188e-01 -1.81736796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:67.90, Y:4.51, Z:-18.18 [[ 9.91650703e-01 2.84981875e-02 1.25764608e-01 6.78972117e+01] [-2.21557867e-02 9.98424892e-01 -5.15446947e-02 4.50889477e+00] [-1.27035445e-01 4.83279189e-02 9.90720146e-01 -1.81811241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:67.93, Y:4.42, Z:-18.17 [[ 9.95659428e-01 1.71062664e-02 9.14859544e-02 6.79298063e+01] [-2.01960360e-02 9.99252776e-01 3.29546697e-02 4.42363517e+00] [-9.08538625e-02 -3.46592812e-02 9.95260926e-01 -1.81694158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:67.96, Y:4.43, Z:-18.17 [[ 9.96622949e-01 1.40669845e-02 8.09000437e-02 6.79601109e+01] [-1.64111724e-02 9.99462344e-01 2.83847774e-02 4.42956774e+00] [-8.04572591e-02 -2.96165852e-02 9.96317965e-01 -1.81703634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:67.99, Y:4.49, Z:-18.18 [[ 9.95010019e-01 2.11147844e-02 9.75152710e-02 6.79913207e+01] [-1.77883972e-02 9.99234028e-01 -3.48558497e-02 4.49268051e+00] [-9.81765508e-02 3.29472793e-02 9.94623467e-01 -1.81845341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:68.02, Y:4.46, Z:-18.18 [[ 9.95226629e-01 1.53268226e-02 9.63796892e-02 6.80220880e+01] [-1.55463773e-02 9.99877981e-01 1.52746039e-03 4.45541234e+00] [-9.63445180e-02 -3.01852427e-03 9.95343470e-01 -1.81822652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:68.05, Y:4.46, Z:-18.19 [[ 9.95116925e-01 1.59140390e-02 9.74117546e-02 6.80543194e+01] [-1.58609149e-02 9.99873337e-01 -1.31974192e-03 4.45794702e+00] [-9.74204185e-02 -2.31742030e-04 9.95243291e-01 -1.81859549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:68.09, Y:4.45, Z:-18.19 [[ 9.95211011e-01 1.58478437e-02 9.64566665e-02 6.80867536e+01] [-1.58993378e-02 9.99873570e-01 -2.34758418e-04 4.45397150e+00] [-9.64481919e-02 -1.29996296e-03 9.95337157e-01 -1.81887858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25592 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:68.12, Y:4.48, Z:-18.20 [[ 9.92408339e-01 1.93152423e-02 1.21460321e-01 6.81178082e+01] [-1.57320786e-02 9.99414277e-01 -3.03908542e-02 4.48250899e+00] [-1.21976186e-01 2.82493139e-02 9.92130932e-01 -1.81987122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:68.15, Y:4.35, Z:-18.18 [[ 9.96455142e-01 3.81083082e-03 8.40394368e-02 6.81481893e+01] [-1.20208196e-02 9.95172331e-01 9.74039616e-02 4.35414701e+00] [-8.32625322e-02 -9.80689013e-02 9.91690396e-01 -1.81765122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31591999999999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:68.18, Y:4.51, Z:-18.20 [[ 9.94962560e-01 2.13723345e-02 9.79424744e-02 6.81793334e+01] [-1.54336215e-02 9.98018674e-01 -6.09961459e-02 4.51058759e+00] [-9.90520485e-02 5.91772744e-02 9.93321067e-01 -1.82030202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:68.21, Y:4.45, Z:-18.20 [[ 9.94918838e-01 1.33453650e-02 9.97918224e-02 6.82097319e+01] [-1.33822931e-02 9.99910408e-01 -2.99362209e-04 4.44854674e+00] [-9.97868770e-02 -1.03760231e-03 9.95008293e-01 -1.81993652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:68.24, Y:4.44, Z:-18.20 [[ 9.94978179e-01 1.17132541e-02 9.94043389e-02 6.82402738e+01] [-1.27683731e-02 9.99868627e-01 9.98484909e-03 4.43634927e+00] [-9.92743248e-02 -1.12039387e-02 9.94997025e-01 -1.81997466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:68.27, Y:4.50, Z:-18.21 [[ 9.89680110e-01 1.76853095e-02 1.42198841e-01 6.82697650e+01] [-9.62977177e-03 9.98319749e-01 -5.71397072e-02 4.49819402e+00] [-1.42970445e-01 5.51806893e-02 9.88187504e-01 -1.82141625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:68.30, Y:4.43, Z:-18.21 [[ 9.90333576e-01 9.67680104e-03 1.38368230e-01 6.83023215e+01] [-1.05782752e-02 9.99927337e-01 5.78111890e-03 4.43469849e+00] [-1.38302233e-01 -7.18893337e-03 9.90363979e-01 -1.82111630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:68.33, Y:4.44, Z:-18.22 [[ 9.90392995e-01 8.98353548e-03 1.37989169e-01 6.83342020e+01] [-9.32010416e-03 9.99954959e-01 1.79314811e-03 4.43659006e+00] [-1.37966845e-01 -3.06199475e-03 9.90432115e-01 -1.82162793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:4.44, Z:-18.22 [[ 9.90835458e-01 1.02571797e-02 1.34684389e-01 6.83666888e+01] [-1.05853728e-02 9.99942493e-01 1.72085949e-03 4.43509038e+00] [-1.34658992e-01 -3.13077307e-03 9.90887054e-01 -1.82206254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:68.40, Y:4.36, Z:-18.21 [[ 9.95446978e-01 2.19562329e-03 9.52916243e-02 6.83977699e+01] [-9.71188117e-03 9.96868026e-01 7.84845064e-02 4.35828732e+00] [-9.48208510e-02 -7.90526256e-02 9.92350588e-01 -1.82067963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:68.43, Y:4.52, Z:-18.24 [[ 9.89669522e-01 2.31115396e-02 1.41492379e-01 6.84282263e+01] [-1.15261794e-02 9.96552648e-01 -8.21581882e-02 4.51617516e+00] [-1.42903407e-01 7.96785884e-02 9.86524170e-01 -1.82362092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.46, Y:4.44, Z:-18.23 [[ 9.89349965e-01 1.42268162e-02 1.44859395e-01 6.84600124e+01] [-1.35576489e-02 9.99892378e-01 -5.60561287e-03 4.43920358e+00] [-1.44923555e-01 3.58196009e-03 9.89436371e-01 -1.82312824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.49, Y:4.36, Z:-18.22 [[ 9.94658188e-01 5.96113470e-03 1.03051218e-01 6.84906587e+01] [-1.32977301e-02 9.97412239e-01 7.06540646e-02 4.36175140e+00] [-1.02363367e-01 -7.16469911e-02 9.92163520e-01 -1.82180750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.52, Y:4.50, Z:-18.25 [[ 9.89203963e-01 2.39245498e-02 1.44579168e-01 6.85206331e+01] [-1.35615943e-02 9.97294949e-01 -7.22417343e-02 4.50051916e+00] [-1.45916425e-01 6.95010859e-02 9.86852571e-01 -1.82478048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:68.55, Y:4.30, Z:-18.21 [[ 9.95575674e-01 4.27655193e-04 9.39621983e-02 6.85518005e+01] [-1.26038625e-02 9.91560436e-01 1.29031176e-01 4.29900411e+00] [-9.31140174e-02 -1.29644587e-01 9.87178839e-01 -1.82105161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:68.58, Y:4.49, Z:-18.25 [[ 9.94158756e-01 2.62284843e-02 1.04692095e-01 6.85820374e+01] [-1.99370244e-02 9.97957200e-01 -6.06954839e-02 4.48578744e+00] [-1.06070181e-01 5.82536979e-02 9.92650806e-01 -1.82498671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:68.61, Y:4.50, Z:-18.26 [[ 9.87767131e-01 2.74949295e-02 1.53493073e-01 6.86117255e+01] [-1.60077895e-02 9.97011348e-01 -7.55785799e-02 4.49792903e+00] [-1.55112363e-01 7.21969522e-02 9.85255172e-01 -1.82579297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.65, Y:4.41, Z:-18.25 [[ 9.88802186e-01 2.02041836e-02 1.47858135e-01 6.86454473e+01] [-2.17196770e-02 9.99726748e-01 8.64207691e-03 4.41257816e+00] [-1.47643126e-01 -1.17567355e-02 9.88970822e-01 -1.82514715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:4.42, Z:-18.26 [[ 9.89566613e-01 2.34456656e-02 1.42155615e-01 6.86788858e+01] [-2.40399330e-02 9.99707962e-01 2.46417632e-03 4.41919343e+00] [-1.42056326e-01 -5.85587806e-03 9.89841254e-01 -1.82565948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.71, Y:4.43, Z:-18.26 [[ 9.89400545e-01 2.78008703e-02 1.42526044e-01 6.87104181e+01] [-2.73375609e-02 9.99612691e-01 -5.20820699e-03 4.42688720e+00] [-1.42615635e-01 1.25668844e-03 9.89777349e-01 -1.82632372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.74, Y:4.43, Z:-18.27 [[ 9.89323101e-01 2.93865161e-02 1.42745349e-01 6.87426731e+01] [-2.88775665e-02 9.99567066e-01 -5.63626113e-03 4.42663788e+00] [-1.42849180e-01 1.45394503e-03 9.89743400e-01 -1.82679054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:68.77, Y:4.30, Z:-18.24 [[ 9.94453454e-01 1.21438832e-02 1.04474174e-01 6.87697194e+01] [-2.48950360e-02 9.92263462e-01 1.21628366e-01 4.30201747e+00] [-1.02188865e-01 -1.23554637e-01 9.87062150e-01 -1.82393605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.81, Y:4.47, Z:-18.27 [[ 9.93536281e-01 3.85535505e-02 1.06767417e-01 6.88050966e+01] [-3.42580361e-02 9.98539384e-01 -4.17790084e-02 4.46504773e+00] [-1.08222200e-01 3.78513186e-02 9.93405875e-01 -1.82744359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:68.83, Y:4.50, Z:-18.28 [[ 9.87861978e-01 4.18719890e-02 1.49584254e-01 6.88339549e+01] [-3.06853490e-02 9.96610626e-01 -7.63260793e-02 4.49974536e+00] [-1.52273181e-01 7.08095867e-02 9.85798600e-01 -1.82845529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:4.44, Z:-18.28 [[ 9.87148203e-01 3.39631164e-02 1.56156758e-01 6.88662099e+01] [-3.19049058e-02 9.99368084e-01 -1.56687686e-02 4.43921918e+00] [-1.56590240e-01 1.04852301e-02 9.87607997e-01 -1.82835643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:4.43, Z:-18.29 [[ 9.87909764e-01 3.24145241e-02 1.51603422e-01 6.88986022e+01] [-3.27880324e-02 9.99462327e-01 -3.61358134e-05 4.42653853e+00] [-1.51523080e-01 -4.93507899e-03 9.88441400e-01 -1.82879988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:4.37, Z:-18.28 [[ 9.93182520e-01 2.38985490e-02 1.14093562e-01 6.89295879e+01] [-3.11802917e-02 9.97559629e-01 6.24705978e-02 4.36691850e+00] [-1.12322175e-01 -6.56021763e-02 9.91503950e-01 -1.82757968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:68.96, Y:4.44, Z:-18.29 [[ 9.92752667e-01 3.43751070e-02 1.15154215e-01 6.89595960e+01] [-3.35097743e-02 9.99393783e-01 -9.44255807e-03 4.43975999e+00] [-1.15408995e-01 5.51533295e-03 9.93302746e-01 -1.82928778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:4.49, Z:-18.30 [[ 9.85749348e-01 3.77610598e-02 1.63927805e-01 6.89888702e+01] [-2.79400419e-02 9.97696849e-01 -6.18089915e-02 4.49228294e+00] [-1.65884228e-01 5.63480234e-02 9.84534064e-01 -1.83028331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:69.02, Y:4.40, Z:-18.29 [[ 9.92273409e-01 2.46499167e-02 1.21597134e-01 6.90240871e+01] [-2.95170891e-02 9.98826815e-01 3.83892666e-02 4.39773465e+00] [-1.20508186e-01 -4.16818419e-02 9.91836882e-01 -1.82910178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:4.49, Z:-18.31 [[ 9.85998953e-01 3.72427685e-02 1.62539351e-01 6.90544940e+01] [-2.82473320e-02 9.97956843e-01 -5.73081891e-02 4.49440399e+00] [-1.64341573e-01 5.19145114e-02 9.85036411e-01 -1.83119772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:4.44, Z:-18.31 [[ 9.86427351e-01 2.93617241e-02 1.61551756e-01 6.90870978e+01] [-2.95230864e-02 9.99563115e-01 -1.40212987e-03 4.44135531e+00] [-1.61522346e-01 -3.38640721e-03 9.86863245e-01 -1.83117587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:4.46, Z:-18.32 [[ 9.85818308e-01 3.14133766e-02 1.64849823e-01 6.91203104e+01] [-2.92654369e-02 9.99452375e-01 -1.54429668e-02 4.45977483e+00] [-1.65244663e-01 1.03995573e-02 9.86197775e-01 -1.83186073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:4.29, Z:-18.28 [[ 9.93647270e-01 8.03156533e-03 1.12252377e-01 6.91494314e+01] [-2.60834492e-02 9.86725472e-01 1.60288792e-01 4.28911536e+00] [-1.09474910e-01 -1.62198450e-01 9.80666563e-01 -1.82847109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:4.60, Z:-18.33 [[ 9.85076710e-01 4.95909418e-02 1.64816909e-01 6.91826768e+01] [-2.65107641e-02 9.89882421e-01 -1.39391433e-01 4.59505098e+00] [-1.70061913e-01 1.32941832e-01 9.76424813e-01 -1.83291241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:69.22, Y:4.43, Z:-18.32 [[ 9.92287743e-01 2.74998521e-02 1.20866843e-01 6.92170601e+01] [-3.17880334e-02 9.98926526e-01 3.36944693e-02 4.42703646e+00] [-1.19810503e-01 -3.72767282e-02 9.92096714e-01 -1.83198643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.24, Y:4.34, Z:-18.30 [[ 9.93698332e-01 1.15285145e-02 1.11493127e-01 6.92422022e+01] [-2.56966771e-02 9.91635108e-01 1.26489101e-01 4.33752637e+00] [-1.09102268e-01 -1.28557012e-01 9.85682398e-01 -1.83012268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.27, Y:4.64, Z:-18.33 [[ 9.83645155e-01 5.32049449e-02 1.72079755e-01 6.92729433e+01] [-2.29645515e-02 9.84625293e-01 -1.73163685e-01 4.63551521e+00] [-1.78647244e-01 1.66379886e-01 9.69743727e-01 -1.83339682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:4.47, Z:-18.34 [[ 9.83592500e-01 2.44190185e-02 1.78744244e-01 6.93026555e+01] [-2.42351147e-02 9.99701124e-01 -3.21265297e-03 4.46857545e+00] [-1.78769272e-01 -1.17194589e-03 9.83890326e-01 -1.83360785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:4.46, Z:-18.34 [[ 9.85852385e-01 2.38493380e-02 1.65910470e-01 6.93357555e+01] [-2.50327928e-02 9.99673899e-01 5.04535812e-03 4.46352449e+00] [-1.65736038e-01 -9.12718075e-03 9.86127913e-01 -1.83427265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.36, Y:4.33, Z:-18.32 [[ 9.91604655e-01 -1.00377375e-03 1.29302747e-01 6.93627766e+01] [-1.72388492e-02 9.90017286e-01 1.39887798e-01 4.33156239e+00] [-1.28152370e-01 -1.40942422e-01 9.81688445e-01 -1.83175561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:69.40, Y:4.62, Z:-18.35 [[ 9.82437004e-01 4.36080062e-02 1.81427329e-01 6.93966464e+01] [-1.60089140e-02 9.88421129e-01 -1.50888653e-01 4.62138477e+00] [-1.85906559e-01 1.45334141e-01 9.71759610e-01 -1.83494930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51592 meters Centerline goodness : 0.951216 Centerline is valid? [True, True] Translation: X:69.45, Y:4.52, Z:-18.38 [[ 9.86974401e-01 2.54960822e-02 1.58844207e-01 6.94511411e+01] [-2.23601421e-02 9.99518802e-01 -2.14985845e-02 4.51654248e+00] [-1.59315902e-01 1.76667735e-02 9.87069566e-01 -1.83819256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:69.41, Y:4.44, Z:-18.34 [[ 9.85781212e-01 1.50518685e-02 1.67358429e-01 6.94147776e+01] [-1.95515073e-02 9.99489426e-01 2.52710620e-02 4.44180646e+00] [-1.66892603e-01 -2.81838477e-02 9.85572184e-01 -1.83423041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:4.61, Z:-18.35 [[ 9.75810695e-01 4.64852323e-02 2.13617907e-01 6.94481783e+01] [-1.49726650e-02 9.89048321e-01 -1.46830641e-01 4.61357369e+00] [-2.18103889e-01 1.40080481e-01 9.65819938e-01 -1.83546995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:69.48, Y:4.47, Z:-18.36 [[ 9.75458345e-01 1.85397286e-02 2.19402131e-01 6.94781958e+01] [-1.78928464e-02 9.99827730e-01 -4.93526873e-03 4.47120054e+00] [-2.19455833e-01 8.88420447e-04 9.75622031e-01 -1.83567914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:69.51, Y:4.47, Z:-18.36 [[ 9.75787088e-01 1.77693833e-02 2.17999561e-01 6.95107272e+01] [-1.70856211e-02 9.99841422e-01 -5.02128073e-03 4.47117175e+00] [-2.18054216e-01 1.17504299e-03 9.75935950e-01 -1.83626984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:69.54, Y:4.34, Z:-18.34 [[ 9.86768874e-01 -1.01981540e-02 1.61812199e-01 6.95391450e+01] [-1.13219164e-02 9.91249281e-01 1.31516831e-01 4.33562972e+00] [-1.61737454e-01 -1.31608739e-01 9.78018474e-01 -1.83435867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:69.57, Y:4.49, Z:-18.37 [[ 9.86033159e-01 1.96680536e-02 1.65383724e-01 6.95686001e+01] [-1.60551932e-02 9.99602983e-01 -2.31539845e-02 4.48730594e+00] [-1.65773458e-01 2.01753289e-02 9.85957462e-01 -1.83695446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:69.60, Y:4.46, Z:-18.37 [[ 9.85191763e-01 1.35255301e-02 1.70921766e-01 6.95986674e+01] [-1.43419459e-02 9.99890873e-01 3.54263173e-03 4.45915145e+00] [-1.70855198e-01 -5.94152233e-03 9.85278235e-01 -1.83718077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.63, Y:4.58, Z:-18.39 [[ 9.74169444e-01 3.57622559e-02 2.22968508e-01 6.96290505e+01] [-8.78010558e-03 9.92632109e-01 -1.20848693e-01 4.58099950e+00] [-2.25647522e-01 1.15769417e-01 9.67305866e-01 -1.83878726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:69.69, Y:4.38, Z:-18.39 [[ 9.86916537e-01 -6.16199894e-03 1.61114178e-01 6.96915155e+01] [-6.82180869e-03 9.96778704e-01 7.99104419e-02 4.38494838e+00] [-1.61087589e-01 -7.99640267e-02 9.83695351e-01 -1.83902979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:69.69, Y:4.56, Z:-18.40 [[ 9.74444241e-01 2.82633577e-02 2.22844351e-01 6.96904883e+01] [-4.00360479e-03 9.94080474e-01 -1.08572474e-01 4.56152011e+00] [-2.24593840e-01 1.04905641e-01 9.68789148e-01 -1.83986549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:69.72, Y:4.39, Z:-18.39 [[ 9.84332073e-01 -6.57818201e-03 1.76201866e-01 6.97207704e+01] [-4.94481623e-03 9.97880967e-01 6.48777684e-02 4.38736065e+00] [-1.76255266e-01 -6.47325541e-02 9.82213713e-01 -1.83850494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87592 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:69.75, Y:4.46, Z:-18.40 [[ 9.83876108e-01 9.01537838e-03 1.78623982e-01 6.97521960e+01] [-7.64169193e-03 9.99935714e-01 -8.37693063e-03 4.45893214e+00] [-1.78688020e-01 6.87687246e-03 9.83881751e-01 -1.84004166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:69.78, Y:4.46, Z:-18.41 [[ 9.83499985e-01 1.17394559e-02 1.80526911e-01 6.97819842e+01] [-9.83074048e-03 9.99885959e-01 -1.14641302e-02 4.46076657e+00] [-1.80640906e-01 9.50025863e-03 9.83503232e-01 -1.84072792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93592 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:69.81, Y:4.44, Z:-18.41 [[ 9.83765011e-01 1.05171515e-02 1.79152986e-01 6.98104576e+01] [-1.16590587e-02 9.99917867e-01 5.32219047e-03 4.44205506e+00] [-1.79082297e-01 -7.32453995e-03 9.83806832e-01 -1.84110871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:69.84, Y:4.46, Z:-18.42 [[ 9.83063236e-01 1.59445718e-02 1.82571753e-01 6.98409622e+01] [-1.35743585e-02 9.99806678e-01 -1.42247445e-02 4.46033115e+00] [-1.82763266e-01 1.15055289e-02 9.83089625e-01 -1.84194578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99592 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:69.87, Y:4.45, Z:-18.42 [[ 9.82486541e-01 1.35767094e-02 1.85838291e-01 6.98715381e+01] [-1.33994362e-02 9.99907781e-01 -2.20994076e-03 4.44752725e+00] [-1.85851156e-01 -3.18891264e-04 9.82577857e-01 -1.84225969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:69.90, Y:4.44, Z:-18.43 [[ 9.82435692e-01 1.34894482e-02 1.86113263e-01 6.99017742e+01] [-1.40805642e-02 9.99899144e-01 1.85457545e-03 4.44249638e+00] [-1.86069475e-01 -4.44258086e-03 9.82526546e-01 -1.84268754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:69.93, Y:4.46, Z:-18.44 [[ 9.81153736e-01 1.75740299e-02 1.92427906e-01 6.99307184e+01] [-1.44311586e-02 9.99738798e-01 -1.77222439e-02 4.46005858e+00] [-1.92689095e-01 1.46112882e-02 9.81151070e-01 -1.84352102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:69.96, Y:4.45, Z:-18.44 [[ 9.80780456e-01 1.51046116e-02 1.94529039e-01 6.99609310e+01] [-1.40454483e-02 9.99878079e-01 -6.82298592e-03 4.44845001e+00] [-1.94608380e-01 3.95960369e-03 9.80873029e-01 -1.84401427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:69.99, Y:4.44, Z:-18.45 [[ 9.80830342e-01 1.44733649e-02 1.94325401e-01 6.99899308e+01] [-1.44789004e-02 9.99894206e-01 -1.39193749e-03 4.44089143e+00] [-1.94324988e-01 -1.44836361e-03 9.80936135e-01 -1.84457927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:70.02, Y:4.42, Z:-18.45 [[ 9.82248945e-01 1.10980985e-02 1.87253416e-01 7.00177522e+01] [-1.44507452e-02 9.99758628e-01 1.65487479e-02 4.41830564e+00] [-1.87024558e-01 -1.89609415e-02 9.82172234e-01 -1.84491200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17591999999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:70.05, Y:4.51, Z:-18.47 [[ 9.74307211e-01 3.14461866e-02 2.23017033e-01 7.00499895e+01] [-1.47322998e-02 9.96982472e-01 -7.62162012e-02 4.50865019e+00] [-2.24740781e-01 7.09724406e-02 9.71830486e-01 -1.84696701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:70.08, Y:4.30, Z:-18.44 [[ 9.81435247e-01 -1.33781233e-02 1.91326639e-01 7.00797954e+01] [-1.26994555e-02 9.90842235e-01 1.34426147e-01 4.29764613e+00] [-1.91372884e-01 -1.34360303e-01 9.72277598e-01 -1.84404253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:70.11, Y:4.58, Z:-18.48 [[ 9.71452215e-01 5.07150504e-02 2.31751113e-01 7.01119953e+01] [-1.67513815e-02 9.89108428e-01 -1.46232381e-01 4.57528632e+00] [-2.36643162e-01 1.38175619e-01 9.61721120e-01 -1.84806590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:70.14, Y:4.43, Z:-18.48 [[ 9.71122483e-01 1.82267334e-02 2.37884236e-01 7.01409534e+01] [-1.77994381e-02 9.99833798e-01 -3.94422765e-03 4.42928096e+00] [-2.37916590e-01 -4.03877587e-04 9.71285506e-01 -1.84797869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29592 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:70.17, Y:4.39, Z:-18.48 [[ 9.76273737e-01 1.03408518e-02 2.16292988e-01 7.01714803e+01] [-1.73340959e-02 9.99385665e-01 3.04601808e-02 4.39410690e+00] [-2.15845127e-01 -3.34867180e-02 9.75853227e-01 -1.84810523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:70.20, Y:4.43, Z:-18.49 [[ 9.76546369e-01 1.89604751e-02 2.14470718e-01 7.02016015e+01] [-1.84661326e-02 9.99820204e-01 -4.30842654e-03 4.42748466e+00] [-2.14513847e-01 2.46933573e-04 9.76720916e-01 -1.84918356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:70.23, Y:4.48, Z:-18.51 [[ 9.68340852e-01 3.05900246e-02 2.47750369e-01 7.02329517e+01] [-1.70452989e-02 9.98249555e-01 -5.66328891e-02 4.47524803e+00] [-2.49049097e-01 5.06169610e-02 9.67167240e-01 -1.85056174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:70.26, Y:4.42, Z:-18.51 [[ 9.69030844e-01 1.77098270e-02 2.46303849e-01 7.02641708e+01] [-1.75046971e-02 9.99842213e-01 -3.02245045e-03 4.41940826e+00] [-2.46318512e-01 -1.38262656e-03 9.69187948e-01 -1.85079014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:70.30, Y:4.42, Z:-18.52 [[ 9.69208979e-01 1.74308822e-02 2.45621903e-01 7.02962894e+01] [-1.50144782e-02 9.99818737e-01 -1.17072440e-02 4.42382756e+00] [-2.45781448e-01 7.65888128e-03 9.69295013e-01 -1.85176200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:70.33, Y:4.43, Z:-18.53 [[ 9.68757420e-01 1.77780543e-02 2.47372195e-01 7.03282580e+01] [-1.43250576e-02 9.99773314e-01 -1.57516425e-02 4.42579008e+00] [-2.47596153e-01 1.17158996e-02 9.68792487e-01 -1.85265656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:70.36, Y:4.42, Z:-18.54 [[ 9.68157102e-01 1.69230315e-02 2.49770770e-01 7.03607186e+01] [-1.39017856e-02 9.99807366e-01 -1.38553408e-02 4.42145061e+00] [-2.49957130e-01 9.94188688e-03 9.68205862e-01 -1.85352362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:70.39, Y:4.40, Z:-18.54 [[ 9.68258446e-01 1.23810992e-02 2.49644328e-01 7.03908547e+01] [-1.35142388e-02 9.99904687e-01 2.82544650e-03 4.39984900e+00] [-2.49585551e-01 -6.10951550e-03 9.68333479e-01 -1.85382213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53591999999999 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:70.42, Y:4.34, Z:-18.53 [[ 9.76233578e-01 -5.73029758e-04 2.16720264e-01 7.04227815e+01] [-1.30658156e-02 9.98021876e-01 6.14948683e-02 4.34001893e+00] [-2.16326803e-01 -6.28649823e-02 9.74294980e-01 -1.85290019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:70.45, Y:4.47, Z:-18.56 [[ 9.65886013e-01 3.32626078e-02 2.56822523e-01 7.04521760e+01] [-1.52479147e-02 9.97301026e-01 -7.18203572e-02 4.47024878e+00] [-2.58518298e-01 6.54542705e-02 9.63786298e-01 -1.85572713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59591999999999 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:70.48, Y:4.28, Z:-18.53 [[ 9.80117749e-01 -1.20725524e-02 1.98049113e-01 7.04848621e+01] [-1.31940909e-02 9.91972475e-01 1.25763766e-01 4.27598267e+00] [-1.97977558e-01 -1.25876377e-01 9.72090543e-01 -1.85258571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:70.51, Y:4.53, Z:-18.57 [[ 9.65538306e-01 5.18371817e-02 2.55046438e-01 7.05146394e+01] [-1.81784955e-02 9.91003118e-01 -1.32598499e-01 4.53103862e+00] [-2.59625348e-01 1.23392570e-01 9.57793794e-01 -1.85740427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65592 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:70.55, Y:4.39, Z:-18.57 [[ 9.67768045e-01 2.20086347e-02 2.50879715e-01 7.05455457e+01] [-2.42330020e-02 9.99689628e-01 5.78014510e-03 4.38873120e+00] [-2.50674636e-01 -1.16734084e-02 9.68001012e-01 -1.85686497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:70.58, Y:4.40, Z:-18.57 [[ 9.67845003e-01 2.52170957e-02 2.50280141e-01 7.05771088e+01] [-2.54286852e-02 9.99673785e-01 -2.38869760e-03 4.39621343e+00] [-2.50258732e-01 -4.05240588e-03 9.68170514e-01 -1.85746921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71592 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:70.61, Y:4.41, Z:-18.58 [[ 9.66271726e-01 3.03878748e-02 2.55725496e-01 7.06087221e+01] [-2.73675104e-02 9.99507393e-01 -1.53619959e-02 4.40911045e+00] [-2.56066342e-01 7.84529210e-03 9.66627374e-01 -1.85841623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:70.64, Y:4.40, Z:-18.59 [[ 9.67214338e-01 2.85231864e-02 2.52354615e-01 7.06399430e+01] [-2.84251409e-02 9.99587781e-01 -4.03489646e-03 4.39720144e+00] [-2.52365677e-01 -3.27060578e-03 9.67626409e-01 -1.85907270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77592 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:70.67, Y:4.25, Z:-18.56 [[ 9.76366717e-01 -6.74089546e-03 2.16015263e-01 7.06708822e+01] [-2.55567082e-02 9.88899298e-01 1.46372926e-01 4.24738661e+00] [-2.14604027e-01 -1.48434292e-01 9.65356086e-01 -1.85636751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:70.70, Y:4.43, Z:-18.61 [[ 9.76022137e-01 4.31154102e-02 2.13358500e-01 7.07019318e+01] [-3.47079885e-02 9.98472141e-01 -4.29969782e-02 4.43496035e+00] [-2.14886351e-01 3.45607582e-02 9.76027361e-01 -1.86074948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:70.73, Y:4.48, Z:-18.62 [[ 9.69311050e-01 5.96823966e-02 2.38482912e-01 7.07344219e+01] [-3.89654941e-02 9.95119107e-01 -9.06622996e-02 4.48372970e+00] [-2.42729846e-01 7.85873643e-02 9.66905501e-01 -1.86163926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:70.76, Y:4.43, Z:-18.62 [[ 9.63470248e-01 4.65954413e-02 2.63730820e-01 7.07624117e+01] [-3.87745324e-02 9.98642322e-01 -3.47857385e-02 4.42580489e+00] [-2.64993615e-01 2.32889849e-02 9.63968883e-01 -1.86219641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89591999999999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:70.79, Y:4.27, Z:-18.60 [[ 9.74215002e-01 6.70807383e-03 2.25521911e-01 7.07931304e+01] [-3.59896027e-02 9.91379676e-01 1.25980498e-01 4.26656522e+00] [-2.22732753e-01 -1.30848535e-01 9.66058374e-01 -1.85973457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:70.82, Y:4.38, Z:-18.63 [[ 9.74160166e-01 3.74012868e-02 2.22740018e-01 7.08212323e+01] [-4.06881805e-02 9.99119990e-01 1.01842113e-02 4.38135085e+00] [-2.22163101e-01 -1.89839390e-02 9.74824685e-01 -1.86257422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95591999999999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:70.85, Y:4.52, Z:-18.65 [[ 9.62670097e-01 7.56705441e-02 2.59885078e-01 7.08539804e+01] [-4.15855653e-02 9.90076175e-01 -1.34237883e-01 4.52439296e+00] [-2.67463877e-01 1.18419328e-01 9.56263529e-01 -1.86468880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:70.89, Y:4.35, Z:-18.63 [[ 9.71243222e-01 3.03479657e-02 2.36147422e-01 7.08864035e+01] [-4.11999840e-02 9.98302957e-01 4.11553986e-02 4.34944896e+00] [-2.34497687e-01 -4.97011719e-02 9.70845316e-01 -1.86304552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:70.91, Y:4.44, Z:-18.66 [[ 9.62603366e-01 5.39391515e-02 2.65490729e-01 7.09147801e+01] [-4.09917454e-02 9.97695205e-01 -5.40736048e-02 4.44123563e+00] [-2.67795512e-01 4.11685056e-02 9.62595823e-01 -1.86566414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:70.95, Y:4.40, Z:-18.66 [[ 9.62232612e-01 4.37820578e-02 2.68684818e-01 7.09456913e+01] [-4.22929469e-02 9.99041000e-01 -1.13308153e-02 4.40036548e+00] [-2.68923235e-01 -4.60592718e-04 9.63161503e-01 -1.86626993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:70.98, Y:4.40, Z:-18.67 [[ 9.61780458e-01 4.58596973e-02 2.69954144e-01 7.09773227e+01] [-4.36465380e-02 9.98946134e-01 -1.41986339e-02 4.40373182e+00] [-2.70320793e-01 1.87340486e-03 9.62768487e-01 -1.86722151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:4.40, Z:-18.68 [[ 9.61184421e-01 4.49767622e-02 2.72216090e-01 7.10096706e+01] [-4.38443412e-02 9.98985850e-01 -1.02442562e-02 4.39872977e+00] [-2.72400775e-01 -2.08851562e-03 9.62181613e-01 -1.86797720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:4.37, Z:-18.68 [[ 9.66818637e-01 3.81995491e-02 2.52591603e-01 7.10439341e+01] [-4.37779210e-02 9.98905034e-01 1.64993133e-02 4.37202745e+00] [-2.51684757e-01 -2.70097789e-02 9.67432300e-01 -1.86802325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.07, Y:4.29, Z:-18.67 [[ 9.74884056e-01 1.55520635e-02 2.22169329e-01 7.10727706e+01] [-3.78663629e-02 9.94609046e-01 9.65348843e-02 4.29406569e+00] [-2.19470307e-01 -1.02523064e-01 9.70217401e-01 -1.86679454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:4.51, Z:-18.71 [[ 9.64825821e-01 7.14735413e-02 2.52987486e-01 7.11051022e+01] [-4.28395430e-02 9.92214582e-01 -1.16940143e-01 4.50513011e+00] [-2.59375999e-01 1.01989001e-01 9.60376142e-01 -1.87062513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:71.13, Y:4.37, Z:-18.70 [[ 9.69790728e-01 3.04216819e-02 2.42034016e-01 7.11318972e+01] [-3.69252771e-02 9.99067417e-01 2.23790041e-02 4.36520613e+00] [-2.41127492e-01 -3.06401238e-02 9.70009647e-01 -1.86982953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:4.45, Z:-18.72 [[ 9.60836058e-01 5.29607765e-02 2.72009606e-01 7.11623840e+01] [-3.62673705e-02 9.97157723e-01 -6.60390280e-02 4.45049665e+00] [-2.74733958e-01 5.35876061e-02 9.60025844e-01 -1.87214722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:4.39, Z:-18.72 [[ 9.60635856e-01 3.56523501e-02 2.75513453e-01 7.11943532e+01] [-3.53133815e-02 9.99357102e-01 -6.19254298e-03 4.38935911e+00] [-2.75557105e-01 -3.78053286e-03 9.61277270e-01 -1.87247030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:4.41, Z:-18.74 [[ 9.54734596e-01 4.05358912e-02 2.94684056e-01 7.12256933e+01] [-3.26478904e-02 9.98965967e-01 -3.16403454e-02 4.41154584e+00] [-2.95661913e-01 2.05873196e-02 9.55070780e-01 -1.87359504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:4.25, Z:-18.71 [[ 9.70110535e-01 -7.88708865e-03 2.42535244e-01 7.12571604e+01] [-2.43459611e-02 9.91265324e-01 1.29616094e-01 4.25013890e+00] [-2.41439071e-01 -1.31646691e-01 9.61444915e-01 -1.87091758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:4.37, Z:-18.74 [[ 9.68358661e-01 2.73045004e-02 2.48064445e-01 7.12858354e+01] [-2.99126572e-02 9.99529722e-01 6.75034651e-03 4.36827522e+00] [-2.47763471e-01 -1.39570232e-02 9.68720013e-01 -1.87428210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:4.54, Z:-18.77 [[ 9.54505404e-01 7.60755359e-02 2.88326112e-01 7.13209555e+01] [-2.81142142e-02 9.85561004e-01 -1.66970351e-01 4.53887150e+00] [-2.96865331e-01 1.51268041e-01 9.42862108e-01 -1.87661475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:4.30, Z:-18.74 [[ 9.66769830e-01 1.01640190e-02 2.55446255e-01 7.13520787e+01] [-2.94888458e-02 9.96973260e-01 7.19355672e-02 4.30207114e+00] [-2.53941931e-01 -7.70779513e-02 9.64143394e-01 -1.87438877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:4.32, Z:-18.76 [[ 9.69963172e-01 2.03754588e-02 2.42396959e-01 7.13807536e+01] [-3.49973382e-02 9.97807678e-01 5.61695985e-02 4.31913535e+00] [-2.40721066e-01 -6.29656903e-02 9.68549787e-01 -1.87551344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:4.43, Z:-18.78 [[ 9.64816894e-01 5.56556155e-02 2.56964617e-01 7.14092499e+01] [-4.32969633e-02 9.97628256e-01 -5.35092075e-02 4.42654108e+00] [-2.59333251e-01 4.05007998e-02 9.64938314e-01 -1.87801287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:4.33, Z:-18.77 [[ 9.63868108e-01 3.24685391e-02 2.64393767e-01 7.14359493e+01] [-4.64382557e-02 9.97826249e-01 4.67575055e-02 4.32841253e+00] [-2.62300893e-01 -5.73460538e-02 9.63280682e-01 -1.87739124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:4.51, Z:-18.80 [[ 9.51886710e-01 8.93202739e-02 2.93144299e-01 7.14710890e+01] [-5.02007969e-02 9.89107715e-01 -1.38368376e-01 4.51146109e+00] [-3.02310389e-01 1.16994941e-01 9.46002438e-01 -1.88023650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:4.39, Z:-18.80 [[ 9.52194651e-01 5.30809145e-02 3.00845083e-01 7.15008061e+01] [-5.04525161e-02 9.98590070e-01 -1.65050335e-02 4.38843404e+00] [-3.01297014e-01 5.37613218e-04 9.53530188e-01 -1.88028596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.53, Y:4.40, Z:-18.81 [[ 9.49468995e-01 5.52628028e-02 3.08957361e-01 7.15335462e+01] [-4.99060967e-02 9.98435431e-01 -2.52204667e-02 4.39586495e+00] [-3.09867730e-01 8.52719518e-03 9.50741435e-01 -1.88148365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:4.33, Z:-18.81 [[ 9.60937505e-01 3.26428471e-02 2.74833690e-01 7.15661708e+01] [-4.57077679e-02 9.98102139e-01 4.12664582e-02 4.33224840e+00] [-2.72965039e-01 -5.22165219e-02 9.60605810e-01 -1.88097003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.60, Y:4.38, Z:-18.83 [[ 9.61087770e-01 4.40930572e-02 2.72701486e-01 7.15958058e+01] [-4.56257777e-02 9.98958341e-01 -7.21486003e-04 4.37656094e+00] [-2.72449237e-01 -1.17488060e-02 9.62098425e-01 -1.88258550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:71.63, Y:4.40, Z:-18.84 [[ 9.58807837e-01 5.28845962e-02 2.79089146e-01 7.16268367e+01] [-4.66183425e-02 9.98490359e-01 -2.90470895e-02 4.40423287e+00] [-2.80203965e-01 1.48399036e-02 9.59825773e-01 -1.88383230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:4.37, Z:-18.84 [[ 9.60699929e-01 4.29830112e-02 2.74240965e-01 7.16567027e+01] [-4.60429157e-02 9.98928276e-01 4.72752356e-03 4.36958058e+00] [-2.73743851e-01 -1.71685852e-02 9.61649387e-01 -1.88412894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:4.39, Z:-18.85 [[ 9.58879390e-01 5.00675624e-02 2.79362765e-01 7.16870393e+01] [-4.54043835e-02 9.98700587e-01 -2.31425846e-02 4.39406469e+00] [-2.80158451e-01 9.50665326e-03 9.59906697e-01 -1.88533353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.72, Y:4.36, Z:-18.86 [[ 9.62057826e-01 4.06767480e-02 2.69796484e-01 7.17151510e+01] [-4.44354751e-02 9.98981523e-01 7.83619128e-03 4.36282752e+00] [-2.69202951e-01 -1.95274041e-02 9.62885482e-01 -1.88558387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:4.39, Z:-18.87 [[ 9.58994830e-01 4.96769195e-02 2.79036056e-01 7.17482668e+01] [-4.54920955e-02 9.98734226e-01 -2.14572823e-02 4.39165025e+00] [-2.79748791e-01 7.88348786e-03 9.60040866e-01 -1.88719970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.78, Y:4.39, Z:-18.88 [[ 9.57842121e-01 4.87284223e-02 2.83132500e-01 7.17791308e+01] [-4.56846750e-02 9.98805282e-01 -1.73470006e-02 4.38629842e+00] [-2.83639528e-01 3.68087163e-03 9.58923912e-01 -1.88802841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.81, Y:4.40, Z:-18.89 [[ 9.55936314e-01 5.32093312e-02 2.88711848e-01 7.18092660e+01] [-4.65905894e-02 9.98470839e-01 -2.97539895e-02 4.39606446e+00] [-2.89853551e-01 1.49916638e-02 9.56953588e-01 -1.88892779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:4.44, Z:-18.91 [[ 9.39781712e-01 6.66043436e-02 3.35222606e-01 7.18389610e+01] [-4.25721150e-02 9.96001281e-01 -7.85433797e-02 4.44049902e+00] [-3.39113476e-01 5.95424965e-02 9.38859277e-01 -1.89052483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:4.37, Z:-18.91 [[ 9.43370867e-01 4.47280147e-02 3.28710832e-01 7.18719804e+01] [-4.55900248e-02 9.98947275e-01 -5.08844551e-03 4.36798028e+00] [-3.28592386e-01 -1.01856437e-02 9.44416908e-01 -1.89100275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:4.38, Z:-18.92 [[ 9.43008502e-01 4.99315044e-02 3.29001230e-01 7.19053231e+01] [-4.62489093e-02 9.98748954e-01 -1.90148928e-02 4.38142700e+00] [-3.29539077e-01 2.71525755e-03 9.44138032e-01 -1.89242905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:4.30, Z:-18.92 [[ 9.58823384e-01 2.32375871e-02 2.83050760e-01 7.19381814e+01] [-4.32947547e-02 9.96957847e-01 6.48121504e-02 4.30019739e+00] [-2.80683598e-01 -7.43980186e-02 9.56912563e-01 -1.89164177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:4.37, Z:-18.94 [[ 9.57759626e-01 4.90424432e-02 2.83357260e-01 7.19689737e+01] [-4.74876504e-02 9.98795381e-01 -1.23575851e-02 4.37484414e+00] [-2.83621968e-01 -1.62037444e-03 9.58934801e-01 -1.89390991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:4.33, Z:-18.94 [[ 9.52678474e-01 3.37761470e-02 3.02097495e-01 7.19971136e+01] [-4.65376828e-02 9.98298139e-01 3.51435685e-02 4.32639551e+00] [-3.00396352e-01 -4.75394386e-02 9.52629011e-01 -1.89402530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:5.48, Z:-18.17 [[ 9.14365950e-01 4.03911279e-01 -2.81174000e-02 7.24551128e+01] [-3.39399209e-02 7.26161673e-03 -9.99397494e-01 5.47664260e+00] [-4.03463742e-01 9.14769341e-01 2.03484919e-02 -1.81676809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.10, Y:4.33, Z:-18.92 [[ 9.25948595e-01 3.55809564e-02 3.75969672e-01 7.21041815e+01] [-4.74559983e-02 9.98622842e-01 2.23684509e-02 4.33428765e+00] [-3.74656012e-01 -3.85540518e-02 9.26361948e-01 -1.89232119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.73, Y:5.46, Z:-17.95 [[ 8.86246896e-01 4.40580384e-01 -1.43022249e-01 7.27296680e+01] [-3.12401507e-02 -2.51208098e-01 -9.67428832e-01 5.45973132e+00] [-4.62158513e-01 8.61848836e-01 -2.08868600e-01 -1.79522357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:4.31, Z:-18.92 [[ 8.99315900e-01 1.37798031e-02 4.37082405e-01 7.22254222e+01] [-2.59144716e-02 9.99426186e-01 2.18114484e-02 4.31398567e+00] [-4.36531043e-01 -3.09421419e-02 8.99156956e-01 -1.89229355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:5.42, Z:-18.33 [[ 8.54979059e-01 5.17847606e-01 2.90631384e-02 7.27059850e+01] [-5.50413602e-02 1.46307651e-01 -9.87706697e-01 5.41888655e+00] [-5.15733708e-01 8.42868868e-01 1.53593014e-01 -1.83292689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.32, Y:4.42, Z:-18.93 [[ 8.67384512e-01 6.35171419e-02 4.93568315e-01 7.23188414e+01] [-2.18011583e-02 9.95718843e-01 -8.98259201e-02 4.41648503e+00] [-4.97160757e-01 6.71532509e-02 8.65055850e-01 -1.89250914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:5.44, Z:-18.09 [[ 8.13560286e-01 5.65580366e-01 -1.35050026e-01 7.30219472e+01] [-3.57381711e-02 -1.83178259e-01 -9.82429900e-01 5.43861466e+00] [-5.80381291e-01 8.04092392e-01 -1.28813749e-01 -1.80858549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:72.45, Y:4.29, Z:-18.93 [[ 8.31949349e-01 -1.29740110e-02 5.54699880e-01 7.24462990e+01] [ 1.52748138e-04 9.99731901e-01 2.31538791e-02 4.29128563e+00] [-5.54851564e-01 -1.91781253e-02 8.31728286e-01 -1.89344714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:5.35, Z:-18.53 [[ 7.80815413e-01 6.05449846e-01 1.54135573e-01 7.28978035e+01] [-5.28880275e-02 3.09880666e-01 -9.49303339e-01 5.34848496e+00] [-6.22519194e-01 7.33078752e-01 2.73980648e-01 -1.85280754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:4.91, Z:-17.60 [[ 7.38682197e-01 2.82401852e-01 -6.12043957e-01 7.38266169e+01] [ 4.00901616e-02 -9.24803713e-01 -3.78326409e-01 4.90563802e+00] [-6.72860603e-01 2.54926042e-01 -6.94457574e-01 -1.76013740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.74, Y:3.56, Z:-18.03 [[ 0.78220743 -0.53141571 -0.32519051 73.73631061] [ 0.10896107 -0.39722727 0.91122883 3.56135351] [ -0.61341586 -0.74820307 -0.25281049 -18.03115978] [ 0. 0. 0. 1. ]] SLAMing on 77.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.86, Y:4.17, Z:-19.22 [[ 7.88238356e-01 -1.26238470e-01 6.02282444e-01 7.28558080e+01] [ 7.21290163e-02 9.90938988e-01 1.13301932e-01 4.16850611e+00] [-6.11128218e-01 -4.58668887e-02 7.90201575e-01 -1.92192160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:4.17, Z:-19.24 [[ 8.16695995e-01 -1.27357539e-01 5.62838972e-01 7.28949261e+01] [ 7.41332766e-02 9.90415560e-01 1.16538729e-01 4.16707668e+00] [-5.72286561e-01 -5.34516158e-02 8.18309854e-01 -1.92414284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:5.34, Z:-18.80 [[ 7.63182898e-01 6.15258414e-01 1.97506830e-01 7.32995781e+01] [ 1.78518194e-02 2.85459975e-01 -9.58224355e-01 5.33520019e+00] [-6.45935892e-01 7.34826297e-01 2.06874689e-01 -1.87990961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:4.91, Z:-17.94 [[ 0.71455516 0.34580797 -0.60813466 74.2489253 ] [ 0.10573302 -0.91268429 -0.39475045 4.9081242 ] [ -0.69154281 0.21777106 -0.68872659 -17.93810695] [ 0. 0. 0. 1. ]] SLAMing on 77.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.24, Y:3.58, Z:-18.40 [[ 0.76357197 -0.51371176 -0.39122638 74.24090403] [ 0.1737516 -0.42006957 0.89070306 3.58218339] [ -0.62190693 -0.74809209 -0.23149511 -18.39590379] [ 0. 0. 0. 1. ]] SLAMing on 77.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:4.14, Z:-19.55 [[ 7.68269194e-01 -2.01483860e-01 6.07590898e-01 7.32946061e+01] [ 1.39967154e-01 9.79079318e-01 1.47691856e-01 4.13978169e+00] [-6.24637208e-01 -2.84243347e-02 7.80397601e-01 -1.95475927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:4.18, Z:-19.58 [[ 7.68797218e-01 -1.75555737e-01 6.14923589e-01 7.33207724e+01] [ 1.35846325e-01 9.84467524e-01 1.11218119e-01 4.18480661e+00] [-6.24897282e-01 -1.96907086e-03 7.80704495e-01 -1.95798205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:4.17, Z:-19.61 [[ 7.94906424e-01 -1.88425471e-01 5.76731843e-01 7.33706129e+01] [ 1.33854721e-01 9.81595748e-01 1.36208298e-01 4.16577466e+00] [-5.91782638e-01 -3.10745711e-02 8.05498405e-01 -1.96058428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:5.42, Z:-18.82 [[ 7.28645561e-01 6.84573561e-01 2.08491185e-02 7.39567601e+01] [ 1.20838824e-01 -9.85351333e-02 -9.87769612e-01 5.42129027e+00] [-6.74146590e-01 7.22253326e-01 -1.54520252e-01 -1.88215572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.84, Y:4.10, Z:-18.35 [[ 0.75295907 -0.14252914 -0.64244695 74.83770497] [ 0.20802234 -0.87465073 0.4378502 4.10294862] [ -0.6243231 -0.4633266 -0.62892696 -18.34865583] [ 0. 0. 0. 1. ]] SLAMing on 77.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:4.11, Z:-19.80 [[ 7.64545061e-01 -2.81286049e-01 5.79956040e-01 7.36658262e+01] [ 1.98959525e-01 9.58805621e-01 2.02748336e-01 4.11440506e+00] [-6.13095390e-01 -3.96224609e-02 7.89014641e-01 -1.97979095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:5.41, Z:-19.13 [[ 6.95926555e-01 6.91969842e-01 1.91999918e-01 7.40806292e+01] [ 1.74871072e-01 9.60199802e-02 -9.79898092e-01 5.41082497e+00] [-6.96495756e-01 7.15512335e-01 -5.41826538e-02 -1.91255094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:75.16, Y:4.31, Z:-18.55 [[ 6.84324132e-01 1.09337173e-02 -7.29095972e-01 7.51640035e+01] [ 2.79423069e-01 -9.27492472e-01 2.48355519e-01 4.31198487e+00] [-6.73515576e-01 -3.73681908e-01 -6.37760613e-01 -1.85479717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:73.96, Y:4.09, Z:-20.00 [[ 7.17337730e-01 -3.69129822e-01 5.90905877e-01 7.39647692e+01] [ 2.50777820e-01 9.28068903e-01 2.75315449e-01 4.09377964e+00] [-6.50028512e-01 -4.93080712e-02 7.58308412e-01 -1.99981824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:74.92, Y:5.22, Z:-18.77 [[ 0.65712926 0.67266766 -0.34014609 74.92153105] [ 0.32208795 -0.65856028 -0.68011596 5.21864317] [ -0.68149871 0.33736714 -0.64941737 -18.76624642] [ 0. 0. 0. 1. ]] SLAMing on 77.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:4.09, Z:-20.10 [[ 6.83168970e-01 -4.29374720e-01 5.90692397e-01 7.41414347e+01] [ 2.96826383e-01 9.02317146e-01 3.12598569e-01 4.08552178e+00] [-6.67213802e-01 -3.82245549e-02 7.43884821e-01 -2.00992088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:5.48, Z:-19.32 [[ 5.98385644e-01 7.73470160e-01 2.08994098e-01 7.45488851e+01] [ 2.99721369e-01 2.58109741e-02 -9.53677563e-01 5.47529640e+00] [-7.43035478e-01 6.33306960e-01 -2.16380619e-01 -1.93196985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:4.13, Z:-20.17 [[ 6.27534053e-01 -4.53120808e-01 6.33152861e-01 7.42828570e+01] [ 2.88557355e-01 8.90646683e-01 3.51401679e-01 4.12695068e+00] [-7.23142908e-01 -3.78156051e-02 6.89662464e-01 -2.01694987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:74.83, Y:5.54, Z:-19.35 [[ 0.54547571 0.8317879 0.10288409 74.83205652] [ 0.31910862 -0.09260472 -0.94318294 5.5405223 ] [ -0.7750006 0.54731459 -0.31594431 -19.35174064] [ 0. 0. 0. 1. ]] SLAMing on 77.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.44, Y:4.19, Z:-20.29 [[ 5.54485054e-01 -4.67620503e-01 6.88387530e-01 7.44392442e+01] [ 2.78432708e-01 8.83768615e-01 3.76069492e-01 4.19415793e+00] [-7.84233098e-01 -1.68553084e-02 6.20237330e-01 -2.02908488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.45, Y:4.23, Z:-20.34 [[ 5.63001737e-01 -4.46751353e-01 6.95300132e-01 7.44537741e+01] [ 2.79835461e-01 8.94656909e-01 3.48254405e-01 4.23420906e+00] [-7.77638193e-01 -1.49820138e-03 6.28710264e-01 -2.03366086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:4.22, Z:-19.46 [[ 0.59701477 -0.26805985 -0.75611989 75.93420892] [ 0.33809995 -0.77065346 0.54016819 4.21823728] [ -0.72750381 -0.57813248 -0.36946048 -19.46168452] [ 0. 0. 0. 1. ]] SLAMing on 78.08592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:74.63, Y:4.25, Z:-20.58 [[ 5.79989920e-01 -4.97922562e-01 6.44736237e-01 7.46252606e+01] [ 3.24877478e-01 8.67169910e-01 3.77453270e-01 4.24851934e+00] [-7.47038364e-01 -9.45880906e-03 6.64713633e-01 -2.05761855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.65, Y:4.28, Z:-20.61 [[ 5.84213156e-01 -4.90172521e-01 6.46858476e-01 7.46462524e+01] [ 3.21100086e-01 8.71581808e-01 3.70459021e-01 4.27534722e+00] [-7.45378912e-01 -8.72072140e-03 6.66583998e-01 -2.06135695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:4.30, Z:-20.65 [[ 5.86668685e-01 -4.85578464e-01 6.48099845e-01 7.46717036e+01] [ 3.17580291e-01 8.74138698e-01 3.67456521e-01 4.29628189e+00] [-7.44958128e-01 -9.75149658e-03 6.67039951e-01 -2.06506499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:74.70, Y:4.32, Z:-20.69 [[ 5.98243555e-01 -4.79959615e-01 6.41672360e-01 7.46984663e+01] [ 3.14249706e-01 8.77152143e-01 3.63113261e-01 4.31706389e+00] [-7.37123986e-01 -1.55848177e-02 6.75577784e-01 -2.06890119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.73, Y:5.49, Z:-19.55 [[ 0.53184946 0.75419133 -0.3851384 75.73409322] [ 0.38451486 -0.6202807 -0.68366671 5.49043201] [ -0.75450942 0.21551633 -0.61989374 -19.54659242] [ 0. 0. 0. 1. ]] SLAMing on 78.23592 meters Centerline goodness : 0.977708 Centerline is valid? [True, True] Translation: X:74.92, Y:4.28, Z:-20.85 [[ 5.19874091e-01 -5.93975117e-01 6.13941765e-01 7.49181954e+01] [ 3.98423904e-01 8.04335056e-01 4.40798719e-01 4.28253930e+00] [-7.55638354e-01 1.54492415e-02 6.54806841e-01 -2.08512138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters Centerline goodness : 0.796877 Centerline is valid? [True, False] Translation: X:74.87, Y:4.30, Z:-20.82 [[ 5.13216943e-01 -5.67359555e-01 6.43980982e-01 7.48718545e+01] [ 3.96889919e-01 8.22174837e-01 4.08052607e-01 4.29935438e+00] [-7.60977504e-01 4.61700484e-02 6.47133344e-01 -2.08218867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:74.84, Y:4.33, Z:-20.81 [[ 5.12978795e-01 -5.42314983e-01 6.65392527e-01 7.48433071e+01] [ 3.98952940e-01 8.36971235e-01 3.74587379e-01 4.32535240e+00] [-7.60058753e-01 7.33049222e-02 6.45706652e-01 -2.08096914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:5.68, Z:-20.15 [[ 0.42622783 0.79213566 0.43686489 75.09132845] [ 0.38514941 0.27806452 -0.87996594 5.68488024] [ -0.81852903 0.54332423 -0.18657175 -20.15247121] [ 0. 0. 0. 1. ]] SLAMing on 78.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:4.28, Z:-20.90 [[ 4.40826122e-01 -6.55868956e-01 6.12787274e-01 7.50566354e+01] [ 3.63573663e-01 7.54660785e-01 5.46169654e-01 4.27588166e+00] [-8.20662246e-01 -1.79725368e-02 5.71130866e-01 -2.08957761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:4.88, Z:-20.01 [[ 4.40221184e-01 1.48787672e-01 -8.85475882e-01 7.65357685e+01] [ 4.46348093e-01 -8.91955839e-01 7.20288984e-02 4.88018523e+00] [-7.79088371e-01 -4.26939118e-01 -4.59068949e-01 -2.00093458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:5.61, Z:-20.64 [[ 3.76746692e-01 5.64036157e-01 7.34795988e-01 7.50230026e+01] [ 4.01661019e-01 6.15322139e-01 -6.78267714e-01 5.60560367e+00] [-8.34703754e-01 5.50674022e-01 5.26924259e-03 -2.06366980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:4.36, Z:-21.17 [[ 4.12385077e-01 -7.26643812e-01 5.49479134e-01 7.53083073e+01] [ 3.93895066e-01 6.86080660e-01 6.11669850e-01 4.35681077e+00] [-8.21453118e-01 -3.58063987e-02 5.69150838e-01 -2.11659718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:5.93, Z:-20.54 [[ 0.32922781 0.85902272 0.3920319 75.46139232] [ 0.38201003 0.25851234 -0.8872653 5.9313929 ] [ -0.86352614 0.44187252 -0.24304584 -20.53648442] [ 0. 0. 0. 1. ]] SLAMing on 78.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:4.43, Z:-21.28 [[ 3.40480287e-01 -7.45267984e-01 5.73278994e-01 7.54213743e+01] [ 3.54190335e-01 6.66455399e-01 6.56038419e-01 4.42691092e+00] [-8.70989311e-01 -2.03182704e-02 4.90881643e-01 -2.12793173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:4.47, Z:-21.32 [[ 3.40311804e-01 -7.29396347e-01 5.93438156e-01 7.54156138e+01] [ 3.51579860e-01 6.84033928e-01 6.39131588e-01 4.46597985e+00] [-8.72112079e-01 -8.86311957e-03 4.89225886e-01 -2.13248106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:4.47, Z:-21.37 [[ 3.62462918e-01 -7.42336963e-01 5.63521487e-01 7.54518299e+01] [ 3.71765867e-01 6.69612594e-01 6.42968984e-01 4.47341914e+00] [-8.54640727e-01 -2.35543602e-02 5.18685279e-01 -2.13687798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:6.00, Z:-20.90 [[ 0.28009145 0.78098921 0.55821557 75.46021409] [ 0.35368132 0.45663295 -0.81633073 6.00079188] [ -0.89244512 0.42607769 -0.14832231 -20.89613188] [ 0. 0. 0. 1. ]] SLAMing on 78.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.57, Y:6.08, Z:-21.00 [[ 0.24586243 0.81120644 0.53056176 75.56504032] [ 0.29513073 0.45872484 -0.83813446 6.08338675] [ -0.92328193 0.36265085 -0.12662875 -21.00362692] [ 0. 0. 0. 1. ]] SLAMing on 78.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:5.80, Z:-20.90 [[ 0.19448636 0.53669601 -0.82105569 76.96173671] [ 0.36141847 -0.81735763 -0.44866824 5.79516633] [ -0.91189459 -0.20948484 -0.35293676 -20.89858825] [ 0. 0. 0. 1. ]] SLAMing on 78.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:4.51, Z:-21.74 [[ 2.07303453e-01 -8.97889910e-01 3.88354203e-01 7.58929190e+01] [ 3.48698145e-01 4.38723174e-01 8.28209865e-01 4.50521188e+00] [-9.14021270e-01 -3.62723743e-02 4.04041375e-01 -2.17443164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:5.02, Z:-21.41 [[ 2.57191235e-01 -3.27543646e-01 -9.09157758e-01 7.71442301e+01] [ 4.12419278e-01 -8.13621224e-01 4.09793660e-01 5.01656337e+00] [-8.73935357e-01 -4.80349523e-01 -7.41709334e-02 -2.14145872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:6.28, Z:-21.20 [[ 1.72222733e-01 9.82334774e-01 -7.31964630e-02 7.63143922e+01] [ 4.24134226e-01 -1.41014726e-01 -8.94552964e-01 6.28182109e+00] [-8.89072263e-01 1.23017231e-01 -4.40927740e-01 -2.11971345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.29, Y:5.37, Z:-21.63 [[ 1.63509431e-01 -4.40003415e-02 -9.85560062e-01 7.72932028e+01] [ 4.96679535e-01 -8.59490067e-01 1.20773608e-01 5.37212778e+00] [-8.52393164e-01 -5.09255137e-01 -1.18680662e-01 -2.16305347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:4.65, Z:-22.36 [[ 1.77091522e-01 -9.54948507e-01 2.38142691e-01 7.61783655e+01] [ 4.87147298e-01 2.95297969e-01 8.21879930e-01 4.65429715e+00] [-8.55176066e-01 -2.95373992e-02 5.17495351e-01 -2.23611800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:5.86, Z:-21.61 [[ 0.14725615 0.45808802 -0.87662477 77.20945184] [ 0.54360202 -0.77791464 -0.31519145 5.86310085] [ -0.82632467 -0.43012112 -0.36357029 -21.60866378] [ 0. 0. 0. 1. ]] SLAMing on 78.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:4.75, Z:-22.61 [[ 1.57582267e-01 -9.75841586e-01 1.51330858e-01 7.63208522e+01] [ 5.47744266e-01 2.13885037e-01 8.08844490e-01 4.74588658e+00] [-8.21671496e-01 -4.45689385e-02 5.68216122e-01 -2.26109463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:6.37, Z:-21.78 [[ 0.10686769 0.86977923 0.48172958 75.93774054] [ 0.53494187 0.35810523 -0.76524365 6.37487491] [ -0.83810291 0.33947714 -0.42701145 -21.78185176] [ 0. 0. 0. 1. ]] SLAMing on 78.92591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.38, Y:5.36, Z:-22.42 [[ 0.15159929 -0.40009008 -0.90385042 77.37633812] [ 0.56458822 -0.71552195 0.41142251 5.36206318] [ -0.81133088 -0.57267466 0.11741352 -22.42384931] [ 0. 0. 0. 1. ]] SLAMing on 78.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:6.14, Z:-22.35 [[ 0.12339303 0.38347003 0.91527313 75.58848322] [ 0.52477826 0.75759084 -0.38815447 6.14201276] [ -0.84224814 0.528211 -0.1077553 -22.34790581] [ 0. 0. 0. 1. ]] SLAMing on 78.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:6.64, Z:-22.05 [[ 5.10739880e-02 9.05412605e-01 -4.21449240e-01 7.69169614e+01] [ 5.73304666e-01 -3.72121683e-01 -7.29963844e-01 6.64215882e+00] [-8.17748866e-01 -2.04336651e-01 -5.38083009e-01 -2.20546618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:5.11, Z:-23.16 [[ 4.01473159e-02 -9.97708537e-01 5.44597939e-02 7.65843138e+01] [ 5.53010186e-01 6.75817318e-02 8.30429072e-01 5.10962701e+00] [-8.32206661e-01 -3.22267752e-03 5.54456209e-01 -2.31642440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:6.48, Z:-22.47 [[ 1.91518542e-02 5.80806303e-01 8.13816469e-01 7.57726482e+01] [ 5.02749683e-01 6.97980023e-01 -5.09967297e-01 6.47779167e+00] [-8.64219858e-01 4.18912791e-01 -2.78632573e-01 -2.24675213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:6.83, Z:-22.33 [[-4.39376918e-02 8.74990154e-01 -4.82142831e-01 7.70258808e+01] [ 5.30300511e-01 -3.88578818e-01 -7.53517001e-01 6.83306226e+00] [-8.46670448e-01 -2.88788387e-01 -4.46934469e-01 -2.23344906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:5.29, Z:-23.35 [[-2.79035782e-02 -9.88950650e-01 -1.45595339e-01 7.68293114e+01] [ 5.37387358e-01 -1.37655019e-01 8.32025194e-01 5.29413075e+00] [-8.42873785e-01 -5.50246146e-02 5.35290645e-01 -2.33500794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:5.78, Z:-23.09 [[-3.46358399e-03 -3.54840138e-01 9.34920574e-01 7.57228823e+01] [ 4.80079224e-01 8.19549240e-01 3.12830595e-01 5.78305987e+00] [-8.77218298e-01 4.49919459e-01 1.67512800e-01 -2.30908803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:6.87, Z:-22.58 [[-6.31691989e-02 8.36230643e-01 5.44727422e-01 7.60267295e+01] [ 4.44650241e-01 5.12231994e-01 -7.34781973e-01 6.87127451e+00] [-8.93474015e-01 1.95797591e-01 -4.04187441e-01 -2.25783739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:6.97, Z:-22.63 [[ -0.09812523 0.82259409 -0.56009856 77.11433279] [ 0.50972026 -0.44184195 -0.7382147 6.97117262] [ -0.8547261 -0.35793107 -0.37593703 -22.6323346 ] [ 0. 0. 0. 1. ]] SLAMing on 79.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:5.49, Z:-23.51 [[ -0.10884966 -0.91714757 -0.38339547 77.05966154] [ 0.48872747 -0.38522915 0.78277964 5.48836161] [ -0.86561955 -0.1021706 0.49016728 -23.51202005] [ 0. 0. 0. 1. ]] SLAMing on 79.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:5.77, Z:-23.26 [[ -0.09822417 -0.46690766 0.87883403 75.78209097] [ 0.42309861 0.77972317 0.46154019 5.76855117] [ -0.9007439 0.41716786 0.12096033 -23.25808895] [ 0. 0. 0. 1. ]] SLAMing on 79.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.85, Y:5.43, Z:-23.55 [[-7.57825856e-02 -9.81418622e-01 -1.76279573e-01 7.68487296e+01] [ 4.37925599e-01 -1.91584000e-01 8.78360257e-01 5.43412069e+00] [-8.95811459e-01 -1.06329263e-02 4.44307068e-01 -2.35510839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:5.84, Z:-23.34 [[-4.20258797e-02 -4.52500212e-01 8.90773475e-01 7.57601343e+01] [ 3.82353447e-01 8.16408128e-01 4.32762763e-01 5.83731140e+00] [-9.23059947e-01 3.58777545e-01 1.38704746e-01 -2.33372300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:6.79, Z:-23.01 [[ -0.0833927 0.559095 0.82489904 75.75622523] [ 0.33106392 0.7963094 -0.50624897 6.7926886 ] [ -0.93991613 0.23087684 -0.25150258 -23.01269565] [ 0. 0. 0. 1. ]] SLAMing on 79.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:7.22, Z:-23.07 [[ -0.12634713 0.85508746 -0.50285369 77.02904074] [ 0.37126205 -0.42931402 -0.82331887 7.21848188] [ -0.91989178 -0.29071447 -0.26321893 -23.06757596] [ 0. 0. 0. 1. ]] SLAMing on 79.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:5.58, Z:-23.71 [[-1.43702272e-01 -9.24351239e-01 -3.53446521e-01 7.70068437e+01] [ 3.33516902e-01 -3.81495362e-01 8.62106586e-01 5.57953304e+00] [-9.31727500e-01 6.00628651e-03 3.63108511e-01 -2.37148977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:5.60, Z:-23.72 [[-1.32616598e-01 -9.08568886e-01 -3.96125507e-01 7.70482411e+01] [ 3.28796354e-01 -4.17351599e-01 8.47178022e-01 5.59867150e+00] [-9.35043205e-01 -1.78947552e-02 3.54081887e-01 -2.37189157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:5.92, Z:-23.49 [[-1.15630772e-01 -4.49105820e-01 8.85964721e-01 7.57466150e+01] [ 3.04766667e-01 8.32884337e-01 4.61975063e-01 5.91573477e+00] [-9.45381829e-01 3.23431048e-01 4.05654247e-02 -2.34943942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:6.51, Z:-23.37 [[ -0.11745332 0.15065289 0.98158465 75.60247697] [ 0.24501658 0.96226578 -0.11836993 6.50549164] [ -0.96237809 0.22660157 -0.14993377 -23.37013589] [ 0. 0. 0. 1. ]] SLAMing on 79.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:7.32, Z:-23.31 [[-1.74344016e-01 9.08201456e-01 3.80492155e-01 7.61289797e+01] [ 2.29648214e-01 4.13256748e-01 -8.81181342e-01 7.31513806e+00] [-9.57531128e-01 -6.62493498e-02 -2.80615684e-01 -2.33098228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:5.83, Z:-23.85 [[-1.79205065e-01 -7.55437583e-01 -6.30237736e-01 7.72496987e+01] [ 1.99084211e-01 -6.55200571e-01 7.28750772e-01 5.83437504e+00] [-9.63457846e-01 5.12544755e-03 2.67810956e-01 -2.38532880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:5.85, Z:-23.86 [[-1.69131918e-01 -7.39259151e-01 -6.51836101e-01 7.72693325e+01] [ 1.96233822e-01 -6.73380838e-01 7.12776637e-01 5.85386467e+00] [-9.65860591e-01 -7.35900977e-03 2.58957841e-01 -2.38606600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:5.75, Z:-23.73 [[-1.32524177e-01 -7.09219038e-01 6.92420175e-01 7.59332577e+01] [ 1.68603417e-01 6.72270704e-01 7.20850184e-01 5.75407088e+00] [-9.76734473e-01 2.12274485e-01 3.04846318e-02 -2.37276262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:6.20, Z:-23.69 [[-1.01774523e-01 -2.50062930e-01 9.62865763e-01 7.56199413e+01] [ 1.13374424e-01 9.58669791e-01 2.60956838e-01 6.19962418e+00] [-9.88325951e-01 1.35723109e-01 -6.92174203e-02 -2.36944421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:7.35, Z:-23.66 [[ -0.16408698 0.86174109 0.480081 75.9916366 ] [ 0.08485287 0.49720384 -0.86347457 7.35322954] [ -0.98278963 -0.10094868 -0.15470588 -23.65716458] [ 0. 0. 0. 1. ]] SLAMing on 79.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:6.51, Z:-24.03 [[-1.73842369e-01 -1.55638762e-01 -9.72396733e-01 7.74946238e+01] [ 6.92522581e-02 -9.86919381e-01 1.45582487e-01 6.50906592e+00] [-9.82335460e-01 -4.20322651e-02 1.82346739e-01 -2.40322939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:6.26, Z:-24.10 [[-1.60272859e-01 -4.06040395e-01 -8.99690952e-01 7.74365664e+01] [ 9.32664350e-02 -9.13625422e-01 3.95714493e-01 6.26107957e+00] [-9.82656595e-01 -2.04886746e-02 1.84299298e-01 -2.40980954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:6.09, Z:-24.13 [[-1.08770151e-01 -5.72985777e-01 -8.12315427e-01 7.73579543e+01] [ 1.24137124e-01 -8.18596363e-01 5.60794052e-01 6.08737957e+00] [-9.86285470e-01 -3.98408472e-02 1.60167657e-01 -2.41266215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:5.70, Z:-24.12 [[-7.62171813e-02 -8.46811677e-01 5.26403766e-01 7.60578491e+01] [ 9.05324116e-02 5.19881495e-01 8.49427521e-01 5.69754117e+00] [-9.92972721e-01 1.12397574e-01 3.70400012e-02 -2.41178854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:5.80, Z:-24.18 [[-6.09668197e-02 -8.54723193e-01 -5.15491329e-01 7.70729484e+01] [ 1.05182068e-01 -5.19078010e-01 8.48230365e-01 5.79807093e+00] [-9.92582379e-01 -2.50653640e-03 1.21548089e-01 -2.41765185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:5.99, Z:-24.14 [[-2.47530811e-02 -5.31541440e-01 8.46670528e-01 7.57036315e+01] [ 4.73655518e-02 8.45355288e-01 5.32100499e-01 5.99050115e+00] [-9.98570874e-01 5.32741435e-02 4.25160559e-03 -2.41386075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:5.76, Z:-24.21 [[-1.94830564e-02 -8.95824267e-01 -4.43981185e-01 7.69955124e+01] [ 5.31220194e-02 -4.44365740e-01 8.94269054e-01 5.76491275e+00] [-9.98397947e-01 -6.16208272e-03 5.62455969e-02 -2.42080573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:6.00, Z:-24.25 [[ 2.60622398e-02 -5.38226577e-01 8.42397122e-01 7.57029543e+01] [-6.18636280e-03 8.42580389e-01 5.38535065e-01 6.00099204e+00] [-9.99641180e-01 -1.92468043e-02 1.86298673e-02 -2.42490414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:6.49, Z:-24.33 [[ 2.72958413e-02 -2.41042912e-02 9.99336740e-01 7.55013535e+01] [-2.82792849e-02 9.99290492e-01 2.48755949e-02 6.48656134e+00] [-9.99227311e-01 -2.89395287e-02 2.65948226e-02 -2.43306305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:75.60, Y:7.04, Z:-24.41 [[ 1.74725007e-02 5.34444209e-01 8.45023135e-01 7.55998830e+01] [-4.91833384e-02 8.44588427e-01 -5.33152312e-01 7.04463226e+00] [-9.98636926e-01 -3.22455547e-02 4.10428223e-02 -2.44131395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:7.40, Z:-24.46 [[ 3.18780345e-03 8.69666930e-01 4.93628675e-01 7.59120398e+01] [-5.44420365e-02 4.93050020e-01 -8.68295884e-01 7.40446716e+00] [-9.98511844e-01 -2.41061937e-02 4.89181853e-02 -2.44608000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:7.09, Z:-24.50 [[-1.50062750e-02 4.30636817e-01 -9.02400545e-01 7.73197865e+01] [ 2.21652408e-02 -9.02137122e-01 -4.30879700e-01 7.09497608e+00] [-9.99641693e-01 -2.64678247e-02 3.99254900e-03 -2.45010056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:5.62, Z:-24.56 [[ 4.18403995e-02 -9.81968975e-01 1.84353772e-01 7.63787809e+01] [-2.20199913e-02 1.83564233e-01 9.82761055e-01 5.62069933e+00] [-9.98881625e-01 -4.51785836e-02 -1.39425474e-02 -2.45592437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:7.57, Z:-24.72 [[-3.72812157e-02 9.98314102e-01 -4.44866909e-02 7.64810929e+01] [ 1.85920768e-02 -4.38170037e-02 -9.98866560e-01 7.57289098e+00] [-9.99131846e-01 -3.80660596e-02 -1.69271812e-02 -2.47202763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:7.55, Z:-24.80 [[-1.01702408e-01 9.83612997e-01 1.48869379e-01 7.63033183e+01] [-1.40997311e-02 1.48205059e-01 -9.88856136e-01 7.54650432e+00] [-9.94714943e-01 -1.02668069e-01 -1.20413268e-03 -2.47990687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:6.98, Z:-24.92 [[-1.04965008e-01 3.12729657e-01 -9.44024633e-01 7.74270346e+01] [ 2.67973408e-05 -9.49267583e-01 -3.14469483e-01 6.98390510e+00] [-9.94475915e-01 -3.30335891e-02 9.96314988e-02 -2.49197350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:5.66, Z:-24.91 [[-2.15885884e-02 -9.71680229e-01 -2.35311422e-01 7.68304146e+01] [-2.81282574e-03 -2.35306312e-01 9.71917192e-01 5.66424577e+00] [-9.99762982e-01 2.16442103e-02 2.34676397e-03 -2.49091186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:5.69, Z:-24.96 [[ 3.23374855e-02 -8.89710969e-01 4.55377512e-01 7.61360196e+01] [-1.73938224e-02 4.55045835e-01 8.90298120e-01 5.69144381e+00] [-9.99325644e-01 -3.67107582e-02 -7.60436535e-04 -2.49628260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:6.36, Z:-25.06 [[ 3.92300623e-02 -1.55194937e-01 9.87104622e-01 7.55567961e+01] [-4.69884829e-02 9.86485706e-01 1.56965072e-01 6.36126377e+00] [-9.98124784e-01 -5.25402982e-02 3.14075211e-02 -2.50620868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:7.12, Z:-25.17 [[-9.98831966e-03 6.10794863e-01 7.91725880e-01 7.56867824e+01] [-4.37850299e-02 7.90738828e-01 -6.10585766e-01 7.12434101e+00] [-9.98991043e-01 -4.07644671e-02 1.88455191e-02 -2.51667283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.62, Y:6.19, Z:-25.28 [[ 1.55917859e-02 -3.76337796e-01 9.26351315e-01 7.56183538e+01] [-1.27556224e-01 9.18145466e-01 3.75151053e-01 6.19046439e+00] [-9.91708781e-01 -1.24011151e-01 -3.36887008e-02 -2.52768589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.09, Y:7.51, Z:-25.47 [[ 3.63274030e-02 9.42653169e-01 3.31791083e-01 7.60922112e+01] [-1.47060709e-01 3.33438264e-01 -9.31231482e-01 7.50950714e+00] [-9.88460150e-01 -1.49642105e-02 1.50740189e-01 -2.54698807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:7.09, Z:-25.53 [[-2.53280425e-02 4.57807634e-01 -8.88690419e-01 7.73445948e+01] [-6.30877689e-02 -8.87935611e-01 -4.55620769e-01 7.08642084e+00] [-9.97686536e-01 4.45255136e-02 5.13717331e-02 -2.55338158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.08, Y:5.77, Z:-25.62 [[ 4.99609682e-02 -8.33811794e-01 -5.49783407e-01 7.70800609e+01] [ 6.33268117e-03 -5.50195318e-01 8.35011982e-01 5.76975213e+00] [-9.98731094e-01 -4.51996101e-02 -2.22080266e-02 -2.56174611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:5.92, Z:-25.77 [[ 8.75388393e-02 -5.57463115e-01 8.25573635e-01 7.57195638e+01] [-5.95773044e-03 8.28447335e-01 5.60035283e-01 5.92042553e+00] [-9.96143291e-01 -5.39433838e-02 6.92001032e-02 -2.57675235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:6.40, Z:-25.89 [[ 4.31026736e-02 -5.73193584e-02 9.97425010e-01 7.55219668e+01] [-4.07640049e-02 9.97420558e-01 5.90806762e-02 6.40055064e+00] [-9.98238677e-01 -4.32055731e-02 4.06549262e-02 -2.58935176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:7.00, Z:-25.97 [[ 7.99790396e-02 5.47621835e-01 8.32894759e-01 7.56354787e+01] [-5.72871558e-02 8.36715640e-01 -5.44633013e-01 7.00291669e+00] [-9.95149001e-01 -4.15494647e-03 9.82914106e-02 -2.59708856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.83, Y:7.45, Z:-26.07 [[-1.31189161e-02 9.28071708e-01 -3.72170390e-01 7.68289517e+01] [-4.36365287e-02 -3.72379205e-01 -9.27054249e-01 7.44956250e+00] [-9.98961334e-01 4.07827693e-03 4.53830393e-02 -2.60741141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:6.18, Z:-26.12 [[ 1.69712882e-02 -4.11495549e-01 -9.11253746e-01 7.74667676e+01] [ 1.79756846e-02 -9.11112134e-01 4.11766382e-01 6.17968967e+00] [-9.99694378e-01 -2.33686159e-02 -8.06583238e-03 -2.61168140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:7.46, Z:-26.24 [[-4.98380331e-02 9.70773303e-01 -2.34766618e-01 7.67340380e+01] [ 4.46228041e-02 -2.32659708e-01 -9.71533976e-01 7.46098222e+00] [-9.97759979e-01 -5.88952872e-02 -3.17233247e-02 -2.62442507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:6.10, Z:-26.35 [[-4.17839349e-02 -4.83124628e-01 -8.74553998e-01 7.74874293e+01] [ 2.86409893e-02 -8.75537906e-01 4.82299770e-01 6.09933732e+00] [-9.98716074e-01 -4.89570952e-03 5.04205862e-02 -2.63475076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:5.56, Z:-26.40 [[ 5.89789437e-03 -9.30154934e-01 3.67119889e-01 7.62982226e+01] [ 2.16181758e-02 3.67159075e-01 9.29906914e-01 5.56436305e+00] [-9.99748903e-01 2.45196955e-03 2.22737183e-02 -2.64047362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.15, Y:5.63, Z:-26.52 [[ 1.94336398e-02 -8.61741319e-01 5.06975575e-01 7.61454191e+01] [-1.03537624e-02 5.06870688e-01 8.61959921e-01 5.62557893e+00] [-9.99757537e-01 -2.20001233e-02 9.28077559e-04 -2.65198934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:5.99, Z:-26.64 [[-1.21722138e-03 -4.64023492e-01 8.85822057e-01 7.57414533e+01] [-5.16687258e-02 8.84668684e-01 4.63348317e-01 5.98784112e+00] [-9.98663538e-01 -4.52052995e-02 -2.50523402e-02 -2.66404204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:7.35, Z:-26.76 [[ 3.16151939e-02 8.98473142e-01 4.37888677e-01 7.60651321e+01] [-6.74260526e-02 4.39026849e-01 -8.95940374e-01 7.34718986e+00] [-9.97223248e-01 -1.19977632e-03 7.44604163e-02 -2.67555428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.33, Y:7.11, Z:-26.88 [[-4.52354842e-02 5.91380458e-01 -8.05122913e-01 7.73285784e+01] [-1.16485549e-02 -8.06205381e-01 -5.91521086e-01 7.10524174e+00] [-9.98908435e-01 -1.73792243e-02 4.33578185e-02 -2.68803177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.52, Y:6.76, Z:-26.93 [[-4.90323255e-02 2.20692214e-01 -9.74110249e-01 7.75223280e+01] [ 3.20679086e-03 -9.75243516e-01 -2.21110380e-01 6.75859021e+00] [-9.98792044e-01 -1.39653240e-02 4.71107438e-02 -2.69345894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.57, Y:6.46, Z:-26.99 [[-4.63022706e-02 -9.21539421e-02 -9.94667658e-01 7.75661025e+01] [ 2.45578848e-02 -9.95539673e-01 9.10915508e-02 6.45503246e+00] [-9.98625560e-01 -2.02091881e-02 4.83588532e-02 -2.69884455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:6.09, Z:-27.01 [[-2.73632517e-02 -4.55986633e-01 -8.89565874e-01 7.74953035e+01] [ 3.30368304e-02 -8.89825480e-01 4.55103485e-01 6.08870504e+00] [-9.99079486e-01 -1.69353257e-02 3.94128716e-02 -2.70089809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:5.79, Z:-27.09 [[-1.83796721e-02 -7.47875848e-01 -6.63584134e-01 7.72919414e+01] [ 5.81443197e-02 -6.63372522e-01 7.46026900e-01 5.78892158e+00] [-9.98138981e-01 -2.48719183e-02 5.56773019e-02 -2.70918673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.90, Y:5.54, Z:-27.18 [[-5.24916592e-04 -9.69746606e-01 -2.44113180e-01 7.68969489e+01] [ 6.60084318e-02 -2.43614419e-01 9.67623326e-01 5.54133140e+00] [-9.97818927e-01 -1.56056066e-02 6.41393300e-02 -2.71815438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:5.50, Z:-27.29 [[ 2.09522391e-02 -9.97070016e-01 7.35689271e-02 7.65809573e+01] [ 6.58667409e-02 7.48018317e-02 9.95020733e-01 5.49594332e+00] [-9.97608428e-01 -1.60021669e-02 6.72410183e-02 -2.72853654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:76.22, Y:5.57, Z:-27.42 [[ 5.16781259e-02 -9.05806327e-01 4.20528560e-01 7.62240211e+01] [ 5.00699301e-02 4.22911709e-01 9.04786543e-01 5.57218422e+00] [-9.97407827e-01 -2.57018373e-02 6.72089440e-02 -2.74190931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:5.77, Z:-27.49 [[ 5.27272375e-02 -6.85334973e-01 7.26316607e-01 7.59106747e+01] [ 2.91645945e-02 7.28074928e-01 6.84876868e-01 5.77216398e+00] [-9.98182982e-01 -1.49289360e-02 5.83768962e-02 -2.74931793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.63, Y:6.69, Z:-27.65 [[ 4.85512211e-02 2.26248920e-01 9.72858780e-01 7.56273988e+01] [-4.89340100e-02 9.73376620e-01 -2.23927262e-01 6.68819994e+00] [-9.97621292e-01 -3.67339392e-02 5.83298904e-02 -2.76451832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:7.19, Z:-27.74 [[ 3.70671899e-02 7.19733774e-01 6.93259921e-01 7.58727421e+01] [-6.60452402e-02 6.93984316e-01 -7.16954528e-01 7.18751536e+00] [-9.97127900e-01 -1.92110283e-02 7.32590384e-02 -2.77409748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:7.24, Z:-27.87 [[-3.95444445e-02 7.19753350e-01 -6.93102700e-01 7.72601471e+01] [-2.43940380e-02 -6.94133920e-01 -7.19432438e-01 7.24037485e+00] [-9.98920001e-01 -1.15419825e-02 4.50068308e-02 -2.78741810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:5.76, Z:-27.90 [[ 1.79922590e-02 -7.84720864e-01 -6.19588125e-01 7.72738530e+01] [ 1.02750165e-02 -6.19510594e-01 7.84921046e-01 5.76076959e+00] [-9.99785328e-01 -2.04887809e-02 -3.08337519e-03 -2.79047022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:5.58, Z:-28.07 [[ 4.21817576e-02 -9.25468785e-01 3.76468095e-01 7.62914845e+01] [ 3.46229918e-02 3.77931168e-01 9.25186079e-01 5.57850328e+00] [-9.98509864e-01 -2.59915232e-02 4.79842991e-02 -2.80696709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.88, Y:5.86, Z:-28.16 [[ 5.82794118e-02 -6.15029175e-01 7.86347648e-01 7.58754642e+01] [ 2.86613558e-02 7.88392595e-01 6.14504388e-01 5.86208640e+00] [-9.97888790e-01 -1.32751646e-02 6.35746267e-02 -2.81608542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:7.07, Z:-28.31 [[ 2.19568074e-02 5.89362199e-01 8.07570491e-01 7.58205440e+01] [-4.47939128e-02 8.07533976e-01 -5.88117661e-01 7.06656598e+00] [-9.98754927e-01 -2.32610560e-02 4.41307069e-02 -2.83147521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:7.44, Z:-28.41 [[ 1.19658557e-02 9.43290539e-01 3.31752584e-01 7.62638900e+01] [-5.37135095e-02 3.31903678e-01 -9.41782781e-01 7.43575835e+00] [-9.98484691e-01 -6.55035867e-03 5.46389568e-02 -2.84141081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:6.90, Z:-28.46 [[-1.94011623e-02 3.20895695e-01 -9.46915808e-01 7.75477618e+01] [-9.98371877e-03 -9.47109030e-01 -3.20756621e-01 6.89559673e+00] [-9.99761932e-01 3.23068987e-03 2.15787484e-02 -2.84578803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:6.48, Z:-28.54 [[-2.07515445e-02 -1.04971087e-01 -9.94258741e-01 7.76175727e+01] [ 3.34183345e-02 -9.93990014e-01 1.04245229e-01 6.47665161e+00] [-9.99225995e-01 -3.10632217e-02 2.41347869e-02 -2.85412356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:5.71, Z:-28.57 [[-2.03628992e-02 -8.65955382e-01 -4.99706543e-01 7.71811346e+01] [ 2.52465787e-02 -5.00096165e-01 8.65601777e-01 5.70767761e+00] [-9.99473843e-01 5.01028116e-03 3.20458185e-02 -2.85728572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:7.25, Z:-28.59 [[-4.97967251e-02 7.12956820e-01 -6.99437530e-01 7.72884150e+01] [ 8.75505868e-02 -6.94494499e-01 -7.14151444e-01 7.25168235e+00] [-9.94914660e-01 -9.67985694e-02 -2.78362364e-02 -2.85879129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:5.76, Z:-28.76 [[-7.87076314e-02 -8.20298580e-01 -5.66493909e-01 7.72548487e+01] [ 9.65216705e-02 -5.71857600e-01 8.14654806e-01 5.76203768e+00] [-9.92214027e-01 9.44061174e-03 1.24186146e-01 -2.87568579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:5.75, Z:-28.76 [[-2.76533325e-02 -7.60682873e-01 6.48534394e-01 7.60548992e+01] [ 7.17702348e-02 6.45597265e-01 7.60298102e-01 5.75209381e+00] [-9.97037776e-01 6.75702420e-02 3.67414726e-02 -2.87618245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:7.15, Z:-28.74 [[-5.38077770e-02 6.74862091e-01 7.35979539e-01 7.58820541e+01] [ 4.09153400e-02 7.37918372e-01 -6.73648581e-01 7.15367148e+00] [-9.97712713e-01 -6.13467958e-03 -6.73179591e-02 -2.87366174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:6.45, Z:-28.88 [[-3.46445586e-02 -1.70240058e-01 -9.84793419e-01 7.76093607e+01] [-4.51152495e-04 -9.85382184e-01 1.70357708e-01 6.44951602e+00] [-9.99399595e-01 6.34625960e-03 3.40613266e-02 -2.88836351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.79, Y:7.51, Z:-28.88 [[-9.15888140e-02 9.71424170e-01 -2.18967053e-01 7.67946114e+01] [ 5.18608613e-02 -2.14939691e-01 -9.75249394e-01 7.51120729e+00] [-9.94445544e-01 -1.00677755e-01 -3.06928227e-02 -2.88836311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:6.54, Z:-29.04 [[-1.00458256e-01 -8.66739073e-02 -9.91158803e-01 7.76190729e+01] [ 2.76987046e-02 -9.96055810e-01 8.42947519e-02 6.53630251e+00] [-9.94555640e-01 -1.89857111e-02 1.02462785e-01 -2.90432954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.59, Y:7.52, Z:-28.94 [[-1.64873370e-01 9.86143766e-01 -1.83642303e-02 7.65937737e+01] [ 6.75189832e-02 -7.29077410e-03 -9.97691351e-01 7.52379642e+00] [-9.84000995e-01 -1.65732670e-01 -6.53813699e-02 -2.89408807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.59, Y:6.40, Z:-29.22 [[-1.88365712e-01 -2.41523557e-01 -9.51937356e-01 7.75912806e+01] [ 4.46362863e-02 -9.70392412e-01 2.37373479e-01 6.39505006e+00] [-9.81084074e-01 2.22207607e-03 1.93569373e-01 -2.92166807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:5.61, Z:-29.10 [[-1.32356461e-01 -9.43480391e-01 3.03852792e-01 7.63993221e+01] [ 2.26810339e-02 3.03586683e-01 9.52533830e-01 5.60621478e+00] [-9.90942651e-01 1.32965702e-01 -1.87825482e-02 -2.90970925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:7.54, Z:-29.08 [[-1.73416168e-01 9.84327580e-01 -3.20319873e-02 7.65814792e+01] [ 4.57551884e-02 -2.44371638e-02 -9.98653738e-01 7.53596863e+00] [-9.83785188e-01 -1.74648334e-01 -4.08002946e-02 -2.90818468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.58, Y:6.64, Z:-29.34 [[-1.83381621e-01 -9.36197582e-03 -9.82997220e-01 7.75835941e+01] [ 4.05095459e-02 -9.99177231e-01 1.95887319e-03 6.64287806e+00] [-9.82206780e-01 -3.94615496e-02 1.83609990e-01 -2.93403889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:5.60, Z:-29.28 [[-1.15124955e-01 -9.89242059e-01 -9.02573699e-02 7.67746224e+01] [ 2.05011769e-02 -9.32083202e-02 9.95435538e-01 5.59991379e+00] [-9.93139440e-01 1.12749089e-01 3.10112301e-02 -2.92761468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:6.36, Z:-29.22 [[-1.02319375e-01 -1.31733545e-01 9.85990374e-01 7.56412524e+01] [-1.72532856e-02 9.91278466e-01 1.30649634e-01 6.36220427e+00] [-9.94601965e-01 -3.64358467e-03 -1.03699830e-01 -2.92170857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:7.55, Z:-29.38 [[-1.75816028e-01 9.84305637e-01 1.52031775e-02 7.64867798e+01] [-6.17513924e-04 1.53334674e-02 -9.99882245e-01 7.54962902e+00] [-9.84422848e-01 -1.75804713e-01 -2.08804690e-03 -2.93796187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.68, Y:5.60, Z:-29.43 [[-1.04476312e-01 -9.94372317e-01 -1.75612098e-02 7.66763858e+01] [-5.10651871e-02 -1.22709286e-02 9.98619933e-01 5.59788786e+00] [-9.93215509e-01 1.05228894e-01 -4.94957870e-02 -2.94329519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:6.44, Z:-29.43 [[-1.04750532e-01 -6.57259709e-02 9.92324253e-01 7.55965101e+01] [-1.00856352e-01 9.93371331e-01 5.51488472e-02 6.43672010e+00] [-9.89371175e-01 -9.43053331e-02 -1.10685057e-01 -2.94276676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:7.42, Z:-29.69 [[-1.06798371e-01 8.02072485e-01 -5.87600065e-01 7.70497735e+01] [-7.63927124e-02 -5.95852447e-01 -7.99452322e-01 7.41932354e+00] [-9.91341647e-01 -4.04918427e-02 1.24908563e-01 -2.96935709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:7.29, Z:-29.73 [[-1.08785711e-01 6.53520183e-01 -7.49050759e-01 7.72170296e+01] [-6.66923796e-02 -7.56623167e-01 -6.50441011e-01 7.28580877e+00] [-9.91825486e-01 -2.08027103e-02 1.25894605e-01 -2.97329305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:7.50, Z:-29.77 [[-1.76641501e-01 8.99903953e-01 -3.98711244e-01 7.68542344e+01] [-3.49008845e-02 -4.10552843e-01 -9.11168640e-01 7.49507464e+00] [-9.83656296e-01 -1.47034821e-01 1.03928115e-01 -2.97723205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:7.03, Z:-29.88 [[-1.66030343e-01 3.83525481e-01 -9.08483423e-01 7.73928432e+01] [-2.10865803e-02 -9.22440200e-01 -3.85563787e-01 7.02817652e+00] [-9.85895167e-01 -4.48584793e-02 1.61240304e-01 -2.98842396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.44, Y:6.90, Z:-29.95 [[-1.84818809e-01 2.57844651e-01 -9.48344950e-01 7.74358792e+01] [-1.41946020e-02 -9.65568545e-01 -2.59761234e-01 6.90319487e+00] [-9.82670098e-01 -3.45473829e-02 1.82115231e-01 -2.99490531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:5.60, Z:-29.86 [[-9.90674454e-02 -9.90004393e-01 -1.00383982e-01 7.67007645e+01] [-1.71067033e-02 -9.91709248e-02 9.94923358e-01 5.59786944e+00] [-9.94933667e-01 1.00281754e-01 -7.11110125e-03 -2.98588819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters Centerline goodness : 0.959598 Centerline is valid? [True, True] Translation: X:75.52, Y:6.64, Z:-29.79 [[ -0.14696412 0.19906558 0.96890373 75.51814711] [ -0.08339723 0.97355826 -0.21267163 6.64265965] [ -0.98561983 -0.11205898 -0.12647662 -29.78739669] [ 0. 0. 0. 1. ]] SLAMing on 82.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:7.04, Z:-29.93 [[-1.95825030e-01 5.34967150e-01 8.21865382e-01 7.56484477e+01] [-1.57748037e-01 8.09992518e-01 -5.64825351e-01 7.04400247e+00] [-9.67867819e-01 -2.40254593e-01 -7.42267915e-02 -2.99279920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:7.27, Z:-30.24 [[-1.72110041e-01 6.67094100e-01 -7.24819698e-01 7.71418129e+01] [-1.24263468e-01 -7.44624370e-01 -6.55814866e-01 7.27273023e+00] [-9.77208639e-01 -2.28037146e-02 2.11052757e-01 -3.02446008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.16, Y:7.25, Z:-30.26 [[-1.69768848e-01 6.42069156e-01 -7.47613361e-01 7.71634299e+01] [-1.21865474e-01 -7.66480830e-01 -6.30599669e-01 7.24815653e+00] [-9.77919907e-01 -1.59479231e-02 2.08370630e-01 -3.02553482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:7.23, Z:-30.31 [[-1.96127836e-01 6.33960559e-01 -7.48082804e-01 7.71588752e+01] [-1.27427496e-01 -7.72908308e-01 -6.21590686e-01 7.23306101e+00] [-9.72263393e-01 -2.65849178e-02 2.32372840e-01 -3.03098814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:5.88, Z:-30.17 [[-1.16760249e-01 -7.33946148e-01 -6.69096478e-01 7.71891783e+01] [-1.07475433e-01 -6.60410680e-01 7.43173442e-01 5.87512505e+00] [-9.87327745e-01 1.58684550e-01 -1.77146461e-03 -3.01688776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:5.85, Z:-30.05 [[-1.11301950e-01 -6.49017305e-01 7.52587811e-01 7.57769998e+01] [-1.47983436e-01 7.59674006e-01 6.33242692e-01 5.84688438e+00] [-9.82706863e-01 -4.08893839e-02 -1.80597010e-01 -3.00529728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:76.88, Y:7.40, Z:-30.42 [[-9.20478735e-02 8.43680226e-01 -5.28895892e-01 7.68795356e+01] [-1.42660138e-01 -5.36844941e-01 -8.31532076e-01 7.40399454e+00] [-9.85482255e-01 -1.08839836e-03 1.69774973e-01 -3.04185382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:6.01, Z:-30.32 [[-4.40256346e-02 -5.97975478e-01 -8.00304361e-01 7.72745656e+01] [-9.64413446e-02 -7.94795846e-01 5.99164944e-01 6.01109734e+00] [-9.94364526e-01 1.03561046e-01 -2.26781677e-02 -3.03153880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.66, Y:7.13, Z:-30.41 [[-9.31074053e-02 6.87086757e-01 7.20585039e-01 7.56649965e+01] [-1.26260690e-01 7.09738186e-01 -6.93058400e-01 7.12829294e+00] [-9.87617967e-01 -1.55510433e-01 2.06701668e-02 -3.04054907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.86, Y:7.39, Z:-30.57 [[-1.05137872e-01 8.49612550e-01 -5.16821578e-01 7.68559301e+01] [-1.30966128e-01 -5.27004921e-01 -8.39710478e-01 7.39195638e+00] [-9.85796075e-01 -2.05992519e-02 1.66678641e-01 -3.05695717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.17, Y:5.87, Z:-30.46 [[-4.35969397e-02 -7.22611388e-01 -6.89878314e-01 7.71683219e+01] [-9.07989596e-02 -6.84811053e-01 7.23041749e-01 5.86696516e+00] [-9.94914497e-01 9.41626407e-02 -3.57566960e-02 -3.04587731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:76.90, Y:7.35, Z:-30.63 [[-8.32782786e-02 8.15792155e-01 -5.72317995e-01 7.68955395e+01] [-6.14133239e-02 -5.77422751e-01 -8.14132281e-01 7.35028538e+00] [-9.94632159e-01 -3.26515845e-02 9.81872806e-02 -3.06344337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:5.95, Z:-30.63 [[-1.80425613e-02 -6.21352784e-01 -7.83323167e-01 7.72357294e+01] [-1.43935397e-02 -7.83208096e-01 6.21593038e-01 5.95446216e+00] [-9.99733611e-01 2.24899236e-02 5.18761414e-03 -3.06342407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:5.54, Z:-30.69 [[ 3.04818640e-02 -9.85430754e-01 -1.67323292e-01 7.66566360e+01] [ 8.20577511e-03 -1.67148727e-01 9.85897545e-01 5.53599020e+00] [-9.99501636e-01 -3.14250122e-02 2.99121840e-03 -3.06868735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.69, Y:5.80, Z:-30.78 [[ 4.81035998e-02 -6.17037811e-01 7.85461892e-01 7.56912242e+01] [-1.25809514e-02 7.85935563e-01 6.18180403e-01 5.79973648e+00] [-9.98763117e-01 -3.96185606e-02 3.00434071e-02 -3.07824902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:75.42, Y:6.51, Z:-30.88 [[ 4.44541521e-02 1.32324630e-01 9.90209079e-01 7.54190032e+01] [-3.62300339e-02 9.90750457e-01 -1.30770476e-01 6.51404837e+00] [-9.98354252e-01 -3.00620179e-02 4.88370973e-02 -3.08804474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.76, Y:7.39, Z:-31.03 [[-3.51814132e-02 9.11462745e-01 -4.09875510e-01 7.67579879e+01] [ 1.73298240e-02 -4.09511341e-01 -9.12140416e-01 7.39136940e+00] [-9.99230677e-01 -3.91934593e-02 -1.38830121e-03 -3.10259391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:5.48, Z:-31.10 [[ 3.35694362e-02 -9.94854198e-01 9.55940266e-02 7.64358502e+01] [ 6.66082993e-04 9.56701838e-02 9.95412865e-01 5.47815379e+00] [-9.99436166e-01 -3.33517751e-02 3.87424960e-03 -3.10991727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.51, Y:6.15, Z:-31.20 [[ 5.35923326e-02 -2.25445014e-01 9.72780760e-01 7.55070434e+01] [-2.70547386e-02 9.73495314e-01 2.27101111e-01 6.14642897e+00] [-9.98196325e-01 -3.84892074e-02 4.60725287e-02 -3.11951627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.48, Y:6.65, Z:-31.30 [[ 3.83141366e-02 2.83533575e-01 9.58196608e-01 7.54804428e+01] [-5.17069183e-02 9.58178616e-01 -2.81460715e-01 6.64873075e+00] [-9.97927062e-01 -3.87614694e-02 5.13724337e-02 -3.12952049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.69, Y:7.08, Z:-31.39 [[ 1.68745568e-02 7.04867636e-01 7.09138115e-01 7.56909702e+01] [-6.62941669e-02 7.08467165e-01 -7.02623199e-01 7.08240878e+00] [-9.97657423e-01 -3.51552655e-02 5.86836821e-02 -3.13940735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:76.03, Y:7.34, Z:-31.51 [[-1.33234932e-02 9.36183721e-01 3.51258488e-01 7.60275686e+01] [-6.84183346e-02 3.49612804e-01 -9.34392754e-01 7.33799219e+00] [-9.97567750e-01 -3.64818963e-02 5.93940673e-02 -3.15070009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:77.39, Y:6.74, Z:-31.54 [[-2.58012437e-02 2.11163732e-01 -9.77110114e-01 7.73931880e+01] [ 8.08770823e-03 -9.77359426e-01 -2.11431172e-01 6.74173442e+00] [-9.99634376e-01 -1.33577687e-02 2.35092581e-02 -3.15383482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.40, Y:5.46, Z:-31.58 [[ 4.38703100e-02 -9.89230732e-01 1.39635079e-01 7.64046774e+01] [-1.02244407e-02 1.39317750e-01 9.90194943e-01 5.46383670e+00] [-9.98984913e-01 -4.48678497e-02 -4.00241811e-03 -3.15777409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:75.49, Y:6.25, Z:-31.68 [[ 6.97765530e-02 -9.89206230e-02 9.92645930e-01 7.54888929e+01] [-1.80386846e-02 9.94783452e-01 1.00401637e-01 6.25377518e+00] [-9.97399538e-01 -2.49117070e-02 6.76281624e-02 -3.16823599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:76.40, Y:7.42, Z:-31.82 [[-3.33768776e-02 9.99381578e-01 1.10655276e-02 7.63964357e+01] [-1.79075428e-02 1.04719246e-02 -9.99784806e-01 7.42023112e+00] [-9.99282394e-01 -3.35678515e-02 1.75469482e-02 -3.18247557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.25, Y:7.07, Z:-31.88 [[-3.57695059e-02 5.64007525e-01 -8.24994578e-01 7.72543372e+01] [-1.36917104e-02 -8.25721952e-01 -5.63911159e-01 7.07388598e+00] [-9.99266271e-01 -8.87523667e-03 3.72578939e-02 -3.18796979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.61, Y:6.03, Z:-31.88 [[-2.02541587e-02 -3.44123366e-01 9.38705959e-01 7.56145896e+01] [-7.04861505e-02 9.37053819e-01 3.41996846e-01 6.02664252e+00] [-9.97307110e-01 -5.92389111e-02 -4.32351682e-02 -3.18762896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.31, Y:7.41, Z:-32.00 [[-2.40098599e-02 9.95636652e-01 9.01730755e-02 7.63065685e+01] [-5.94544141e-02 8.86173423e-02 -9.94289766e-01 7.41215851e+00] [-9.97942232e-01 -2.92339454e-02 5.70673038e-02 -3.19970353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:76.70, Y:7.41, Z:-32.03 [[-2.78668722e-02 9.52261524e-01 -3.04008925e-01 7.66958753e+01] [-8.20621870e-02 -3.05279820e-01 -9.48720206e-01 7.40783620e+00] [-9.96237539e-01 -1.49022746e-03 8.66518570e-02 -3.20340866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:77.46, Y:6.27, Z:-32.02 [[ 3.04297543e-03 -2.68204699e-01 -9.63357140e-01 7.74603816e+01] [-1.61369558e-02 -9.63249331e-01 2.68123712e-01 6.26905145e+00] [-9.99865160e-01 1.47297577e-02 -7.25915140e-03 -3.20153370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:5.48, Z:-32.18 [[ 9.12852163e-02 -9.51134253e-01 2.94975663e-01 7.62611876e+01] [-6.03513389e-02 2.90383928e-01 9.55005178e-01 5.48124059e+00] [-9.93994329e-01 -1.04980030e-01 -3.08944660e-02 -3.21836746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:75.54, Y:6.75, Z:-32.43 [[ 7.05980336e-02 4.09772484e-01 9.09451719e-01 7.55383947e+01] [-5.62042957e-02 9.11912303e-01 -4.06518178e-01 6.74775448e+00] [-9.95920175e-01 -2.24157093e-02 8.74101892e-02 -3.24297858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.61, Y:6.91, Z:-32.49 [[ 6.76928881e-02 5.66984544e-01 8.20942263e-01 7.56141930e+01] [-5.73087454e-02 8.23680799e-01 -5.64150378e-01 6.90844477e+00] [-9.96058924e-01 -8.85820274e-03 8.82505051e-02 -3.24897709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:75.63, Y:6.92, Z:-32.57 [[ 9.17656625e-02 5.78960455e-01 8.10175200e-01 7.56308217e+01] [-8.65566824e-02 8.15166299e-01 -5.72723184e-01 6.91803932e+00] [-9.92011595e-01 -1.75697551e-02 1.24917172e-01 -3.25662864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:77.12, Y:7.18, Z:-32.62 [[ 3.73686439e-02 7.27487659e-01 -6.85102394e-01 7.71212541e+01] [-5.58723756e-03 -6.85418421e-01 -7.28127991e-01 7.18301553e+00] [-9.99285929e-01 3.10369854e-02 -2.15485105e-02 -3.26212300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:75.69, Y:6.90, Z:-32.72 [[ 3.56782579e-02 5.96652159e-01 8.01706470e-01 7.56911685e+01] [-4.36638858e-02 8.02381831e-01 -5.95211612e-01 6.89532735e+00] [-9.98408998e-01 -1.37695063e-02 5.46797376e-02 -3.27216690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:77.18, Y:7.13, Z:-32.85 [[-1.48465974e-02 7.15084129e-01 -6.98880724e-01 7.71782467e+01] [ 3.90579881e-02 -6.98009548e-01 -7.15022479e-01 7.13386523e+00] [-9.99126645e-01 -3.79125259e-02 -1.75666807e-02 -3.28472003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:76.41, Y:5.40, Z:-32.91 [[ 3.45720047e-02 -9.63778965e-01 2.64452043e-01 7.64104620e+01] [-3.24157164e-02 2.63389621e-01 9.64144766e-01 5.39716082e+00] [-9.98876368e-01 -4.19048198e-02 -2.21356784e-02 -3.29121552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:75.94, Y:5.61, Z:-33.01 [[ 4.78129701e-02 -6.89668504e-01 7.22544999e-01 7.59360910e+01] [-5.34822470e-02 7.20567028e-01 6.91319613e-01 5.61067871e+00] [-9.97423465e-01 -7.16973741e-02 -2.43257145e-03 -3.30078646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.60, Y:6.52, Z:-33.14 [[ 5.00995752e-02 2.72872020e-01 9.60744968e-01 7.55975601e+01] [-8.72178108e-02 9.59473308e-01 -2.67962730e-01 6.51503876e+00] [-9.94928684e-01 -7.03692539e-02 7.18685053e-02 -3.31430538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:75.76, Y:6.91, Z:-33.24 [[ 3.80152796e-02 6.59071311e-01 7.51119062e-01 7.57648855e+01] [-1.06384110e-01 7.50059890e-01 -6.52757675e-01 6.90750392e+00] [-9.93598138e-01 -5.50923675e-02 9.86284513e-02 -3.32381638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.01, Y:7.15, Z:-33.32 [[ 1.11556355e-02 8.81373802e-01 4.72287807e-01 7.60116373e+01] [-1.04532227e-01 4.70757203e-01 -8.76048326e-01 7.15099897e+00] [-9.94458931e-01 -3.95964204e-02 9.73835621e-02 -3.33207833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.41, Y:6.87, Z:-33.33 [[ 7.32799007e-03 4.36895621e-01 -8.99482361e-01 7.74088914e+01] [-4.31949218e-02 -8.98528627e-01 -4.36784279e-01 6.86523921e+00] [-9.99039789e-01 4.20538211e-02 1.22872633e-02 -3.33259963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:7.31, Z:-33.39 [[-2.42331452e-02 9.84108067e-01 -1.75909260e-01 7.66381158e+01] [-5.13526683e-02 -1.76954011e-01 -9.82878518e-01 7.30972689e+00] [-9.98386527e-01 -1.47848280e-02 5.48247273e-02 -3.33935912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.56, Y:6.33, Z:-33.43 [[-1.34915145e-02 -1.11187485e-01 -9.93707866e-01 7.75649576e+01] [ 2.16101141e-02 -9.93598619e-01 1.10881862e-01 6.32605750e+00] [-9.99675438e-01 -1.99781761e-02 1.58079244e-02 -3.34336866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.49, Y:5.94, Z:-33.51 [[ 3.52051187e-03 -4.96380204e-01 -8.68098093e-01 7.74907614e+01] [ 3.46421142e-02 -8.67521876e-01 4.96191211e-01 5.93568597e+00] [-9.99393581e-01 -3.18196003e-02 1.41415387e-02 -3.35072023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.74, Y:5.35, Z:-33.68 [[ 1.02879809e-01 -9.91824895e-01 -7.54925274e-02 7.67377638e+01] [ 9.87876627e-04 -7.57933257e-02 9.97123060e-01 5.34913089e+00] [-9.94693304e-01 -1.02658407e-01 -6.81780221e-03 -3.36811536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:75.61, Y:6.01, Z:-33.86 [[ 7.76499141e-02 -1.85598015e-01 9.79552892e-01 7.56139123e+01] [-3.26084671e-03 9.82466890e-01 1.86408627e-01 6.01411921e+00] [-9.96975355e-01 -1.76687857e-02 7.56832629e-02 -3.38589789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:76.68, Y:5.35, Z:-33.92 [[ 1.73537315e-01 -9.83959814e-01 -4.13265552e-02 7.66750946e+01] [-8.83672633e-03 -4.35173179e-02 9.99013591e-01 5.35181208e+00] [-9.84787648e-01 -1.73000945e-01 -1.62468621e-02 -3.39186188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:76.59, Y:5.35, Z:-34.09 [[ 2.38346674e-01 -9.70921544e-01 2.24102328e-02 7.65897539e+01] [-1.09998823e-02 2.03749101e-02 9.99731897e-01 5.34543990e+00] [-9.71117843e-01 -2.38529282e-01 -5.82373069e-03 -3.40898493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:76.59, Y:5.35, Z:-34.25 [[ 3.03893996e-01 -9.52652180e-01 1.01125238e-02 7.65868160e+01] [-2.99607389e-03 9.65884295e-03 9.99948864e-01 5.34580015e+00] [-9.52701140e-01 -3.03908754e-01 8.10480574e-05 -3.42486834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:75.57, Y:6.16, Z:-34.64 [[ 2.86593283e-01 -4.36727269e-02 9.57056416e-01 7.55710590e+01] [-7.84667723e-03 9.98819962e-01 4.79282053e-02 6.15945936e+00] [-9.58020209e-01 -2.12456145e-02 2.85912406e-01 -3.46363683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:75.62, Y:6.05, Z:-34.67 [[ 3.40590749e-01 -1.56246541e-01 9.27138048e-01 7.56173724e+01] [ 4.54564589e-03 9.86357167e-01 1.64556606e-01 6.04854298e+00] [-9.40200659e-01 -5.18320163e-02 3.36654367e-01 -3.46662952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69592 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:76.12, Y:7.20, Z:-34.67 [[ 2.13432658e-01 8.99585791e-01 3.81040555e-01 7.61244291e+01] [-2.07601612e-02 3.94115802e-01 -9.18826290e-01 7.19529698e+00] [-9.76737179e-01 1.88197074e-01 1.02792729e-01 -3.46700197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:76.38, Y:7.28, Z:-34.77 [[ 1.52941541e-01 9.68383583e-01 1.97084044e-01 7.63800472e+01] [-3.28492183e-02 2.04301783e-01 -9.78356638e-01 7.28065234e+00] [-9.87689128e-01 1.43157315e-01 6.30568733e-02 -3.47724427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75592 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:76.85, Y:5.38, Z:-34.76 [[ 2.27499012e-01 -9.70876702e-01 -7.51174352e-02 7.68541219e+01] [-5.66532026e-02 -9.02056885e-02 9.94310489e-01 5.38174725e+00] [-9.72128908e-01 -2.21949011e-01 -7.55249795e-02 -3.47588184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:75.73, Y:6.32, Z:-35.13 [[ 2.59270637e-01 1.05132627e-01 9.60065554e-01 7.57251229e+01] [-5.20552076e-02 9.94133878e-01 -9.48055252e-02 6.31878537e+00] [-9.64400846e-01 -2.53961227e-02 2.63222425e-01 -3.51261508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81591999999999 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:76.57, Y:7.30, Z:-35.14 [[ 1.46735475e-01 9.85627555e-01 8.37079586e-02 7.65651909e+01] [-4.12534869e-02 9.06479613e-02 -9.95028189e-01 7.29722854e+00] [-9.88315157e-01 1.42552689e-01 5.39618451e-02 -3.51354410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:76.65, Y:5.37, Z:-35.16 [[ 2.18533020e-01 -9.55271141e-01 1.99249509e-01 7.66463481e+01] [-4.38621214e-02 1.94362576e-01 9.79948623e-01 5.37057589e+00] [-9.74843287e-01 -2.22890638e-01 5.74422052e-04 -3.51594504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87592 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:75.79, Y:6.29, Z:-35.49 [[ 2.01485111e-01 7.82012071e-02 9.76364851e-01 7.57920486e+01] [-8.12207293e-02 9.94708793e-01 -6.29095370e-02 6.29025929e+00] [-9.76118304e-01 -6.66257302e-02 2.06770570e-01 -3.54858435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:76.29, Y:5.48, Z:-35.46 [[ 2.62512207e-01 -7.83580766e-01 5.63106139e-01 7.62909239e+01] [-1.30989499e-01 5.49231995e-01 8.25339910e-01 5.48448556e+00] [-9.55996387e-01 -2.90422792e-01 4.15392512e-02 -3.54552696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:77.50, Y:5.75, Z:-35.28 [[ 2.97452670e-01 -6.45011789e-01 -7.03904611e-01 7.75015894e+01] [-5.05165868e-02 -7.46876410e-01 6.63041253e-01 5.74767847e+00] [-9.53399173e-01 -1.61664533e-01 -2.54744176e-01 -3.52806649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:76.61, Y:5.35, Z:-35.71 [[ 3.99779289e-01 -8.81296149e-01 2.51979400e-01 7.66053288e+01] [-7.03853808e-02 2.44575732e-01 9.67072184e-01 5.34746491e+00] [-9.13905038e-01 -4.04351096e-01 3.57459471e-02 -3.57079788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:75.91, Y:6.07, Z:-36.15 [[ 0.43046559 -0.08619511 0.89848193 75.91401587] [ -0.09507632 0.98556195 0.14010042 6.07255194] [ -0.89758558 -0.14573276 0.41605539 -36.14788366] [ 0. 0. 0. 1. ]] SLAMing on 84.02592 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:75.94, Y:6.47, Z:-36.25 [[ 3.91378654e-01 2.99805638e-01 8.70022602e-01 7.59441927e+01] [-1.22586730e-01 9.54000208e-01 -2.73598423e-01 6.47328029e+00] [-9.12028093e-01 4.27356520e-04 4.10127510e-01 -3.62500897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05592 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:75.97, Y:6.44, Z:-36.34 [[ 3.60512879e-01 2.80557411e-01 8.89560568e-01 7.59741528e+01] [-1.61806025e-01 9.58043953e-01 -2.36581052e-01 6.43871593e+00] [-9.18612690e-01 -5.86457433e-02 3.90783063e-01 -3.63444167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:77.82, Y:6.40, Z:-35.76 [[ 3.36238432e-01 4.07224275e-02 -9.40896063e-01 7.78225925e+01] [-3.54684751e-02 -9.97808387e-01 -5.58606271e-02 6.39633792e+00] [-9.41108763e-01 5.21546383e-02 -3.34057165e-01 -3.57628227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:77.43, Y:5.41, Z:-36.02 [[ 4.19505018e-01 -7.96972446e-01 -4.34569282e-01 7.74347599e+01] [ 1.83378651e-02 -4.71192697e-01 8.81839648e-01 5.40934460e+00] [-9.07567773e-01 -3.77905230e-01 -1.83052928e-01 -3.60236664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:76.13, Y:5.94, Z:-36.73 [[ 4.21634347e-01 -1.63089253e-01 8.91978908e-01 7.61280675e+01] [-3.69648139e-02 9.79783420e-01 1.96616511e-01 5.93600353e+00] [-9.06012185e-01 -1.15872109e-01 4.07081779e-01 -3.67315481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17591999999999 meters Centerline goodness : 0.986387 Centerline is valid? [True, True] Translation: X:76.09, Y:6.15, Z:-36.78 [[ 4.71967876e-01 4.51890141e-02 8.80456857e-01 7.60875856e+01] [-3.56591171e-02 9.98846728e-01 -3.21502876e-02 6.14537215e+00] [-8.80894290e-01 -1.62224112e-02 4.73034970e-01 -3.67848944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:76.19, Y:5.89, Z:-36.82 [[ 4.59955175e-01 -2.03293496e-01 8.64356981e-01 7.61886089e+01] [-5.08464403e-02 9.65810930e-01 2.54212286e-01 5.89238446e+00] [-8.86485125e-01 -1.60875732e-01 4.33892985e-01 -3.68188113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23592 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:76.18, Y:6.19, Z:-36.93 [[ 4.40493678e-01 7.65313282e-02 8.94487717e-01 7.61845511e+01] [-7.24085487e-02 9.96142422e-01 -4.95709375e-02 6.18911151e+00] [-8.94830890e-01 -4.29328728e-02 4.44335962e-01 -3.69329127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:77.05, Y:7.18, Z:-36.75 [[ 3.45081387e-01 9.37790974e-01 3.83004559e-02 7.70540449e+01] [-8.53820064e-02 7.20038442e-02 -9.93743105e-01 7.18072345e+00] [-9.34681095e-01 3.39652079e-01 1.04917661e-01 -3.67509539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:78.14, Y:6.14, Z:-36.44 [[ 3.84272522e-01 -9.04325492e-02 -9.18779943e-01 7.81428864e+01] [ 2.68615210e-02 -9.93674493e-01 1.09038799e-01 6.13884005e+00] [-9.22828851e-01 -6.65804412e-02 -3.79412647e-01 -3.64427161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:77.26, Y:5.20, Z:-36.96 [[ 4.38199652e-01 -8.97374314e-01 5.19654180e-02 7.72604434e+01] [ 2.13632421e-02 6.81922026e-02 9.97443450e-01 5.19797848e+00] [-8.98623768e-01 -4.35969223e-01 4.90526241e-02 -3.69612531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35592 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:76.42, Y:5.94, Z:-37.44 [[ 4.15189124e-01 -1.46470645e-01 8.97866550e-01 7.64246300e+01] [-2.13551069e-02 9.85112695e-01 1.70578245e-01 5.93555538e+00] [-9.09484442e-01 -8.99962682e-02 4.05880180e-01 -3.74397564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:76.43, Y:6.02, Z:-37.49 [[ 4.44715232e-01 -6.76127758e-02 8.93116384e-01 7.64325594e+01] [-1.85048344e-02 9.96240267e-01 8.46339323e-02 6.02493054e+00] [-8.95480839e-01 -5.41649696e-02 4.41792058e-01 -3.74910083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41592 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:77.32, Y:7.15, Z:-37.26 [[ 3.51669292e-01 9.35471457e-01 3.49551494e-02 7.73202080e+01] [-6.98155777e-05 3.73664951e-02 -9.99301626e-01 7.14823339e+00] [-9.36124300e-01 3.51421254e-01 1.32059593e-02 -3.72601519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:77.45, Y:7.14, Z:-37.37 [[ 2.92321321e-01 9.56318043e-01 2.01166408e-03 7.74466297e+01] [-2.74332967e-02 1.04882825e-02 -9.99568612e-01 7.14245025e+00] [-9.55926597e-01 2.92140030e-01 2.93009051e-02 -3.73702142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47592 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:78.44, Y:6.48, Z:-37.21 [[ 2.63961475e-01 3.08164732e-01 -9.13979670e-01 7.84366524e+01] [ 5.38067043e-02 -9.50816585e-01 -3.05045341e-01 6.48310520e+00] [-9.63031245e-01 3.13419844e-02 -2.67560277e-01 -3.72138725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:78.17, Y:5.35, Z:-37.51 [[ 0.3286522 -0.75936886 -0.56155736 78.17078665] [ 0.10271225 -0.56232163 0.82051483 5.34985903] [ -0.93884925 -0.32734282 -0.10681176 -37.5142297 ] [ 0. 0. 0. 1. ]] SLAMing on 84.53591999999999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:76.86, Y:5.59, Z:-38.05 [[ 0.35771903 -0.49215244 0.79361393 76.85751399] [ 0.10523325 0.86568084 0.48941051 5.58809253] [ -0.92788095 -0.09155688 0.36146131 -38.05347744] [ 0. 0. 0. 1. ]] SLAMing on 84.56591999999999 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:77.22, Y:7.00, Z:-37.96 [[ 3.14543710e-01 8.48331386e-01 4.25906227e-01 7.72210124e+01] [ 3.90573032e-02 4.36733626e-01 -8.98742603e-01 6.99992971e+00] [-9.48439129e-01 2.99328582e-01 1.04238279e-01 -3.79566594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59591999999999 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:78.60, Y:6.55, Z:-37.74 [[ 2.81130980e-01 3.90050666e-01 -8.76827150e-01 7.85998433e+01] [ 1.12531090e-01 -9.20771587e-01 -3.73518994e-01 6.54807447e+00] [-9.53048858e-01 6.33744624e-03 -3.02750245e-01 -3.77369045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:76.97, Y:5.66, Z:-38.35 [[ 2.38095434e-01 -4.39643036e-01 8.66039587e-01 7.69700859e+01] [ 1.33713718e-01 8.98029881e-01 4.19121670e-01 5.66124551e+00] [-9.61993350e-01 1.60104176e-02 2.72603119e-01 -3.83516722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65592 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:77.02, Y:5.62, Z:-38.40 [[ 2.68401778e-01 -4.90673343e-01 8.28975365e-01 7.70160629e+01] [ 1.45249246e-01 8.71326896e-01 4.68713235e-01 5.62053843e+00] [-9.52293622e-01 -5.39541935e-03 3.05135621e-01 -3.83989941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:77.17, Y:6.85, Z:-38.37 [[ 0.22899902 0.70312988 0.6731774 77.17201745] [ 0.07908763 0.67582892 -0.73280312 6.85237888] [ -0.97020853 0.2210512 0.09915529 -38.36638805] [ 0. 0. 0. 1. ]] SLAMing on 84.71592 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:78.64, Y:6.81, Z:-38.23 [[ 1.89015989e-01 6.22961841e-01 -7.59072790e-01 7.86411083e+01] [ 1.28691437e-01 -7.82054848e-01 -6.09777606e-01 6.80895219e+00] [-9.73504735e-01 1.75715493e-02 -2.27990725e-01 -3.82282207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:77.27, Y:5.50, Z:-38.69 [[ 1.30260381e-01 -6.46088580e-01 7.52065010e-01 7.72666988e+01] [ 1.36001577e-01 7.63001226e-01 6.31927765e-01 5.50174999e+00] [-9.82107837e-01 1.99668760e-02 1.87257896e-01 -3.86875024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77592 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:77.31, Y:5.48, Z:-38.74 [[ 1.56482015e-01 -6.84472507e-01 7.12046885e-01 7.73137019e+01] [ 1.52206795e-01 7.29027969e-01 6.67346471e-01 5.47583643e+00] [-9.75882406e-01 3.95065357e-03 2.18261132e-01 -3.87407392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:77.21, Y:6.78, Z:-38.75 [[ 1.42877892e-01 6.02563686e-01 7.85176994e-01 7.72098577e+01] [ 8.30670925e-02 7.83216658e-01 -6.16174914e-01 6.77602411e+00] [-9.86248329e-01 1.53260143e-01 6.18511316e-02 -3.87536341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83592 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:78.45, Y:7.11, Z:-38.74 [[ 7.62649440e-02 8.86132501e-01 -4.57113605e-01 7.84535826e+01] [ 9.25314175e-02 -4.62760348e-01 -8.81640968e-01 7.11476831e+00] [-9.92784768e-01 2.49409292e-02 -1.17287488e-01 -3.87398220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:79.02, Y:5.99, Z:-38.99 [[ 6.12852034e-02 -2.79830487e-01 -9.58091343e-01 7.90231137e+01] [ 1.56662419e-01 -9.45301302e-01 2.86115947e-01 5.99212400e+00] [-9.85748959e-01 -1.67631582e-01 -1.40940614e-02 -3.89927919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89591999999999 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:78.10, Y:5.25, Z:-39.28 [[ 6.54697408e-02 -9.96171310e-01 5.79347365e-02 7.81024791e+01] [ 1.97610152e-01 6.98528630e-02 9.77788733e-01 5.25004327e+00] [-9.78091990e-01 -5.25670828e-02 2.01426813e-01 -3.92789593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:77.78, Y:5.32, Z:-39.38 [[ 7.89256901e-02 -9.18758061e-01 3.86851858e-01 7.77824026e+01] [ 1.84318462e-01 3.94820915e-01 9.00079524e-01 5.32141306e+00] [-9.79692523e-01 2.64541939e-04 2.00505586e-01 -3.93818055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95591999999999 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:77.63, Y:5.42, Z:-39.51 [[ 1.03683325e-01 -8.36403008e-01 5.38219078e-01 7.76316050e+01] [ 1.59114827e-01 5.48114729e-01 8.21128928e-01 5.42120486e+00] [-9.81800509e-01 5.01258227e-04 1.89914477e-01 -3.95066039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:77.54, Y:5.51, Z:-39.62 [[ 1.15188932e-01 -7.64416861e-01 6.34348778e-01 7.75406375e+01] [ 1.36355886e-01 6.44722298e-01 7.52157052e-01 5.50557516e+00] [-9.83940335e-01 -1.42977538e-04 1.78497611e-01 -3.96157723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01592 meters Centerline goodness : 0.981476 Centerline is valid? [True, True] Translation: X:77.46, Y:5.56, Z:-39.73 [[ 1.47581202e-01 -7.07413711e-01 6.91220392e-01 7.74602795e+01] [ 1.53805589e-01 7.06785973e-01 6.90505199e-01 5.56429432e+00] [-9.77017722e-01 4.40797216e-03 2.13112506e-01 -3.97329117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:78.31, Y:7.26, Z:-39.57 [[ 5.43774305e-02 9.65902678e-01 -2.53130623e-01 7.83123482e+01] [ 1.29216610e-01 -2.58181086e-01 -9.57416103e-01 7.26065006e+00] [-9.90124317e-01 1.93531466e-02 -1.38849893e-01 -3.95689795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07592 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:79.12, Y:6.48, Z:-39.79 [[ 4.50821541e-02 1.09434598e-01 -9.92971132e-01 7.91204073e+01] [ 2.18558215e-01 -9.70982056e-01 -9.70883774e-02 6.47606403e+00] [-9.74781979e-01 -2.12645045e-01 -6.76917931e-02 -3.97878763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:78.42, Y:5.38, Z:-40.17 [[ 7.39265566e-02 -9.84609142e-01 -1.58365724e-01 7.84210340e+01] [ 2.06331964e-01 -1.40263031e-01 9.68376684e-01 5.38389686e+00] [-9.75685392e-01 -1.04264665e-01 1.92787175e-01 -4.01662250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:77.97, Y:5.39, Z:-40.26 [[ 6.98143820e-02 -9.50714359e-01 3.02106205e-01 7.79727331e+01] [ 2.07260116e-01 3.10060526e-01 9.27850049e-01 5.38998176e+00] [-9.75791574e-01 -2.16271064e-03 2.18691852e-01 -4.02555887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:77.96, Y:5.41, Z:-40.31 [[ 7.79877560e-02 -9.45157430e-01 3.17167689e-01 7.79600050e+01] [ 2.05117801e-01 3.26542238e-01 9.22657496e-01 5.40535235e+00] [-9.75625234e-01 -6.89924860e-03 2.19334910e-01 -4.03093665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19592 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:78.02, Y:5.41, Z:-40.36 [[ 9.91265740e-02 -9.60717789e-01 2.59220471e-01 7.80178243e+01] [ 2.46205189e-01 2.76083204e-01 9.29064621e-01 5.41006056e+00] [-9.64135326e-01 -2.82735679e-02 2.63900887e-01 -4.03592161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters Centerline goodness : 0.870385 Centerline is valid? [True, False] Translation: X:77.97, Y:5.41, Z:-40.32 [[ 9.30678059e-02 -9.44769366e-01 3.14243900e-01 7.79655363e+01] [ 2.41982544e-01 3.27613515e-01 9.13298327e-01 5.40977905e+00] [-9.65806829e-01 -8.95713294e-03 2.59107966e-01 -4.03165912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25591999999999 meters Centerline goodness : 0.998059 Centerline is valid? [False, True] Translation: X:77.92, Y:5.41, Z:-40.28 [[ 8.67219983e-02 -9.26779407e-01 3.65457556e-01 7.79165229e+01] [ 2.40848929e-01 3.75461962e-01 8.94997267e-01 5.41326846e+00] [-9.66680448e-01 1.04041096e-02 2.55774640e-01 -4.02822932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:77.31, Y:6.78, Z:-40.17 [[ 8.03957020e-04 4.79449390e-01 8.77569163e-01 7.73081680e+01] [ 1.59645657e-01 8.66252534e-01 -4.73412940e-01 6.78038247e+00] [-9.87174057e-01 1.40480709e-01 -7.58455830e-02 -4.01691869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31591999999999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:77.41, Y:6.96, Z:-40.29 [[-7.23758135e-03 5.94561516e-01 8.04017550e-01 7.74109677e+01] [ 7.97292669e-02 8.01821970e-01 -5.92220206e-01 6.96079875e+00] [-9.96790280e-01 5.98174879e-02 -5.32072056e-02 -4.02915865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:78.70, Y:7.33, Z:-40.33 [[-6.13209000e-02 8.40200730e-01 -5.38797254e-01 7.87039926e+01] [ 1.43862216e-01 -5.26736512e-01 -8.37766262e-01 7.33274774e+00] [-9.87696011e-01 -1.28885148e-01 -8.85731822e-02 -4.03260903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37592 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:78.94, Y:5.77, Z:-40.56 [[-2.01141912e-02 -7.88043260e-01 -6.15291183e-01 7.89378896e+01] [ 1.40572328e-01 -6.11531472e-01 7.78632570e-01 5.77290127e+00] [-9.89866072e-01 -7.08313497e-02 1.23077537e-01 -4.05622501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:78.53, Y:5.55, Z:-40.65 [[ 4.08500398e-02 -9.81392243e-01 -1.87618070e-01 7.85253866e+01] [ 1.38478484e-01 -1.80401772e-01 9.73796134e-01 5.54964906e+00] [-9.89522604e-01 -6.57606768e-02 1.28532291e-01 -4.06460539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:78.21, Y:5.53, Z:-40.78 [[ 6.83701939e-02 -9.89552347e-01 1.26931750e-01 7.82090366e+01] [ 1.17642396e-01 1.34338403e-01 9.83927569e-01 5.52936450e+00] [-9.90699643e-01 -5.23387635e-02 1.25598052e-01 -4.07768738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:77.28, Y:6.60, Z:-40.87 [[ 3.93060213e-02 1.22482404e-01 9.91692038e-01 7.72798623e+01] [ 4.54324695e-03 9.92426825e-01 -1.22753229e-01 6.59586641e+00] [-9.99216891e-01 9.33044288e-03 3.84518822e-02 -4.08693019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:78.57, Y:7.49, Z:-40.97 [[-6.03229568e-02 9.31436742e-01 -3.58868689e-01 7.85748494e+01] [ 5.64853241e-02 -3.55761977e-01 -9.32868064e-01 7.48627397e+00] [-9.96579424e-01 -7.65441741e-02 -3.11518919e-02 -4.09654268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters Centerline goodness : 0.977591 Centerline is valid? [True, True] Translation: X:79.20, Y:6.12, Z:-41.00 [[-3.53018640e-02 -5.38629397e-01 -8.41802917e-01 7.91997997e+01] [ 1.19371742e-02 -8.42495117e-01 5.38571705e-01 6.11706793e+00] [-9.99305400e-01 8.96383702e-03 3.61713610e-02 -4.10045047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:79.21, Y:6.18, Z:-41.08 [[ 9.41538648e-03 -4.53564184e-01 -8.91173879e-01 7.92090677e+01] [ 9.07404152e-02 -8.87148886e-01 4.52474344e-01 6.17815206e+00] [-9.95830070e-01 -8.51257086e-02 3.28037527e-02 -4.10798390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.45, Y:5.59, Z:-41.21 [[ 3.46863023e-02 -9.96676306e-01 -7.37102593e-02 7.84460363e+01] [ 4.65858755e-02 -7.20620074e-02 9.96311610e-01 5.59047240e+00] [-9.98311883e-01 -3.79922227e-02 4.39314737e-02 -4.12068372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61592 meters Centerline goodness : 0.855125 Centerline is valid? [True, False] Translation: X:78.38, Y:5.58, Z:-41.14 [[ 2.51916335e-02 -9.99682051e-01 1.08588638e-03 7.83758701e+01] [ 3.77450189e-02 2.03661655e-03 9.99285327e-01 5.57954205e+00] [-9.98969817e-01 -2.51326429e-02 3.77843236e-02 -4.11411651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:78.31, Y:5.57, Z:-41.07 [[ 1.44038307e-02 -9.97075038e-01 7.50592971e-02 7.83077599e+01] [ 2.90401495e-02 7.54525706e-02 9.96726432e-01 5.57447160e+00] [-9.99474462e-01 -1.21769455e-02 3.00420142e-02 -4.10730938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.34, Y:6.52, Z:-41.12 [[-6.28044520e-03 2.23455119e-02 9.99730581e-01 7.73355566e+01] [-4.51274473e-02 9.98725417e-01 -2.26065418e-02 6.52187951e+00] [-9.98961496e-01 -4.52572683e-02 -5.26404433e-03 -4.11164067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:77.80, Y:7.40, Z:-41.17 [[-1.43711456e-02 8.87029887e-01 4.61488299e-01 7.78023857e+01] [-3.29956212e-02 4.60863899e-01 -8.86857235e-01 7.40154489e+00] [-9.99352170e-01 -2.79722476e-02 2.26449599e-02 -4.11676431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:78.14, Y:7.53, Z:-41.20 [[-2.38362139e-02 9.93645690e-01 1.10000355e-01 7.81409735e+01] [-3.11668903e-02 1.09239533e-01 -9.93526723e-01 7.52718703e+00] [-9.99229933e-01 -2.71102844e-02 2.83649894e-02 -4.12003244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:78.50, Y:7.52, Z:-41.22 [[-3.08748257e-02 9.65687256e-01 -2.57865990e-01 7.85034300e+01] [-2.52568370e-02 -2.58660368e-01 -9.65638082e-01 7.52173806e+00] [-9.99204102e-01 -2.33010282e-02 3.23762994e-02 -4.12249930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.87, Y:7.37, Z:-41.29 [[-4.06567161e-02 7.82506740e-01 -6.21313314e-01 7.88701548e+01] [-1.45574137e-02 -6.22225355e-01 -7.82702811e-01 7.36516282e+00] [-9.99067121e-01 -2.27774110e-02 3.66889140e-02 -4.12901770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:7.07, Z:-41.35 [[-4.54459558e-02 4.61469943e-01 -8.85991059e-01 7.91463882e+01] [-1.04560769e-02 -8.87078567e-01 -4.61500040e-01 7.06834648e+00] [-9.98912076e-01 -1.17093198e-02 4.51392986e-02 -4.13472991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:78.76, Y:5.70, Z:-41.40 [[ 9.50860364e-03 -9.11663296e-01 -4.10827970e-01 7.87602409e+01] [-6.07304967e-03 -4.10891616e-01 9.11663972e-01 5.69656270e+00] [-9.99936350e-01 -6.17367270e-03 -9.44358200e-03 -4.14019715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:77.56, Y:7.19, Z:-41.54 [[-4.76041111e-02 6.66478826e-01 7.44002570e-01 7.75635239e+01] [-8.07405781e-04 7.44821098e-01 -6.67263726e-01 7.19400031e+00] [-9.98865955e-01 -3.23652085e-02 -3.49184275e-02 -4.15417707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:79.06, Y:7.25, Z:-41.59 [[-2.31480004e-02 6.13047540e-01 -7.89706834e-01 7.90618457e+01] [-2.46771068e-02 -7.90028190e-01 -6.12573668e-01 7.24873247e+00] [-9.99427441e-01 5.30782440e-03 3.34158125e-02 -4.15883026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:78.72, Y:5.70, Z:-41.64 [[ 1.91466612e-02 -9.40418888e-01 -3.39478601e-01 7.87190796e+01] [-2.37111727e-02 -3.39872444e-01 9.40172592e-01 5.69858743e+00] [-9.99535485e-01 -9.95173034e-03 -2.88058572e-02 -4.16390884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:78.28, Y:5.62, Z:-41.81 [[ 7.81085392e-02 -9.94791546e-01 6.54892080e-02 7.82825727e+01] [-2.41714613e-02 6.37808962e-02 9.97671157e-01 5.61729884e+00] [-9.96651793e-01 -7.95096066e-02 -1.90637327e-02 -4.18117496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters Centerline goodness : 0.976399 Centerline is valid? [True, True] Translation: X:78.28, Y:5.61, Z:-41.97 [[ 2.09878583e-01 -9.77655342e-01 -1.18748711e-02 7.82837604e+01] [ 5.67522282e-03 -1.09270238e-02 9.99924193e-01 5.61176008e+00] [-9.77710986e-01 -2.09930065e-01 3.25506364e-03 -4.19708259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:77.95, Y:5.67, Z:-42.13 [[ 1.73503108e-01 -9.13501734e-01 3.67982681e-01 7.79451746e+01] [-3.89562913e-02 3.66991236e-01 9.29408328e-01 5.67169590e+00] [-9.84062538e-01 -1.75590474e-01 2.80874804e-02 -4.21262313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:77.95, Y:5.68, Z:-42.29 [[ 2.47527937e-01 -9.08654771e-01 3.36268387e-01 7.79526425e+01] [-3.18328811e-02 3.39254451e-01 9.40155883e-01 5.67896478e+00] [-9.68357676e-01 -2.43419238e-01 5.50498551e-02 -4.22857911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:77.29, Y:6.56, Z:-42.56 [[ 2.61977051e-01 1.90441562e-02 9.64886182e-01 7.72889036e+01] [-4.37475051e-02 9.99011859e-01 -7.83978016e-03 6.55632197e+00] [-9.64082040e-01 -4.01575207e-02 2.62551315e-01 -4.25648735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.22, Y:7.58, Z:-42.54 [[ 1.87831937e-01 9.81432748e-01 3.88448722e-02 7.82197533e+01] [-3.26102486e-02 4.57583552e-02 -9.98420124e-01 7.58417249e+00] [-9.81659684e-01 1.86268445e-01 4.05996464e-02 -4.25413914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.37, Y:7.58, Z:-42.68 [[ 1.21421291e-01 9.91976717e-01 -3.52003272e-02 7.83713348e+01] [-3.13931690e-02 -3.16071757e-02 -9.99007235e-01 7.57957317e+00] [-9.92104500e-01 1.22405798e-01 2.73035086e-02 -4.26758297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:78.79, Y:7.50, Z:-42.78 [[ 5.15460891e-02 9.17951179e-01 -3.93330184e-01 7.87872797e+01] [-4.40946161e-02 -3.91377694e-01 -9.19173088e-01 7.49516528e+00] [-9.97696680e-01 6.47235213e-02 2.03027153e-02 -4.27765451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:79.40, Y:6.24, Z:-42.87 [[ 1.00496257e-01 -3.51238064e-01 -9.30877180e-01 7.93959774e+01] [ 3.25751340e-02 -9.33950605e-01 3.55914495e-01 6.23915183e+00] [-9.94404024e-01 -6.60915234e-02 -8.24169129e-02 -4.28743474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:77.65, Y:5.98, Z:-43.10 [[ 6.11403583e-02 -4.94336723e-01 8.67117674e-01 7.76531965e+01] [ 3.32411345e-02 8.69269481e-01 4.93219622e-01 5.98473037e+00] [-9.97575503e-01 -1.33164922e-03 6.95797610e-02 -4.30958349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27592 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:77.62, Y:6.03, Z:-43.20 [[ 1.11912415e-01 -4.59500348e-01 8.81098769e-01 7.76187376e+01] [ 5.32043109e-02 8.88167650e-01 4.56429104e-01 6.03079637e+00] [-9.92292756e-01 -4.20183042e-03 1.23844386e-01 -4.32023613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:79.05, Y:7.32, Z:-43.18 [[ 3.41027950e-02 7.99956442e-01 -5.99088216e-01 7.90476373e+01] [ 8.21164157e-02 -5.99652883e-01 -7.96036000e-01 7.32391009e+00] [-9.96039102e-01 -2.20479245e-02 -8.61393951e-02 -4.31803052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33592 meters Centerline goodness : 0.846969 Centerline is valid? [True, False] Translation: X:79.17, Y:7.07, Z:-43.99 [[ 2.17176817e-01 -6.78645053e-01 -7.01623205e-01 7.91727039e+01] [ 1.40133552e-01 7.33009517e-01 -6.65627249e-01 7.06725599e+00] [ 9.66021127e-01 4.62378553e-02 2.54293615e-01 -4.39920729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters Centerline goodness : 0.999154 Centerline is valid? [False, True] Translation: X:79.21, Y:7.01, Z:-43.99 [[ 2.19792238e-01 -6.19276761e-01 -7.53782240e-01 7.92054347e+01] [ 1.15174356e-01 7.83745263e-01 -6.10309946e-01 7.00571372e+00] [ 9.68724027e-01 4.73250053e-02 2.43585928e-01 -4.39855468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39591999999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:79.34, Y:6.74, Z:-43.96 [[ 1.87956571e-01 -3.64208572e-01 -9.12153739e-01 7.93373207e+01] [ 9.57160140e-02 9.31077467e-01 -3.52041468e-01 6.74318996e+00] [ 9.77502313e-01 -2.11392128e-02 2.09862721e-01 -4.39627124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:79.32, Y:6.83, Z:-43.94 [[ 2.12799775e-01 -4.15506438e-01 -8.84347588e-01 7.93185350e+01] [ 5.99947438e-02 9.08926245e-01 -4.12618119e-01 6.82877529e+00] [ 9.75252217e-01 3.47488360e-02 2.18347503e-01 -4.39367689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:79.33, Y:6.80, Z:-43.91 [[ 2.27331483e-01 -4.09330542e-01 -8.83611286e-01 7.93305815e+01] [ 1.11061921e-01 9.12346086e-01 -3.94068356e-01 6.79705166e+00] [ 9.67463512e-01 -8.55142335e-03 2.52866025e-01 -4.39093918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters Centerline goodness : 0.940556 Centerline is valid? [True, False] Translation: X:79.34, Y:6.74, Z:-43.92 [[ 2.29154434e-01 -3.49994944e-01 -9.08290584e-01 7.93395424e+01] [ 9.73118678e-02 9.36683389e-01 -3.36384644e-01 6.73951211e+00] [ 9.68513627e-01 -1.13034203e-02 2.48703814e-01 -4.39207164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51592 meters Centerline goodness : 0.940556 Centerline is valid? [False, False] Translation: X:79.34, Y:6.68, Z:-43.93 [[ 2.29326896e-01 -2.94559593e-01 -9.27708909e-01 7.93446381e+01] [ 8.65289742e-02 9.55505702e-01 -2.81995729e-01 6.68439741e+00] [ 9.69495700e-01 -1.56044952e-02 2.44611096e-01 -4.39330562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:79.35, Y:6.65, Z:-43.93 [[ 2.25599464e-01 -2.51439883e-01 -9.41213508e-01 7.93491437e+01] [ 6.99957930e-02 9.67806501e-01 -2.41766760e-01 6.64634197e+00] [ 9.71702357e-01 -1.13385343e-02 2.35936362e-01 -4.39269414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:6.71, Z:-43.90 [[ 2.66535228e-01 -3.15878247e-01 -9.10593161e-01 7.93446544e+01] [ 8.38026860e-02 9.48787204e-01 -3.04598017e-01 6.71374824e+00] [ 9.60175027e-01 4.87594907e-03 2.79356659e-01 -4.39008066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:6.67, Z:-43.87 [[ 2.67862039e-01 -2.71710833e-01 -9.24350124e-01 7.93631156e+01] [ 8.52258578e-02 9.62330833e-01 -2.58178080e-01 6.67055547e+00] [ 9.59680406e-01 -9.62242540e-03 2.80928688e-01 -4.38738679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.37, Y:6.68, Z:-43.85 [[ 2.67439723e-01 -2.74307859e-01 -9.23705144e-01 7.93690226e+01] [ 8.81524704e-02 9.61568485e-01 -2.60029211e-01 6.67528131e+00] [ 9.59533812e-01 -1.18847502e-02 2.81342525e-01 -4.38468688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:6.68, Z:-43.82 [[ 2.67537962e-01 -2.76333537e-01 -9.23072703e-01 7.93755179e+01] [ 8.90475620e-02 9.60985167e-01 -2.61874093e-01 6.67841050e+00] [ 9.59423770e-01 -1.21361126e-02 2.81706840e-01 -4.38199793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.38, Y:6.68, Z:-43.79 [[ 2.67174469e-01 -2.78492728e-01 -9.22528918e-01 7.93817992e+01] [ 9.03445926e-02 9.60351979e-01 -2.63745958e-01 6.68073283e+00] [ 9.59403803e-01 -1.28793129e-02 2.81741842e-01 -4.37927342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:6.68, Z:-43.77 [[ 2.67619236e-01 -2.80482619e-01 -9.21796857e-01 7.93883253e+01] [ 9.12028742e-02 9.59771042e-01 -2.65559001e-01 6.68373982e+00] [ 9.59198614e-01 -1.30018258e-02 2.82434014e-01 -4.37655678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:6.69, Z:-43.74 [[ 2.70120960e-01 -2.82604355e-01 -9.20418082e-01 7.93931534e+01] [ 9.30662120e-02 9.59141719e-01 -2.67181292e-01 6.68700092e+00] [ 9.58317978e-01 -1.34885572e-02 2.85385199e-01 -4.37377796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.40, Y:6.66, Z:-43.71 [[ 2.39337172e-01 -2.60206953e-01 -9.35419724e-01 7.94030992e+01] [ 8.52577114e-02 9.65330867e-01 -2.46713275e-01 6.66461717e+00] [ 9.67186042e-01 -2.07040872e-02 2.53224209e-01 -4.37110748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:6.71, Z:-43.68 [[ 2.36718567e-01 -3.00781953e-01 -9.23847681e-01 7.94011226e+01] [ 8.42337747e-02 9.53646303e-01 -2.88900329e-01 6.70707084e+00] [ 9.67919930e-01 -9.43110575e-03 2.51081785e-01 -4.36841863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.41, Y:6.70, Z:-43.66 [[ 2.35730409e-01 -2.90127654e-01 -9.27500468e-01 7.94126529e+01] [ 8.31341192e-02 9.56918535e-01 -2.78200711e-01 6.69678380e+00] [ 9.68256109e-01 -1.15265672e-02 2.49694305e-01 -4.36584971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.42, Y:6.71, Z:-43.63 [[ 2.32415996e-01 -2.98902581e-01 -9.25548514e-01 7.94163271e+01] [ 7.96663396e-02 9.54259688e-01 -2.88169607e-01 6.70699857e+00] [ 9.69348276e-01 -6.75983611e-03 2.45597690e-01 -4.36315229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.42, Y:6.69, Z:-43.60 [[ 2.35909868e-01 -2.85045355e-01 -9.29029429e-01 7.94238585e+01] [ 7.69827127e-02 9.58490238e-01 -2.74536200e-01 6.69376269e+00] [ 9.68720907e-01 -6.75340687e-03 2.48060870e-01 -4.36042338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:6.74, Z:-43.58 [[ 2.75991259e-01 -3.27230817e-01 -9.03741566e-01 7.94210848e+01] [ 8.75496406e-02 9.44911200e-01 -3.15401149e-01 6.74056792e+00] [ 9.57164503e-01 7.92571085e-03 2.89436172e-01 -4.35765460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:6.70, Z:-43.55 [[ 2.76674532e-01 -2.87233137e-01 -9.17032349e-01 7.94385740e+01] [ 8.37827244e-02 9.57860354e-01 -2.74743512e-01 6.70341872e+00] [ 9.57304371e-01 -8.16935820e-04 2.89080740e-01 -4.35488582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.45, Y:6.68, Z:-43.52 [[ 2.47480281e-01 -2.61635920e-01 -9.32898792e-01 7.94495882e+01] [ 7.07189628e-02 9.65159824e-01 -2.51923287e-01 6.68297890e+00] [ 9.66308615e-01 -3.62758926e-03 2.57360645e-01 -4.35232088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:6.74, Z:-43.50 [[ 2.79198528e-01 -3.17030372e-01 -9.06388397e-01 7.94444853e+01] [ 7.80682542e-02 9.48294653e-01 -3.07640374e-01 6.74351258e+00] [ 9.57054612e-01 1.51325796e-02 2.89512478e-01 -4.34963364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:79.46, Y:6.72, Z:-43.47 [[ 2.79219007e-01 -2.89220668e-01 -9.15635381e-01 7.94580781e+01] [ 7.79973184e-02 9.57241279e-01 -2.78577732e-01 6.71607713e+00] [ 9.57054421e-01 6.36709319e-03 2.89838395e-01 -4.34690880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:6.72, Z:-43.44 [[ 2.77815870e-01 -2.91476558e-01 -9.15346797e-01 7.94658393e+01] [ 7.94357570e-02 9.56563763e-01 -2.80491941e-01 6.72014716e+00] [ 9.57344402e-01 5.21384666e-03 2.88902254e-01 -4.34419006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:79.50, Y:6.63, Z:-43.43 [[ 2.44001045e-01 -2.41988952e-01 -9.39097885e-01 7.94973084e+01] [ 1.34113067e-01 9.67482200e-01 -2.14457170e-01 6.63055753e+00] [ 9.60456754e-01 -7.36175234e-02 2.68520548e-01 -4.34273502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:7.00, Z:-43.38 [[ 0.27594765 -0.55941764 -0.78160399 79.36819897] [ 0.0931654 0.82491585 -0.55752493 7.00461068] [ 0.9566468 0.08102925 0.27975195 -43.38026982] [ 0. 0. 0. 1. ]] SLAMing on 87.17591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.50, Y:6.65, Z:-43.36 [[ 2.51705211e-01 -2.21323936e-01 -9.42157207e-01 7.94988162e+01] [ 8.15959211e-02 9.74887000e-01 -2.07213518e-01 6.65366656e+00] [ 9.64358125e-01 -2.47194629e-02 2.63443268e-01 -4.33602762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters Centerline goodness : 0.909032 Centerline is valid? [True, False] Translation: X:79.50, Y:6.61, Z:-43.36 [[ 2.50014863e-01 -1.71772742e-01 -9.52883358e-01 7.95013580e+01] [ 6.59240209e-02 9.84873769e-01 -1.60242575e-01 6.61008685e+00] [ 9.65995130e-01 -2.27548769e-02 2.57557030e-01 -4.33551529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:79.49, Y:6.56, Z:-43.38 [[ 2.64238391e-01 -1.25369393e-01 -9.56274327e-01 7.94937085e+01] [ 5.65188669e-02 9.91824252e-01 -1.14412724e-01 6.56269016e+00] [ 9.62799922e-01 -2.38153074e-02 2.69163780e-01 -4.33837302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:6.55, Z:-43.36 [[ 2.29798626e-01 -1.10293795e-01 -9.66968392e-01 7.94992560e+01] [ 5.43602844e-02 9.93461326e-01 -1.00396975e-01 6.54539191e+00] [ 9.71718864e-01 -2.94935899e-02 2.34291650e-01 -4.33579734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:6.72, Z:-43.33 [[ 2.59892016e-01 -2.80250312e-01 -9.24075702e-01 7.94873559e+01] [ 6.36220679e-02 9.59849268e-01 -2.73206177e-01 6.71791012e+00] [ 9.63539502e-01 1.22124970e-02 2.67287266e-01 -4.33303567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:6.57, Z:-43.30 [[ 2.27175628e-01 -1.41549063e-01 -9.63511856e-01 7.95138741e+01] [ 5.63231148e-02 9.89634015e-01 -1.32106863e-01 6.57286354e+00] [ 9.72223709e-01 -2.42565293e-02 2.32793212e-01 -4.33023391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.52, Y:6.65, Z:-43.28 [[ 2.60757050e-01 -2.16772242e-01 -9.40752654e-01 7.95152557e+01] [ 6.62750046e-02 9.76185334e-01 -2.06566739e-01 6.64602331e+00] [ 9.63126879e-01 -8.48465278e-03 2.68913790e-01 -4.32762078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.53, Y:6.53, Z:-43.25 [[ 2.34133736e-01 -1.06404902e-01 -9.66364005e-01 7.95273314e+01] [ 6.30984181e-02 9.93560049e-01 -9.41117332e-02 6.52830451e+00] [ 9.70154618e-01 -3.89413084e-02 2.39339907e-01 -4.32472152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:6.72, Z:-43.22 [[ 2.57890436e-01 -2.95461959e-01 -9.19888446e-01 7.95138293e+01] [ 7.15647680e-02 9.55319946e-01 -2.86779157e-01 6.72275144e+00] [ 9.63520112e-01 8.12599864e-03 2.67512544e-01 -4.32202954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.55, Y:6.55, Z:-43.19 [[ 2.36115444e-01 -1.12792642e-01 -9.65156628e-01 7.95462742e+01] [ 4.48108407e-02 9.93447700e-01 -1.05136365e-01 6.54854507e+00] [ 9.70691241e-01 -1.84251604e-02 2.39622678e-01 -4.31868914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.55, Y:6.51, Z:-43.16 [[ 2.22219636e-01 -9.10508673e-02 -9.70735892e-01 7.95452600e+01] [ 6.45425896e-02 9.94819850e-01 -7.85348312e-02 6.51079121e+00] [ 9.72858000e-01 -4.52018268e-02 2.26945164e-01 -4.31647944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:6.70, Z:-43.14 [[ 2.63515002e-01 -2.77584150e-01 -9.23854362e-01 7.95395370e+01] [ 7.14916746e-02 9.60690109e-01 -2.68260051e-01 6.70011304e+00] [ 9.62002486e-01 4.64265261e-03 2.73001212e-01 -4.31400773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.56, Y:6.56, Z:-43.11 [[ 2.32203058e-01 -1.43970916e-01 -9.61953281e-01 7.95604126e+01] [ 6.22358610e-02 9.89157474e-01 -1.33019506e-01 6.55977360e+00] [ 9.70674218e-01 -2.89804546e-02 2.38645544e-01 -4.31120545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters Centerline goodness : 0.923593 Centerline is valid? [True, False] Translation: X:79.56, Y:6.53, Z:-43.11 [[ 2.41135662e-01 -1.06647725e-01 -9.64613837e-01 7.95578329e+01] [ 4.86228440e-02 9.94023064e-01 -9.77443955e-02 6.52713449e+00] [ 9.69272620e-01 -2.33326086e-02 2.44879925e-01 -4.31107850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:79.55, Y:6.48, Z:-43.14 [[ 2.53505969e-01 -6.13341197e-02 -9.65387409e-01 7.95497524e+01] [ 3.98128608e-02 9.97803789e-01 -5.29389742e-02 6.48045317e+00] [ 9.66514180e-01 -2.50144885e-02 2.55391103e-01 -4.31374471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:6.52, Z:-43.11 [[ 2.52154950e-01 -1.02837390e-01 -9.62207022e-01 7.95585484e+01] [ 4.10256040e-02 9.94579229e-01 -9.55460943e-02 6.52106911e+00] [ 9.66816829e-01 -1.53827036e-02 2.55007042e-01 -4.31118275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:6.47, Z:-43.09 [[ 2.11283768e-01 -4.82926083e-02 -9.76231014e-01 7.95615426e+01] [ 3.49438818e-02 9.98513398e-01 -4.18320467e-02 6.46785516e+00] [ 9.76799926e-01 -2.52748687e-02 2.12657204e-01 -4.30856575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:6.63, Z:-43.06 [[ 2.50253511e-01 -2.03332650e-01 -9.46588091e-01 7.95667028e+01] [ 3.87142822e-02 9.79017739e-01 -2.00063669e-01 6.62579727e+00] [ 9.67406008e-01 1.34201570e-02 2.52874504e-01 -4.30574692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.58, Y:6.52, Z:-43.03 [[ 2.52708652e-01 -1.04368792e-01 -9.61896820e-01 7.95770937e+01] [ 3.33801193e-02 9.94513640e-01 -9.91382236e-02 6.52292977e+00] [ 9.66966445e-01 -7.05514381e-03 2.54806044e-01 -4.30281465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:6.52, Z:-43.00 [[ 2.53340512e-01 -1.06311053e-01 -9.61517834e-01 7.95825411e+01] [ 3.25183475e-02 9.94317232e-01 -1.01369620e-01 6.52488008e+00] [ 9.66830462e-01 -5.58593953e-03 2.55357897e-01 -4.30008114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:79.59, Y:6.45, Z:-42.97 [[ 2.22932196e-01 -1.67856938e-02 -9.74689426e-01 7.95898803e+01] [ 4.11916630e-03 9.99859036e-01 -1.62770134e-02 6.45087940e+00] [ 9.74825250e-01 -3.86237504e-04 2.22969914e-01 -4.29705752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.59, Y:6.49, Z:-42.95 [[ 2.14921650e-01 -7.14828858e-02 -9.74011746e-01 7.95921063e+01] [ 2.79673682e-02 9.97359238e-01 -6.70251913e-02 6.49063573e+00] [ 9.76230767e-01 -1.28353805e-02 2.16353281e-01 -4.29458970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.60, Y:6.54, Z:-42.92 [[ 2.16009060e-01 -1.20809677e-01 -9.68888594e-01 7.95989716e+01] [ 2.76497831e-02 9.92674723e-01 -1.17611157e-01 6.54039408e+00] [ 9.75999783e-01 -1.38448399e-03 2.17767095e-01 -4.29207395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:6.57, Z:-42.89 [[ 2.56567984e-01 -1.47260315e-01 -9.55241995e-01 7.96056677e+01] [ 3.44719924e-02 9.89090407e-01 -1.43219578e-01 6.56630949e+00] [ 9.65911254e-01 3.81646361e-03 2.58845288e-01 -4.28930631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:6.42, Z:-42.86 [[ 2.19321562e-01 -7.24391098e-03 -9.75625737e-01 7.96036897e+01] [ 3.15217094e-02 9.99503011e-01 -3.35087824e-04 6.42483301e+00] [ 9.75143289e-01 -3.06798989e-02 2.19440902e-01 -4.28627789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.61, Y:6.59, Z:-42.84 [[ 2.25283349e-01 -1.69105991e-01 -9.59505381e-01 7.96136716e+01] [ 3.19000947e-02 9.85574163e-01 -1.66210569e-01 6.58886240e+00] [ 9.73770916e-01 6.83616109e-03 2.27427946e-01 -4.28390299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:6.53, Z:-42.81 [[ 2.22816942e-01 -1.07981797e-01 -9.68861467e-01 7.96212779e+01] [ 3.39151974e-02 9.94103477e-01 -1.02995323e-01 6.52619787e+00] [ 9.74270173e-01 -9.91002512e-03 2.25165321e-01 -4.28115582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:6.53, Z:-42.78 [[ 2.24907742e-01 -1.16468591e-01 -9.67394219e-01 7.96291037e+01] [ 3.54489963e-02 9.93151257e-01 -1.11328113e-01 6.53464035e+00] [ 9.73735013e-01 -9.25459940e-03 2.27496102e-01 -4.27847232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:6.51, Z:-42.76 [[ 2.22762371e-01 -9.27755582e-02 -9.70448155e-01 7.96356111e+01] [ 3.72308816e-02 9.95544748e-01 -8.66286156e-02 6.51015000e+00] [ 9.74161582e-01 -1.68330445e-02 2.25224024e-01 -4.27573411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.64, Y:6.57, Z:-42.73 [[ 2.62160888e-01 -1.58035805e-01 -9.51995984e-01 7.96419280e+01] [ 4.57382607e-02 9.87425791e-01 -1.51321906e-01 6.57381441e+00] [ 9.63939666e-01 -3.87195533e-03 2.66092705e-01 -4.27312640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:6.49, Z:-42.70 [[ 2.26277559e-01 -7.96486252e-02 -9.70800990e-01 7.96457173e+01] [ 4.09709496e-02 9.96547493e-01 -7.22113306e-02 6.49445706e+00] [ 9.73200826e-01 -2.34348348e-02 2.28759614e-01 -4.27014022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:6.58, Z:-42.68 [[ 2.62018306e-01 -1.62707189e-01 -9.51248011e-01 7.96554192e+01] [ 4.87221278e-02 9.86658257e-01 -1.55343612e-01 6.57771409e+00] [ 9.63832227e-01 -5.64395703e-03 2.66449966e-01 -4.26761719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:6.48, Z:-42.65 [[ 2.23240702e-01 -6.61120733e-02 -9.72518783e-01 7.96600210e+01] [ 4.35076399e-02 9.97378824e-01 -5.78149305e-02 6.47866530e+00] [ 9.73791905e-01 -2.94053513e-02 2.25531929e-01 -4.26471670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.67, Y:6.57, Z:-42.62 [[ 2.27233581e-01 -1.56570542e-01 -9.61171454e-01 7.96687995e+01] [ 4.32322458e-02 9.87639665e-01 -1.50661424e-01 6.56792826e+00] [ 9.72880194e-01 -7.31826566e-03 2.31193794e-01 -4.26213272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:6.57, Z:-42.59 [[ 2.59955265e-01 -1.58778188e-01 -9.52477164e-01 7.96767770e+01] [ 4.91537097e-02 9.87285629e-01 -1.51165469e-01 6.56922719e+00] [ 9.64368795e-01 -7.52152642e-03 2.64454635e-01 -4.25938259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:6.50, Z:-42.56 [[ 2.28430402e-01 -9.27579171e-02 -9.69131323e-01 7.96807335e+01] [ 4.40359418e-02 9.95416403e-01 -8.48941752e-02 6.50221963e+00] [ 9.72563822e-01 -2.32842000e-02 2.31468051e-01 -4.25646580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:6.51, Z:-42.54 [[ 2.19502617e-01 -1.01492755e-01 -9.70318413e-01 7.96851512e+01] [ 4.05692611e-02 9.94663455e-01 -9.48617222e-02 6.51226592e+00] [ 9.74768042e-01 -1.85427047e-02 2.22448718e-01 -4.25392072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:6.62, Z:-42.51 [[ 2.67245723e-01 -2.08572601e-01 -9.40785413e-01 7.96893164e+01] [ 4.57091426e-02 9.77939637e-01 -2.03825270e-01 6.62308327e+00] [ 9.62543712e-01 1.14689370e-02 2.70883860e-01 -4.25131042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.70, Y:6.50, Z:-42.48 [[ 2.31873481e-01 -8.24384565e-02 -9.69246403e-01 7.96962787e+01] [ 3.45654043e-02 9.96471417e-01 -7.64849523e-02 6.49627872e+00] [ 9.72131638e-01 -1.57675617e-02 2.33904815e-01 -4.24822228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:6.59, Z:-42.46 [[ 2.71706896e-01 -1.72408758e-01 -9.46810743e-01 7.97055200e+01] [ 3.92941442e-02 9.84989113e-01 -1.68084552e-01 6.58903332e+00] [ 9.61577523e-01 8.46561395e-03 2.74402989e-01 -4.24581518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.71, Y:6.47, Z:-42.43 [[ 2.15386632e-01 -5.64039260e-02 -9.74898557e-01 7.97098577e+01] [ 2.90014732e-02 9.98259627e-01 -5.13481450e-02 6.47409724e+00] [ 9.76098106e-01 -1.72137904e-02 2.16647576e-01 -4.24263748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.72, Y:6.57, Z:-42.40 [[ 2.32872814e-01 -1.49055656e-01 -9.61016474e-01 7.97210164e+01] [ 3.00431947e-02 9.88815408e-01 -1.46087284e-01 6.56937313e+00] [ 9.72043034e-01 5.14775175e-03 2.34746334e-01 -4.24037784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.73, Y:6.54, Z:-42.38 [[ 2.33734346e-01 -1.17601619e-01 -9.65162222e-01 7.97279703e+01] [ 3.12483653e-02 9.93054158e-01 -1.13432704e-01 6.53763402e+00] [ 9.71798228e-01 -3.64662268e-03 2.35785723e-01 -4.23760844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:6.55, Z:-42.35 [[ 2.37042432e-01 -1.26491381e-01 -9.63229368e-01 7.97324278e+01] [ 3.29339249e-02 9.91963851e-01 -1.22160042e-01 6.54717876e+00] [ 9.70940905e-01 -2.76581014e-03 2.39303382e-01 -4.23499883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:6.56, Z:-42.32 [[ 2.38663592e-01 -1.34890695e-01 -9.61688198e-01 7.97385234e+01] [ 3.31262101e-02 9.90860272e-01 -1.30761520e-01 6.55725977e+00] [ 9.70537142e-01 -6.49071292e-04 2.40950689e-01 -4.23229507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:6.55, Z:-42.30 [[ 2.37931147e-01 -1.24034246e-01 -9.63329785e-01 7.97451516e+01] [ 3.38497552e-02 9.92269051e-01 -1.19399850e-01 6.54734486e+00] [ 9.70692002e-01 -4.19953403e-03 2.40290243e-01 -4.22956245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:6.47, Z:-42.27 [[ 2.35223239e-01 -5.12557210e-02 -9.70588934e-01 7.97488958e+01] [ 3.45056461e-02 9.98419396e-01 -4.43629375e-02 6.47445637e+00] [ 9.71328672e-01 -2.30556044e-02 2.36620056e-01 -4.22686171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:6.73, Z:-42.24 [[ 2.80292893e-01 -2.91842290e-01 -9.14474697e-01 7.97423362e+01] [ 4.17365881e-02 9.55466922e-01 -2.92131850e-01 6.72565881e+00] [ 9.59006752e-01 4.37154278e-02 2.79991090e-01 -4.22448736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:6.57, Z:-42.22 [[ 2.81279729e-01 -1.43820950e-01 -9.48787251e-01 7.97663795e+01] [ 3.77908508e-02 9.89598593e-01 -1.38803730e-01 6.57307971e+00] [ 9.58881414e-01 3.18719800e-03 2.83789140e-01 -4.22164265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:6.58, Z:-42.19 [[ 2.83321290e-01 -1.45476006e-01 -9.47927096e-01 7.97738137e+01] [ 3.74772156e-02 9.89352355e-01 -1.40632055e-01 6.57587691e+00] [ 9.58292495e-01 4.31838715e-03 2.85756621e-01 -4.21899065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:6.50, Z:-42.16 [[ 2.32368328e-01 -6.74982143e-02 -9.70282923e-01 7.97749351e+01] [ 2.96874926e-02 9.97616465e-01 -6.22899728e-02 6.49779145e+00] [ 9.72174682e-01 -1.43310503e-02 2.33818323e-01 -4.21600550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:6.63, Z:-42.14 [[ 2.47141139e-01 -1.92301065e-01 -9.49706037e-01 7.97796199e+01] [ 2.70681105e-02 9.81097156e-01 -1.91613381e-01 6.62876119e+00] [ 9.68601350e-01 2.16488013e-02 2.47674695e-01 -4.21359392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.79, Y:6.53, Z:-42.11 [[ 2.41258796e-01 -9.55404595e-02 -9.65746454e-01 7.97888947e+01] [ 2.70100198e-02 9.95417692e-01 -9.17282776e-02 6.53301625e+00] [ 9.70084869e-01 -3.95457706e-03 2.42733823e-01 -4.21074085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.80, Y:6.57, Z:-42.08 [[ 2.43549793e-01 -1.33847522e-01 -9.60608317e-01 7.97952497e+01] [ 2.55211922e-02 9.90973275e-01 -1.31607892e-01 6.57330284e+00] [ 9.69552560e-01 7.53720546e-03 2.44767284e-01 -4.20815835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:6.56, Z:-42.06 [[ 2.46315119e-01 -1.18024743e-01 -9.61976622e-01 7.98034597e+01] [ 2.93925946e-02 9.93010647e-01 -1.14306297e-01 6.55537895e+00] [ 9.68744000e-01 -1.19619624e-04 2.48062590e-01 -4.20555301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:6.61, Z:-42.03 [[ 2.88373215e-01 -1.74984037e-01 -9.41393369e-01 7.98109541e+01] [ 3.80483553e-02 9.84477467e-01 -1.71337212e-01 6.61413558e+00] [ 9.56761836e-01 1.35905932e-02 2.90554787e-01 -4.20311761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:6.60, Z:-42.00 [[ 2.89264340e-01 -1.57470217e-01 -9.44208278e-01 7.98193408e+01] [ 3.95162562e-02 9.87500148e-01 -1.52584152e-01 6.59701088e+00] [ 9.56433274e-01 6.82557766e-03 2.91871212e-01 -4.20038316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.82, Y:6.55, Z:-41.98 [[ 2.50600103e-01 -1.13972392e-01 -9.61358353e-01 7.98240406e+01] [ 3.44819310e-02 9.93466477e-01 -1.08790416e-01 6.55293779e+00] [ 9.67476400e-01 -5.88660284e-03 2.52892789e-01 -4.19750274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:6.58, Z:-41.95 [[ 2.50116218e-01 -1.33812814e-01 -9.58924402e-01 7.98295818e+01] [ 3.30897446e-02 9.91006378e-01 -1.29658887e-01 6.57669177e+00] [ 9.67650219e-01 6.99226761e-04 2.52294599e-01 -4.19498946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.84, Y:6.64, Z:-41.93 [[ 2.93408008e-01 -1.94320208e-01 -9.36029592e-01 7.98354982e+01] [ 4.18065610e-02 9.80794884e-01 -1.90508813e-01 6.64141455e+00] [ 9.55072747e-01 1.67646332e-02 2.95896933e-01 -4.19254639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:79.84, Y:6.55, Z:-41.90 [[ 2.48164630e-01 -1.00463445e-01 -9.63494376e-01 7.98438140e+01] [ 3.55265353e-02 9.94882600e-01 -9.45858185e-02 6.54500007e+00] [ 9.68066207e-01 -1.07567623e-02 2.50463791e-01 -4.18963611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:79.85, Y:6.62, Z:-41.87 [[ 2.52014874e-01 -1.77269346e-01 -9.51348560e-01 7.98473435e+01] [ 3.54750373e-02 9.84110593e-01 -1.73976617e-01 6.62381650e+00] [ 9.67072916e-01 1.00955696e-02 2.54299144e-01 -4.18730582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:6.66, Z:-41.85 [[ 2.96565225e-01 -2.13910115e-01 -9.30747834e-01 7.98535865e+01] [ 4.61281001e-02 9.76663158e-01 -2.09764805e-01 6.66388248e+00] [ 9.53897932e-01 1.92753174e-02 2.99511597e-01 -4.18469202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.87, Y:6.57, Z:-41.82 [[ 2.54001464e-01 -1.19617418e-01 -9.59778584e-01 7.98654200e+01] [ 4.06048670e-02 9.92766902e-01 -1.12982848e-01 6.56751439e+00] [ 9.66351127e-01 -1.02738730e-02 2.57021296e-01 -4.18182188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09591999999999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:79.87, Y:6.63, Z:-41.79 [[ 2.56685100e-01 -1.75949679e-01 -9.50344395e-01 7.98700675e+01] [ 4.04695955e-02 9.84383710e-01 -1.71321109e-01 6.62663054e+00] [ 9.65647436e-01 5.51552275e-03 2.59797244e-01 -4.17932790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:6.66, Z:-41.77 [[ 2.96317833e-01 -2.06915699e-01 -9.32406368e-01 7.98764753e+01] [ 5.01357546e-02 9.78274242e-01 -2.01161410e-01 6.65928028e+00] [ 9.53772587e-01 1.28608164e-02 3.00253979e-01 -4.17670939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:79.89, Y:6.56, Z:-41.74 [[ 2.50824529e-01 -1.12270060e-01 -9.61500125e-01 7.98855943e+01] [ 4.44539045e-02 9.93539854e-01 -1.04414598e-01 6.56242166e+00] [ 9.67011327e-01 -1.65526924e-02 2.54195008e-01 -4.17380350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.89, Y:6.64, Z:-41.71 [[ 2.54177455e-01 -1.84515703e-01 -9.49393373e-01 7.98893988e+01] [ 4.40624596e-02 9.82822525e-01 -1.79216024e-01 6.63731204e+00] [ 9.66153363e-01 3.72006582e-03 2.57941544e-01 -4.17136934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:6.66, Z:-41.69 [[ 2.65102858e-01 -2.01604140e-01 -9.42908397e-01 7.98959560e+01] [ 4.57679279e-02 9.79426198e-01 -1.96544191e-01 6.65528346e+00] [ 9.63133309e-01 8.94946325e-03 2.68875688e-01 -4.16877584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:79.91, Y:6.62, Z:-41.66 [[ 2.61926343e-01 -1.66221612e-01 -9.50665539e-01 7.99051600e+01] [ 4.44516545e-02 9.86088374e-01 -1.60167939e-01 6.61929779e+00] [ 9.64063608e-01 -3.06453482e-04 2.65671348e-01 -4.16603222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.91, Y:6.55, Z:-41.63 [[ 2.61097787e-01 -9.50670394e-02 -9.60619698e-01 7.99129114e+01] [ 4.42870574e-02 9.95270569e-01 -8.64589535e-02 6.54728307e+00] [ 9.64295910e-01 -1.99687782e-02 2.64073183e-01 -4.16334975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:6.77, Z:-41.61 [[ 2.73123140e-01 -3.07104817e-01 -9.11641586e-01 7.99002923e+01] [ 4.00558307e-02 9.50481699e-01 -3.08188369e-01 6.77242569e+00] [ 9.61144776e-01 4.76568141e-02 2.71899885e-01 -4.16080361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.93, Y:6.61, Z:-41.58 [[ 2.72740463e-01 -1.53838970e-01 -9.49708487e-01 7.99289059e+01] [ 4.19754375e-02 9.88095805e-01 -1.48002511e-01 6.61372243e+00] [ 9.61171526e-01 5.01844268e-04 2.75951166e-01 -4.15796880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.94, Y:6.63, Z:-41.55 [[ 2.72756666e-01 -1.65111066e-01 -9.47809125e-01 7.99359192e+01] [ 4.22130977e-02 9.86268630e-01 -1.59662908e-01 6.62753489e+00] [ 9.61156520e-01 3.53916321e-03 2.75981192e-01 -4.15539285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:79.94, Y:6.65, Z:-41.53 [[ 2.76509578e-01 -1.81133429e-01 -9.43786594e-01 7.99424862e+01] [ 4.35741665e-02 9.83429670e-01 -1.75975496e-01 6.64580119e+00] [ 9.60022784e-01 7.53419604e-03 2.79820461e-01 -4.15285521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.95, Y:6.65, Z:-41.50 [[ 2.78320953e-01 -1.85142417e-01 -9.42475322e-01 7.99509932e+01] [ 4.42278817e-02 9.82675729e-01 -1.79978626e-01 6.65158427e+00] [ 9.59469302e-01 8.40813556e-03 2.81687702e-01 -4.15021016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:6.62, Z:-41.48 [[ 2.76746737e-01 -1.56891129e-01 -9.48048742e-01 7.99613886e+01] [ 4.65560392e-02 9.87612302e-01 -1.49848179e-01 6.62223815e+00] [ 9.59814450e-01 -2.66739989e-03 2.80622711e-01 -4.14753839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:6.69, Z:-41.45 [[ 2.83807255e-01 -2.15209704e-01 -9.34418656e-01 7.99624684e+01] [ 4.74719294e-02 9.76446828e-01 -2.10470920e-01 6.68637075e+00] [ 9.57705517e-01 1.53745178e-02 2.87339114e-01 -4.14487351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:6.68, Z:-41.42 [[ 3.13884550e-01 -2.08250491e-01 -9.26341310e-01 7.99736378e+01] [ 5.74806358e-02 9.78027883e-01 -2.00393204e-01 6.68233361e+00] [ 9.47719614e-01 9.65364317e-03 3.18958212e-01 -4.14219486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:6.58, Z:-41.39 [[ 2.62825886e-01 -1.11179879e-01 -9.58416187e-01 7.99854426e+01] [ 5.48510386e-02 9.93453973e-01 -1.00202627e-01 6.58159205e+00] [ 9.63282885e-01 -2.62342790e-02 2.67203752e-01 -4.13924508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:79.98, Y:6.76, Z:-41.37 [[ 3.14546916e-01 -2.82305049e-01 -9.06291398e-01 7.99760216e+01] [ 6.72020039e-02 9.58979856e-01 -2.75393403e-01 6.76084434e+00] [ 9.46860142e-01 2.57195475e-02 3.20615621e-01 -4.13678003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:80.00, Y:6.67, Z:-41.34 [[ 3.15071945e-01 -1.92576842e-01 -9.29324394e-01 7.99964917e+01] [ 6.73198482e-02 9.81265421e-01 -1.80516515e-01 6.66669701e+00] [ 9.46677193e-01 -5.68628779e-03 3.22133448e-01 -4.13387197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:80.01, Y:6.56, Z:-41.31 [[ 2.75970113e-01 -8.97231025e-02 -9.56969311e-01 8.00054865e+01] [ 6.53033283e-02 9.95083174e-01 -7.44644389e-02 6.56003174e+00] [ 9.58945239e-01 -4.19433214e-02 2.80472433e-01 -4.13104161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:6.76, Z:-41.29 [[ 2.82104575e-01 -2.81338151e-01 -9.17205459e-01 7.99988005e+01] [ 6.70105278e-02 9.59479464e-01 -2.73694623e-01 6.76119815e+00] [ 9.57040541e-01 1.57480833e-02 2.89526164e-01 -4.12912593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.02, Y:6.66, Z:-41.26 [[ 2.88505436e-01 -1.82704737e-01 -9.39884883e-01 8.00164075e+01] [ 7.05459163e-02 9.83013447e-01 -1.69433870e-01 6.65728824e+00] [ 9.54875849e-01 -1.74224478e-02 2.96493796e-01 -4.12632110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:6.74, Z:-41.24 [[ 2.86164127e-01 -2.57801064e-01 -9.22848148e-01 8.00158604e+01] [ 6.97620484e-02 9.66175018e-01 -2.48272213e-01 6.73746724e+00] [ 9.55637666e-01 6.66682413e-03 2.94469361e-01 -4.12384357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.03, Y:6.73, Z:-41.21 [[ 3.20345298e-01 -2.47917512e-01 -9.14284309e-01 8.00293834e+01] [ 7.98993674e-02 9.68778795e-01 -2.34699250e-01 6.72673711e+00] [ 9.43925305e-01 2.13406349e-03 3.30152184e-01 -4.12096869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.04, Y:6.68, Z:-41.18 [[ 3.21611218e-01 -2.01195351e-01 -9.25249510e-01 8.00438763e+01] [ 8.06837631e-02 9.79433567e-01 -1.84932470e-01 6.67667553e+00] [ 9.43427981e-01 -1.51762553e-02 3.31230021e-01 -4.11818852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.05, Y:6.68, Z:-41.16 [[ 3.23132827e-01 -2.03201655e-01 -9.24280403e-01 8.00520187e+01] [ 8.25209046e-02 9.79005422e-01 -1.86383167e-01 6.67799437e+00] [ 9.42748893e-01 -1.60459352e-02 3.33117174e-01 -4.11553363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.06, Y:6.68, Z:-41.13 [[ 3.21786856e-01 -2.05367624e-01 -9.24271258e-01 8.00609637e+01] [ 8.44522180e-02 9.78527461e-01 -1.88020827e-01 6.67747451e+00] [ 9.43038198e-01 -1.75541272e-02 3.32221026e-01 -4.11290958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.07, Y:6.64, Z:-41.10 [[ 2.85708499e-01 -1.73284139e-01 -9.42519634e-01 8.00708297e+01] [ 8.06149076e-02 9.84375789e-01 -1.56542464e-01 6.64099285e+00] [ 9.54919834e-01 -3.12556207e-02 2.95213814e-01 -4.11033732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:80.07, Y:6.70, Z:-41.08 [[ 2.85844595e-01 -2.31482547e-01 -9.29897144e-01 8.00744003e+01] [ 8.07370303e-02 9.72752811e-01 -2.17332698e-01 6.70243170e+00] [ 9.54868787e-01 -1.29537570e-02 2.96745346e-01 -4.10787887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.08, Y:6.68, Z:-41.05 [[ 2.85057154e-01 -2.11082289e-01 -9.34979511e-01 8.00848390e+01] [ 8.11300784e-02 9.77263373e-01 -1.95893362e-01 6.68169151e+00] [ 9.55070851e-01 -2.00141568e-02 2.95701038e-01 -4.10508897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.09, Y:6.70, Z:-41.03 [[ 2.86279095e-01 -2.26657649e-01 -9.30951443e-01 8.00944427e+01] [ 8.16010180e-02 9.73854742e-01 -2.12009942e-01 6.69756909e+00] [ 9.54665153e-01 -1.52725714e-02 2.97289749e-01 -4.10252998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:80.10, Y:6.70, Z:-41.00 [[ 3.22382578e-01 -2.32491265e-01 -9.17614998e-01 8.01022746e+01] [ 9.02199206e-02 9.72503798e-01 -2.14701490e-01 6.70235159e+00] [ 9.42300291e-01 -1.35711325e-02 3.34493625e-01 -4.09973698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:80.11, Y:6.68, Z:-40.97 [[ 3.24898793e-01 -2.13100527e-01 -9.21427664e-01 8.01117328e+01] [ 8.84165289e-02 9.76860804e-01 -1.94744672e-01 6.68206614e+00] [ 9.41606761e-01 -1.81971267e-02 3.36222505e-01 -4.09698202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:80.12, Y:6.69, Z:-40.94 [[ 3.24381882e-01 -2.14265121e-01 -9.21339705e-01 8.01207498e+01] [ 8.77221690e-02 9.76624688e-01 -1.96237201e-01 6.68546071e+00] [ 9.41849890e-01 -1.71661249e-02 3.35595156e-01 -4.09436073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:80.13, Y:6.64, Z:-40.92 [[ 2.86953053e-01 -1.70308291e-01 -9.42683951e-01 8.01307902e+01] [ 7.64036272e-02 9.85003278e-01 -1.54696567e-01 6.64054376e+00] [ 9.54892890e-01 -2.76338211e-02 2.95661869e-01 -4.09152922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:80.13, Y:6.74, Z:-40.89 [[ 3.22087017e-01 -2.61033743e-01 -9.10011724e-01 8.01333982e+01] [ 8.47324894e-02 9.65326646e-01 -2.46910657e-01 6.73592796e+00] [ 9.42910578e-01 2.41915827e-03 3.33037219e-01 -4.08921960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:80.15, Y:6.57, Z:-40.86 [[ 2.65689228e-01 -1.04234720e-01 -9.58407198e-01 8.01471426e+01] [ 7.44637103e-02 9.93386659e-01 -8.73962289e-02 6.57027861e+00] [ 9.61178646e-01 -4.81463194e-02 2.71693839e-01 -4.08575724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17591999999999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:80.15, Y:6.70, Z:-40.84 [[ 2.83317151e-01 -2.27703459e-01 -9.31602129e-01 8.01502217e+01] [ 7.38921832e-02 9.73699465e-01 -2.15520990e-01 6.70174836e+00] [ 9.56175370e-01 -7.77732228e-03 2.92691264e-01 -4.08401885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:80.16, Y:6.64, Z:-40.81 [[ 2.88875959e-01 -1.70425371e-01 -9.42075301e-01 8.01604988e+01] [ 7.63205666e-02 9.84995504e-01 -1.54787040e-01 6.64341504e+00] [ 9.54319575e-01 -2.71854659e-02 2.97548482e-01 -4.08130418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:6.84, Z:-40.79 [[ 3.17967356e-01 -3.49308233e-01 -8.81408259e-01 8.01459053e+01] [ 8.41126680e-02 9.36383156e-01 -3.40751587e-01 6.83620161e+00] [ 9.44363182e-01 3.42102810e-02 3.27120524e-01 -4.07919269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:6.69, Z:-40.76 [[ 3.33394640e-01 -2.15273186e-01 -9.17880967e-01 8.01772035e+01] [ 8.83723304e-02 9.76431362e-01 -1.96906391e-01 6.69012543e+00] [ 9.38636429e-01 -1.54677446e-02 3.44561176e-01 -4.07624041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:6.70, Z:-40.74 [[ 3.34687193e-01 -2.23307894e-01 -9.15487885e-01 8.01852071e+01] [ 9.01630295e-02 9.74647312e-01 -2.04776088e-01 6.69943926e+00] [ 9.38005923e-01 -1.40072272e-02 3.46336089e-01 -4.07360529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:6.70, Z:-40.71 [[ 3.34546212e-01 -2.24901737e-01 -9.15149190e-01 8.01940647e+01] [ 9.06813110e-02 9.74281220e-01 -2.06283796e-01 6.70271972e+00] [ 9.38006254e-01 -1.39754657e-02 3.46336476e-01 -4.07090810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.20, Y:6.59, Z:-40.68 [[ 2.78617134e-01 -1.21254106e-01 -9.52717132e-01 8.02015623e+01] [ 8.17607295e-02 9.91391395e-01 -1.02265756e-01 6.59450810e+00] [ 9.56915710e-01 -4.94018560e-02 2.86132453e-01 -4.06754350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.21, Y:6.72, Z:-40.66 [[ 2.92116788e-01 -2.38595994e-01 -9.26142394e-01 8.02076294e+01] [ 8.26222444e-02 9.71055996e-01 -2.24106711e-01 6.71898289e+00] [ 9.52807088e-01 -1.10546307e-02 3.03375095e-01 -4.06593560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:6.77, Z:-40.64 [[ 3.36593142e-01 -2.88041612e-01 -8.96513852e-01 8.02106544e+01] [ 1.02148045e-01 9.57617447e-01 -2.69322489e-01 6.76669488e+00] [ 9.36093389e-01 -9.25034090e-04 3.51750353e-01 -4.06369934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.23, Y:6.65, Z:-40.60 [[ 2.96699786e-01 -1.79335969e-01 -9.37980729e-01 8.02258637e+01] [ 9.28819142e-02 9.82971216e-01 -1.58557684e-01 6.64981688e+00] [ 9.50443153e-01 -4.00774147e-02 3.08304417e-01 -4.06041686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.23, Y:6.76, Z:-40.58 [[ 3.38989574e-01 -2.84955122e-01 -8.96597260e-01 8.02272621e+01] [ 1.06633891e-01 9.58522042e-01 -2.64319331e-01 6.76215137e+00] [ 9.34727384e-01 -6.00615727e-03 3.55314852e-01 -4.05827939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:80.24, Y:6.71, Z:-40.55 [[ 3.40075187e-01 -2.39524333e-01 -9.09382736e-01 8.02421218e+01] [ 1.08412852e-01 9.70556995e-01 -2.15094798e-01 6.71056492e+00] [ 9.34128214e-01 -2.54403724e-02 3.56029868e-01 -4.05543080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.25, Y:6.58, Z:-40.52 [[ 2.92620567e-01 -1.15732292e-01 -9.49199263e-01 8.02536089e+01] [ 9.90120606e-02 9.90980321e-01 -9.03029127e-02 6.58001324e+00] [ 9.51088753e-01 -6.75576855e-02 3.01440116e-01 -4.05197821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.26, Y:6.72, Z:-40.51 [[ 3.05236832e-01 -2.46879604e-01 -9.19717858e-01 8.02557546e+01] [ 9.93221983e-02 9.68795670e-01 -2.27090402e-01 6.71524821e+00] [ 9.47082667e-01 -2.20320445e-02 3.20232746e-01 -4.05076654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:80.26, Y:6.74, Z:-40.48 [[ 3.02806080e-01 -2.70496530e-01 -9.13860003e-01 8.02638106e+01] [ 9.87377616e-02 9.62621163e-01 -2.52212909e-01 6.74140217e+00] [ 9.47923695e-01 -1.38608889e-02 3.18195763e-01 -4.04813502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.28, Y:6.73, Z:-40.46 [[ 3.32382708e-01 -2.62831035e-01 -9.05782304e-01 8.02765683e+01] [ 1.04528291e-01 9.64734668e-01 -2.41579919e-01 6.73204691e+00] [ 9.37334290e-01 -1.43828883e-02 3.48134400e-01 -4.04559348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.29, Y:6.61, Z:-40.42 [[ 2.97906031e-01 -1.51248421e-01 -9.42536955e-01 8.02882200e+01] [ 9.67723389e-02 9.87066555e-01 -1.27807396e-01 6.61204963e+00] [ 9.49677372e-01 -5.31369116e-02 3.08689743e-01 -4.04228106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.28, Y:6.81, Z:-40.41 [[ 3.36580678e-01 -3.36770254e-01 -8.79374348e-01 8.02830154e+01] [ 9.95937883e-02 9.41354224e-01 -3.22386884e-01 6.81331037e+00] [ 9.36373069e-01 2.09289734e-02 3.50381868e-01 -4.04058013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:80.31, Y:6.62, Z:-40.37 [[ 3.12524289e-01 -1.53925332e-01 -9.37355621e-01 8.03050070e+01] [ 9.19851126e-02 9.87050308e-01 -1.31417000e-01 6.61582607e+00] [ 9.45445560e-01 -4.51517577e-02 3.22636035e-01 -4.03714064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.31, Y:6.77, Z:-40.35 [[ 3.10641607e-01 -2.89736200e-01 -9.05292619e-01 8.03072946e+01] [ 8.38052656e-02 9.57050595e-01 -2.77544294e-01 6.76715004e+00] [ 9.46825469e-01 1.03485172e-02 3.21581154e-01 -4.03519564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.33, Y:6.74, Z:-40.33 [[ 3.40675733e-01 -2.63186063e-01 -9.02592456e-01 8.03254990e+01] [ 8.86131091e-02 9.64734792e-01 -2.47859834e-01 6.74015122e+00] [ 9.35995599e-01 4.45830690e-03 3.51983468e-01 -4.03257607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.34, Y:6.71, Z:-40.30 [[ 3.43727910e-01 -2.34414007e-01 -9.09341079e-01 8.03375240e+01] [ 8.67756333e-02 9.72128443e-01 -2.17798713e-01 6.71057223e+00] [ 9.35051396e-01 -4.04515163e-03 3.54489102e-01 -4.02968015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:80.34, Y:6.66, Z:-40.27 [[ 3.14029035e-01 -1.85336572e-01 -9.31147743e-01 8.03437645e+01] [ 8.04567743e-02 9.82428094e-01 -1.68409464e-01 6.65947402e+00] [ 9.45998136e-01 -2.20316824e-02 3.23422529e-01 -4.02668020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:80.35, Y:6.73, Z:-40.24 [[ 3.21212393e-01 -2.45806648e-01 -9.14549993e-01 8.03480222e+01] [ 8.04439911e-02 9.69318324e-01 -2.32273011e-01 6.72787290e+00] [ 9.43584317e-01 1.03891834e-03 3.31130726e-01 -4.02442459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89591999999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:80.36, Y:6.64, Z:-40.22 [[ 3.20761710e-01 -1.54963114e-01 -9.34397324e-01 8.03591340e+01] [ 7.94050711e-02 9.87452084e-01 -1.36503541e-01 6.63542541e+00] [ 9.43825598e-01 -3.04107767e-02 3.29041676e-01 -4.02160080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:6.85, Z:-40.20 [[ 3.58741220e-01 -3.47723132e-01 -8.66252481e-01 8.03490931e+01] [ 8.77552060e-02 9.36477982e-01 -3.39570337e-01 6.85113707e+00] [ 9.29302836e-01 4.57997118e-02 3.66467768e-01 -4.02022526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:6.67, Z:-40.17 [[ 3.24975686e-01 -1.83810083e-01 -9.27687801e-01 8.03775527e+01] [ 7.83090865e-02 9.82791800e-01 -1.67296037e-01 6.67374054e+00] [ 9.42474663e-01 -1.82792397e-02 3.33777440e-01 -4.01677437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.38, Y:6.75, Z:-40.14 [[ 3.34957807e-01 -2.52027718e-01 -9.07901590e-01 8.03797724e+01] [ 7.91875757e-02 9.67684447e-01 -2.39407892e-01 6.75160602e+00] [ 9.38899673e-01 8.29701667e-03 3.44090924e-01 -4.01442179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.39, Y:6.72, Z:-40.12 [[ 3.34552382e-01 -2.20550543e-01 -9.16205306e-01 8.03902827e+01] [ 7.78603585e-02 9.75372843e-01 -2.06362745e-01 6.72453417e+00] [ 9.39155189e-01 -2.29692584e-03 3.43485452e-01 -4.01156751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:6.74, Z:-40.09 [[ 3.36779347e-01 -2.29220115e-01 -9.13256705e-01 8.03993232e+01] [ 7.80840107e-02 9.73373785e-01 -2.15514179e-01 6.73681930e+00] [ 9.38340321e-01 1.26997816e-03 3.45710614e-01 -4.00898943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:6.73, Z:-40.06 [[ 3.38934647e-01 -2.19625500e-01 -9.14815798e-01 8.04094902e+01] [ 7.97097940e-02 9.75577810e-01 -2.04680936e-01 6.72909387e+00] [ 9.37427146e-01 -3.54631815e-03 3.48163424e-01 -4.00628133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:6.75, Z:-40.04 [[ 3.57017780e-01 -2.35506055e-01 -9.03922122e-01 8.04212533e+01] [ 8.64574361e-02 9.71872880e-01 -2.19062131e-01 6.75011791e+00] [ 9.30087854e-01 5.82864703e-05 3.67337147e-01 -4.00401785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:6.73, Z:-40.01 [[ 3.40335963e-01 -2.14557118e-01 -9.15498048e-01 8.04316257e+01] [ 8.30642319e-02 9.76673108e-01 -1.98015083e-01 6.73019916e+00] [ 9.36627869e-01 -8.65348834e-03 3.50219005e-01 -4.00101110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:6.75, Z:-39.99 [[ 3.70260986e-01 -2.37441819e-01 -8.98069143e-01 8.04395671e+01] [ 9.43222050e-02 9.71393473e-01 -2.17940458e-01 6.75414240e+00] [ 9.24126682e-01 -4.01301291e-03 3.82065141e-01 -3.99879446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:6.77, Z:-39.96 [[ 3.40297177e-01 -2.46893173e-01 -9.07326618e-01 8.04466089e+01] [ 8.50416173e-02 9.69041182e-01 -2.31791094e-01 6.76817618e+00] [ 9.36464497e-01 1.71733202e-03 3.50758174e-01 -3.99581394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.46, Y:6.75, Z:-39.93 [[ 3.44454523e-01 -2.26642806e-01 -9.11034643e-01 8.04578813e+01] [ 8.60459677e-02 9.73958612e-01 -2.09763472e-01 6.75400870e+00] [ 9.34851418e-01 -6.13688069e-03 3.54986148e-01 -3.99299506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:6.76, Z:-39.91 [[ 3.72855726e-01 -2.34443565e-01 -8.97783283e-01 8.04659789e+01] [ 9.45977824e-02 9.72117253e-01 -2.14567717e-01 6.76417122e+00] [ 9.23054639e-01 -4.92550572e-03 3.84637325e-01 -3.99070708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:6.80, Z:-39.88 [[ 3.74221786e-01 -2.65677749e-01 -8.88466875e-01 8.04710753e+01] [ 9.68062422e-02 9.64039224e-01 -2.47501367e-01 6.79904472e+00] [ 9.22272523e-01 6.61126413e-03 3.86483744e-01 -3.98829942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:6.68, Z:-39.85 [[ 3.38305940e-01 -1.56664442e-01 -9.27903736e-01 8.04867052e+01] [ 8.90140680e-02 9.86950971e-01 -1.34180012e-01 6.68375322e+00] [ 9.36816731e-01 -3.72025911e-02 3.47836715e-01 -3.98499962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:6.86, Z:-39.83 [[ 3.35069696e-01 -3.09771002e-01 -8.89814714e-01 8.04795903e+01] [ 8.44805687e-02 9.50481413e-01 -2.99078782e-01 6.85859181e+00] [ 9.38398280e-01 2.50401836e-02 3.44647149e-01 -3.98321473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.49, Y:6.86, Z:-39.80 [[ 3.41323561e-01 -3.05867641e-01 -8.88787496e-01 8.04892697e+01] [ 8.60883148e-02 9.51771511e-01 -2.94482244e-01 6.85832461e+00] [ 9.35995208e-01 2.39995105e-02 3.51193671e-01 -3.98040169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:6.81, Z:-39.78 [[ 3.64143093e-01 -2.61210318e-01 -8.93962514e-01 8.05099637e+01] [ 9.47858809e-02 9.65273989e-01 -2.43437391e-01 6.81348343e+00] [ 9.26507120e-01 3.91102018e-03 3.76256906e-01 -3.97772098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:6.79, Z:-39.75 [[ 3.35656792e-01 -2.33049795e-01 -9.12700559e-01 8.05191554e+01] [ 8.92054720e-02 9.72422353e-01 -2.15492809e-01 6.78503349e+00] [ 9.37750981e-01 -9.08625903e-03 3.47189485e-01 -3.97489780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:6.86, Z:-39.73 [[ 3.68100772e-01 -2.94578487e-01 -8.81887372e-01 8.05243271e+01] [ 1.00830267e-01 9.55537806e-01 -2.77093413e-01 6.85665687e+00] [ 9.24302482e-01 1.30773601e-02 3.81436631e-01 -3.97278304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:6.84, Z:-39.70 [[ 3.66743056e-01 -2.72588050e-01 -8.89491588e-01 8.05395200e+01] [ 1.00692782e-01 9.62125037e-01 -2.53330568e-01 6.83545287e+00] [ 9.24857013e-01 3.34184451e-03 3.80300326e-01 -3.96994598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:6.85, Z:-39.67 [[ 3.67765551e-01 -2.79869591e-01 -8.86804100e-01 8.05494060e+01] [ 1.04048756e-01 9.60032404e-01 -2.59830021e-01 6.84526630e+00] [ 9.24079193e-01 3.28566776e-03 3.82186929e-01 -3.96732041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:6.81, Z:-39.64 [[ 3.40248564e-01 -2.49180693e-01 -9.06719304e-01 8.05591361e+01] [ 1.00532363e-01 9.68363706e-01 -2.28396535e-01 6.81397798e+00] [ 9.34946073e-01 -1.34430414e-02 3.54535084e-01 -3.96435690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:6.87, Z:-39.62 [[ 3.65415319e-01 -3.00993273e-01 -8.80837496e-01 8.05640196e+01] [ 1.10062517e-01 9.53610731e-01 -2.80201384e-01 6.87360478e+00] [ 9.24314820e-01 5.44268618e-03 3.81592047e-01 -3.96213819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:6.81, Z:-39.59 [[ 3.36708515e-01 -2.46362031e-01 -9.08808630e-01 8.05801036e+01] [ 1.04304969e-01 9.68984482e-01 -2.24030239e-01 6.81107432e+00] [ 9.35814004e-01 -1.93603669e-02 3.51962109e-01 -3.95930339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.59, Y:6.83, Z:-39.57 [[ 3.34546238e-01 -2.66323780e-01 -9.03963749e-01 8.05863374e+01] [ 1.04586136e-01 9.63802628e-01 -2.45247292e-01 6.83434419e+00] [ 9.36557822e-01 -1.24955171e-02 3.50290319e-01 -3.95700996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:6.88, Z:-39.55 [[ 3.37816876e-01 -3.04717219e-01 -8.90520732e-01 8.05902242e+01] [ 1.04314505e-01 9.52435153e-01 -2.86331561e-01 6.88329523e+00] [ 9.35413407e-01 3.83340377e-03 3.53535094e-01 -3.95471787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:6.88, Z:-39.52 [[ 3.42117805e-01 -3.00545492e-01 -8.90296476e-01 8.05989128e+01] [ 1.03966454e-01 9.53759416e-01 -2.82017648e-01 6.88188932e+00] [ 9.33887779e-01 3.92229079e-03 3.57544727e-01 -3.95196855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.61, Y:6.87, Z:-39.49 [[ 3.44991561e-01 -2.91062629e-01 -8.92335906e-01 8.06108283e+01] [ 1.03822975e-01 9.56703292e-01 -2.71918371e-01 6.87089982e+00] [ 9.32845975e-01 1.16457495e-03 3.60273551e-01 -3.94931294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.62, Y:6.85, Z:-39.47 [[ 3.36798954e-01 -2.71809759e-01 -9.01490943e-01 8.06214436e+01] [ 1.02579952e-01 9.62320518e-01 -2.51826477e-01 6.85065123e+00] [ 9.35972125e-01 -7.66000361e-03 3.51990775e-01 -3.94660746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.62, Y:6.90, Z:-39.44 [[ 3.53019084e-01 -3.13046057e-01 -8.81691382e-01 8.06243190e+01] [ 1.05798575e-01 9.49676575e-01 -2.94823786e-01 6.90124710e+00] [ 9.29615075e-01 1.07967307e-02 3.68373781e-01 -3.94418195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:6.89, Z:-39.42 [[ 3.82800906e-01 -2.98562866e-01 -8.74256073e-01 8.06377842e+01] [ 1.15234426e-01 9.54378371e-01 -2.75468603e-01 6.88857655e+00] [ 9.16615783e-01 4.70523424e-03 3.99741625e-01 -3.94151424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:6.87, Z:-39.39 [[ 3.56899991e-01 -2.83032619e-01 -8.90233078e-01 8.06499020e+01] [ 1.06909396e-01 9.59108879e-01 -2.62069722e-01 6.87473601e+00] [ 9.28004729e-01 -1.64159930e-03 3.72564796e-01 -3.93882742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:6.89, Z:-39.36 [[ 3.58166729e-01 -2.94874638e-01 -8.85869935e-01 8.06578842e+01] [ 1.05033946e-01 9.55519176e-01 -2.75592044e-01 6.89284915e+00] [ 9.27730815e-01 5.66148653e-03 3.73207025e-01 -3.93626751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:6.89, Z:-39.34 [[ 3.58670215e-01 -2.84760240e-01 -8.88969787e-01 8.06682872e+01] [ 1.03390761e-01 9.58593225e-01 -2.65347658e-01 6.88621994e+00] [ 9.27720878e-01 3.26103913e-03 3.73260416e-01 -3.93352559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.68, Y:6.87, Z:-39.31 [[ 3.51063888e-01 -2.63370302e-01 -8.98548959e-01 8.06805861e+01] [ 1.02340267e-01 9.64671331e-01 -2.42766746e-01 6.86530029e+00] [ 9.30741971e-01 -6.73110296e-03 3.65614655e-01 -3.93087773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.68, Y:6.90, Z:-39.28 [[ 3.54437135e-01 -2.92899886e-01 -8.88022508e-01 8.06845371e+01] [ 1.03869519e-01 9.56130843e-01 -2.73906797e-01 6.90006842e+00] [ 9.29292979e-01 4.84426985e-03 3.69311647e-01 -3.92848593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:80.70, Y:6.90, Z:-39.26 [[ 3.51482358e-01 -2.84788240e-01 -8.91827231e-01 8.06966972e+01] [ 1.04040239e-01 9.58590373e-01 -2.65103989e-01 6.89529935e+00] [ 9.30395497e-01 3.93456941e-04 3.66557041e-01 -3.92583168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:80.72, Y:6.85, Z:-39.23 [[ 3.49851776e-01 -2.56068819e-01 -9.01128456e-01 8.07203334e+01] [ 1.25272060e-01 9.66065367e-01 -2.25886292e-01 6.85245615e+00] [ 9.28391429e-01 -3.38594976e-02 3.70057953e-01 -3.92342683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:6.96, Z:-39.21 [[ 3.55636391e-01 -3.35508425e-01 -8.72328409e-01 8.07059022e+01] [ 1.07456163e-01 9.41835167e-01 -3.18433182e-01 6.95799479e+00] [ 9.28426588e-01 1.95093637e-02 3.71003308e-01 -3.92090058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:6.88, Z:-39.18 [[ 3.45641825e-01 -2.65148082e-01 -9.00126782e-01 8.07308005e+01] [ 1.06834125e-01 9.64130759e-01 -2.42978082e-01 6.88346107e+00] [ 9.32265090e-01 -1.21808692e-02 3.61570778e-01 -3.91810356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:6.93, Z:-39.16 [[ 3.44404770e-01 -3.02182032e-01 -8.88859591e-01 8.07317011e+01] [ 1.09206661e-01 9.53250239e-01 -2.81758561e-01 6.92529789e+00] [ 9.32447993e-01 -3.03955822e-05 3.61304221e-01 -3.91574565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:6.95, Z:-39.13 [[ 3.55132729e-01 -3.23994444e-01 -8.76874190e-01 8.07363875e+01] [ 1.14453756e-01 9.46030724e-01 -3.03193350e-01 6.95106961e+00] [ 9.27782885e-01 7.31233779e-03 3.73048854e-01 -3.91310165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:6.95, Z:-39.10 [[ 3.89805890e-01 -3.23424276e-01 -8.62234368e-01 8.07484037e+01] [ 1.31888340e-01 9.46253025e-01 -2.95314543e-01 6.95097214e+00] [ 9.11403771e-01 1.39668865e-03 4.11510894e-01 -3.91047292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:6.88, Z:-39.08 [[ 3.46242757e-01 -2.55494891e-01 -9.02683950e-01 8.07717941e+01] [ 1.18693233e-01 9.66399090e-01 -2.28001571e-01 6.88070469e+00] [ 9.30606184e-01 -2.81985835e-02 3.64934200e-01 -3.90773678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:6.94, Z:-39.06 [[ 3.47515731e-01 -3.10513162e-01 -8.84767988e-01 8.07708519e+01] [ 1.17967463e-01 9.50558220e-01 -2.87267727e-01 6.94388554e+00] [ 9.30223895e-01 -4.54378032e-03 3.66964385e-01 -3.90557670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:6.94, Z:-39.03 [[ 3.50167944e-01 -3.06429291e-01 -8.85146034e-01 8.07819299e+01] [ 1.20832473e-01 9.51857200e-01 -2.81722177e-01 6.94297090e+00] [ 9.28860552e-01 -8.30430912e-03 3.70336488e-01 -3.90306964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:7.00, Z:-39.01 [[ 3.91793514e-01 -3.55934994e-01 -8.48415065e-01 8.07805819e+01] [ 1.35755887e-01 9.34408105e-01 -3.29320257e-01 7.00143816e+00] [ 9.09982517e-01 1.38482007e-02 4.14415306e-01 -3.90055669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33592 meters Centerline goodness : 0.984880 Centerline is valid? [True, True] Translation: X:80.84, Y:6.76, Z:-38.95 [[ 0.33155112 -0.16831315 -0.92830197 80.84283175] [ 0.16983429 0.97853095 -0.11676252 6.76484637] [ 0.92802487 -0.11894476 0.35301838 -38.94660987] [ 0. 0. 0. 1. ]] SLAMing on 92.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.83, Y:6.71, Z:-38.94 [[ 3.96097715e-01 -9.32038984e-02 -9.13465726e-01 8.08272791e+01] [ 1.33618148e-01 9.90095972e-01 -4.30831284e-02 6.71128105e+00] [ 9.08434252e-01 -1.04990470e-01 4.04628485e-01 -3.89381343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:6.46, Z:-38.18 [[ 3.56458407e-01 4.37583898e-01 8.25504535e-01 7.90731386e+01] [ 2.00675773e-01 -8.98780465e-01 3.89772896e-01 6.45819254e+00] [ 9.12505692e-01 2.67209350e-02 -4.08190339e-01 -3.81784347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:7.05, Z:-38.89 [[ 3.67024902e-01 -4.38706927e-01 -8.20261515e-01 8.08206927e+01] [ 1.88597060e-01 8.98582274e-01 -3.96208337e-01 7.04685854e+00] [ 9.10891799e-01 -9.28058457e-03 4.12540908e-01 -3.88929559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:7.06, Z:-38.87 [[ 3.67905224e-01 -4.47349592e-01 -8.15183469e-01 8.08252617e+01] [ 1.86737462e-01 8.94355210e-01 -4.06519223e-01 7.06344191e+00] [ 9.10919792e-01 -2.66474687e-03 4.12574881e-01 -3.88670987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.87, Y:6.95, Z:-38.83 [[ 3.28488269e-01 -3.36941700e-01 -8.82363728e-01 8.08680935e+01] [ 1.68651502e-01 9.40115380e-01 -2.96208951e-01 6.94566033e+00] [ 9.29328859e-01 -5.15108026e-02 3.65642598e-01 -3.88339902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:7.22, Z:-38.82 [[ 3.69710753e-01 -5.73509473e-01 -7.31027252e-01 8.07733413e+01] [ 1.90791147e-01 8.16865836e-01 -5.44361042e-01 7.21911782e+00] [ 9.09347402e-01 6.17826026e-02 4.11424613e-01 -3.88169207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters Centerline goodness : 0.930620 Centerline is valid? [True, False] Translation: X:80.79, Y:7.17, Z:-38.81 [[ 3.78766457e-01 -5.16627903e-01 -7.67874717e-01 8.07921420e+01] [ 1.66806504e-01 8.54213845e-01 -4.92437100e-01 7.16834743e+00] [ 9.10335960e-01 5.84321588e-02 4.09724446e-01 -3.88090306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:80.82, Y:7.12, Z:-38.78 [[ 3.92156674e-01 -4.52879530e-01 -8.00695494e-01 8.08181148e+01] [ 1.33833718e-01 8.89244583e-01 -4.37415829e-01 7.11827649e+00] [ 9.10110806e-01 6.43754817e-02 4.09333749e-01 -3.87819092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:7.00, Z:-38.76 [[ 4.26348070e-01 -3.45608069e-01 -8.35932046e-01 8.08702793e+01] [ 1.51527579e-01 9.38361103e-01 -3.10673194e-01 7.00056856e+00] [ 8.91777279e-01 5.78815792e-03 4.52437599e-01 -3.87572675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:7.00, Z:-38.73 [[ 4.25096342e-01 -3.39598414e-01 -8.39026828e-01 8.08823330e+01] [ 1.52523095e-01 9.40569983e-01 -3.03421840e-01 6.99824469e+00] [ 8.92205025e-01 1.01254580e-03 4.51629460e-01 -3.87314614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:7.01, Z:-38.71 [[ 4.24239554e-01 -3.41642259e-01 -8.38630650e-01 8.08909472e+01] [ 1.55037966e-01 9.39829676e-01 -3.04439500e-01 7.00821474e+00] [ 8.92179371e-01 -8.64312089e-04 4.51680444e-01 -3.87058402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.90, Y:7.02, Z:-38.68 [[ 4.23543534e-01 -3.43305898e-01 -8.38303009e-01 8.09018084e+01] [ 1.56632553e-01 9.39221698e-01 -3.05497702e-01 7.01586027e+00] [ 8.92231538e-01 -1.91396457e-03 4.51574156e-01 -3.86809354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:6.96, Z:-38.65 [[ 3.86666892e-01 -2.91916350e-01 -8.74799154e-01 8.09255167e+01] [ 1.46899336e-01 9.55964836e-01 -2.54070497e-01 6.96296171e+00] [ 9.10444562e-01 -3.02667650e-02 4.12522270e-01 -3.86546338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:7.08, Z:-38.63 [[ 4.23008586e-01 -3.96802313e-01 -8.14623631e-01 8.09050782e+01] [ 1.63143599e-01 9.17678508e-01 -3.62284864e-01 7.08334944e+00] [ 8.91318070e-01 2.03489768e-02 4.52921646e-01 -3.86325088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:80.95, Y:6.96, Z:-38.60 [[ 3.82897249e-01 -2.84741263e-01 -8.78812898e-01 8.09486167e+01] [ 1.51061200e-01 9.57805472e-01 -2.44518284e-01 6.95957695e+00] [ 9.11356248e-01 -3.91291527e-02 4.09754437e-01 -3.86034933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:80.94, Y:7.05, Z:-38.58 [[ 3.81810021e-01 -3.62685736e-01 -8.50105972e-01 8.09390335e+01] [ 1.47989295e-01 9.31911302e-01 -3.31120060e-01 7.05067635e+00] [ 9.12315886e-01 6.18373651e-04 4.09486680e-01 -3.85813460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:7.08, Z:-38.56 [[ 4.21818260e-01 -3.89487091e-01 -8.18760748e-01 8.09431348e+01] [ 1.67289882e-01 9.20960441e-01 -3.51917550e-01 7.08279249e+00] [ 8.91113602e-01 1.14748595e-02 4.53635180e-01 -3.85575255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.98, Y:6.95, Z:-38.53 [[ 3.94696285e-01 -2.68910157e-01 -8.78579632e-01 8.09849149e+01] [ 1.58139670e-01 9.61825493e-01 -2.23346293e-01 6.94947804e+00] [ 9.05100374e-01 -5.07843413e-02 4.22154312e-01 -3.85290056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:7.10, Z:-38.51 [[ 3.85202320e-01 -3.99873006e-01 -8.31697513e-01 8.09589875e+01] [ 1.52271909e-01 9.16432381e-01 -3.70087770e-01 7.10057983e+00] [ 9.10182640e-01 1.59145001e-02 4.13901304e-01 -3.85078543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:80.98, Y:7.10, Z:-38.48 [[ 4.23140680e-01 -3.95501084e-01 -8.15187621e-01 8.09756927e+01] [ 1.69581006e-01 9.18372814e-01 -3.57538330e-01 7.09787982e+00] [ 8.90052946e-01 1.30486750e-02 4.55670369e-01 -3.84824058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:6.97, Z:-38.45 [[ 3.97716069e-01 -2.81927093e-01 -8.73120291e-01 8.10170550e+01] [ 1.61135512e-01 9.58292862e-01 -2.36029950e-01 6.96890144e+00] [ 9.03248180e-01 -4.68177815e-02 4.26556936e-01 -3.84539333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:7.09, Z:-38.43 [[ 3.84065799e-01 -3.89028622e-01 -8.37347116e-01 8.09992297e+01] [ 1.52867564e-01 9.21177314e-01 -3.57860119e-01 7.09277327e+00] [ 9.10562996e-01 9.43861885e-03 4.13262559e-01 -3.84306119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.02, Y:7.06, Z:-38.41 [[ 3.85113911e-01 -3.62073348e-01 -8.48875825e-01 8.10202836e+01] [ 1.56195201e-01 9.32125052e-01 -3.26719982e-01 7.05869192e+00] [ 9.09555020e-01 -6.76591981e-03 4.15528443e-01 -3.84053965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:7.10, Z:-38.38 [[ 4.22826751e-01 -3.95646173e-01 -8.15280102e-01 8.10250305e+01] [ 1.72408734e-01 9.18347814e-01 -3.56247837e-01 7.09882010e+00] [ 8.89658793e-01 1.00697055e-02 4.56514878e-01 -3.83813140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:7.06, Z:-38.35 [[ 4.21785964e-01 -3.56997514e-01 -8.33456283e-01 8.10510111e+01] [ 1.72767107e-01 9.34026633e-01 -3.12643207e-01 7.05650332e+00] [ 8.90083214e-01 -1.21253142e-02 4.55636751e-01 -3.83545046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:7.02, Z:-38.33 [[ 3.86983276e-01 -3.22917583e-01 -8.63694494e-01 8.10724409e+01] [ 1.59602669e-01 9.45993336e-01 -2.82176533e-01 7.01833445e+00] [ 9.08169000e-01 -2.86503474e-02 4.17622108e-01 -3.83267791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:7.03, Z:-38.30 [[ 3.83355407e-01 -3.39169072e-01 -8.59070994e-01 8.10792174e+01] [ 1.55420804e-01 9.40557964e-01 -3.01985247e-01 7.03344191e+00] [ 9.10430121e-01 -1.77498270e-02 4.13281911e-01 -3.83017987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:7.06, Z:-38.28 [[ 3.85637074e-01 -3.58373019e-01 -8.50207520e-01 8.10844897e+01] [ 1.53742602e-01 9.33560124e-01 -3.23772616e-01 7.05801382e+00] [ 9.09751207e-01 -5.85439228e-03 4.15112595e-01 -3.82787634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.09, Y:7.07, Z:-38.26 [[ 3.88445656e-01 -3.62447630e-01 -8.47196369e-01 8.10948196e+01] [ 1.51210539e-01 9.32004127e-01 -3.29398968e-01 7.06819584e+00] [ 9.08980388e-01 -1.51421235e-04 4.16838856e-01 -3.82553794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.11, Y:7.06, Z:-38.23 [[ 3.91556425e-01 -3.46491243e-01 -8.52424416e-01 8.11118684e+01] [ 1.46362904e-01 9.38051501e-01 -3.14065728e-01 7.05666746e+00] [ 9.08439027e-01 -1.78885969e-03 4.18013557e-01 -3.82293480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.12, Y:7.06, Z:-38.21 [[ 3.94574217e-01 -3.49385330e-01 -8.49847680e-01 8.11213668e+01] [ 1.44929173e-01 9.36976371e-01 -3.17916364e-01 7.06358936e+00] [ 9.07362509e-01 2.27387866e-03 4.20342845e-01 -3.82055266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:7.12, Z:-38.18 [[ 4.34828193e-01 -3.95980185e-01 -8.08779411e-01 8.11204159e+01] [ 1.59448673e-01 9.17796014e-01 -3.63629753e-01 7.12123039e+00] [ 8.86284696e-01 2.91576650e-02 4.62222097e-01 -3.81837152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:6.98, Z:-38.15 [[ 3.81569618e-01 -2.66393671e-01 -8.85120918e-01 8.11614033e+01] [ 1.44254061e-01 9.62999571e-01 -2.27645760e-01 6.97536224e+00] [ 9.13014454e-01 -4.08195811e-02 4.05879748e-01 -3.81487977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:7.21, Z:-38.14 [[ 4.37872860e-01 -4.59620459e-01 -7.72668358e-01 8.11154197e+01] [ 1.61668419e-01 8.85684970e-01 -4.35230349e-01 7.20533062e+00] [ 8.84381524e-01 6.56594862e-02 4.62123524e-01 -3.81353513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:7.09, Z:-38.11 [[ 4.37299812e-01 -3.55984251e-01 -8.25859605e-01 8.11647692e+01] [ 1.58761284e-01 9.34455400e-01 -3.18728661e-01 7.08754739e+00] [ 8.85191352e-01 8.26545258e-03 4.65153688e-01 -3.81053577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:7.09, Z:-38.08 [[ 4.38483530e-01 -3.56622383e-01 -8.24956162e-01 8.11756612e+01] [ 1.58743559e-01 9.34204028e-01 -3.19473498e-01 7.09493804e+00] [ 8.84608770e-01 9.12738969e-03 4.66244586e-01 -3.80802271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.21, Y:6.95, Z:-38.04 [[ 3.92737926e-01 -2.22665814e-01 -8.92287430e-01 8.12107668e+01] [ 1.48863183e-01 9.72842997e-01 -1.77246317e-01 6.94594394e+00] [ 9.07522272e-01 -6.32173962e-02 4.15219082e-01 -3.80435177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.12, Y:7.33, Z:-38.03 [[ 0.43538237 -0.53850204 -0.72142758 81.11579557] [ 0.15679008 0.83447805 -0.52826438 7.32698369] [ 0.88648692 0.11688431 0.44774881 -38.03010512] [ 0. 0. 0. 1. ]] SLAMing on 93.50591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.23, Y:7.00, Z:-38.00 [[ 4.00390240e-01 -2.60266273e-01 -8.78606353e-01 8.12265510e+01] [ 1.46362855e-01 9.64670862e-01 -2.19061734e-01 7.00219174e+00] [ 9.04580329e-01 -4.08851535e-02 4.24338112e-01 -3.79974115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.20, Y:7.18, Z:-37.98 [[ 3.92349452e-01 -4.07951368e-01 -8.24401352e-01 8.11958542e+01] [ 1.36732126e-01 9.12176819e-01 -3.86313056e-01 7.17623234e+00] [ 9.09596742e-01 3.88475665e-02 4.13672133e-01 -3.79779043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.22, Y:7.15, Z:-37.95 [[ 4.04868447e-01 -3.80177111e-01 -8.31592992e-01 8.12163864e+01] [ 1.43695107e-01 9.24619671e-01 -3.52746624e-01 7.15049976e+00] [ 9.03013431e-01 2.33201333e-02 4.28978921e-01 -3.79526403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:81.24, Y:7.10, Z:-37.93 [[ 3.97716097e-01 -3.36665878e-01 -8.53509223e-01 8.12400758e+01] [ 1.44673219e-01 9.41620664e-01 -3.04006884e-01 7.10474755e+00] [ 9.06030665e-01 -2.57149556e-03 4.23204231e-01 -3.79250665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.24, Y:7.16, Z:-37.90 [[ 4.08716110e-01 -3.81021780e-01 -8.29321135e-01 8.12377016e+01] [ 1.47160263e-01 9.24307110e-01 -3.52136654e-01 7.16349126e+00] [ 9.00719156e-01 2.18808069e-02 4.33850472e-01 -3.79027456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.25, Y:7.18, Z:-37.88 [[ 4.49371908e-01 -3.91519514e-01 -8.02980298e-01 8.12477378e+01] [ 1.64777891e-01 9.19750644e-01 -3.56240086e-01 7.18364086e+00] [ 8.78016592e-01 2.77708875e-02 4.77823862e-01 -3.78794039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:81.28, Y:7.08, Z:-37.85 [[ 4.02509038e-01 -2.98730802e-01 -8.65301325e-01 8.12817434e+01] [ 1.50624234e-01 9.53983939e-01 -2.59281669e-01 7.08451193e+00] [ 9.02938987e-01 -2.59721342e-02 4.28983256e-01 -3.78475316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:7.24, Z:-37.83 [[ 4.49881215e-01 -4.25844970e-01 -7.85024175e-01 8.12543420e+01] [ 1.68492913e-01 9.03685035e-01 -3.93654030e-01 7.23847860e+00] [ 8.77050187e-01 4.48265437e-02 4.78302781e-01 -3.78310068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.30, Y:7.11, Z:-37.80 [[ 4.04878025e-01 -3.11241053e-01 -8.59769034e-01 8.13012581e+01] [ 1.53133762e-01 9.50085393e-01 -2.71823099e-01 7.10923211e+00] [ 9.01456508e-01 -2.16044676e-02 4.32330211e-01 -3.77985101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.30, Y:7.18, Z:-37.78 [[ 4.07463166e-01 -3.67996048e-01 -8.35794639e-01 8.12954716e+01] [ 1.57243057e-01 9.29818073e-01 -3.32735589e-01 7.17697696e+00] [ 8.99582342e-01 4.15459219e-03 4.36731439e-01 -3.77788724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.31, Y:7.18, Z:-37.75 [[ 4.07862122e-01 -3.64402375e-01 -8.37173458e-01 8.13075717e+01] [ 1.60797262e-01 9.31240769e-01 -3.27008976e-01 7.17703253e+00] [ 8.98772902e-01 -1.24062545e-03 4.38412740e-01 -3.77539132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.30, Y:7.24, Z:-37.73 [[ 4.49556517e-01 -4.12741777e-01 -7.92176220e-01 8.13029272e+01] [ 1.82537374e-01 9.10579610e-01 -3.70843472e-01 7.23968165e+00] [ 8.74402107e-01 2.21133328e-02 4.84697798e-01 -3.77305506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.33, Y:7.20, Z:-37.70 [[ 4.49976262e-01 -3.71495225e-01 -8.12103849e-01 8.13307186e+01] [ 1.84801519e-01 9.28421147e-01 -3.22308195e-01 7.19600479e+00] [ 8.73710342e-01 -5.04698819e-03 4.86420359e-01 -3.77039372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89591999999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:81.36, Y:7.14, Z:-37.68 [[ 4.09246748e-01 -3.17240075e-01 -8.55497419e-01 8.13561591e+01] [ 1.76803034e-01 9.47410789e-01 -2.66746104e-01 7.13527896e+00] [ 8.95130039e-01 -4.20895643e-02 4.43813792e-01 -3.76762093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:81.34, Y:7.23, Z:-37.66 [[ 4.10160127e-01 -3.95100394e-01 -8.21988047e-01 8.13440414e+01] [ 1.76235339e-01 9.18637930e-01 -3.53617672e-01 7.22971615e+00] [ 8.94823880e-01 1.76527445e-04 4.46419302e-01 -3.76555297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.35, Y:7.26, Z:-37.63 [[ 4.46631013e-01 -4.19146821e-01 -7.90466116e-01 8.13498719e+01] [ 1.96203663e-01 9.07858898e-01 -3.70535212e-01 7.26300532e+00] [ 8.72940354e-01 1.04001697e-02 4.87716081e-01 -3.76315135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.40, Y:7.12, Z:-37.60 [[ 4.14247564e-01 -2.87442039e-01 -8.63583250e-01 8.13988814e+01] [ 1.84602759e-01 9.55634738e-01 -2.29530105e-01 7.11601647e+00] [ 8.91246754e-01 -6.43375643e-02 4.48931956e-01 -3.76028559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.34, Y:7.35, Z:-37.59 [[ 4.48582708e-01 -4.81784761e-01 -7.52766231e-01 8.13423836e+01] [ 1.98315607e-01 8.74924471e-01 -4.41789644e-01 7.34636024e+00] [ 8.71461114e-01 4.88939035e-02 4.88021426e-01 -3.75850915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:81.41, Y:7.17, Z:-37.56 [[ 4.07609759e-01 -3.26465093e-01 -8.52804097e-01 8.14112103e+01] [ 1.81210560e-01 9.44253249e-01 -2.74860936e-01 7.17118700e+00] [ 8.94995541e-01 -4.25011077e-02 4.44045761e-01 -3.75550200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.39, Y:7.30, Z:-37.54 [[ 4.55435260e-01 -4.34795321e-01 -7.76873061e-01 8.13861802e+01] [ 1.97753613e-01 9.00234603e-01 -3.87906133e-01 7.30433543e+00] [ 8.68027783e-01 2.30366759e-02 4.95980926e-01 -3.75355965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.44, Y:7.16, Z:-37.50 [[ 4.21277464e-01 -3.02036426e-01 -8.55160392e-01 8.14380953e+01] [ 1.83843204e-01 9.51779778e-01 -2.45595056e-01 7.15506818e+00] [ 8.88103021e-01 -5.37517640e-02 4.56490715e-01 -3.75049112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.42, Y:7.27, Z:-37.49 [[ 4.23178356e-01 -3.95181142e-01 -8.15323214e-01 8.14207383e+01] [ 1.81702981e-01 9.18603144e-01 -3.50930607e-01 7.26688531e+00] [ 8.87639626e-01 3.59578754e-04 4.60538559e-01 -3.74859322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.44, Y:7.23, Z:-37.46 [[ 4.31200790e-01 -3.59288968e-01 -8.27633564e-01 8.14438880e+01] [ 1.84785759e-01 9.33016375e-01 -3.08763124e-01 7.23006647e+00] [ 8.83130852e-01 -1.97959930e-02 4.68708883e-01 -3.74608031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:81.44, Y:7.28, Z:-37.44 [[ 4.36116256e-01 -3.94569870e-01 -8.08775141e-01 8.14432216e+01] [ 1.86641256e-01 9.18865705e-01 -3.47636100e-01 7.27567846e+00] [ 8.80322471e-01 6.58946135e-04 4.74375287e-01 -3.74403525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.43, Y:7.36, Z:-37.42 [[ 4.63561447e-01 -4.56113930e-01 -7.59651807e-01 8.14292332e+01] [ 1.97852132e-01 8.88968878e-01 -4.13024053e-01 7.35819377e+00] [ 8.63692838e-01 4.11632977e-02 5.02334813e-01 -3.74155801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25591999999999 meters Centerline goodness : 0.891924 Centerline is valid? [True, False] Translation: X:81.45, Y:7.31, Z:-37.40 [[ 4.65421152e-01 -4.05661352e-01 -7.86652413e-01 8.14463868e+01] [ 1.77391034e-01 9.13502475e-01 -3.66122451e-01 7.31363846e+00] [ 8.67130655e-01 3.08560480e-02 4.97124061e-01 -3.74044053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:81.46, Y:7.27, Z:-37.40 [[ 4.67943140e-01 -3.57690991e-01 -8.08137595e-01 8.14557625e+01] [ 1.60272217e-01 9.33616742e-01 -3.20425649e-01 7.26768856e+00] [ 8.69104156e-01 2.04189801e-02 4.94207478e-01 -3.74008335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31591999999999 meters Centerline goodness : 0.812725 Centerline is valid? [True, False] Translation: X:81.47, Y:7.23, Z:-37.39 [[ 4.67273021e-01 -3.11435542e-01 -8.27444154e-01 8.14655207e+01] [ 1.43758959e-01 9.50212216e-01 -2.76459955e-01 7.22539733e+00] [ 8.72346998e-01 1.02297677e-02 4.88780182e-01 -3.73929697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:81.47, Y:7.19, Z:-37.40 [[ 4.70786712e-01 -2.68475477e-01 -8.40405135e-01 8.14670826e+01] [ 1.30539017e-01 9.63286233e-01 -2.34604345e-01 7.18761604e+00] [ 8.72536210e-01 7.42948080e-04 4.88548883e-01 -3.73993149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.49, Y:7.14, Z:-37.38 [[ 4.83486597e-01 -2.27115636e-01 -8.45375182e-01 8.14871561e+01] [ 1.37212271e-01 9.73479730e-01 -1.83057390e-01 7.14053519e+00] [ 8.64530800e-01 -2.74900545e-02 5.01827454e-01 -3.73796363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters Centerline goodness : 0.870902 Centerline is valid? [True, False] Translation: X:81.48, Y:7.09, Z:-37.40 [[ 4.96868544e-01 -1.85228989e-01 -8.47827737e-01 8.14774498e+01] [ 1.29898850e-01 9.81823905e-01 -1.38376691e-01 7.09441046e+00] [ 8.58048914e-01 -4.13768230e-02 5.11898447e-01 -3.74043488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:81.47, Y:7.05, Z:-37.43 [[ 5.08197292e-01 -1.49968143e-01 -8.48083173e-01 8.14665756e+01] [ 1.25281000e-01 9.87121040e-01 -9.94822759e-02 7.05453466e+00] [ 8.52079916e-01 -5.56920849e-02 5.20440398e-01 -3.74251679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:81.46, Y:7.21, Z:-37.41 [[ 5.06180162e-01 -2.73957550e-01 -8.17758464e-01 8.14611604e+01] [ 1.19582375e-01 9.61340973e-01 -2.48039490e-01 7.20782090e+00] [ 8.54097008e-01 2.77631704e-02 5.19372224e-01 -3.74066239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.48, Y:7.20, Z:-37.38 [[ 5.45729745e-01 -2.59574114e-01 -7.96743575e-01 8.14815780e+01] [ 1.31168207e-01 9.65552936e-01 -2.24727454e-01 7.19585608e+00] [ 8.27631528e-01 1.81330303e-02 5.60978829e-01 -3.73821821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.51, Y:7.10, Z:-37.35 [[ 5.11191312e-01 -1.72883458e-01 -8.41899491e-01 8.15084458e+01] [ 1.23556345e-01 9.84167407e-01 -1.27076136e-01 7.09540987e+00] [ 8.50539401e-01 -3.90618067e-02 5.24458676e-01 -3.73544582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:81.52, Y:7.14, Z:-37.33 [[ 5.09233587e-01 -2.10425685e-01 -8.34507151e-01 8.15159713e+01] [ 1.21896755e-01 9.77508393e-01 -1.72100325e-01 7.14227430e+00] [ 8.51952073e-01 -1.40844476e-02 5.23430314e-01 -3.73344877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:81.53, Y:7.17, Z:-37.31 [[ 5.15146562e-01 -2.32395688e-01 -8.24994705e-01 8.15254096e+01] [ 1.22802168e-01 9.72621271e-01 -1.97300509e-01 7.17116653e+00] [ 8.48259186e-01 3.27539751e-04 5.29581198e-01 -3.73132378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:81.54, Y:7.15, Z:-37.29 [[ 5.14497693e-01 -2.14039241e-01 -8.30348919e-01 8.15437140e+01] [ 1.22819686e-01 9.76756214e-01 -1.75677611e-01 7.15185804e+00] [ 8.48650369e-01 -1.15974676e-02 5.28827051e-01 -3.72889038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.56, Y:7.14, Z:-37.26 [[ 5.16785652e-01 -2.10663420e-01 -8.29791247e-01 8.15609455e+01] [ 1.24984508e-01 9.77432589e-01 -1.70306800e-01 7.14319028e+00] [ 8.46942420e-01 -1.56989400e-02 5.31452802e-01 -3.72649831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.57, Y:7.21, Z:-37.24 [[ 5.49937832e-01 -2.66919589e-01 -7.91405278e-01 8.15684543e+01] [ 1.35590977e-01 9.63519676e-01 -2.30748610e-01 7.20978781e+00] [ 8.24125881e-01 1.95899753e-02 5.66067810e-01 -3.72432211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:81.60, Y:7.08, Z:-37.21 [[ 5.13298747e-01 -1.58611559e-01 -8.43425616e-01 8.15957784e+01] [ 1.26723848e-01 9.86007934e-01 -1.08302453e-01 7.08367671e+00] [ 8.48802370e-01 -5.12906264e-02 5.26216504e-01 -3.72125291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.60, Y:7.18, Z:-37.20 [[ 5.18290447e-01 -2.37428764e-01 -8.21585415e-01 8.16005120e+01] [ 1.25484933e-01 9.71403984e-01 -2.01563468e-01 7.18006500e+00] [ 8.45948310e-01 1.37182882e-03 5.33263138e-01 -3.71954041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:81.62, Y:7.15, Z:-37.17 [[ 5.16894891e-01 -2.08954182e-01 -8.30155300e-01 8.16214816e+01] [ 1.23631838e-01 9.77807201e-01 -1.69139724e-01 7.14632580e+00] [ 8.47074283e-01 -1.52061659e-02 5.31256936e-01 -3.71697268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:81.63, Y:7.15, Z:-37.15 [[ 5.16779784e-01 -2.07060544e-01 -8.30701261e-01 8.16345974e+01] [ 1.22019612e-01 9.78219438e-01 -1.67922438e-01 7.14508817e+00] [ 8.47378232e-01 -1.45829246e-02 5.30789478e-01 -3.71473577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:81.65, Y:7.16, Z:-37.13 [[ 5.21015036e-01 -2.20788022e-01 -8.24497411e-01 8.16485602e+01] [ 1.21389078e-01 9.75313717e-01 -1.84466379e-01 7.16367883e+00] [ 8.44871602e-01 -3.97522406e-03 5.34954366e-01 -3.71252630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:81.67, Y:7.10, Z:-37.10 [[ 5.30271970e-01 -1.65182690e-01 -8.31580613e-01 8.16653029e+01] [ 1.23745311e-01 9.85412408e-01 -1.16831009e-01 7.09646385e+00] [ 8.38748315e-01 -4.09519921e-02 5.42977163e-01 -3.71026253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:81.65, Y:7.28, Z:-37.09 [[ 5.64198096e-01 -3.15676028e-01 -7.62908352e-01 8.16531881e+01] [ 1.30831214e-01 9.46528973e-01 -2.94900147e-01 7.28418977e+00] [ 8.15207766e-01 6.65698757e-02 5.75330123e-01 -3.70860913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:81.69, Y:7.06, Z:-37.05 [[ 5.40234852e-01 -1.31404643e-01 -8.31191389e-01 8.16934331e+01] [ 1.23333782e-01 9.89430747e-01 -7.62599174e-02 7.06390834e+00] [ 8.32427224e-01 -6.13157125e-02 5.50731605e-01 -3.70537218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:81.70, Y:7.17, Z:-37.04 [[ 5.37939755e-01 -2.12928977e-01 -8.15648252e-01 8.17017075e+01] [ 1.18230204e-01 9.77066980e-01 -1.77092448e-01 7.16873584e+00] [ 8.34651088e-01 -1.16919128e-03 5.50777808e-01 -3.70370321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:81.72, Y:7.17, Z:-37.02 [[ 5.36533366e-01 -2.10698427e-01 -8.17152446e-01 8.17166751e+01] [ 1.15147157e-01 9.77550938e-01 -1.76451963e-01 7.17210876e+00] [ 8.35986291e-01 5.79584589e-04 5.48750021e-01 -3.70184497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:81.73, Y:7.17, Z:-36.99 [[ 5.42098222e-01 -2.02394578e-01 -8.15577067e-01 8.17294389e+01] [ 1.14913281e-01 9.79298211e-01 -1.66643188e-01 7.16577948e+00] [ 8.32420840e-01 -3.38366067e-03 5.54133644e-01 -3.69930821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03591999999999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:81.74, Y:7.23, Z:-36.97 [[ 5.38582322e-01 -2.45654146e-01 -8.05967197e-01 8.17358124e+01] [ 1.08604377e-01 9.68815286e-01 -2.22715135e-01 7.22796470e+00] [ 8.35544237e-01 3.24188691e-02 5.48465902e-01 -3.69727181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:81.76, Y:7.18, Z:-36.95 [[ 5.39219525e-01 -2.02235460e-01 -8.17522552e-01 8.17562938e+01] [ 1.08731355e-01 9.79332111e-01 -1.70546501e-01 7.18031718e+00] [ 8.35116636e-01 3.07166890e-03 5.50064331e-01 -3.69479318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09591999999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:81.76, Y:7.27, Z:-36.93 [[ 5.83987287e-01 -2.67998096e-01 -7.66247916e-01 8.17586882e+01] [ 1.21043493e-01 9.62126671e-01 -2.44255483e-01 7.26604426e+00] [ 8.02687562e-01 4.98927725e-02 5.94309170e-01 -3.69283391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:81.79, Y:7.14, Z:-36.90 [[ 5.43442535e-01 -1.58864277e-01 -8.24276867e-01 8.17898113e+01] [ 1.09660753e-01 9.86949826e-01 -1.17917604e-01 7.13980138e+00] [ 8.32252805e-01 -2.63093802e-02 5.53771691e-01 -3.68976023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:81.80, Y:7.21, Z:-36.88 [[ 5.47183609e-01 -2.09501473e-01 -8.10369811e-01 8.17978173e+01] [ 1.09161569e-01 9.77761970e-01 -1.79067815e-01 7.20543537e+00] [ 8.29863754e-01 9.52173269e-03 5.57884833e-01 -3.68801566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:81.81, Y:7.20, Z:-36.86 [[ 5.42960368e-01 -1.99381284e-01 -8.15745758e-01 8.18140970e+01] [ 1.11543931e-01 9.79921179e-01 -1.65264738e-01 7.19607371e+00] [ 8.32317241e-01 -1.25928543e-03 5.54298136e-01 -3.68579314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:81.83, Y:7.22, Z:-36.84 [[ 5.51234799e-01 -2.16485518e-01 -8.05775538e-01 8.18270450e+01] [ 1.13787826e-01 9.76234797e-01 -1.84439561e-01 7.22031987e+00] [ 8.26554612e-01 9.98205714e-03 5.62768009e-01 -3.68362742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.84, Y:7.26, Z:-36.81 [[ 5.86766986e-01 -2.44049156e-01 -7.72103952e-01 8.18372266e+01] [ 1.25465949e-01 9.69387779e-01 -2.11058358e-01 7.25832087e+00] [ 7.99976749e-01 2.69693213e-02 5.99424604e-01 -3.68148399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:81.86, Y:7.19, Z:-36.79 [[ 5.51659210e-01 -1.84233271e-01 -8.13468019e-01 8.18613353e+01] [ 1.18059840e-01 9.82728089e-01 -1.42503958e-01 7.18974743e+00] [ 8.25671841e-01 -1.74242833e-02 5.63881552e-01 -3.67876553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:81.87, Y:7.23, Z:-36.77 [[ 5.49865139e-01 -2.06601708e-01 -8.09298500e-01 8.18722990e+01] [ 1.17218008e-01 9.78424249e-01 -1.70135030e-01 7.22514777e+00] [ 8.26987465e-01 -1.31303600e-03 5.62218826e-01 -3.67670250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.89, Y:7.24, Z:-36.75 [[ 5.52607880e-01 -2.15510615e-01 -8.05096085e-01 8.18854656e+01] [ 1.18279642e-01 9.76491782e-01 -1.80204680e-01 7.24161933e+00] [ 8.25005732e-01 4.35604991e-03 5.65107572e-01 -3.67453567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:81.90, Y:7.25, Z:-36.72 [[ 5.53842057e-01 -2.19154040e-01 -8.03262400e-01 8.18986142e+01] [ 1.18589520e-01 9.75665990e-01 -1.84424517e-01 7.25425211e+00] [ 8.24133182e-01 6.88355113e-03 5.66354231e-01 -3.67213834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.91, Y:7.25, Z:-36.70 [[ 5.54914508e-01 -2.11877650e-01 -8.04473586e-01 8.19148207e+01] [ 1.20990122e-01 9.77295861e-01 -1.73937316e-01 7.24939068e+00] [ 8.23062136e-01 -8.13016758e-04 5.67950755e-01 -3.66986249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.93, Y:7.21, Z:-36.68 [[ 5.65092065e-01 -1.76047393e-01 -8.06026224e-01 8.19332726e+01] [ 1.28405750e-01 9.83830357e-01 -1.24859088e-01 7.20743772e+00] [ 8.14974185e-01 -3.29415218e-02 5.78560226e-01 -3.66764407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:81.93, Y:7.33, Z:-36.65 [[ 5.57806073e-01 -2.71325011e-01 -7.84369252e-01 8.19313159e+01] [ 1.27640665e-01 9.61856903e-01 -2.41948669e-01 7.32786677e+00] [ 8.20097705e-01 3.48430239e-02 5.71161726e-01 -3.66544049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:81.96, Y:7.27, Z:-36.63 [[ 5.57686229e-01 -2.21778105e-01 -7.99875329e-01 8.19608718e+01] [ 1.36140979e-01 9.75034386e-01 -1.75423999e-01 7.26833921e+00] [ 8.18811153e-01 -1.10642615e-02 5.73956338e-01 -3.66320374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.98, Y:7.23, Z:-36.61 [[ 5.67882482e-01 -1.91179051e-01 -8.00599810e-01 8.19790053e+01] [ 1.41532468e-01 9.80845757e-01 -1.33828850e-01 7.23302604e+00] [ 8.10850200e-01 -3.73118074e-02 5.84063166e-01 -3.66113429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.97, Y:7.37, Z:-36.59 [[ 5.92993765e-01 -3.00350348e-01 -7.47093075e-01 8.19717365e+01] [ 1.51723100e-01 9.52885990e-01 -2.62656412e-01 7.37162644e+00] [ 7.90783470e-01 4.24023374e-02 6.10625537e-01 -3.65903703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:7.20, Z:-36.56 [[ 5.62772083e-01 -1.58185492e-01 -8.11335277e-01 8.20132498e+01] [ 1.45986857e-01 9.85110346e-01 -9.08044295e-02 7.19931329e+00] [ 8.13618719e-01 -6.73420895e-02 5.77485604e-01 -3.65612857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:82.00, Y:7.36, Z:-36.55 [[ 5.60092295e-01 -2.81750753e-01 -7.79046298e-01 8.20027628e+01] [ 1.42063622e-01 9.59124261e-01 -2.44741863e-01 7.35631737e+00] [ 8.16158409e-01 2.64038930e-02 5.77224641e-01 -3.65451309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.03, Y:7.32, Z:-36.52 [[ 5.64442804e-01 -2.43497463e-01 -7.88741597e-01 8.20304944e+01] [ 1.43557435e-01 9.69899018e-01 -1.96690513e-01 7.31525299e+00] [ 8.12893341e-01 -2.20917599e-03 5.82408392e-01 -3.65238503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.05, Y:7.33, Z:-36.50 [[ 5.94841003e-01 -2.55818217e-01 -7.62050668e-01 8.20456180e+01] [ 1.51235955e-01 9.66695308e-01 -2.06465174e-01 7.33413701e+00] [ 7.89488358e-01 7.56449070e-03 6.13718919e-01 -3.65021517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:82.07, Y:7.28, Z:-36.48 [[ 5.61453955e-01 -2.08527784e-01 -8.00803109e-01 8.20696400e+01] [ 1.43039099e-01 9.77617748e-01 -1.54283360e-01 7.27973738e+00] [ 8.15051699e-01 -2.79231528e-02 5.78714978e-01 -3.64769063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.09, Y:7.28, Z:-36.46 [[ 5.66105972e-01 -1.93858905e-01 -8.01213301e-01 8.20873266e+01] [ 1.29724513e-01 9.80794174e-01 -1.45651431e-01 7.28280998e+00] [ 8.14061165e-01 -2.14828605e-02 5.80381691e-01 -3.64557114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:82.08, Y:7.39, Z:-36.43 [[ 5.80012006e-01 -2.87422226e-01 -7.62216857e-01 8.20830520e+01] [ 1.46831732e-01 9.57247636e-01 -2.49233637e-01 7.38815832e+00] [ 8.01265571e-01 3.26408803e-02 5.97417825e-01 -3.64331689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:82.11, Y:7.31, Z:-36.41 [[ 5.68633905e-01 -2.18581483e-01 -7.93018044e-01 8.21148328e+01] [ 1.44302080e-01 9.75606252e-01 -1.65436849e-01 7.30635299e+00] [ 8.09834793e-01 -2.03611513e-02 5.86304555e-01 -3.64081972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81591999999999 meters Centerline goodness : 0.906705 Centerline is valid? [True, False] Translation: X:82.11, Y:7.27, Z:-36.42 [[ 5.77947829e-01 -1.81779117e-01 -7.95570651e-01 8.21088931e+01] [ 1.36060773e-01 9.82694681e-01 -1.25692599e-01 7.26833182e+00] [ 8.04651336e-01 -3.56021936e-02 5.92679265e-01 -3.64212180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [False, True] Translation: X:82.09, Y:7.22, Z:-36.45 [[ 5.88307530e-01 -1.41013952e-01 -7.96247019e-01 8.20906344e+01] [ 1.30503227e-01 9.88326669e-01 -7.86085434e-02 7.22207313e+00] [ 7.98037065e-01 -5.76668078e-02 5.99842797e-01 -3.64513309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:82.10, Y:7.31, Z:-36.43 [[ 5.88071970e-01 -2.12258024e-01 -7.80460050e-01 8.20955293e+01] [ 1.31840694e-01 9.77200725e-01 -1.66423482e-01 7.31362976e+00] [ 7.97990846e-01 -5.02740965e-03 6.02648600e-01 -3.64331653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters Centerline goodness : 0.809678 Centerline is valid? [True, False] Translation: X:82.09, Y:7.27, Z:-36.45 [[ 5.97732631e-01 -1.76857527e-01 -7.81944446e-01 8.20854388e+01] [ 1.24308244e-01 9.84013067e-01 -1.27537224e-01 7.27481842e+00] [ 7.91999471e-01 -2.09689811e-02 6.10161568e-01 -3.64466161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93592 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:82.08, Y:7.24, Z:-36.46 [[ 6.07491987e-01 -1.40320691e-01 -7.81833479e-01 8.20770192e+01] [ 1.15734570e-01 9.89405536e-01 -8.76481330e-02 7.23611534e+00] [ 7.85849219e-01 -3.72396228e-02 6.17295890e-01 -3.64598875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters Centerline goodness : 0.981387 Centerline is valid? [True, True] Translation: X:82.09, Y:7.25, Z:-36.46 [[ 6.03840713e-01 -1.00742745e-01 -7.90713154e-01 8.20893048e+01] [ 6.35331465e-02 9.94908011e-01 -7.82405891e-02 7.24958414e+00] [ 7.94569023e-01 -2.99164148e-03 6.07166466e-01 -3.64552315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:82.08, Y:7.43, Z:-36.41 [[ 6.13840538e-01 -2.90889668e-01 -7.33882140e-01 8.20791355e+01] [ 1.21517596e-01 9.53373045e-01 -2.76248639e-01 7.42934859e+00] [ 7.80021325e-01 8.03930193e-02 6.20567236e-01 -3.64128285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.12, Y:7.30, Z:-36.40 [[ 6.08987292e-01 -1.86328788e-01 -7.70983827e-01 8.21239316e+01] [ 1.20988503e-01 9.82463342e-01 -1.41871644e-01 7.29655619e+00] [ 7.83898119e-01 -6.88215049e-03 6.20851331e-01 -3.63954431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.14, Y:7.30, Z:-36.37 [[ 6.08747285e-01 -1.83036053e-01 -7.71961493e-01 8.21414879e+01] [ 1.20893562e-01 9.83060619e-01 -1.37755457e-01 7.29523992e+00] [ 7.84099158e-01 -9.46691413e-03 6.20563363e-01 -3.63734063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:82.16, Y:7.28, Z:-36.35 [[ 6.14150107e-01 -1.71636110e-01 -7.70299092e-01 8.21601524e+01] [ 1.23560266e-01 9.84938742e-01 -1.20948479e-01 7.27887269e+00] [ 7.79456546e-01 -2.08978398e-02 6.26107637e-01 -3.63471772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.18, Y:7.28, Z:-36.33 [[ 6.01095864e-01 -1.72866914e-01 -7.80256876e-01 8.21785871e+01] [ 1.24530479e-01 9.84659968e-01 -1.22216641e-01 7.27956686e+00] [ 7.89414924e-01 -2.37018444e-02 6.13402234e-01 -3.63287251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters Centerline goodness : 0.895680 Centerline is valid? [True, False] Translation: X:82.17, Y:7.25, Z:-36.35 [[ 6.17253404e-01 -1.47110635e-01 -7.72888540e-01 8.21660244e+01] [ 1.13571050e-01 9.88734904e-01 -9.74931043e-02 7.25369117e+00] [ 7.78524150e-01 -2.75998122e-02 6.27007495e-01 -3.63478300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17591999999999 meters Centerline goodness : 0.999052 Centerline is valid? [False, True] Translation: X:82.15, Y:7.21, Z:-36.37 [[ 6.30555847e-01 -1.11505544e-01 -7.68092337e-01 8.21499999e+01] [ 1.06155924e-01 9.92716298e-01 -5.69672814e-02 7.21136202e+00] [ 7.68849949e-01 -4.56164993e-02 6.37800040e-01 -3.63678166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.16, Y:7.27, Z:-36.35 [[ 6.21348842e-01 -1.55619247e-01 -7.67924649e-01 8.21645672e+01] [ 1.02054793e-01 9.87802903e-01 -1.17602055e-01 7.26698375e+00] [ 7.76859341e-01 -5.29848986e-03 6.29651880e-01 -3.63492361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:7.32, Z:-36.33 [[ 6.43925511e-01 -1.91937464e-01 -7.40621325e-01 8.21791310e+01] [ 1.06174781e-01 9.81072125e-01 -1.61939498e-01 7.31505860e+00] [ 7.57685193e-01 2.56416667e-02 6.52116288e-01 -3.63302809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:82.20, Y:7.21, Z:-36.30 [[ 6.26191769e-01 -1.12246132e-01 -7.71546936e-01 8.22028314e+01] [ 1.02176758e-01 9.92862354e-01 -6.15163015e-02 7.21437525e+00] [ 7.72944874e-01 -4.03131629e-02 6.33191180e-01 -3.63021563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:82.21, Y:7.30, Z:-36.28 [[ 6.56767102e-01 -1.77760180e-01 -7.32842611e-01 8.22146450e+01] [ 1.06146044e-01 9.83935781e-01 -1.43538830e-01 7.29986830e+00] [ 7.46585555e-01 1.64832373e-02 6.65085191e-01 -3.62805990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters Centerline goodness : 0.942907 Centerline is valid? [True, False] Translation: X:82.20, Y:7.27, Z:-36.30 [[ 6.73226466e-01 -1.51253763e-01 -7.23801371e-01 8.21966666e+01] [ 9.53817165e-02 9.88441356e-01 -1.17838930e-01 7.27477427e+00] [ 7.33258790e-01 1.02948690e-02 6.79871725e-01 -3.63011733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35592 meters Centerline goodness : 0.998557 Centerline is valid? [False, True] Translation: X:82.17, Y:7.24, Z:-36.33 [[ 6.91944389e-01 -1.17490289e-01 -7.12326466e-01 8.21747405e+01] [ 8.18378410e-02 9.93074031e-01 -8.43002790e-02 7.24035943e+00] [ 7.17297379e-01 3.58449969e-05 6.96767155e-01 -3.63289117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:82.19, Y:7.22, Z:-36.31 [[ 6.92523702e-01 -1.03298356e-01 -7.13961044e-01 8.21942675e+01] [ 7.90863188e-02 9.94600812e-01 -6.71906106e-02 7.22424518e+00] [ 7.17046914e-01 -9.93346036e-03 6.96954123e-01 -3.63077725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41592 meters Centerline goodness : 0.958814 Centerline is valid? [True, True] Translation: X:82.21, Y:7.17, Z:-36.32 [[ 6.52765290e-01 -6.24161017e-02 -7.54984574e-01 8.22064578e+01] [ 5.92313427e-02 9.97754255e-01 -3.12745018e-02 7.17304764e+00] [ 7.55241103e-01 -2.43038407e-02 6.54996335e-01 -3.63246813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.20, Y:7.43, Z:-36.27 [[ 6.93135160e-01 -2.41607265e-01 -6.79109401e-01 8.21981520e+01] [ 7.04403244e-02 9.60345532e-01 -2.69767716e-01 7.43089077e+00] [ 7.17357519e-01 1.39148802e-01 6.82668148e-01 -3.62722635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:7.15, Z:-36.25 [[ 6.71107844e-01 -2.94828392e-02 -7.40773261e-01 8.22324376e+01] [ 6.12996334e-02 9.97994116e-01 1.58145081e-02 7.14957343e+00] [ 7.38821100e-01 -5.60223698e-02 6.71568967e-01 -3.62482072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.25, Y:7.29, Z:-36.23 [[ 6.75968654e-01 -1.24002110e-01 -7.26422643e-01 8.22517346e+01] [ 5.60176995e-02 9.91535403e-01 -1.17130536e-01 7.28519026e+00] [ 7.34798201e-01 3.84840452e-02 6.77193164e-01 -3.62342853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.27, Y:7.23, Z:-36.21 [[ 6.75082231e-01 -7.95849968e-02 -7.33437257e-01 8.22711437e+01] [ 5.44743963e-02 9.96827777e-01 -5.80251931e-02 7.23097752e+00] [ 7.35728565e-01 -7.81774949e-04 6.77276065e-01 -3.62110755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.29, Y:7.24, Z:-36.19 [[ 6.75592119e-01 -7.93984698e-02 -7.32987839e-01 8.22893476e+01] [ 5.05131609e-02 9.96832936e-01 -6.14208232e-02 7.24038033e+00] [ 7.35543139e-01 4.46989146e-03 6.77463144e-01 -3.61910223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.31, Y:7.20, Z:-36.17 [[ 6.80024459e-01 -4.81971050e-02 -7.31603564e-01 8.23063323e+01] [ 5.32569454e-02 9.98448220e-01 -1.62742348e-02 7.19882950e+00] [ 7.31252647e-01 -2.78960933e-02 6.81536040e-01 -3.61704870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:7.30, Z:-36.15 [[ 6.76261247e-01 -1.17338220e-01 -7.27256810e-01 8.23229341e+01] [ 5.15996480e-02 9.92353117e-01 -1.12128350e-01 7.29690249e+00] [ 7.34852504e-01 3.83018620e-02 6.77144567e-01 -3.61508116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.34, Y:7.25, Z:-36.13 [[ 6.78917975e-01 -8.36604457e-02 -7.29432185e-01 8.23436700e+01] [ 5.56947640e-02 9.96492740e-01 -6.24524819e-02 7.25361460e+00] [ 7.32098679e-01 1.77455916e-03 6.81196282e-01 -3.61299773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:7.25, Z:-36.11 [[ 6.79321957e-01 -8.23661176e-02 -7.29203333e-01 8.23621511e+01] [ 5.89794430e-02 9.96594653e-01 -5.76239847e-02 7.25303131e+00] [ 7.31466406e-01 -3.86276837e-03 6.81866538e-01 -3.61102101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.38, Y:7.26, Z:-36.09 [[ 6.79668097e-01 -8.81771968e-02 -7.28200563e-01 8.23798972e+01] [ 6.04555011e-02 9.96104726e-01 -6.41911713e-02 7.26351050e+00] [ 7.31024220e-01 -3.95038664e-04 6.82351401e-01 -3.60899099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:7.30, Z:-36.07 [[ 7.07860732e-01 -1.14044308e-01 -6.97084701e-01 8.23984679e+01] [ 6.74116417e-02 9.93282659e-01 -9.40490865e-02 7.29690415e+00] [ 7.03127908e-01 1.95820312e-02 7.10793704e-01 -3.60705833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77592 meters Centerline goodness : 0.966416 Centerline is valid? [True, True] Translation: X:82.42, Y:7.17, Z:-36.07 [[ 6.85464488e-01 -1.12813597e-01 -7.19313234e-01 8.24160215e+01] [ 1.57268410e-01 9.87543169e-01 -5.01365347e-03 7.16638268e+00] [ 7.10918478e-01 -1.09688567e-01 6.94667788e-01 -3.60689908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:7.36, Z:-36.03 [[ 6.80699076e-01 -1.57486336e-01 -7.15434708e-01 8.24280188e+01] [ 6.39397629e-02 9.85663921e-01 -1.56135649e-01 7.35833643e+00] [ 7.29767412e-01 6.05366660e-02 6.81010159e-01 -3.60311850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.45, Y:7.25, Z:-36.01 [[ 6.83628746e-01 -8.02089526e-02 -7.25409030e-01 8.24508767e+01] [ 6.65091784e-02 9.96653491e-01 -4.75220806e-02 7.25499409e+00] [ 7.26793139e-01 -1.57588982e-02 6.86675608e-01 -3.60101554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.47, Y:7.30, Z:-35.99 [[ 6.85496582e-01 -1.13414249e-01 -7.19188184e-01 8.24693496e+01] [ 6.62323413e-02 9.93411098e-01 -9.35289703e-02 7.30276020e+00] [ 7.25057041e-01 1.64802723e-02 6.88491604e-01 -3.59919154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.49, Y:7.28, Z:-35.97 [[ 6.86202259e-01 -9.41582713e-02 -7.21290982e-01 8.24890473e+01] [ 6.73960491e-02 9.95551331e-01 -6.58431513e-02 7.27677774e+00] [ 7.24281874e-01 -3.43044326e-03 6.89495467e-01 -3.59714981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.51, Y:7.28, Z:-35.95 [[ 6.89009316e-01 -9.39054076e-02 -7.18643122e-01 8.25087278e+01] [ 6.77080541e-02 9.95574058e-01 -6.51760328e-02 7.27770753e+00] [ 7.21582831e-01 -3.75103363e-03 6.92317953e-01 -3.59515037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95591999999999 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:82.53, Y:7.23, Z:-35.95 [[ 6.92766519e-01 -1.25841604e-01 -7.10097487e-01 8.25262053e+01] [ 1.34060373e-01 9.89966725e-01 -4.46508596e-02 7.22924694e+00] [ 7.08591819e-01 -6.42633133e-02 7.02686175e-01 -3.59463350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:7.37, Z:-35.91 [[ 6.88904181e-01 -1.61459830e-01 -7.06641177e-01 8.25381328e+01] [ 6.72104591e-02 9.84904675e-01 -1.59516568e-01 7.37054207e+00] [ 7.21729716e-01 6.23979529e-02 6.89356738e-01 -3.59137529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:7.21, Z:-35.89 [[ 6.91178188e-01 -4.70578733e-02 -7.21150656e-01 8.25624768e+01] [ 7.19430877e-02 9.97401236e-01 3.86869516e-03 7.21082373e+00] [ 7.19094503e-01 -5.45557626e-02 6.92767468e-01 -3.58906831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:7.40, Z:-35.87 [[ 7.15744537e-01 -1.83739151e-01 -6.73757881e-01 8.25736432e+01] [ 7.50744492e-02 9.79421443e-01 -1.87343170e-01 7.40370828e+00] [ 6.94315191e-01 8.35078486e-02 7.14809663e-01 -3.58716044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.60, Y:7.22, Z:-35.85 [[ 6.84060413e-01 -4.64378352e-02 -7.27945656e-01 8.26038182e+01] [ 7.17915024e-02 9.97412286e-01 3.83552998e-03 7.21578517e+00] [ 7.25883828e-01 -5.48840466e-02 6.85624103e-01 -3.58483728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:7.36, Z:-35.83 [[ 7.18569238e-01 -1.49861456e-01 -6.79116923e-01 8.26181432e+01] [ 7.42261009e-02 9.87455304e-01 -1.39364658e-01 7.36094256e+00] [ 6.91482998e-01 4.97349545e-02 7.20678637e-01 -3.58307004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.64, Y:7.17, Z:-35.80 [[ 6.94477878e-01 -1.27238562e-02 -7.19401543e-01 8.26399395e+01] [ 7.07769111e-02 9.96202591e-01 5.07052853e-02 7.17216841e+00] [ 7.16024515e-01 -8.61307180e-02 6.92741217e-01 -3.58030927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:7.41, Z:-35.79 [[ 7.21848929e-01 -1.82201331e-01 -6.67635229e-01 8.26496753e+01] [ 7.35849165e-02 9.79458606e-01 -1.87739447e-01 7.41103432e+00] [ 6.88127447e-01 8.63916362e-02 7.20428415e-01 -3.57891825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.68, Y:7.29, Z:-35.77 [[ 7.22316024e-01 -9.35484097e-02 -6.85206725e-01 8.26826935e+01] [ 6.93377362e-02 9.95612465e-01 -6.28338912e-02 7.29112507e+00] [ 6.88078368e-01 -2.12475673e-03 7.25633272e-01 -3.57708251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.70, Y:7.29, Z:-35.75 [[ 7.21441651e-01 -9.41289189e-02 -6.86047878e-01 8.27024495e+01] [ 6.95735203e-02 9.95558071e-01 -6.34322633e-02 7.29329468e+00] [ 6.88971313e-01 -1.96808923e-03 7.24785939e-01 -3.57509457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:82.72, Y:7.19, Z:-35.73 [[ 6.97327863e-01 -2.04403467e-02 -7.16460777e-01 8.27162624e+01] [ 7.00255729e-02 9.96754160e-01 3.97185491e-02 7.19126605e+00] [ 7.13323399e-01 -7.78674273e-02 6.96495795e-01 -3.57272905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.73, Y:7.42, Z:-35.71 [[ 7.24978554e-01 -1.80814659e-01 -6.64614291e-01 8.27257094e+01] [ 7.50033165e-02 9.79913822e-01 -1.84779336e-01 7.41677262e+00] [ 6.84675543e-01 8.41127798e-02 7.23978205e-01 -3.57116793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.76, Y:7.30, Z:-35.69 [[ 7.24581245e-01 -9.72086966e-02 -6.82299413e-01 8.27576793e+01] [ 7.39953373e-02 9.95253005e-01 -6.32150826e-02 7.29869947e+00] [ 6.85205597e-01 -4.68251201e-03 7.28334651e-01 -3.56924629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:82.78, Y:7.30, Z:-35.67 [[ 7.25638155e-01 -1.00681978e-01 -6.80670557e-01 8.27783144e+01] [ 7.84055088e-02 9.94892347e-01 -6.35751035e-02 7.29878336e+00] [ 6.83594795e-01 -7.23580057e-03 7.29825869e-01 -3.56728788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.80, Y:7.30, Z:-35.65 [[ 7.26183629e-01 -1.02391251e-01 -6.79833339e-01 8.27973596e+01] [ 8.03365822e-02 9.94710912e-01 -6.40018383e-02 7.29948580e+00] [ 6.82790869e-01 -8.13839979e-03 7.30568543e-01 -3.56526808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:82.82, Y:7.30, Z:-35.63 [[ 7.26516904e-01 -1.03704669e-01 -6.79277948e-01 8.28175522e+01] [ 8.17054684e-02 9.94570303e-01 -6.44525276e-02 7.30055304e+00] [ 6.82273703e-01 -8.67487215e-03 7.31045376e-01 -3.56332104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:82.84, Y:7.20, Z:-35.61 [[ 7.02709973e-01 -3.07777671e-02 -7.10810399e-01 8.28354868e+01] [ 8.17251721e-02 9.95942755e-01 3.76699600e-02 7.19937031e+00] [ 7.06767069e-01 -8.45621587e-02 7.02374224e-01 -3.56060177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:82.85, Y:7.41, Z:-35.59 [[ 7.22421991e-01 -1.82369415e-01 -6.66969162e-01 8.28474494e+01] [ 8.45374147e-02 9.80650441e-01 -1.76573321e-01 7.41455358e+00] [ 6.86265176e-01 7.11766011e-02 7.23860483e-01 -3.55931077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.88, Y:7.31, Z:-35.57 [[ 7.23750623e-01 -1.04466033e-01 -6.82108411e-01 8.28775238e+01] [ 8.17294263e-02 9.94494004e-01 -6.55894562e-02 7.30554164e+00] [ 6.85204595e-01 -8.27791935e-03 7.28303603e-01 -3.55725586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:82.90, Y:7.25, Z:-35.55 [[ 6.94581781e-01 -6.33181682e-02 -7.16621908e-01 8.28957598e+01] [ 7.86388368e-02 9.96832664e-01 -1.18563427e-02 7.25088963e+00] [ 7.15102848e-01 -4.81191137e-02 6.97361074e-01 -3.55471759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:82.91, Y:7.32, Z:-35.53 [[ 6.97179306e-01 -1.07854852e-01 -7.08737149e-01 8.29125926e+01] [ 7.52839427e-02 9.94166531e-01 -7.72349490e-02 7.31779653e+00] [ 7.12932916e-01 4.90081259e-04 7.01232071e-01 -3.55305087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:82.93, Y:7.36, Z:-35.51 [[ 7.27398728e-01 -1.36693720e-01 -6.72462576e-01 8.29315429e+01] [ 7.90029353e-02 9.90124650e-01 -1.15808953e-01 7.36189100e+00] [ 6.81652130e-01 3.11127681e-02 7.31014616e-01 -3.55122033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:82.95, Y:7.27, Z:-35.49 [[ 6.99442987e-01 -6.89018478e-02 -7.11359293e-01 8.29541512e+01] [ 7.29003098e-02 9.97028540e-01 -2.48924819e-02 7.27421799e+00] [ 7.10960655e-01 -3.44474409e-02 7.02387586e-01 -3.54875194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:82.97, Y:7.33, Z:-35.47 [[ 7.03101696e-01 -1.05663612e-01 -7.03194998e-01 8.29710677e+01] [ 7.14468008e-02 9.94391346e-01 -7.79820889e-02 7.32896916e+00] [ 7.07490890e-01 4.58830601e-03 7.06707569e-01 -3.54700413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67591999999999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:82.99, Y:7.34, Z:-35.45 [[ 7.08752800e-01 -1.09499865e-01 -6.96906914e-01 8.29903323e+01] [ 7.23406944e-02 9.93953563e-01 -8.26022963e-02 7.33615147e+00] [ 7.01738051e-01 8.12987870e-03 7.12388667e-01 -3.54507982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters Centerline goodness : 0.921989 Centerline is valid? [True, False] Translation: X:82.97, Y:7.32, Z:-35.47 [[ 7.22674792e-01 -8.65325881e-02 -6.85750141e-01 8.29683815e+01] [ 6.19162935e-02 9.96248254e-01 -6.04631231e-02 7.31724835e+00] [ 6.88409412e-01 1.23606790e-03 7.25321277e-01 -3.54722023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73592 meters Centerline goodness : 0.998457 Centerline is valid? [False, True] Translation: X:82.96, Y:7.30, Z:-35.48 [[ 7.27693427e-01 -6.18953850e-02 -6.83104119e-01 8.29572789e+01] [ 4.79819765e-02 9.98073959e-01 -3.93205111e-02 7.29907064e+00] [ 6.84222191e-01 -4.16340835e-03 7.29261722e-01 -3.54819987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:82.98, Y:7.35, Z:-35.47 [[ 7.58687927e-01 -9.95673501e-02 -6.43800413e-01 8.29765647e+01] [ 5.17420539e-02 9.94339011e-01 -9.28045830e-02 7.35479831e+00] [ 6.49396173e-01 3.70981610e-02 7.59544822e-01 -3.54651047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:83.00, Y:7.26, Z:-35.44 [[ 7.30848395e-01 -3.08745228e-02 -6.81841174e-01 8.29983217e+01] [ 4.74823666e-02 9.98856007e-01 5.66584852e-03 7.25825235e+00] [ 6.80886222e-01 -3.65163089e-02 7.31478306e-01 -3.54409043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:83.02, Y:7.30, Z:-35.43 [[ 7.38056634e-01 -4.77856315e-02 -6.73044529e-01 8.30166168e+01] [ 4.12276210e-02 9.98819060e-01 -2.57054022e-02 7.29551266e+00] [ 6.73478053e-01 -8.77598215e-03 7.39155122e-01 -3.54259158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85592 meters Centerline goodness : 0.938760 Centerline is valid? [True, False] Translation: X:82.99, Y:7.29, Z:-35.45 [[ 7.47110769e-01 -3.36451271e-02 -6.63847500e-01 8.29896612e+01] [ 3.08087235e-02 9.99397573e-01 -1.59785632e-02 7.28873060e+00] [ 6.63985181e-01 -8.51453746e-03 7.47697253e-01 -3.54505736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters Centerline goodness : 0.997164 Centerline is valid? [False, True] Translation: X:82.96, Y:7.28, Z:-35.48 [[ 7.56056351e-01 -1.94659298e-02 -6.54216991e-01 8.29623894e+01] [ 2.05165316e-02 9.99771284e-01 -6.03748241e-03 7.28078614e+00] [ 6.54184886e-01 -8.85758668e-03 7.56282803e-01 -3.54751158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91592 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:82.99, Y:7.34, Z:-35.43 [[ 7.67167061e-01 -2.54159370e-02 -6.40943625e-01 8.29868316e+01] [ 2.79678287e-03 9.99337747e-01 -3.62801105e-02 7.33553875e+00] [ 6.41441251e-01 2.60403256e-02 7.66730085e-01 -3.54339775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:83.01, Y:7.30, Z:-35.42 [[ 7.68138566e-01 -5.46108519e-03 -6.40260353e-01 8.30067762e+01] [ 3.98604053e-03 9.99985035e-01 -3.74718191e-03 7.30397460e+00] [ 6.40271235e-01 3.26251220e-04 7.68148839e-01 -3.54155682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97592 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:83.03, Y:7.34, Z:-35.40 [[ 7.73236724e-01 -2.14878595e-02 -6.33753296e-01 8.30313269e+01] [-8.66629538e-04 9.99388953e-01 -3.49423654e-02 7.33818914e+00] [ 6.34116880e-01 2.75679495e-02 7.72745619e-01 -3.53982798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:83.05, Y:7.29, Z:-35.38 [[ 7.69058378e-01 8.93810506e-03 -6.39116047e-01 8.30509463e+01] [-7.73728033e-04 9.99914508e-01 1.30528703e-02 7.29344639e+00] [ 6.39178076e-01 -9.54391729e-03 7.68999545e-01 -3.53786203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03591999999999 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:83.07, Y:7.37, Z:-35.36 [[ 7.95904280e-01 -4.08549035e-02 -6.04042427e-01 8.30725979e+01] [ 2.05588399e-03 9.97897147e-01 -6.47846956e-02 7.37182312e+00] [ 6.05418987e-01 5.03205754e-02 7.94314604e-01 -3.53630401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:83.09, Y:7.28, Z:-35.34 [[ 7.73381152e-01 2.36771572e-02 -6.33499003e-01 8.30944075e+01] [-4.44051100e-03 9.99480091e-01 3.19347618e-02 7.28152774e+00] [ 6.33925766e-01 -2.18846835e-02 7.73084203e-01 -3.53415883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09591999999999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:83.11, Y:7.31, Z:-35.33 [[ 7.73761806e-01 7.40533223e-03 -6.33433365e-01 8.31137916e+01] [-5.53589028e-03 9.99972533e-01 4.92817168e-03 7.31122251e+00] [ 6.33452462e-01 -3.06613409e-04 7.73781549e-01 -3.53251440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:83.13, Y:7.38, Z:-35.31 [[ 8.00377083e-01 -3.59473590e-02 -5.98418176e-01 8.31347709e+01] [-3.60012870e-03 9.97894421e-01 -6.47592789e-02 7.38303130e+00] [ 5.99486084e-01 5.39862252e-02 7.98562410e-01 -3.53082425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15592 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:83.16, Y:7.30, Z:-35.29 [[ 7.75862807e-01 2.12769014e-02 -6.30542781e-01 8.31572937e+01] [-8.17636580e-03 9.99686332e-01 2.36724452e-02 7.30021581e+00] [ 6.30848676e-01 -1.32110213e-02 7.75793411e-01 -3.52888631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:83.18, Y:7.31, Z:-35.27 [[ 7.73675967e-01 1.58484058e-02 -6.33383238e-01 8.31784415e+01] [-4.96647065e-03 9.99808088e-01 1.89504941e-02 7.30920189e+00] [ 6.33562020e-01 -1.15158626e-02 7.73606200e-01 -3.52728427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21592 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:83.20, Y:7.37, Z:-35.25 [[ 7.80383893e-01 -2.41828506e-02 -6.24832914e-01 8.32009112e+01] [-5.17146943e-03 9.98968104e-01 -4.51218674e-02 7.37348987e+00] [ 6.25279326e-01 3.84436828e-02 7.79453557e-01 -3.52549292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:83.22, Y:7.34, Z:-35.24 [[ 7.83891445e-01 -5.38564337e-03 -6.20874542e-01 8.32216579e+01] [-1.17576279e-03 9.99947712e-01 -1.01583037e-02 7.34167468e+00] [ 6.20896787e-01 8.69300855e-03 7.83844125e-01 -3.52366678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27592 meters Centerline goodness : 0.882853 Centerline is valid? [True, False] Translation: X:83.18, Y:7.33, Z:-35.27 [[ 7.94744488e-01 -3.32373039e-03 -6.06935048e-01 8.31785506e+01] [ 1.89124278e-03 9.99993712e-01 -2.99975215e-03 7.33427547e+00] [ 6.06941202e-01 1.23617496e-03 7.94745777e-01 -3.52710387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters Centerline goodness : 0.999205 Centerline is valid? [False, True] Translation: X:83.13, Y:7.33, Z:-35.30 [[ 8.05305015e-01 -1.78541954e-03 -5.92858031e-01 8.31349945e+01] [ 4.90346107e-03 9.99981320e-01 3.64909556e-03 7.32898939e+00] [ 5.92840441e-01 -5.84569123e-03 8.05298727e-01 -3.53047166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:83.16, Y:7.35, Z:-35.29 [[ 8.10192805e-01 -1.83913854e-02 -5.85874880e-01 8.31581844e+01] [ 7.68908725e-03 9.99755116e-01 -2.07505712e-02 7.35362750e+00] [ 5.86113040e-01 1.23071205e-02 8.10135815e-01 -3.52901709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters Centerline goodness : 0.963070 Centerline is valid? [True, True] Translation: X:83.21, Y:7.35, Z:-35.27 [[ 8.17940177e-01 8.01008744e-02 -5.69699673e-01 8.32070804e+01] [-8.14172216e-02 9.96409978e-01 2.32032674e-02 7.35172203e+00] [ 5.69513040e-01 2.74044798e-02 8.21525344e-01 -3.52690169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39591999999999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:83.20, Y:7.29, Z:-35.26 [[ 8.29243638e-01 1.27451069e-02 -5.58741936e-01 8.31970601e+01] [ 1.51825073e-02 9.98857275e-01 4.53170573e-02 7.28611988e+00] [ 5.58681019e-01 -4.60619850e-02 8.28102538e-01 -3.52586262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.26, Y:7.33, Z:-35.24 [[ 8.01706905e-01 6.76426476e-03 -5.97679081e-01 8.32641826e+01] [ 2.51781158e-03 9.99888873e-01 1.46936044e-02 7.32948772e+00] [ 5.97712054e-01 -1.32848074e-02 8.01600782e-01 -3.52414751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45591999999999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:83.24, Y:7.25, Z:-35.22 [[ 8.30533450e-01 2.55025907e-02 -5.56384585e-01 8.32372085e+01] [ 2.10756172e-02 9.96796741e-01 7.71497010e-02 7.25291364e+00] [ 5.56569858e-01 -7.58015558e-02 8.27335553e-01 -3.52241375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:83.30, Y:7.32, Z:-35.22 [[ 8.04203170e-01 -5.30418262e-02 -5.91982961e-01 8.32996225e+01] [ 6.71420797e-02 9.97741776e-01 1.81395004e-03 7.32081222e+00] [ 5.90549915e-01 -4.12057515e-02 8.05948438e-01 -3.52185887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:83.28, Y:7.28, Z:-35.19 [[ 8.31184860e-01 5.08638702e-03 -5.55972892e-01 8.32826479e+01] [ 2.54449051e-02 9.98562465e-01 4.71758523e-02 7.27833297e+00] [ 5.55413616e-01 -5.33585317e-02 8.29860580e-01 -3.51945286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:83.30, Y:7.29, Z:-35.18 [[ 8.02465151e-01 5.99532140e-04 -5.96698687e-01 8.33017599e+01] [ 2.76380719e-02 9.98888883e-01 3.81724580e-02 7.28640118e+00] [ 5.96058570e-01 -4.71236685e-02 8.01556948e-01 -3.51773209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:83.32, Y:7.41, Z:-35.16 [[ 8.32093922e-01 -7.28990138e-02 -5.49823098e-01 8.33233639e+01] [ 3.21624432e-02 9.95998536e-01 -8.33816144e-02 7.40635258e+00] [ 5.53701438e-01 5.16976804e-02 8.31108938e-01 -3.51645005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:83.35, Y:7.30, Z:-35.15 [[ 8.10831349e-01 -1.14208925e-02 -5.85168426e-01 8.33483455e+01] [ 3.15684595e-02 9.99207598e-01 2.42406347e-02 7.30023094e+00] [ 5.84427887e-01 -3.81279323e-02 8.10549385e-01 -3.51462036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63592 meters Centerline goodness : 0.796240 Centerline is valid? [True, False] Translation: X:83.31, Y:7.30, Z:-35.17 [[ 8.20033194e-01 -1.29674207e-02 -5.72169037e-01 8.33075707e+01] [ 2.91652556e-02 9.99391150e-01 1.91498518e-02 7.30407268e+00] [ 5.71572348e-01 -3.23909704e-02 8.19912115e-01 -3.51740449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:83.28, Y:7.31, Z:-35.20 [[ 8.26724460e-01 -1.46932968e-02 -5.62415127e-01 8.32763112e+01] [ 2.67273040e-02 9.99555948e-01 1.31741544e-02 7.30912543e+00] [ 5.61971813e-01 -2.59232358e-02 8.26750063e-01 -3.51968573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:83.30, Y:7.34, Z:-35.18 [[ 8.26661539e-01 -3.30520805e-02 -5.61727923e-01 8.32987196e+01] [ 2.87762862e-02 9.99450357e-01 -1.64593288e-02 7.33729237e+00] [ 5.61963188e-01 -2.55814940e-03 8.27158287e-01 -3.51810874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:83.32, Y:7.34, Z:-35.16 [[ 8.27163993e-01 -3.37021158e-02 -5.60949102e-01 8.33213559e+01] [ 2.93291427e-02 9.99428650e-01 -1.67980468e-02 7.33618385e+00] [ 5.61194734e-01 -2.55741682e-03 8.27679848e-01 -3.51649403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:7.34, Z:-35.15 [[ 8.26985088e-01 -3.37515808e-02 -5.61209850e-01 8.33454706e+01] [ 2.91390613e-02 9.99427928e-01 -1.71677374e-02 7.33566097e+00] [ 5.61468236e-01 -2.15566537e-03 8.27495482e-01 -3.51500436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:7.34, Z:-35.13 [[ 8.26648421e-01 -3.37621111e-02 -5.61705001e-01 8.33681443e+01] [ 2.88968257e-02 9.99428404e-01 -1.75453262e-02 7.33519664e+00] [ 5.61976300e-01 -1.72767534e-03 8.27151530e-01 -3.51337839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.39, Y:7.34, Z:-35.12 [[ 8.26617359e-01 -3.36408210e-02 -5.61757988e-01 8.33906041e+01] [ 2.85014235e-02 9.99433261e-01 -1.79115993e-02 7.33502550e+00] [ 5.62042178e-01 -1.20486342e-03 8.27107694e-01 -3.51169032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:83.41, Y:7.34, Z:-35.10 [[ 8.28073155e-01 -3.21839175e-02 -5.59695493e-01 8.34120084e+01] [ 2.65379744e-02 9.99481938e-01 -1.82096517e-02 7.33602348e+00] [ 5.59991594e-01 2.25739052e-04 8.28498258e-01 -3.50991612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:83.43, Y:7.27, Z:-35.08 [[ 8.04056243e-01 5.51085177e-03 -5.94527703e-01 8.34308516e+01] [ 2.65851216e-02 9.98623651e-01 4.52110134e-02 7.27384125e+00] [ 5.93958576e-01 -5.21577888e-02 8.02803074e-01 -3.50798635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.45, Y:7.34, Z:-35.07 [[ 8.05142271e-01 -3.77520271e-02 -5.91878964e-01 8.34534477e+01] [ 2.63041738e-02 9.99263050e-01 -2.79543699e-02 7.34180571e+00] [ 5.92498113e-01 6.93835778e-03 8.05541958e-01 -3.50675868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.48, Y:7.40, Z:-35.05 [[ 8.30371389e-01 -7.17965854e-02 -5.52565478e-01 8.34769414e+01] [ 2.98926079e-02 9.95975924e-01 -8.44889991e-02 7.39703949e+00] [ 5.56407934e-01 5.36396244e-02 8.29176098e-01 -3.50512654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.50, Y:7.28, Z:-35.03 [[ 8.04657676e-01 -1.87830802e-03 -5.93736049e-01 8.34974702e+01] [ 2.91666829e-02 9.98912749e-01 3.63678936e-02 7.27916473e+00] [ 5.93022199e-01 -4.65810158e-02 8.03837596e-01 -3.50332690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:7.33, Z:-35.02 [[ 8.04619855e-01 -3.36645563e-02 -5.92835210e-01 8.35207586e+01] [ 2.91765430e-02 9.99427078e-01 -1.71535752e-02 7.33091151e+00] [ 5.93073029e-01 -3.49477483e-03 8.05141086e-01 -3.50195953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:83.54, Y:7.34, Z:-35.00 [[ 8.06723474e-01 -4.03697999e-02 -5.89548570e-01 8.35436301e+01] [ 2.87654536e-02 9.99163782e-01 -2.90565972e-02 7.34131866e+00] [ 5.90228587e-01 6.48200703e-03 8.07210133e-01 -3.50037283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:83.57, Y:7.33, Z:-34.99 [[ 8.07265329e-01 -3.16169408e-02 -5.89341207e-01 8.35651145e+01] [ 2.56691314e-02 9.99500034e-01 -1.84601612e-02 7.32852405e+00] [ 5.89630210e-01 -2.25628807e-04 8.07673303e-01 -3.49855184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:83.59, Y:7.34, Z:-34.97 [[ 8.08656687e-01 -3.58901016e-02 -5.87185033e-01 8.35861443e+01] [ 2.47115405e-02 9.99328616e-01 -2.70491449e-02 7.33821066e+00] [ 5.87761604e-01 7.36322519e-03 8.09000668e-01 -3.49679438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:83.61, Y:7.35, Z:-34.95 [[ 8.13383561e-01 -3.62555856e-02 -5.80596861e-01 8.36087918e+01] [ 2.05364588e-02 9.99223456e-01 -3.36264539e-02 7.34695153e+00] [ 5.81365149e-01 1.54278013e-02 8.13496494e-01 -3.49507344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:83.63, Y:7.33, Z:-34.94 [[ 8.12211831e-01 -2.20697555e-02 -5.82944995e-01 8.36314227e+01] [ 1.88210761e-02 9.99755265e-01 -1.16265748e-02 7.32569976e+00] [ 5.83058923e-01 -1.52841055e-03 8.12428431e-01 -3.49359255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.65, Y:7.30, Z:-34.93 [[ 8.20881750e-01 -4.56361328e-02 -5.69271899e-01 8.36502630e+01] [ 5.29755245e-02 9.98589094e-01 -3.66275453e-03 7.30175506e+00] [ 5.68635864e-01 -2.71507891e-02 8.22141161e-01 -3.49281358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:7.44, Z:-34.90 [[ 8.42132399e-01 -8.24222492e-02 -5.32934889e-01 8.36724025e+01] [ 1.95912701e-02 9.92274543e-01 -1.22504752e-01 7.43677411e+00] [ 5.38914840e-01 9.27243492e-02 8.37241297e-01 -3.49037828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:83.70, Y:7.34, Z:-34.89 [[ 8.39479510e-01 -2.27473011e-02 -5.42915014e-01 8.36993838e+01] [ 1.51485201e-02 9.99714776e-01 -1.84631858e-02 7.33642479e+00] [ 5.43180149e-01 7.27510718e-03 8.39584658e-01 -3.48891321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.72, Y:7.24, Z:-34.87 [[ 8.19865052e-01 3.39689969e-02 -5.71548251e-01 8.37172226e+01] [ 1.59694511e-02 9.96493468e-01 8.21324854e-02 7.23736799e+00] [ 5.72334057e-01 -7.64648662e-02 8.16447703e-01 -3.48672555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:83.74, Y:7.40, Z:-34.86 [[ 8.15075174e-01 -6.02591915e-02 -5.76212886e-01 8.37434146e+01] [ 1.33921029e-02 9.96270075e-01 -8.52442905e-02 7.40175407e+00] [ 5.79200407e-01 6.17638026e-02 8.12842002e-01 -3.48555891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:83.77, Y:7.33, Z:-34.84 [[ 8.14853095e-01 -1.74341100e-02 -5.79405286e-01 8.37688320e+01] [ 1.41951987e-02 9.99848014e-01 -1.01215140e-02 7.33359575e+00] [ 5.79493684e-01 2.27738762e-05 8.14976729e-01 -3.48422079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.79, Y:7.35, Z:-34.82 [[ 8.16517563e-01 -2.35514398e-02 -5.76840011e-01 8.37894979e+01] [ 1.21532845e-02 9.99647347e-01 -2.36109905e-02 7.35090959e+00] [ 5.77192660e-01 1.22682877e-02 8.16515843e-01 -3.48236668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.81, Y:7.33, Z:-34.81 [[ 8.16237157e-01 -8.45371417e-03 -5.77655121e-01 8.38118119e+01] [ 1.25214422e-02 9.99916922e-01 3.05970540e-03 7.32562979e+00] [ 5.77581265e-01 -9.73052042e-03 8.16275199e-01 -3.48082141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:83.83, Y:7.37, Z:-34.79 [[ 8.18997058e-01 -3.07942024e-02 -5.72970799e-01 8.38347296e+01] [ 1.09249652e-02 9.99214720e-01 -3.80865937e-02 7.36809624e+00] [ 5.73693703e-01 2.49331222e-02 8.18690341e-01 -3.47931013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters Centerline goodness : 0.883554 Centerline is valid? [True, False] Translation: X:83.80, Y:7.36, Z:-34.82 [[ 8.25585523e-01 -2.39048985e-02 -5.63770432e-01 8.38029080e+01] [ 1.16944964e-02 9.99612511e-01 -2.52599781e-02 7.35740332e+00] [ 5.64155814e-01 1.42612609e-02 8.25545174e-01 -3.48180246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:83.76, Y:7.34, Z:-34.84 [[ 8.33569764e-01 -1.66897159e-02 -5.52162025e-01 8.37638898e+01] [ 1.21086221e-02 9.99855374e-01 -1.19420035e-02 7.34338023e+00] [ 5.52281477e-01 3.26857174e-03 8.33651298e-01 -3.48444285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:83.79, Y:7.35, Z:-34.83 [[ 8.35431410e-01 -2.31311799e-02 -5.49107738e-01 8.37857205e+01] [ 1.36296420e-02 9.99678622e-01 -2.13748855e-02 7.35300785e+00] [ 5.49425693e-01 1.03731088e-02 8.35478190e-01 -3.48275265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53591999999999 meters Centerline goodness : 0.936937 Centerline is valid? [True, False] Translation: X:83.74, Y:7.34, Z:-34.86 [[ 8.44525634e-01 -1.59858112e-02 -5.35276478e-01 8.37414295e+01] [ 1.32466843e-02 9.99872105e-01 -8.96098079e-03 7.34105691e+00] [ 5.35351267e-01 4.77139468e-04 8.44629382e-01 -3.48558218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:83.71, Y:7.34, Z:-34.88 [[ 8.51748336e-01 -1.02908111e-02 -5.23850047e-01 8.37071796e+01] [ 7.40907259e-03 9.99943696e-01 -7.59676636e-03 7.34309429e+00] [ 5.23898729e-01 2.58929008e-03 8.51776624e-01 -3.48768880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:7.40, Z:-34.86 [[ 8.67015030e-01 -3.82243397e-02 -4.96813685e-01 8.37329541e+01] [ 8.57924081e-03 9.98050632e-01 -6.18169277e-02 7.39813217e+00] [ 4.98208124e-01 4.93339211e-02 8.65652834e-01 -3.48620071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:83.76, Y:7.36, Z:-34.85 [[ 8.67036843e-01 -1.59199255e-02 -4.97989627e-01 8.37595023e+01] [ 9.52549277e-03 9.99836369e-01 -1.53785680e-02 7.35512679e+00] [ 4.98152966e-01 8.59018845e-03 8.67046614e-01 -3.48474458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:83.78, Y:7.31, Z:-34.83 [[ 8.51894991e-01 7.92943597e-03 -5.23652604e-01 8.37809170e+01] [ 1.18439312e-02 9.99337940e-01 3.44006154e-02 7.30731693e+00] [ 5.23578692e-01 -3.55078173e-02 8.51237069e-01 -3.48308635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.80, Y:7.36, Z:-34.82 [[ 8.51488569e-01 -2.10041579e-02 -5.23952328e-01 8.38046143e+01] [ 1.43253447e-02 9.99756282e-01 -1.67976571e-02 7.35834738e+00] [ 5.24177452e-01 6.79721532e-03 8.51581938e-01 -3.48196484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.83, Y:7.35, Z:-34.81 [[ 8.51408677e-01 -2.04676377e-02 -5.24103367e-01 8.38286099e+01] [ 1.65036141e-02 9.99788955e-01 -1.22342238e-02 7.35369550e+00] [ 5.24243164e-01 1.76672454e-03 8.51566782e-01 -3.48064146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.85, Y:7.36, Z:-34.79 [[ 8.53633384e-01 -3.08568293e-02 -5.19959520e-01 8.38505269e+01] [ 2.23416780e-02 9.99494111e-01 -2.26356409e-02 7.36289217e+00] [ 5.20394942e-01 7.70577061e-03 8.53890933e-01 -3.47898402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.87, Y:7.36, Z:-34.78 [[ 8.55579317e-01 -3.23835223e-02 -5.16657856e-01 8.38730018e+01] [ 2.48305392e-02 9.99459894e-01 -2.15259205e-02 7.36253878e+00] [ 5.17075891e-01 5.58823926e-03 8.55921314e-01 -3.47757775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.90, Y:7.37, Z:-34.76 [[ 8.61275833e-01 -3.97826164e-02 -5.06578012e-01 8.38978693e+01] [ 2.69478224e-02 9.99103644e-01 -3.26454139e-02 7.37428766e+00] [ 5.07422658e-01 1.44655318e-02 8.61575879e-01 -3.47614645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:7.37, Z:-34.75 [[ 8.72908477e-01 -3.99197191e-02 -4.86248092e-01 8.39234089e+01] [ 2.86124472e-02 9.99120247e-01 -3.06603814e-02 7.37324120e+00] [ 4.87044268e-01 1.28509589e-02 8.73282734e-01 -3.47464434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:7.36, Z:-34.73 [[ 8.72914484e-01 -3.24576365e-02 -4.86792363e-01 8.39483006e+01] [ 2.86948953e-02 9.99472858e-01 -1.51858114e-02 7.35862867e+00] [ 4.87028650e-01 -7.12541176e-04 8.73385703e-01 -3.47317652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.97, Y:7.36, Z:-34.72 [[ 8.72695325e-01 -3.32812945e-02 -4.87129578e-01 8.39722118e+01] [ 2.94762456e-02 9.99445661e-01 -1.54765056e-02 7.35811807e+00] [ 4.87374621e-01 -8.52477005e-04 8.73192563e-01 -3.47167040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:83.99, Y:7.32, Z:-34.70 [[ 8.53886251e-01 -1.52161502e-02 -5.20237195e-01 8.39930583e+01] [ 3.11346841e-02 9.99275789e-01 2.18753067e-02 7.32104527e+00] [ 5.19527576e-01 -3.48764444e-02 8.53741607e-01 -3.47019749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:84.02, Y:7.40, Z:-34.69 [[ 8.74604068e-01 -5.66246544e-02 -4.81519857e-01 8.40175415e+01] [ 3.26546154e-02 9.97781051e-01 -5.80228361e-02 7.39902553e+00] [ 4.83736912e-01 3.50231628e-02 8.74512423e-01 -3.46861428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:84.04, Y:7.30, Z:-34.67 [[ 8.53350412e-01 -8.03533963e-03 -5.21275845e-01 8.40404007e+01] [ 3.36976504e-02 9.98640457e-01 3.97706681e-02 7.30159942e+00] [ 5.20247578e-01 -5.15040872e-02 8.52461018e-01 -3.46708134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.06, Y:7.38, Z:-34.66 [[ 8.56744272e-01 -4.68478084e-02 -5.13609322e-01 8.40640609e+01] [ 3.30902485e-02 9.98807159e-01 -3.59067578e-02 7.37536766e+00] [ 5.14678821e-01 1.37674490e-02 8.57272517e-01 -3.46594698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:84.09, Y:7.32, Z:-34.64 [[ 8.61055593e-01 9.74436077e-03 -5.08417459e-01 8.40930715e+01] [ 7.04393464e-03 9.99491895e-01 3.10859288e-02 7.32232917e+00] [ 5.08462042e-01 -3.03479722e-02 8.60549448e-01 -3.46444138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:84.11, Y:7.44, Z:-34.63 [[ 8.77295099e-01 -7.52024071e-02 -4.74023107e-01 8.41109566e+01] [ 3.33156405e-02 9.94807730e-01 -9.61646954e-02 7.43853082e+00] [ 4.78793668e-01 6.85724326e-02 8.75245363e-01 -3.46254491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:7.31, Z:-34.61 [[ 8.57763517e-01 -7.77771513e-03 -5.13985657e-01 8.41359980e+01] [ 2.79879208e-02 9.99109012e-01 3.15888817e-02 7.31451211e+00] [ 5.13282013e-01 -4.14811802e-02 8.57216943e-01 -3.46104812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:7.34, Z:-34.60 [[ 8.55624027e-01 -2.02684261e-02 -5.17200847e-01 8.41597969e+01] [ 2.60884701e-02 9.99651699e-01 3.98405240e-03 7.34227069e+00] [ 5.16939955e-01 -1.69018298e-02 8.55854784e-01 -3.45966721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:7.44, Z:-34.58 [[ 8.79565566e-01 -6.39841699e-02 -4.71455663e-01 8.41837821e+01] [ 2.54116055e-02 9.95819237e-01 -8.77399454e-02 7.43624639e+00] [ 4.75098586e-01 6.51925894e-02 8.77514251e-01 -3.45819415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.21, Y:7.30, Z:-34.57 [[ 8.55658682e-01 4.15038599e-03 -5.17523907e-01 8.42078073e+01] [ 2.52240796e-02 9.98445024e-01 4.97119739e-02 7.30309484e+00] [ 5.16925494e-01 -5.55905463e-02 8.54223463e-01 -3.45673842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:7.38, Z:-34.56 [[ 8.55651487e-01 -3.78397091e-02 -5.16167307e-01 8.42317273e+01] [ 2.52397984e-02 9.99187871e-01 -3.14094037e-02 7.38495955e+00] [ 5.16936636e-01 1.38475442e-02 8.55911655e-01 -3.45555187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.26, Y:7.43, Z:-34.54 [[ 8.79473564e-01 -6.05375479e-02 -4.72082043e-01 8.42563506e+01] [ 2.82140694e-02 9.96764832e-01 -7.52584664e-02 7.43094472e+00] [ 4.75110741e-01 5.28684761e-02 8.78336330e-01 -3.45421195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.28, Y:7.36, Z:-34.53 [[ 8.69035293e-01 -2.68249894e-02 -4.94022348e-01 8.42810496e+01] [ 3.20627960e-02 9.99483585e-01 2.13060159e-03 7.35683627e+00] [ 4.93710074e-01 -1.76913057e-02 8.69446594e-01 -3.45283716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.30, Y:7.39, Z:-34.52 [[ 8.73781661e-01 -4.41946871e-02 -4.84306142e-01 8.43047753e+01] [ 3.53282601e-02 9.98999437e-01 -2.74233189e-02 7.38635547e+00] [ 4.85033529e-01 6.85229976e-03 8.74468709e-01 -3.45150258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:84.33, Y:7.30, Z:-34.50 [[ 8.51813627e-01 -1.19310770e-03 -5.23843604e-01 8.43260231e+01] [ 3.92252336e-02 9.97335278e-01 6.15119854e-02 7.29823718e+00] [ 5.22374316e-01 -7.29446351e-02 8.49590581e-01 -3.44951552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:7.46, Z:-34.49 [[ 8.72979796e-01 -8.87055572e-02 -4.79622351e-01 8.43481649e+01] [ 4.35843958e-02 9.93576647e-01 -1.04431065e-01 7.46191179e+00] [ 4.85805183e-01 7.02621599e-02 8.71238517e-01 -3.44850832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:7.40, Z:-34.47 [[ 8.80871036e-01 -5.57345645e-02 -4.70063693e-01 8.43779287e+01] [ 4.25329644e-02 9.98346505e-01 -3.86678477e-02 7.39894794e+00] [ 4.71441581e-01 1.40681848e-02 8.81785077e-01 -3.44721225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:7.32, Z:-34.45 [[ 8.56144883e-01 -1.68082727e-02 -5.16462410e-01 8.43974884e+01] [ 4.58511778e-02 9.97999488e-01 4.35280541e-02 7.31690042e+00] [ 5.14697589e-01 -6.09467306e-02 8.55202834e-01 -3.44546416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:7.39, Z:-34.44 [[ 8.57141772e-01 -5.27354568e-02 -5.12373842e-01 8.44212398e+01] [ 4.38381458e-02 9.98604659e-01 -2.94440614e-02 7.38838416e+00] [ 5.13211652e-01 2.77621582e-03 8.58257591e-01 -3.44425396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:7.30, Z:-34.43 [[ 8.56855774e-01 -6.42815955e-03 -5.15516112e-01 8.44477212e+01] [ 4.49222329e-02 9.97050104e-01 6.22340927e-02 7.29947555e+00] [ 5.13595343e-01 -7.64837765e-02 8.54616906e-01 -3.44285225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:7.51, Z:-34.41 [[ 8.73387605e-01 -1.10931189e-01 -4.74223959e-01 8.44646075e+01] [ 4.54708083e-02 9.88034472e-01 -1.47378042e-01 7.50729463e+00] [ 4.84898440e-01 1.07154808e-01 8.67981192e-01 -3.44114247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:7.40, Z:-34.40 [[ 8.82821757e-01 -5.83161158e-02 -4.66074003e-01 8.44980399e+01] [ 4.66381703e-02 9.98242519e-01 -3.65616508e-02 7.39671236e+00] [ 4.67387020e-01 1.05405821e-02 8.83989971e-01 -3.44008386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:7.26, Z:-34.38 [[ 8.57246670e-01 7.33357238e-03 -5.14853733e-01 8.45179285e+01] [ 5.01764143e-02 9.93949921e-01 9.77030262e-02 7.26289573e+00] [ 5.12455339e-01 -1.09589108e-01 8.51692287e-01 -3.43786463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:7.50, Z:-34.37 [[ 8.82445915e-01 -1.10885236e-01 -4.57158257e-01 8.45398437e+01] [ 5.27743518e-02 9.89022275e-01 -1.38021038e-01 7.49659537e+00] [ 4.67444195e-01 9.76698709e-02 8.78610563e-01 -3.43677564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:7.29, Z:-34.35 [[ 8.63429068e-01 -9.19046363e-03 -5.04386538e-01 8.45672512e+01] [ 5.18712146e-02 9.96151979e-01 7.06442645e-02 7.28975030e+00] [ 5.01796394e-01 -8.71594538e-02 8.60583295e-01 -3.43534676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:7.36, Z:-34.34 [[ 8.66650595e-01 -4.28312621e-02 -4.97073666e-01 8.45915094e+01] [ 5.08199534e-02 9.98704577e-01 2.54965295e-03 7.35621341e+00] [ 4.96320541e-01 -2.74709188e-02 8.67704598e-01 -3.43435806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.61, Y:7.38, Z:-34.33 [[ 8.63215321e-01 -5.86037945e-02 -5.01422880e-01 8.46142791e+01] [ 5.23645241e-02 9.98275670e-01 -2.65262780e-02 7.38313068e+00] [ 5.02112802e-01 -3.35888089e-03 8.64795613e-01 -3.43282473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:7.39, Z:-34.32 [[ 8.64340588e-01 -6.15787216e-02 -4.99122639e-01 8.46370901e+01] [ 5.34934664e-02 9.98102174e-01 -3.05040895e-02 7.38635947e+00] [ 5.00053794e-01 -3.33877495e-04 8.65994279e-01 -3.43158305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:7.46, Z:-34.30 [[ 8.87640086e-01 -9.94868960e-02 -4.49663692e-01 8.46599852e+01] [ 5.85011885e-02 9.92836354e-01 -1.04180542e-01 7.45962845e+00] [ 4.56807059e-01 6.61689648e-02 8.87101448e-01 -3.43010350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:7.26, Z:-34.28 [[ 8.71891915e-01 -2.47658702e-04 -4.89698302e-01 8.46828096e+01] [ 5.74255473e-02 9.93151984e-01 1.01742047e-01 7.25518635e+00] [ 4.86319643e-01 -1.16829261e-01 8.65935407e-01 -3.42777931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:7.38, Z:-34.27 [[ 8.74927020e-01 -6.61510828e-02 -4.79715274e-01 8.47050743e+01] [ 5.92440971e-02 9.97806300e-01 -2.95419108e-02 7.38152307e+00] [ 4.80617152e-01 -2.57328225e-03 8.76926754e-01 -3.42734273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:7.48, Z:-34.26 [[ 8.90805613e-01 -1.14622163e-01 -4.39689799e-01 8.47276354e+01] [ 6.37089888e-02 9.89608194e-01 -1.28906121e-01 7.47978151e+00] [ 4.49896126e-01 8.68181039e-02 8.88850996e-01 -3.42562964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.75, Y:7.29, Z:-34.24 [[ 8.69904268e-01 -2.45406875e-02 -4.92609702e-01 8.47523780e+01] [ 6.20307972e-02 9.96274627e-01 5.99086678e-02 7.29049993e+00] [ 4.89304347e-01 -8.26717783e-02 8.68185829e-01 -3.42387147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.78, Y:7.45, Z:-34.23 [[ 8.91163955e-01 -1.01117427e-01 -4.42269229e-01 8.47786226e+01] [ 6.34133937e-02 9.93038391e-01 -9.92647765e-02 7.44811878e+00] [ 4.49227723e-01 6.04153981e-02 8.91372219e-01 -3.42320502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:84.80, Y:7.35, Z:-34.22 [[ 8.79617347e-01 -5.33442397e-02 -4.72681410e-01 8.48044901e+01] [ 6.19651626e-02 9.98074730e-01 2.67430502e-03 7.34550520e+00] [ 4.71628712e-01 -3.16421455e-02 8.81229330e-01 -3.42176124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:7.30, Z:-34.20 [[ 8.76614607e-01 -3.27326661e-02 -4.80078539e-01 8.48274541e+01] [ 6.19309177e-02 9.97060811e-01 4.51032212e-02 7.30357662e+00] [ 4.77191148e-01 -6.92698471e-02 8.76065235e-01 -3.42007212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:7.38, Z:-34.19 [[ 8.68462312e-01 -7.17474125e-02 -4.90535954e-01 8.48520158e+01] [ 6.00287551e-02 9.97410544e-01 -3.96075235e-02 7.38483304e+00] [ 4.92107470e-01 4.95137875e-03 8.70520374e-01 -3.41888857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:7.41, Z:-34.18 [[ 8.82700342e-01 -9.01603886e-02 -4.61206255e-01 8.48778397e+01] [ 6.42352148e-02 9.95359889e-01 -7.16416743e-02 7.41403264e+00] [ 4.65525448e-01 3.36124475e-02 8.84395986e-01 -3.41809343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.90, Y:7.30, Z:-34.16 [[ 8.70791189e-01 -3.79420278e-02 -4.90186808e-01 8.49015285e+01] [ 6.46920083e-02 9.97191520e-01 3.77361491e-02 7.30468609e+00] [ 4.87378342e-01 -6.45714752e-02 8.70800136e-01 -3.41612851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.92, Y:7.36, Z:-34.15 [[ 8.71880276e-01 -6.35595529e-02 -4.85576944e-01 8.49248798e+01] [ 6.37270328e-02 9.97836094e-01 -1.61862567e-02 7.35519412e+00] [ 4.85554992e-01 -1.68318999e-02 8.74044070e-01 -3.41504032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:84.95, Y:7.36, Z:-34.14 [[ 8.76983786e-01 -6.75620895e-02 -4.75746574e-01 8.49477239e+01] [ 6.54438054e-02 9.97634442e-01 -2.10387457e-02 7.35891150e+00] [ 4.76042589e-01 -1.26840274e-02 8.79330750e-01 -3.41389605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:7.43, Z:-34.13 [[ 8.95531061e-01 -1.03669119e-01 -4.32754934e-01 8.49717061e+01] [ 7.15355024e-02 9.93375188e-01 -8.99355794e-02 7.42724536e+00] [ 4.39211556e-01 4.95827632e-02 8.97014358e-01 -3.41271068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.00, Y:7.36, Z:-34.11 [[ 8.96436748e-01 -7.07122876e-02 -4.37493920e-01 8.49994669e+01] [ 6.98229019e-02 9.97394453e-01 -1.81402027e-02 7.35605306e+00] [ 4.37636744e-01 -1.42855507e-02 8.99038377e-01 -3.41138197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:85.02, Y:7.30, Z:-34.10 [[ 8.81821202e-01 -4.39067523e-02 -4.69535477e-01 8.50233129e+01] [ 6.80650156e-02 9.97080983e-01 3.45928837e-02 7.29928928e+00] [ 4.66646034e-01 -6.24636779e-02 8.82235665e-01 -3.40976041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.05, Y:7.37, Z:-34.09 [[ 8.79137749e-01 -7.63297096e-02 -4.70415342e-01 8.50469530e+01] [ 6.76185703e-02 9.97082406e-01 -3.54175796e-02 7.36597128e+00] [ 4.71746275e-01 -6.71881729e-04 8.81734088e-01 -3.40869906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.07, Y:7.39, Z:-34.08 [[ 8.95821292e-01 -8.82227274e-02 -4.35569700e-01 8.50740278e+01] [ 7.06957707e-02 9.95906764e-01 -5.63189643e-02 7.38577276e+00] [ 4.38755423e-01 1.96587917e-02 8.98391457e-01 -3.40761848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.10, Y:7.26, Z:-34.05 [[ 8.82879245e-01 -2.81356658e-02 -4.68756465e-01 8.50951691e+01] [ 6.94130355e-02 9.95057441e-01 7.10107003e-02 7.25868330e+00] [ 4.64441675e-01 -9.52316826e-02 8.80468544e-01 -3.40511173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33592 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:85.12, Y:7.36, Z:-34.04 [[ 8.78940087e-01 -7.49517407e-02 -4.71005903e-01 8.51213014e+01] [ 6.77987460e-02 9.97180433e-01 -3.21638719e-02 7.35584436e+00] [ 4.72088609e-01 -3.66349319e-03 8.81543490e-01 -3.40449608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.15, Y:7.42, Z:-34.03 [[ 8.97650323e-01 -1.05958787e-01 -4.27781058e-01 8.51467181e+01] [ 7.10950097e-02 9.92769411e-01 -9.67181310e-02 7.42157050e+00] [ 4.34936085e-01 5.64059631e-02 8.98692923e-01 -3.40348561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.17, Y:7.35, Z:-34.02 [[ 8.98919435e-01 -7.08914243e-02 -4.32340439e-01 8.51733363e+01] [ 6.95389106e-02 9.97399047e-01 -1.89599679e-02 7.34593666e+00] [ 4.32560041e-01 -1.30209994e-02 9.01511101e-01 -3.40185715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.20, Y:7.35, Z:-34.01 [[ 8.99363988e-01 -6.93971402e-02 -4.31657798e-01 8.51983893e+01] [ 6.77687129e-02 9.97516820e-01 -1.91727678e-02 7.34659132e+00] [ 4.31916449e-01 -1.20095964e-02 9.01833660e-01 -3.40057459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:85.22, Y:7.31, Z:-33.99 [[ 8.80689075e-01 -4.62106534e-02 -4.71435391e-01 8.52201323e+01] [ 6.40944137e-02 9.97702657e-01 2.19388667e-02 7.30509551e+00] [ 4.69338533e-01 -4.95376952e-02 8.81627675e-01 -3.39878753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.25, Y:7.31, Z:-33.98 [[ 8.86331539e-01 -4.49993727e-02 -4.60859480e-01 8.52451695e+01] [ 6.25021895e-02 9.97784841e-01 2.27791122e-02 7.30731569e+00] [ 4.58813557e-01 -4.89945721e-02 8.87180732e-01 -3.39763541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:85.27, Y:7.44, Z:-33.97 [[ 8.99112300e-01 -1.03180516e-01 -4.25383184e-01 8.52699103e+01] [ 6.46564179e-02 9.92466074e-01 -1.04070360e-01 7.43614771e+00] [ 4.32916412e-01 6.60671880e-02 8.99009737e-01 -3.39708090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:85.29, Y:7.30, Z:-33.95 [[ 8.79937863e-01 -3.94072590e-02 -4.73451609e-01 8.52937363e+01] [ 6.15700852e-02 9.97608827e-01 3.13967034e-02 7.30010216e+00] [ 4.71082246e-01 -5.67776039e-02 8.80260087e-01 -3.39490339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.32, Y:7.41, Z:-33.94 [[ 8.99794957e-01 -8.93781205e-02 -4.27060401e-01 8.53211872e+01] [ 6.33394968e-02 9.95183021e-01 -7.48255470e-02 7.40878646e+00] [ 4.31691027e-01 4.02778589e-02 9.01121829e-01 -3.39433893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.34, Y:7.25, Z:-33.92 [[ 8.84881705e-01 -1.22944462e-02 -4.65653536e-01 8.53398049e+01] [ 6.31501510e-02 9.93588981e-01 9.37709770e-02 7.24549978e+00] [ 4.61515360e-01 -1.12382313e-01 8.79985107e-01 -3.39150109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:85.36, Y:7.39, Z:-33.92 [[ 8.86292531e-01 -7.70732325e-02 -4.56667567e-01 8.53647646e+01] [ 6.10579702e-02 9.96893673e-01 -4.97486500e-02 7.38926613e+00] [ 4.59083297e-01 1.62086622e-02 8.88245352e-01 -3.39166278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.39, Y:7.45, Z:-33.91 [[ 9.02740682e-01 -1.02268247e-01 -4.17852208e-01 8.53894646e+01] [ 6.21321619e-02 9.92142801e-01 -1.08592163e-01 7.44830751e+00] [ 4.25674590e-01 7.20685020e-02 9.02001815e-01 -3.39053140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:85.41, Y:7.27, Z:-33.88 [[ 8.90299486e-01 -1.89653144e-02 -4.54980376e-01 8.54122146e+01] [ 5.98985429e-02 9.95328443e-01 7.57195848e-02 7.26669334e+00] [ 4.51418863e-01 -9.46657690e-02 8.87276396e-01 -3.38785330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.44, Y:7.46, Z:-33.88 [[ 9.04064959e-01 -1.04680077e-01 -4.14377402e-01 8.54367619e+01] [ 6.05950514e-02 9.91141685e-01 -1.18179526e-01 7.46419769e+00] [ 4.23077758e-01 8.17327480e-02 9.02399561e-01 -3.38756936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.47, Y:7.37, Z:-33.86 [[ 9.04883806e-01 -6.16131586e-02 -4.21175874e-01 8.54659656e+01] [ 5.87284764e-02 9.98077005e-01 -1.98307408e-02 7.36838153e+00] [ 4.21587789e-01 -6.79050118e-03 9.06762166e-01 -3.38612345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:85.49, Y:7.37, Z:-33.85 [[ 9.05607945e-01 -6.17905582e-02 -4.19590487e-01 8.54907893e+01] [ 5.88419690e-02 9.98067345e-01 -1.99799186e-02 7.37039244e+00] [ 4.20014134e-01 -6.59555745e-03 9.07493595e-01 -3.38487035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81591999999999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:85.52, Y:7.37, Z:-33.84 [[ 9.05548565e-01 -6.28521868e-02 -4.19560959e-01 8.55159056e+01] [ 5.99009812e-02 9.97999526e-01 -2.02192432e-02 7.36958970e+00] [ 4.19992462e-01 -6.82260642e-03 9.07501947e-01 -3.38357654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:85.54, Y:7.29, Z:-33.81 [[ 8.89984875e-01 -2.79332711e-02 -4.55133668e-01 8.55364791e+01] [ 6.09342942e-02 9.96455404e-01 5.79968988e-02 7.29216009e+00] [ 4.51900359e-01 -7.93496115e-02 8.88532332e-01 -3.38139868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:85.56, Y:7.45, Z:-33.81 [[ 9.05131630e-01 -9.99657044e-02 -4.13211314e-01 8.55630123e+01] [ 6.25267891e-02 9.92694145e-01 -1.03192709e-01 7.45410396e+00] [ 4.20508184e-01 6.75662081e-02 9.04769404e-01 -3.38120402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.58, Y:7.27, Z:-33.79 [[ 8.91775334e-01 -1.73395541e-02 -4.52146097e-01 8.55845304e+01] [ 6.26656139e-02 9.94368697e-01 8.54629495e-02 7.26784906e+00] [ 4.48118036e-01 -1.04547763e-01 8.87840071e-01 -3.37861065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:85.61, Y:7.48, Z:-33.78 [[ 9.07045289e-01 -1.12348241e-01 -4.05766826e-01 8.56101472e+01] [ 6.34049150e-02 9.89199254e-01 -1.32153895e-01 7.48327909e+00] [ 4.16231499e-01 9.41419568e-02 9.04371954e-01 -3.37842808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:85.63, Y:7.29, Z:-33.76 [[ 8.96866730e-01 -2.59520674e-02 -4.41538854e-01 8.56327823e+01] [ 6.08783044e-02 9.96018985e-01 6.51153884e-02 7.29099703e+00] [ 4.38091202e-01 -8.52799621e-02 8.94876208e-01 -3.37615834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:85.66, Y:7.47, Z:-33.76 [[ 9.09515446e-01 -1.01111885e-01 -4.03184870e-01 8.56591362e+01] [ 6.06918752e-02 9.91871778e-01 -1.11834126e-01 7.46874265e+00] [ 4.11215453e-01 7.72448194e-02 9.08259373e-01 -3.37584345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:85.68, Y:7.28, Z:-33.73 [[ 8.95746177e-01 -1.69663833e-02 -4.44241971e-01 8.56839669e+01] [ 5.78395690e-02 9.95225717e-01 7.86152461e-02 7.28236051e+00] [ 4.40787218e-01 -9.61140703e-02 8.92450959e-01 -3.37327559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:85.71, Y:7.48, Z:-33.73 [[ 9.09602131e-01 -1.04147364e-01 -4.02215478e-01 8.57095038e+01] [ 5.97213494e-02 9.90794162e-01 -1.21491927e-01 7.48136541e+00] [ 4.11165811e-01 8.64884648e-02 9.07448302e-01 -3.37321740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:85.74, Y:7.39, Z:-33.72 [[ 9.10663585e-01 -6.38175366e-02 -4.08190099e-01 8.57387674e+01] [ 6.08963200e-02 9.97940440e-01 -2.01622711e-02 7.38556535e+00] [ 4.08636113e-01 -6.49622887e-03 9.12674271e-01 -3.37179780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11591999999999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:85.76, Y:7.39, Z:-33.70 [[ 9.11203110e-01 -6.81806450e-02 -4.06276129e-01 8.57629639e+01] [ 6.55963410e-02 9.97639693e-01 -2.03017784e-02 7.38837440e+00] [ 4.06701381e-01 -8.15118389e-03 9.13524792e-01 -3.37040514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:85.78, Y:7.27, Z:-33.68 [[ 8.95075169e-01 -1.35832926e-02 -4.45708354e-01 8.57833566e+01] [ 6.61157949e-02 9.92530647e-01 1.02526174e-01 7.26785558e+00] [ 4.40986558e-01 -1.21236994e-01 8.89287607e-01 -3.36751582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17591999999999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:85.81, Y:7.39, Z:-33.68 [[ 8.92855038e-01 -6.81013437e-02 -4.45165236e-01 8.58092498e+01] [ 6.71158355e-02 9.97582850e-01 -1.79978579e-02 7.38562650e+00] [ 4.45314883e-01 -1.38081587e-02 8.95267552e-01 -3.36753604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:85.83, Y:7.51, Z:-33.67 [[ 9.11572273e-01 -1.27266875e-01 -3.90946460e-01 8.58301099e+01] [ 7.72721239e-02 9.86972437e-01 -1.41118486e-01 7.51063592e+00] [ 4.03813089e-01 9.84304354e-02 9.09530889e-01 -3.36667376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:85.85, Y:7.25, Z:-33.64 [[ 8.95158969e-01 -1.34349657e-02 -4.45544522e-01 8.58548483e+01] [ 7.69647933e-02 9.89191717e-01 1.24804515e-01 7.24777112e+00] [ 4.39052207e-01 -1.46011123e-01 8.86517858e-01 -3.36356417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:85.88, Y:7.54, Z:-33.64 [[ 9.11096153e-01 -1.45099568e-01 -3.85810725e-01 8.58790427e+01] [ 8.31793140e-02 9.81458164e-01 -1.72687793e-01 7.53893529e+00] [ 4.03714009e-01 1.25243712e-01 9.06272040e-01 -3.36423483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.91, Y:7.39, Z:-33.63 [[ 9.13572093e-01 -8.25035692e-02 -3.98220030e-01 8.59126433e+01] [ 8.08979712e-02 9.96503966e-01 -2.08653622e-02 7.38755368e+00] [ 3.98549307e-01 -1.31531800e-02 9.17052585e-01 -3.36308900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:85.93, Y:7.25, Z:-33.60 [[ 8.95857912e-01 -2.21954730e-02 -4.43785943e-01 8.59299103e+01] [ 8.23891256e-02 9.89730262e-01 1.16816270e-01 7.24867433e+00] [ 4.36635585e-01 -1.41213916e-01 8.88486351e-01 -3.35973304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:85.96, Y:7.40, Z:-33.60 [[ 8.87939381e-01 -8.70095559e-02 -4.51655835e-01 8.59608288e+01] [ 7.83827012e-02 9.96205810e-01 -3.78171532e-02 7.39860284e+00] [ 4.53232620e-01 -1.82266475e-03 8.91390414e-01 -3.36016180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:85.98, Y:7.39, Z:-33.59 [[ 8.93319596e-01 -8.20878039e-02 -4.41861622e-01 8.59835387e+01] [ 7.62391831e-02 9.96607143e-01 -3.10127309e-02 7.39344082e+00] [ 4.42908215e-01 -5.98288889e-03 8.96546997e-01 -3.35890123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:86.01, Y:7.37, Z:-33.58 [[ 8.97498737e-01 -7.25892021e-02 -4.35002098e-01 8.60080332e+01] [ 7.56152105e-02 9.97083101e-01 -1.03744576e-02 7.37458063e+00] [ 4.34486314e-01 -2.35817126e-02 9.00369672e-01 -3.35773226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:86.03, Y:7.40, Z:-33.57 [[ 9.00987076e-01 -8.09074428e-02 -4.26234998e-01 8.60292156e+01] [ 7.22921681e-02 9.96719678e-01 -3.63830544e-02 7.40085891e+00] [ 4.27780470e-01 1.96720967e-03 9.03880523e-01 -3.35678598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:86.05, Y:7.39, Z:-33.55 [[ 8.97032438e-01 -7.48741537e-02 -4.35576246e-01 8.60545668e+01] [ 7.03247034e-02 9.97169898e-01 -2.65825149e-02 7.39110406e+00] [ 4.36333864e-01 -6.78639214e-03 8.99759248e-01 -3.35508001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:86.08, Y:7.38, Z:-33.54 [[ 9.05416121e-01 -7.01403414e-02 -4.18690794e-01 8.60754801e+01] [ 7.18059817e-02 9.97348829e-01 -1.17989075e-02 7.37795785e+00] [ 4.18408353e-01 -1.93815825e-02 9.08052204e-01 -3.35413020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:86.10, Y:7.50, Z:-33.53 [[ 9.22971743e-01 -1.20770799e-01 -3.65427935e-01 8.60969649e+01] [ 7.80104184e-02 9.88485951e-01 -1.29652996e-01 7.49645625e+00] [ 3.76878676e-01 9.11588653e-02 9.21765982e-01 -3.35338685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.12, Y:7.29, Z:-33.51 [[ 9.04973451e-01 -3.57203259e-02 -4.23965931e-01 8.61245781e+01] [ 7.39174003e-02 9.94515878e-01 7.39890905e-02 7.29454608e+00] [ 4.18997936e-01 -9.82966220e-02 9.02650821e-01 -3.35078282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:86.15, Y:7.40, Z:-33.50 [[ 9.00557265e-01 -7.84086767e-02 -4.27608106e-01 8.61464833e+01] [ 6.90764213e-02 9.96912979e-01 -3.73223852e-02 7.40291156e+00] [ 4.29214470e-01 4.07330744e-03 9.03193416e-01 -3.35045910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:86.17, Y:7.40, Z:-33.49 [[ 9.04695028e-01 -7.42840492e-02 -4.19534012e-01 8.61716342e+01] [ 6.76428798e-02 9.97236944e-01 -3.07069767e-02 7.39755036e+00] [ 4.20655854e-01 -5.98039576e-04 9.07220092e-01 -3.34920153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.20, Y:7.46, Z:-33.49 [[ 9.26308440e-01 -9.30367136e-02 -3.65098404e-01 8.61984670e+01] [ 6.48131367e-02 9.93934929e-01 -8.88403878e-02 7.45967716e+00] [ 3.71149474e-01 5.86304283e-02 9.26720314e-01 -3.34858903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:86.22, Y:7.30, Z:-33.46 [[ 9.01953721e-01 -2.46184936e-02 -4.31130391e-01 8.62211876e+01] [ 6.09335927e-02 9.95640175e-01 7.06239225e-02 7.30227463e+00] [ 4.27512084e-01 -8.99698333e-02 8.99521455e-01 -3.34566314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:86.25, Y:7.41, Z:-33.46 [[ 9.05649742e-01 -6.27480972e-02 -4.19358105e-01 8.62476134e+01] [ 5.20769324e-02 9.97962657e-01 -3.68582298e-02 7.40971134e+00] [ 4.20816512e-01 1.15417627e-02 9.07072351e-01 -3.34585034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:86.27, Y:7.43, Z:-33.45 [[ 9.11046744e-01 -6.82999224e-02 -4.06606629e-01 8.62723947e+01] [ 5.07618403e-02 9.97261832e-01 -5.37780127e-02 7.42814971e+00] [ 4.09166305e-01 2.83541827e-02 9.12019175e-01 -3.34482946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:86.30, Y:7.40, Z:-33.43 [[ 9.11192648e-01 -5.52453488e-02 -4.08259610e-01 8.62980025e+01] [ 4.99908627e-02 9.98472270e-01 -2.35380673e-02 7.39975763e+00] [ 4.08936268e-01 1.03846379e-03 9.12562354e-01 -3.34327423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.32, Y:7.45, Z:-33.43 [[ 9.29286743e-01 -7.05788918e-02 -3.62553127e-01 8.63239347e+01] [ 5.03030777e-02 9.96611572e-01 -6.50766889e-02 7.44586336e+00] [ 3.65917682e-01 4.22373662e-02 9.29688257e-01 -3.34267416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:86.35, Y:7.37, Z:-33.41 [[ 9.15636020e-01 -3.35390755e-02 -4.00606801e-01 8.63489602e+01] [ 4.28114433e-02 9.98982034e-01 1.42153496e-02 7.37153913e+00] [ 3.99722227e-01 -3.01666415e-02 9.16139790e-01 -3.34061244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.37, Y:7.42, Z:-33.40 [[ 9.21389700e-01 -5.14264210e-02 -3.85222459e-01 8.63740684e+01] [ 4.08927616e-02 9.98532929e-01 -3.54932717e-02 7.42300288e+00] [ 3.86482603e-01 1.69503248e-02 9.22140924e-01 -3.34003940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.40, Y:7.39, Z:-33.38 [[ 9.14970288e-01 -3.63252361e-02 -4.01882879e-01 8.63979288e+01] [ 4.07986134e-02 9.99164073e-01 2.57450190e-03 7.38688206e+00] [ 4.01453415e-01 -1.87518570e-02 9.15687459e-01 -3.33831785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:86.42, Y:7.43, Z:-33.38 [[ 9.17844031e-01 -4.98785377e-02 -3.93794953e-01 8.64233004e+01] [ 3.67217220e-02 9.98489027e-01 -4.08800547e-02 7.43319510e+00] [ 3.95238977e-01 2.30606854e-02 9.18288819e-01 -3.33757966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.45, Y:7.41, Z:-33.36 [[ 9.16576358e-01 -3.76152655e-02 -3.98086513e-01 8.64491310e+01] [ 3.47257094e-02 9.99292137e-01 -1.44689021e-02 7.41171816e+00] [ 3.98348974e-01 -5.61982983e-04 9.17233765e-01 -3.33619119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.47, Y:7.41, Z:-33.35 [[ 9.14715166e-01 -3.60618447e-02 -4.02486905e-01 8.64730956e+01] [ 3.46638127e-02 9.99341109e-01 -1.07595270e-02 7.41044807e+00] [ 4.02609718e-01 -4.10982819e-03 9.15362510e-01 -3.33488843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.50, Y:7.47, Z:-33.34 [[ 9.32622618e-01 -5.91254399e-02 -3.55976451e-01 8.64988708e+01] [ 3.63536281e-02 9.96861163e-01 -7.03294806e-02 7.47462518e+00] [ 3.59017361e-01 5.26498288e-02 9.31844692e-01 -3.33441070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:86.53, Y:7.43, Z:-33.33 [[ 9.31773056e-01 -4.18902703e-02 -3.60616385e-01 8.65270599e+01] [ 3.61688442e-02 9.99090046e-01 -2.26029594e-02 7.43142452e+00] [ 3.61235085e-01 8.01775074e-03 9.32440309e-01 -3.33325007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:86.55, Y:7.41, Z:-33.32 [[ 9.20392607e-01 -3.35585758e-02 -3.89552655e-01 8.65523899e+01] [ 3.56818266e-02 9.99361604e-01 -1.78631247e-03 7.41217607e+00] [ 3.89363912e-01 -1.22558415e-02 9.21002464e-01 -3.33179371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:86.58, Y:7.40, Z:-33.30 [[ 9.13606113e-01 -3.03924163e-02 -4.05462910e-01 8.65761230e+01] [ 3.76551420e-02 9.99241299e-01 9.94569482e-03 7.40248686e+00] [ 4.04853011e-01 -2.43542111e-02 9.14057390e-01 -3.33034491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:86.60, Y:7.36, Z:-33.29 [[ 9.14915279e-01 -1.48523350e-02 -4.03372583e-01 8.65993495e+01] [ 4.08085186e-02 9.97606074e-01 5.58281811e-02 7.36061097e+00] [ 4.01577760e-01 -6.75390934e-02 9.13331141e-01 -3.32893978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:86.62, Y:7.54, Z:-33.28 [[ 9.19006710e-01 -8.22998004e-02 -3.85555976e-01 8.66213248e+01] [ 3.72081090e-02 9.91709046e-01 -1.22998884e-01 7.54140095e+00] [ 3.92482132e-01 9.86909909e-02 9.14449487e-01 -3.32830133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:86.65, Y:7.44, Z:-33.27 [[ 9.17546869e-01 -4.21191608e-02 -3.95390590e-01 8.66516850e+01] [ 3.98665981e-02 9.99108107e-01 -1.39156642e-02 7.43689398e+00] [ 3.95624060e-01 -2.99460360e-03 9.18407663e-01 -3.32712370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:86.68, Y:7.45, Z:-33.26 [[ 9.18413659e-01 -4.55846589e-02 -3.92986502e-01 8.66756781e+01] [ 3.93773453e-02 9.98939805e-01 -2.38472275e-02 7.45201865e+00] [ 3.93656927e-01 6.42685429e-03 9.19234964e-01 -3.32599021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.70, Y:7.51, Z:-33.25 [[ 9.34311720e-01 -6.43808113e-02 -3.50594810e-01 8.67008398e+01] [ 4.10661316e-02 9.96446258e-01 -7.35420199e-02 7.50665325e+00] [ 3.54083581e-01 5.43135985e-02 9.33635288e-01 -3.32527283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:86.73, Y:7.42, Z:-33.24 [[ 9.19859348e-01 -2.97170959e-02 -3.91121049e-01 8.67277548e+01] [ 3.84803872e-02 9.99152906e-01 1.45853086e-02 7.42359806e+00] [ 3.90356299e-01 -2.84669218e-02 9.20223665e-01 -3.32355520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:86.75, Y:7.47, Z:-33.23 [[ 9.19880555e-01 -4.21283175e-02 -3.89929440e-01 8.67510143e+01] [ 3.55530343e-02 9.99077925e-01 -2.40682700e-02 7.47024673e+00] [ 3.90583852e-01 8.27675879e-03 9.20530146e-01 -3.32277976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.78, Y:7.49, Z:-33.22 [[ 9.22428096e-01 -4.56529195e-02 -3.83460843e-01 8.67755873e+01] [ 3.39846943e-02 9.98731557e-01 -3.71526189e-02 7.48997533e+00] [ 3.84670570e-01 2.12388200e-02 9.22809550e-01 -3.32185416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:7.49, Z:-33.21 [[ 9.22093160e-01 -3.98347894e-02 -3.84912189e-01 8.67999838e+01] [ 3.37179361e-02 9.99175135e-01 -2.26307535e-02 7.48628057e+00] [ 3.85496179e-01 7.88921844e-03 9.22675705e-01 -3.32061142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:86.83, Y:7.49, Z:-33.19 [[ 9.21745290e-01 -3.99371576e-02 -3.85733902e-01 8.68251661e+01] [ 3.41037753e-02 9.99177088e-01 -2.19563240e-02 7.48938702e+00] [ 3.86293350e-01 7.08315596e-03 9.22348782e-01 -3.31942295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:7.48, Z:-33.19 [[ 9.18434618e-01 -3.67519274e-02 -3.93861838e-01 8.68493949e+01] [ 3.77016526e-02 9.99274832e-01 -5.32870409e-03 7.48029652e+00] [ 3.93772062e-01 -9.95517588e-03 9.19154208e-01 -3.31858869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.87, Y:7.53, Z:-33.17 [[ 9.22864054e-01 -5.66244247e-02 -3.80940432e-01 8.68727854e+01] [ 3.97084716e-02 9.97850708e-01 -5.21267881e-02 7.53133616e+00] [ 3.83073329e-01 3.29793767e-02 9.23129019e-01 -3.31722909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.90, Y:7.54, Z:-33.16 [[ 9.36382353e-01 -6.26545536e-02 -3.45344026e-01 8.69002662e+01] [ 4.63048378e-02 9.97389956e-01 -5.53997985e-02 7.54163928e+00] [ 3.47913712e-01 3.58842946e-02 9.36839563e-01 -3.31633971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.93, Y:7.45, Z:-33.15 [[ 9.20884157e-01 -3.08335716e-02 -3.88615055e-01 8.69262863e+01] [ 4.92114475e-02 9.98087016e-01 3.74238070e-02 7.45214624e+00] [ 3.86717731e-01 -5.35873003e-02 9.20639885e-01 -3.31519005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:86.95, Y:7.59, Z:-33.14 [[ 9.33277738e-01 -8.09045757e-02 -3.49924441e-01 8.69466154e+01] [ 5.10071600e-02 9.94279530e-01 -9.38428782e-02 7.58615988e+00] [ 3.55515027e-01 6.97328171e-02 9.32065663e-01 -3.31410924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:86.98, Y:7.46, Z:-33.13 [[ 9.20490051e-01 -3.12173526e-02 -3.89517065e-01 8.69776196e+01] [ 5.13397220e-02 9.97824656e-01 4.13544376e-02 7.46066388e+00] [ 3.87378755e-01 -5.80640462e-02 9.20090358e-01 -3.31306484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.00, Y:7.60, Z:-33.12 [[ 9.32715762e-01 -7.75364232e-02 -3.52178096e-01 8.69972915e+01] [ 4.76228352e-02 9.94541916e-01 -9.28355689e-02 7.60245173e+00] [ 3.57454016e-01 6.98174789e-02 9.31317425e-01 -3.31211590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.03, Y:7.54, Z:-33.11 [[ 9.37385459e-01 -5.18039933e-02 -3.44419581e-01 8.70292560e+01] [ 4.49931263e-02 9.98601960e-01 -2.77442615e-02 7.54395833e+00] [ 3.45375332e-01 1.05105536e-02 9.38405780e-01 -3.31118749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.06, Y:7.54, Z:-33.10 [[ 9.37339196e-01 -5.06149617e-02 -3.44722146e-01 8.70559482e+01] [ 4.53482085e-02 9.98698774e-01 -2.33302297e-02 7.54117165e+00] [ 3.45454443e-01 6.23580700e-03 9.38414803e-01 -3.31012969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:7.55, Z:-33.09 [[ 9.33763268e-01 -5.17449627e-02 -3.54130792e-01 8.70808654e+01] [ 4.48272978e-02 9.98610212e-01 -2.77156472e-02 7.55047061e+00] [ 3.55072771e-01 1.00051268e-02 9.34785122e-01 -3.30919624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:87.11, Y:7.51, Z:-33.08 [[ 9.23777547e-01 -3.67342871e-02 -3.81163529e-01 8.71067243e+01] [ 4.84240445e-02 9.98603560e-01 2.11196889e-02 7.50861910e+00] [ 3.79855441e-01 -3.79673741e-02 9.24266370e-01 -3.30770243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:87.13, Y:7.56, Z:-33.07 [[ 9.24421405e-01 -5.84809479e-02 -3.76862103e-01 8.71296848e+01] [ 5.14858402e-02 9.98263621e-01 -2.86173376e-02 7.56063961e+00] [ 3.77881296e-01 7.05141740e-03 9.25827199e-01 -3.30672408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:7.56, Z:-33.06 [[ 9.22892363e-01 -6.17723780e-02 -3.80070862e-01 8.71537521e+01] [ 5.82887062e-02 9.98085547e-01 -2.06801328e-02 7.55521685e+00] [ 3.80620695e-01 -3.06830221e-03 9.24726161e-01 -3.30580336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.18, Y:7.62, Z:-33.05 [[ 9.35334645e-01 -8.50733652e-02 -3.43382621e-01 8.71782146e+01] [ 6.22109086e-02 9.95082359e-01 -7.70772460e-02 7.61537941e+00] [ 3.48251209e-01 5.07308736e-02 9.36027496e-01 -3.30496626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:7.46, Z:-33.04 [[ 9.23040213e-01 -3.25212720e-02 -3.83326403e-01 8.72102850e+01] [ 6.78373872e-02 9.94565985e-01 7.89720854e-02 7.46495821e+00] [ 3.78675129e-01 -9.88982723e-02 9.20230557e-01 -3.30379114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:7.57, Z:-33.03 [[ 9.24556840e-01 -7.36119191e-02 -3.73866199e-01 8.72290004e+01] [ 6.84221021e-02 9.97286849e-01 -2.71543039e-02 7.57329830e+00] [ 3.74850724e-01 -4.75013841e-04 9.27085060e-01 -3.30277849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.25, Y:7.63, Z:-33.01 [[ 9.23975125e-01 -9.30346630e-02 -3.70964311e-01 8.72503500e+01] [ 6.81828937e-02 9.94493526e-01 -7.95846702e-02 7.62876909e+00] [ 3.76325739e-01 4.82408354e-02 9.25230652e-01 -3.30091317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:7.58, Z:-33.00 [[ 9.23908125e-01 -7.19381913e-02 -3.75790731e-01 8.72801912e+01] [ 6.77601825e-02 9.97404657e-01 -2.43414835e-02 7.57719452e+00] [ 3.76566508e-01 -2.97435415e-03 9.26384811e-01 -3.30014973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.31, Y:7.59, Z:-32.99 [[ 9.24743984e-01 -7.10973201e-02 -3.73890003e-01 8.73061455e+01] [ 6.54152351e-02 9.97468502e-01 -2.78825112e-02 7.58648454e+00] [ 3.74925873e-01 1.32608208e-03 9.27053845e-01 -3.29913979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.33, Y:7.60, Z:-32.98 [[ 9.27210878e-01 -7.31870761e-02 -3.67319534e-01 8.73311121e+01] [ 6.45931277e-02 9.97274570e-01 -3.56533158e-02 7.59928934e+00] [ 3.68927792e-01 9.33182470e-03 9.29411212e-01 -3.29808359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:87.36, Y:7.58, Z:-32.97 [[ 9.26265650e-01 -6.35648226e-02 -3.71472017e-01 8.73578612e+01] [ 6.41688671e-02 9.97881170e-01 -1.07483791e-02 7.57896876e+00] [ 3.71368150e-01 -1.38810841e-02 9.28381933e-01 -3.29706019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.38, Y:7.59, Z:-32.96 [[ 9.25070203e-01 -6.21720184e-02 -3.74672869e-01 8.73829156e+01] [ 6.14212554e-02 9.98014334e-01 -1.39577554e-02 7.58647997e+00] [ 3.74796676e-01 -1.01009744e-02 9.27052006e-01 -3.29596681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:7.60, Z:-32.95 [[ 9.25732755e-01 -6.47764074e-02 -3.72589431e-01 8.74073384e+01] [ 5.97248071e-02 9.97899321e-01 -2.50976596e-02 7.60090987e+00] [ 3.73432477e-01 9.80893619e-04 9.27656846e-01 -3.29507903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.43, Y:7.61, Z:-32.94 [[ 9.25996287e-01 -6.47700948e-02 -3.71935091e-01 8.74323596e+01] [ 5.96302656e-02 9.97899410e-01 -2.53179524e-02 7.60872505e+00] [ 3.72793654e-01 1.26574168e-03 9.27913406e-01 -3.29397630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:7.68, Z:-32.93 [[ 9.42898982e-01 -8.71922640e-02 -3.21463868e-01 8.74531915e+01] [ 6.21908099e-02 9.94242514e-01 -8.72589647e-02 7.67701338e+00] [ 3.27221351e-01 6.22842907e-02 9.42892812e-01 -3.29256477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:87.48, Y:7.62, Z:-32.92 [[ 9.43104318e-01 -6.67116574e-02 -3.25735783e-01 8.74847511e+01] [ 6.24438169e-02 9.97770539e-01 -2.35525029e-02 7.61991720e+00] [ 3.26580795e-01 1.87228154e-03 9.45167434e-01 -3.29191793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:7.62, Z:-32.91 [[ 9.42858329e-01 -6.84636247e-02 -3.26084197e-01 8.75101336e+01] [ 6.42240819e-02 9.97652541e-01 -2.37628769e-02 7.62305546e+00] [ 3.26945620e-01 1.46256827e-03 9.45042021e-01 -3.29081505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.54, Y:7.56, Z:-32.90 [[ 9.24032164e-01 -4.50853140e-02 -3.79647039e-01 8.75385648e+01] [ 6.65128701e-02 9.96836582e-01 4.35070982e-02 7.56035708e+00] [ 3.76484526e-01 -6.54533723e-02 9.24107817e-01 -3.28977866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:87.55, Y:7.70, Z:-32.88 [[ 9.42976625e-01 -9.62767789e-02 -3.18631239e-01 8.75529806e+01] [ 7.02331140e-02 9.93254305e-01 -9.22669744e-02 7.70001404e+00] [ 3.25365017e-01 6.46271360e-02 9.43377411e-01 -3.28811575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:87.59, Y:7.55, Z:-32.88 [[ 9.27833218e-01 -4.01169222e-02 -3.70831703e-01 8.75895691e+01] [ 6.87816810e-02 9.95551327e-01 6.43943683e-02 7.54844786e+00] [ 3.66598690e-01 -8.52536619e-02 9.26464901e-01 -3.28790649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:87.61, Y:7.63, Z:-32.86 [[ 9.29149612e-01 -6.99018083e-02 -3.63035447e-01 8.76093157e+01] [ 6.78092747e-02 9.97526370e-01 -1.85214306e-02 7.63269527e+00] [ 3.63432113e-01 -7.40799031e-03 9.31591231e-01 -3.28647567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:87.63, Y:7.67, Z:-32.85 [[ 9.25435625e-01 -8.20111809e-02 -3.69923061e-01 8.76325029e+01] [ 6.83694345e-02 9.96413213e-01 -4.98631089e-02 7.66550557e+00] [ 3.72685558e-01 2.08536669e-02 9.27723342e-01 -3.28537690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39591999999999 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:87.66, Y:7.63, Z:-32.85 [[ 9.28387563e-01 -7.15123242e-02 -3.64667685e-01 8.76601693e+01] [ 7.12905963e-02 9.97356075e-01 -1.40893976e-02 7.63367689e+00] [ 3.64711097e-01 -1.29169553e-02 9.31031132e-01 -3.28467023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters Centerline goodness : 0.974918 Centerline is valid? [True, True] Translation: X:87.75, Y:7.63, Z:-32.85 [[ 9.19051823e-01 -6.23498723e-02 -3.89173791e-01 8.77544556e+01] [ 7.31581056e-02 9.97235648e-01 1.29982418e-02 7.62904766e+00] [ 3.87287539e-01 -4.04172752e-02 9.21072639e-01 -3.28456042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:87.71, Y:7.57, Z:-32.83 [[ 9.29639756e-01 -6.08079141e-02 -3.63417557e-01 8.77066846e+01] [ 8.24898680e-02 9.95601172e-01 4.44266655e-02 7.57476533e+00] [ 3.59117453e-01 -7.12790608e-02 9.30566468e-01 -3.28302527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:87.73, Y:7.65, Z:-32.82 [[ 9.29987961e-01 -8.69377825e-02 -3.57161328e-01 8.77267687e+01] [ 8.36050408e-02 9.96190509e-01 -2.47924724e-02 7.64551737e+00] [ 3.57956128e-01 -6.80378651e-03 9.33713617e-01 -3.28191902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:87.75, Y:7.66, Z:-32.81 [[ 9.31006445e-01 -9.60108599e-02 -3.52148994e-01 8.77500225e+01] [ 8.83869360e-02 9.95372337e-01 -3.77049122e-02 7.65741204e+00] [ 3.54139448e-01 3.97814568e-03 9.35184167e-01 -3.28071795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:87.78, Y:7.64, Z:-32.80 [[ 9.32246414e-01 -9.25892626e-02 -3.49776862e-01 8.77769151e+01] [ 9.07230419e-02 9.95638525e-01 -2.17544591e-02 7.64186671e+00] [ 3.50265548e-01 -1.14523044e-02 9.36580424e-01 -3.28012793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:87.81, Y:7.58, Z:-32.79 [[ 9.31437590e-01 -7.36176856e-02 -3.56376841e-01 8.78050691e+01] [ 9.34004592e-02 9.94880114e-01 3.85993857e-02 7.58276483e+00] [ 3.51710635e-01 -6.92386793e-02 9.33544661e-01 -3.27913137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:87.81, Y:7.77, Z:-32.76 [[ 0.94683736 -0.13983108 -0.28973485 87.81366377] [ 0.09840241 0.98331605 -0.15299184 7.77431035] [ 0.30629395 0.11634778 0.94480009 -32.76229434] [ 0. 0. 0. 1. ]] SLAMing on 104.63592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:87.86, Y:7.60, Z:-32.77 [[ 9.33571386e-01 -8.17463048e-02 -3.48944134e-01 8.78585064e+01] [ 9.40552452e-02 9.95396042e-01 1.84480460e-02 7.60401916e+00] [ 3.45829550e-01 -5.00425940e-02 9.36961931e-01 -3.27691320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:87.88, Y:7.59, Z:-32.76 [[ 9.31475297e-01 -7.82566587e-02 -3.55288146e-01 8.78826402e+01] [ 9.55963547e-02 9.94922113e-01 3.14853246e-02 7.59154191e+00] [ 3.51020097e-01 -6.32920538e-02 9.34226422e-01 -3.27633354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:87.90, Y:7.71, Z:-32.74 [[ 9.35251625e-01 -1.15638924e-01 -3.34562457e-01 8.78962710e+01] [ 9.09344993e-02 9.91904039e-01 -8.86413778e-02 7.71154766e+00] [ 3.42104246e-01 5.24787231e-02 9.38195432e-01 -3.27402234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:87.93, Y:7.62, Z:-32.74 [[ 9.35855601e-01 -8.33818668e-02 -3.42376633e-01 8.79304769e+01] [ 9.30452538e-02 9.95591169e-01 1.18660890e-02 7.61682664e+00] [ 3.39877736e-01 -4.29614666e-02 9.39487859e-01 -3.27399139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:87.94, Y:7.76, Z:-32.72 [[ 0.95252085 -0.12687181 -0.27678072 87.94438255] [ 0.0946179 0.98738224 -0.12697939 7.7572988 ] [ 0.28939847 0.0947621 0.95250652 -32.71602566] [ 0. 0. 0. 1. ]] SLAMing on 104.78591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:87.98, Y:7.66, Z:-32.72 [[ 9.52249379e-01 -9.37948874e-02 -2.90557464e-01 8.79835455e+01] [ 9.05571054e-02 9.95587361e-01 -2.46011821e-02 7.65796334e+00] [ 2.91582804e-01 -2.88558246e-03 9.56541239e-01 -3.27195705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:88.01, Y:7.66, Z:-32.71 [[ 9.52073964e-01 -9.36610539e-02 -2.91174818e-01 8.80099974e+01] [ 9.03589801e-02 9.95600479e-01 -2.47980159e-02 7.66046761e+00] [ 2.92216396e-01 -2.70071424e-03 9.56348411e-01 -3.27093599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:88.04, Y:7.62, Z:-32.70 [[ 9.38699315e-01 -7.97465413e-02 -3.35386470e-01 8.80358742e+01] [ 9.05579633e-02 9.95751255e-01 1.66941129e-02 7.62001033e+00] [ 3.32630201e-01 -4.60426680e-02 9.41932706e-01 -3.26986508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:88.06, Y:7.67, Z:-32.69 [[ 9.39865418e-01 -9.37254140e-02 -3.28433468e-01 8.80574926e+01] [ 8.83426056e-02 9.95598000e-01 -3.13082429e-02 7.66939906e+00] [ 3.29922082e-01 4.10866422e-04 9.44008078e-01 -3.26866228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:88.08, Y:7.68, Z:-32.68 [[ 9.40684979e-01 -9.53746677e-02 -3.25600128e-01 8.80836618e+01] [ 8.63769230e-02 9.95376180e-01 -4.20153346e-02 7.68153239e+00] [ 3.28101811e-01 1.13988568e-02 9.44573591e-01 -3.26773268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:88.12, Y:7.61, Z:-32.67 [[ 9.40249267e-01 -6.93741119e-02 -3.33344490e-01 8.81190092e+01] [ 8.50936303e-02 9.95833880e-01 3.27713005e-02 7.61101028e+00] [ 3.29682257e-01 -5.91786840e-02 9.42235370e-01 -3.26744407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.13, Y:7.76, Z:-32.65 [[ 9.52777733e-01 -1.20994367e-01 -2.78522808e-01 8.81311046e+01] [ 9.13696674e-02 9.88915226e-01 -1.17039561e-01 7.76139528e+00] [ 2.89596573e-01 8.60641513e-02 9.53271623e-01 -3.26517709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:88.17, Y:7.64, Z:-32.65 [[ 9.41834872e-01 -8.20449678e-02 -3.25907498e-01 8.81689346e+01] [ 8.98434265e-02 9.95915938e-01 8.92210522e-03 7.63835522e+00] [ 3.23844458e-01 -3.76837962e-02 9.45359560e-01 -3.26507547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:88.20, Y:7.58, Z:-32.64 [[ 9.40971202e-01 -6.49581733e-02 -3.32195172e-01 8.81987249e+01] [ 9.27381394e-02 9.93334919e-01 6.84498106e-02 7.58162087e+00] [ 3.25534690e-01 -9.52164628e-02 9.40723653e-01 -3.26419695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:88.21, Y:7.76, Z:-32.62 [[ 9.42104555e-01 -1.24619394e-01 -3.11302126e-01 8.82097405e+01] [ 9.23110684e-02 9.88890900e-01 -1.16505169e-01 7.76342511e+00] [ 3.22362643e-01 8.10234184e-02 9.43142371e-01 -3.26194906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.24, Y:7.72, Z:-32.62 [[ 9.53963805e-01 -1.12154657e-01 -2.78162527e-01 8.82448817e+01] [ 9.69303594e-02 9.92969678e-01 -6.79391260e-02 7.72239957e+00] [ 2.83826645e-01 3.78490734e-02 9.58128323e-01 -3.26200669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:88.28, Y:7.55, Z:-32.61 [[ 9.33512536e-01 -5.31271735e-02 -3.54586870e-01 8.82826391e+01] [ 9.63024260e-02 9.89773212e-01 1.05237029e-01 7.55139810e+00] [ 3.45369639e-01 -1.32387662e-01 9.29081977e-01 -3.26120745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:88.29, Y:7.79, Z:-32.59 [[ 0.94425304 -0.12545455 -0.30438028 88.28523073] [ 0.08970421 0.98760834 -0.1287747 7.78800149] [ 0.31676388 0.09429171 0.94380598 -32.59079541] [ 0. 0. 0. 1. ]] SLAMing on 105.17591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.32, Y:7.68, Z:-32.59 [[ 9.43958765e-01 -8.98831470e-02 -3.17589154e-01 8.83229870e+01] [ 8.88328363e-02 9.95887158e-01 -1.78184215e-02 7.68455247e+00] [ 3.17884535e-01 -1.13924902e-02 9.48060986e-01 -3.25931000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:88.35, Y:7.74, Z:-32.58 [[ 9.55965176e-01 -1.04636196e-01 -2.74193088e-01 8.83453050e+01] [ 9.02692635e-02 9.93824123e-01 -6.45373810e-02 7.73719325e+00] [ 2.79252651e-01 3.69442807e-02 9.59506684e-01 -3.25809429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:88.38, Y:7.66, Z:-32.57 [[ 9.44849769e-01 -7.67178791e-02 -3.18391711e-01 8.83757909e+01] [ 8.56643836e-02 9.96223270e-01 1.41707099e-02 7.66449220e+00] [ 3.16102084e-01 -4.06640216e-02 9.47853317e-01 -3.25739498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:88.40, Y:7.69, Z:-32.57 [[ 9.44743287e-01 -8.38805671e-02 -3.16897730e-01 8.83993533e+01] [ 8.56642968e-02 9.96289267e-01 -8.32615396e-03 7.69006684e+00] [ 3.16420210e-01 -1.92807432e-02 9.48423167e-01 -3.25673271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:88.42, Y:7.74, Z:-32.55 [[ 9.46277752e-01 -9.99228916e-02 -3.07528588e-01 8.84196417e+01] [ 8.63586881e-02 9.94606823e-01 -5.74407883e-02 7.74055975e+00] [ 3.11609682e-01 2.77971745e-02 9.49803518e-01 -3.25522086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:88.45, Y:7.72, Z:-32.55 [[ 9.46497270e-01 -9.25446819e-02 -3.09157564e-01 8.84481187e+01] [ 8.76852246e-02 9.95708111e-01 -2.96084125e-02 7.71700634e+00] [ 3.10570795e-01 9.15731197e-04 9.50549811e-01 -3.25461145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.47, Y:7.75, Z:-32.54 [[ 9.57607519e-01 -1.01158017e-01 -2.69731154e-01 8.84727501e+01] [ 8.92300779e-02 9.94426755e-01 -5.61553397e-02 7.75462633e+00] [ 2.73908439e-01 2.97066436e-02 9.61296875e-01 -3.25350443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:88.50, Y:7.68, Z:-32.53 [[ 9.44120137e-01 -7.66571527e-02 -3.20563328e-01 8.85048169e+01] [ 8.79659443e-02 9.95903712e-01 2.09234055e-02 7.67941929e+00] [ 3.17646279e-01 -4.79528643e-02 9.46995968e-01 -3.25304480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:88.53, Y:7.70, Z:-32.52 [[ 9.43653241e-01 -7.94996779e-02 -3.21245019e-01 8.85276635e+01] [ 8.59239795e-02 9.96284542e-01 5.84644543e-03 7.69642940e+00] [ 3.19586657e-01 -3.31196676e-02 9.46978066e-01 -3.25193070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:88.55, Y:7.77, Z:-32.51 [[ 9.47324210e-01 -1.00230112e-01 -3.04188700e-01 8.85470846e+01] [ 8.48757134e-02 9.94377432e-01 -6.33216928e-02 7.76808687e+00] [ 3.08825118e-01 3.41679397e-02 9.50504918e-01 -3.25055505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:88.58, Y:7.73, Z:-32.50 [[ 9.45281042e-01 -8.63248165e-02 -3.14629587e-01 8.85772062e+01] [ 8.56694017e-02 9.96196121e-01 -1.59386982e-02 7.72792736e+00] [ 3.14808679e-01 -1.18875792e-02 9.49080703e-01 -3.25022859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:88.61, Y:7.72, Z:-32.50 [[ 9.43902492e-01 -7.37785048e-02 -3.21877023e-01 8.86068893e+01] [ 7.74296819e-02 9.96996742e-01 -1.46285454e-03 7.71914111e+00] [ 3.21018270e-01 -2.35420434e-02 9.46780356e-01 -3.24971422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.62, Y:7.78, Z:-32.48 [[ 9.47248652e-01 -1.11009823e-01 -3.00660624e-01 8.86202391e+01] [ 9.45152170e-02 9.93135612e-01 -6.89095788e-02 7.78227338e+00] [ 3.06246413e-01 3.68575015e-02 9.51238487e-01 -3.24801057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.65, Y:7.75, Z:-32.48 [[ 9.47736094e-01 -1.00185424e-01 -3.02917772e-01 8.86503006e+01] [ 9.48309106e-02 9.94966862e-01 -3.23734716e-02 7.74955649e+00] [ 3.04636495e-01 1.95553936e-03 9.52466683e-01 -3.24755545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:88.68, Y:7.71, Z:-32.47 [[ 9.43269407e-01 -9.32109717e-02 -3.18676231e-01 8.86768592e+01] [ 1.00301481e-01 9.94939749e-01 5.87435707e-03 7.71421152e+00] [ 3.16516095e-01 -3.75047993e-02 9.47845426e-01 -3.24704378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:88.69, Y:7.85, Z:-32.44 [[ 0.96103604 -0.12800795 -0.24499733 88.69402845] [ 0.10054321 0.98747986 -0.12155079 7.84768343] [ 0.25748939 0.09218187 0.96187406 -32.44478 ] [ 0. 0. 0. 1. ]] SLAMing on 105.65592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:88.73, Y:7.67, Z:-32.45 [[ 9.45410558e-01 -8.53651363e-02 -3.14502257e-01 8.87341221e+01] [ 1.08747277e-01 9.92403148e-01 5.75327937e-02 7.67078184e+00] [ 3.07201735e-01 -8.85933746e-02 9.47511640e-01 -3.24535556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:88.75, Y:7.82, Z:-32.43 [[ 9.53948120e-01 -1.32661356e-01 -2.69042651e-01 8.87470343e+01] [ 1.11751499e-01 9.89498970e-01 -9.16700115e-02 7.82278684e+00] [ 2.78378494e-01 5.73825156e-02 9.58755788e-01 -3.24333254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.78, Y:7.79, Z:-32.43 [[ 9.61226248e-01 -1.20475481e-01 -2.48051927e-01 8.87829516e+01] [ 1.10572891e-01 9.92425582e-01 -5.35266302e-02 7.79231196e+00] [ 2.52621724e-01 2.40233831e-02 9.67266841e-01 -3.24305646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:7.76, Z:-32.43 [[ 9.61267808e-01 -1.15605734e-01 -2.50198952e-01 8.88139593e+01] [ 1.13643240e-01 9.93270717e-01 -2.23270401e-02 7.76175524e+00] [ 2.51096427e-01 -6.97115477e-03 9.67936975e-01 -3.24261350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:88.85, Y:7.66, Z:-32.42 [[ 9.48670637e-01 -8.44630329e-02 -3.04778639e-01 8.88468586e+01] [ 1.15072816e-01 9.89809534e-01 8.38768982e-02 7.65503244e+00] [ 2.94588305e-01 -1.14643287e-01 9.48722640e-01 -3.24182844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:88.85, Y:7.86, Z:-32.39 [[ 9.55780274e-01 -1.47242043e-01 -2.54565999e-01 8.88508775e+01] [ 1.20515111e-01 9.85713918e-01 -1.17661296e-01 7.85568561e+00] [ 2.68253938e-01 8.17792964e-02 9.59870810e-01 -3.23925525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:88.89, Y:7.79, Z:-32.39 [[ 9.61207559e-01 -1.25378933e-01 -2.45683032e-01 8.88895794e+01] [ 1.17982987e-01 9.92011030e-01 -4.46556915e-02 7.79046584e+00] [ 2.49319161e-01 1.39369702e-02 9.68321082e-01 -3.23942226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:88.92, Y:7.70, Z:-32.39 [[ 9.46054248e-01 -9.82982945e-02 -3.08737436e-01 8.89229332e+01] [ 1.18095441e-01 9.91933608e-01 4.60563247e-02 7.69597853e+00] [ 3.01719781e-01 -8.00322653e-02 9.50031584e-01 -3.23907543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:7.84, Z:-32.37 [[ 9.60017837e-01 -1.39965078e-01 -2.42436650e-01 8.89387891e+01] [ 1.19609315e-01 9.88089525e-01 -9.68127196e-02 7.84348671e+00] [ 2.53099514e-01 6.39442559e-02 9.65324696e-01 -3.23722357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:88.97, Y:7.78, Z:-32.37 [[ 9.61201608e-01 -1.18652554e-01 -2.49024177e-01 8.89747272e+01] [ 1.16769983e-01 9.92906951e-01 -2.23731291e-02 7.77614029e+00] [ 2.49912465e-01 -7.57346133e-03 9.68238815e-01 -3.23735469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.01, Y:7.71, Z:-32.37 [[ 9.48877173e-01 -9.73685659e-02 -3.00252347e-01 8.90067063e+01] [ 1.16330077e-01 9.92149873e-01 4.58905458e-02 7.70632383e+00] [ 2.93427032e-01 -7.84728700e-02 9.52755260e-01 -3.23689706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:89.02, Y:7.84, Z:-32.35 [[ 9.60962406e-01 -1.40208946e-01 -2.38521920e-01 8.90204389e+01] [ 1.21042386e-01 9.88256444e-01 -9.32627547e-02 7.84476432e+00] [ 2.48797097e-01 6.07507387e-02 9.66648515e-01 -3.23482939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:89.06, Y:7.70, Z:-32.35 [[ 9.51191870e-01 -1.00242147e-01 -2.91865616e-01 8.90590814e+01] [ 1.20310419e-01 9.91394661e-01 5.15948507e-02 7.69859762e+00] [ 2.84182035e-01 -8.41910770e-02 9.55066717e-01 -3.23480657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:89.07, Y:7.85, Z:-32.33 [[ 9.59446362e-01 -1.48501166e-01 -2.39604013e-01 8.90738518e+01] [ 1.27778877e-01 9.86758057e-01 -9.99054364e-02 7.84838765e+00] [ 2.51267264e-01 6.52375759e-02 9.65716739e-01 -3.23295887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:89.11, Y:7.69, Z:-32.33 [[ 9.46281415e-01 -1.05051630e-01 -3.05803269e-01 8.91109326e+01] [ 1.28780022e-01 9.89950685e-01 5.84238639e-02 7.68922015e+00] [ 2.96592633e-01 -9.46667683e-02 9.50300486e-01 -3.23306813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.13, Y:7.86, Z:-32.31 [[ 9.59615031e-01 -1.54076057e-01 -2.35371115e-01 8.91258022e+01] [ 1.30898888e-01 9.85139329e-01 -1.11202442e-01 7.85917777e+00] [ 2.49006976e-01 7.59017180e-02 9.65522892e-01 -3.23111965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:89.16, Y:7.77, Z:-32.31 [[ 9.61438922e-01 -1.31360840e-01 -2.41618560e-01 8.91640863e+01] [ 1.29907754e-01 9.91281836e-01 -2.20067707e-02 7.77249929e+00] [ 2.42402917e-01 -1.02299585e-02 9.70121731e-01 -3.23142363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:89.19, Y:7.69, Z:-32.31 [[ 9.51539296e-01 -1.08485521e-01 -2.87756598e-01 8.91938181e+01] [ 1.29249087e-01 9.90134769e-01 5.41092685e-02 7.69392110e+00] [ 2.79047740e-01 -8.86793728e-02 9.56173796e-01 -3.23051411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:89.22, Y:7.74, Z:-32.30 [[ 9.50048578e-01 -1.25730194e-01 -2.85656467e-01 8.92166995e+01] [ 1.31254271e-01 9.91348717e-01 1.94174875e-04 7.73921848e+00] [ 2.83160759e-01 -3.76781070e-02 9.58332064e-01 -3.22956267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.23, Y:7.87, Z:-32.28 [[ 0.96032346 -0.1627002 -0.2265116 89.23333005] [ 0.13648754 0.98246295 -0.12703425 7.86536857] [ 0.24320775 0.09107796 0.96568877 -32.27664084] [ 0. 0. 0. 1. ]] SLAMing on 106.25591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.27, Y:7.71, Z:-32.28 [[ 9.51940084e-01 -1.19388555e-01 -2.82057529e-01 8.92731521e+01] [ 1.32226618e-01 9.90855623e-01 2.68562113e-02 7.71203184e+00] [ 2.76271965e-01 -6.28610172e-02 9.59021529e-01 -3.22780974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.29, Y:7.82, Z:-32.27 [[ 9.61679105e-01 -1.48191766e-01 -2.30678345e-01 8.92940650e+01] [ 1.33983594e-01 9.88051515e-01 -7.61747979e-02 7.81707403e+00] [ 2.39210566e-01 4.23485978e-02 9.70043763e-01 -3.22666466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:89.33, Y:7.65, Z:-32.26 [[ 0.95156774 -0.10165645 -0.29014617 89.33128673] [ 0.13361555 0.98670676 0.09250214 7.64702075] [ 0.27688575 -0.12679009 0.95250121 -32.26049986] [ 0. 0. 0. 1. ]] SLAMing on 106.34591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.35, Y:7.77, Z:-32.25 [[ 9.51364632e-01 -1.37933202e-01 -2.75462826e-01 8.93509927e+01] [ 1.31893052e-01 9.90439246e-01 -4.04267656e-02 7.77160529e+00] [ 2.78405386e-01 2.12896210e-03 9.60461300e-01 -3.22519159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:89.38, Y:7.78, Z:-32.24 [[ 9.49704633e-01 -1.40959342e-01 -2.79627564e-01 8.93768622e+01] [ 1.31494930e-01 9.89929828e-01 -5.24215602e-02 7.77999130e+00] [ 2.84200975e-01 1.30153916e-02 9.58676382e-01 -3.22419860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:89.40, Y:7.75, Z:-32.24 [[ 9.52080421e-01 -1.35313433e-01 -2.74286614e-01 8.94009952e+01] [ 1.33410166e-01 9.90728341e-01 -2.56725847e-02 7.75343692e+00] [ 2.75217368e-01 -1.21502573e-02 9.61305244e-01 -3.22394831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.43, Y:7.76, Z:-32.23 [[ 9.52473552e-01 -1.36980513e-01 -2.72085412e-01 8.94298429e+01] [ 1.31722850e-01 9.90573742e-01 -3.75866088e-02 7.76119198e+00] [ 2.74669297e-01 -3.96151040e-05 9.61538754e-01 -3.22328811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.45, Y:7.80, Z:-32.22 [[ 9.57538390e-01 -1.49395545e-01 -2.46578998e-01 8.94524265e+01] [ 1.34027211e-01 9.87897386e-01 -7.80734310e-02 7.80256346e+00] [ 2.55258570e-01 4.17100120e-02 9.65972741e-01 -3.22217413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:89.49, Y:7.69, Z:-32.21 [[ 9.52489531e-01 -1.15011531e-01 -2.82021347e-01 8.94877899e+01] [ 1.31194964e-01 9.90584352e-01 3.91218868e-02 7.68642165e+00] [ 2.74866466e-01 -7.42629683e-02 9.58610159e-01 -3.22111907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.51, Y:7.73, Z:-32.21 [[ 9.55479465e-01 -1.26773670e-01 -2.66434661e-01 8.95122915e+01] [ 1.29014323e-01 9.91600501e-01 -9.15158050e-03 7.73463216e+00] [ 2.65356923e-01 -2.56297401e-02 9.63809535e-01 -3.22069945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:89.53, Y:7.84, Z:-32.19 [[ 9.64941776e-01 -1.54649962e-01 -2.12063099e-01 8.95315036e+01] [ 1.32165872e-01 9.84361145e-01 -1.16470249e-01 7.84053256e+00] [ 2.26758794e-01 8.43595047e-02 9.70290638e-01 -3.21947136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.57, Y:7.65, Z:-32.19 [[ 9.56316345e-01 -1.02409681e-01 -2.73808886e-01 8.95732354e+01] [ 1.28391100e-01 9.88598405e-01 7.86696894e-02 7.64538266e+00] [ 2.62630490e-01 -1.10387734e-01 9.58561304e-01 -3.21890745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.59, Y:7.76, Z:-32.19 [[ 9.54960219e-01 -1.30326707e-01 -2.66581939e-01 8.95939454e+01] [ 1.25220161e-01 9.91470457e-01 -3.61420090e-02 7.75540925e+00] [ 2.69018385e-01 1.13274746e-03 9.63134375e-01 -3.21850087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.61, Y:7.83, Z:-32.18 [[ 9.65534004e-01 -1.49859443e-01 -2.12805627e-01 8.96149656e+01] [ 1.29448527e-01 9.85808617e-01 -1.06885217e-01 7.82989260e+00] [ 2.25803380e-01 7.56539362e-02 9.71230825e-01 -3.21753387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:89.65, Y:7.68, Z:-32.17 [[ 9.56980266e-01 -1.10693242e-01 -2.68208457e-01 8.96547758e+01] [ 1.25729289e-01 9.91278145e-01 3.94941188e-02 7.68198239e+00] [ 2.61497450e-01 -7.15167508e-02 9.62551006e-01 -3.21679266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters Centerline goodness : 0.970489 Centerline is valid? [True, True] Translation: X:89.65, Y:7.78, Z:-32.18 [[ 9.65556977e-01 -8.05956779e-02 -2.47394546e-01 8.96493663e+01] [ 7.37224569e-02 9.96594535e-01 -3.69368675e-02 7.77972623e+00] [ 2.49529004e-01 1.74261164e-02 9.68210518e-01 -3.21785598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:89.69, Y:7.83, Z:-32.15 [[ 9.67474458e-01 -1.41062888e-01 -2.09986748e-01 8.96897447e+01] [ 1.20488327e-01 9.86843764e-01 -1.07805145e-01 7.82914101e+00] [ 2.22431418e-01 7.89977722e-02 9.71742567e-01 -3.21506909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:89.72, Y:7.72, Z:-32.15 [[ 9.64630928e-01 -1.09125621e-01 -2.39955768e-01 8.97241934e+01] [ 1.12629277e-01 9.93636678e-01 8.93767326e-04 7.72298403e+00] [ 2.38331319e-01 -2.78882003e-02 9.70783411e-01 -3.21521852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79592 meters Centerline goodness : 0.733360 Centerline is valid? [True, False] Translation: X:89.69, Y:7.72, Z:-32.16 [[ 9.70158411e-01 -9.99168615e-02 -2.20928220e-01 8.96927978e+01] [ 1.02882101e-01 9.94691693e-01 1.92579761e-03 7.71853301e+00] [ 2.19563046e-01 -2.45978881e-02 9.75288169e-01 -3.21598363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters Centerline goodness : 0.904484 Centerline is valid? [False, False] Translation: X:89.66, Y:7.71, Z:-32.17 [[ 9.75675582e-01 -8.89452641e-02 -2.00364415e-01 8.96600425e+01] [ 9.15709876e-02 9.95791084e-01 3.85635195e-03 7.71334797e+00] [ 1.99178094e-01 -2.21101158e-02 9.79713851e-01 -3.21673843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85592 meters Centerline goodness : 0.999502 Centerline is valid? [False, True] Translation: X:89.63, Y:7.71, Z:-32.17 [[ 9.80347194e-01 -8.01261060e-02 -1.80275309e-01 8.96266981e+01] [ 8.21817758e-02 9.96609526e-01 3.95080629e-03 7.71408904e+00] [ 1.79347528e-01 -1.86885069e-02 9.83608257e-01 -3.21738272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.65, Y:7.74, Z:-32.17 [[ 9.79200989e-01 -8.22393973e-02 -1.85478042e-01 8.96518279e+01] [ 7.98676996e-02 9.96600056e-01 -2.02355894e-02 7.73917479e+00] [ 1.86511589e-01 5.00100464e-03 9.82440032e-01 -3.21689616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.68, Y:7.73, Z:-32.16 [[ 9.79154319e-01 -8.01468159e-02 -1.86636833e-01 8.96796315e+01] [ 7.89702081e-02 9.96782245e-01 -1.37427465e-02 7.73374678e+00] [ 1.87137718e-01 -1.28247992e-03 9.82332851e-01 -3.21631854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.71, Y:7.68, Z:-32.15 [[ 9.71576723e-01 -6.75034234e-02 -2.26896362e-01 8.97074019e+01] [ 7.84327934e-02 9.96136836e-01 3.94930517e-02 7.68183417e+00] [ 2.23353908e-01 -5.61666452e-02 9.73117845e-01 -3.21536306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:89.73, Y:7.72, Z:-32.15 [[ 9.70052162e-01 -7.41638668e-02 -2.31297478e-01 8.97332555e+01] [ 7.75067803e-02 9.96977273e-01 5.38670016e-03 7.71803813e+00] [ 2.30198830e-01 -2.31525029e-02 9.72868162e-01 -3.21476035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:89.76, Y:7.70, Z:-32.14 [[ 9.72651519e-01 -7.02467252e-02 -2.21392008e-01 8.97568944e+01] [ 7.73344430e-02 9.96728230e-01 2.34993546e-02 7.70357221e+00] [ 2.19016911e-01 -3.99779106e-02 9.74901718e-01 -3.21412976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.78, Y:7.86, Z:-32.13 [[ 9.80990938e-01 -1.03488792e-01 -1.64154957e-01 8.97755380e+01] [ 8.26705620e-02 9.88198609e-01 -1.28953818e-01 7.85817235e+00] [ 1.75562975e-01 1.12931744e-01 9.77969357e-01 -3.21299592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:7.73, Z:-32.13 [[ 9.78974507e-01 -7.92601186e-02 -1.87954113e-01 8.98129852e+01] [ 8.16305971e-02 9.96650644e-01 4.89281793e-03 7.72982194e+00] [ 1.86936783e-01 -2.01327505e-02 9.82165623e-01 -3.21289306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:89.84, Y:7.65, Z:-32.12 [[ 9.75100817e-01 -6.46143965e-02 -2.12139993e-01 8.98386068e+01] [ 8.37992523e-02 9.93043506e-01 8.27180782e-02 7.65390192e+00] [ 2.05319464e-01 -9.84356384e-02 9.73732172e-01 -3.21200204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.86, Y:7.86, Z:-32.11 [[ 0.97955084 -0.11134337 -0.16757928 89.85619488] [ 0.09137277 0.98825153 -0.12251501 7.85709302] [ 0.17925171 0.1046975 0.97821636 -32.10993669] [ 0. 0. 0. 1. ]] SLAMing on 107.15592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.89, Y:7.67, Z:-32.10 [[ 9.72133339e-01 -7.38700461e-02 -2.22485927e-01 8.98935419e+01] [ 9.13100462e-02 9.93419760e-01 6.91350540e-02 7.66947235e+00] [ 2.15914907e-01 -8.75236912e-02 9.72481546e-01 -3.21027377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.91, Y:7.84, Z:-32.10 [[ 9.81297626e-01 -1.12948643e-01 -1.55876791e-01 8.99148938e+01] [ 9.81392820e-02 9.90170071e-01 -9.96589782e-02 7.84042492e+00] [ 1.65600879e-01 8.24974823e-02 9.82736238e-01 -3.20988376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:89.95, Y:7.60, Z:-32.08 [[ 9.72483950e-01 -6.61141405e-02 -2.23391782e-01 8.99506676e+01] [ 9.95729811e-02 9.84846284e-01 1.41996541e-01 7.60263198e+00] [ 2.10618587e-01 -1.60333143e-01 9.64330386e-01 -3.20816419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:89.96, Y:7.91, Z:-32.08 [[ 0.97974301 -0.12705765 -0.15479014 89.96366046] [ 0.10104817 0.98099351 -0.16565325 7.90790955] [ 0.17289564 0.14665636 0.97396048 -32.08040029] [ 0. 0. 0. 1. ]] SLAMing on 107.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.00, Y:7.75, Z:-32.08 [[ 9.79418102e-01 -9.70437553e-02 -1.76982180e-01 9.00027135e+01] [ 9.81157992e-02 9.95171328e-01 -2.70520507e-03 7.75015264e+00] [ 1.76390114e-01 -1.47152212e-02 9.84210338e-01 -3.20827763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.03, Y:7.73, Z:-32.07 [[ 9.72283535e-01 -9.01413222e-02 -2.15729622e-01 9.00339277e+01] [ 9.61712387e-02 9.95209240e-01 1.75971901e-02 7.73059741e+00] [ 2.13109879e-01 -3.78564431e-02 9.76294561e-01 -3.20735656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.06, Y:7.74, Z:-32.07 [[ 9.74583073e-01 -9.21692826e-02 -2.04187799e-01 9.00572893e+01] [ 9.61924708e-02 9.95314066e-01 9.84471310e-03 7.74088406e+00] [ 2.02323608e-01 -2.92358196e-02 9.78882232e-01 -3.20708315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:90.08, Y:7.76, Z:-32.06 [[ 9.74552230e-01 -9.53949192e-02 -2.02849106e-01 9.00821558e+01] [ 9.61951610e-02 9.95344806e-01 -5.93361552e-03 7.75918075e+00] [ 2.02470841e-01 -1.37304842e-02 9.79192030e-01 -3.20626823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:7.83, Z:-32.06 [[ 9.79663184e-01 -1.10743220e-01 -1.67320010e-01 9.01037189e+01] [ 9.97850118e-02 9.92359530e-01 -7.25638706e-02 7.82729579e+00] [ 1.74077563e-01 5.43921233e-02 9.83228610e-01 -3.20574702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.14, Y:7.67, Z:-32.05 [[ 9.74753498e-01 -7.96070204e-02 -2.08610498e-01 9.01395462e+01] [ 1.00125442e-01 9.90922841e-01 8.97040674e-02 7.66819721e+00] [ 1.99575834e-01 -1.08326572e-01 9.73876194e-01 -3.20469466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:90.16, Y:7.89, Z:-32.04 [[ 0.98035495 -0.12193432 -0.15503609 90.15830412] [ 0.10196775 0.98614925 -0.13081375 7.88834265] [ 0.16883941 0.11243522 0.97920967 -32.04485268] [ 0. 0. 0. 1. ]] SLAMing on 107.48592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:90.19, Y:7.77, Z:-32.05 [[ 9.81237904e-01 -1.00460233e-01 -1.64559768e-01 9.01945052e+01] [ 9.98347369e-02 9.94930594e-01 -1.20888039e-02 7.77410429e+00] [ 1.64939991e-01 -4.56678846e-03 9.86293031e-01 -3.20463579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:7.69, Z:-32.03 [[ 9.75013423e-01 -8.31933409e-02 -2.05979836e-01 9.02246589e+01] [ 9.96912097e-02 9.92479281e-01 7.10389942e-02 7.69434945e+00] [ 1.98520748e-01 -8.97983519e-02 9.75974266e-01 -3.20341778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:90.24, Y:7.78, Z:-32.03 [[ 9.75437365e-01 -1.00218915e-01 -1.96158395e-01 9.02432564e+01] [ 9.87274681e-02 9.94962513e-01 -1.73920777e-02 7.78304635e+00] [ 1.96913265e-01 -2.40133925e-03 9.80417972e-01 -3.20286121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:90.27, Y:7.79, Z:-32.02 [[ 9.75674095e-01 -1.00901966e-01 -1.94624905e-01 9.02695856e+01] [ 9.76271920e-02 9.94873621e-01 -2.63706324e-02 7.79381552e+00] [ 1.96288033e-01 6.72845990e-03 9.80523195e-01 -3.20220573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.30, Y:7.72, Z:-32.02 [[ 9.77091716e-01 -8.48228435e-02 -1.95184179e-01 9.03023726e+01] [ 9.60001131e-02 9.94198095e-01 4.85193304e-02 7.72176315e+00] [ 1.89936192e-01 -6.61455391e-02 9.79565726e-01 -3.20155354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.32, Y:7.84, Z:-32.01 [[ 9.77093188e-01 -1.05838293e-01 -1.84627075e-01 9.03216267e+01] [ 9.40277859e-02 9.92990302e-01 -7.16172841e-02 7.83848811e+00] [ 1.90912746e-01 5.26166854e-02 9.80195801e-01 -3.20095943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.35, Y:7.85, Z:-32.01 [[ 9.85152725e-01 -1.07970575e-01 -1.33478322e-01 9.03500964e+01] [ 9.82472740e-02 9.92145905e-01 -7.74207684e-02 7.84999868e+00] [ 1.40789135e-01 6.31573997e-02 9.88023058e-01 -3.20073429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.39, Y:7.68, Z:-31.99 [[ 9.78863271e-01 -7.46227162e-02 -1.90415723e-01 9.03856070e+01] [ 9.37882284e-02 9.91173148e-01 9.36992970e-02 7.68157994e+00] [ 1.81742856e-01 -1.09577554e-01 9.77221722e-01 -3.19949205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.40, Y:7.83, Z:-31.99 [[ 9.76867435e-01 -9.72245107e-02 -1.90466291e-01 9.04032491e+01] [ 8.87193357e-02 9.94661307e-01 -5.27044915e-02 7.82524690e+00] [ 1.94573618e-01 3.45872586e-02 9.80277934e-01 -3.19914295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.44, Y:7.75, Z:-31.99 [[ 9.81120334e-01 -8.28431135e-02 -1.74756711e-01 9.04350254e+01] [ 8.96592797e-02 9.95475431e-01 3.14623594e-02 7.74585878e+00] [ 1.71359572e-01 -4.65369214e-02 9.84108842e-01 -3.19879805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:90.46, Y:7.84, Z:-31.98 [[ 9.78340946e-01 -9.50463480e-02 -1.83889055e-01 9.04576030e+01] [ 8.56161755e-02 9.94604727e-01 -5.85773679e-02 7.83569026e+00] [ 1.88464489e-01 4.15647599e-02 9.81200034e-01 -3.19802438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.49, Y:7.76, Z:-31.98 [[ 9.80102588e-01 -8.18379173e-02 -1.80835484e-01 9.04872463e+01] [ 8.67456443e-02 9.96041859e-01 1.93857931e-02 7.76358094e+00] [ 1.78533218e-01 -3.46867566e-02 9.83322286e-01 -3.19755808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:90.51, Y:7.82, Z:-31.97 [[ 9.79067133e-01 -9.19579605e-02 -1.81579961e-01 9.05084857e+01] [ 8.66667818e-02 9.95554507e-01 -3.68794244e-02 7.81976036e+00] [ 1.84164105e-01 2.03704815e-02 9.82684398e-01 -3.19713664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:7.77, Z:-31.97 [[ 9.81774312e-01 -7.99180067e-02 -1.72430602e-01 9.05375732e+01] [ 8.37672365e-02 9.96370151e-01 1.51516292e-02 7.77385387e+00] [ 1.70593817e-01 -2.93195154e-02 9.84905130e-01 -3.19687237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.57, Y:7.85, Z:-31.96 [[ 9.80190713e-01 -8.97952067e-02 -1.76530414e-01 9.05650533e+01] [ 8.11662691e-02 9.95152858e-01 -5.55231991e-02 7.84593152e+00] [ 1.80660464e-01 4.00950089e-02 9.82727931e-01 -3.19605117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:90.59, Y:7.81, Z:-31.96 [[ 9.80763227e-01 -8.42496795e-02 -1.76083739e-01 9.05945276e+01] [ 8.28183579e-02 9.96444498e-01 -1.54751921e-02 7.80986922e+00] [ 1.76761453e-01 5.94533244e-04 9.84253542e-01 -3.19559770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.62, Y:7.78, Z:-31.95 [[ 9.81469882e-01 -7.90167131e-02 -1.74565832e-01 9.06212247e+01] [ 8.40016209e-02 9.96237031e-01 2.13425809e-02 7.77689091e+00] [ 1.72222525e-01 -3.56109131e-02 9.84414173e-01 -3.19535407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.65, Y:7.81, Z:-31.95 [[ 9.81559482e-01 -8.37525915e-02 -1.71832726e-01 9.06472176e+01] [ 8.31239333e-02 9.96480003e-01 -1.08634591e-02 7.81317860e+00] [ 1.72137719e-01 -3.62028083e-03 9.85066241e-01 -3.19479296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:90.67, Y:7.84, Z:-31.94 [[ 9.82144092e-01 -9.08260723e-02 -1.64753170e-01 9.06721285e+01] [ 8.53954605e-02 9.95553261e-01 -3.97658234e-02 7.84460115e+00] [ 1.67632329e-01 2.49865957e-02 9.85532888e-01 -3.19412322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:90.70, Y:7.86, Z:-31.94 [[ 9.88065442e-01 -9.55274234e-02 -1.20835396e-01 9.07007422e+01] [ 8.94630459e-02 9.94488800e-01 -5.46661728e-02 7.86403776e+00] [ 1.25391567e-01 4.32034536e-02 9.91166190e-01 -3.19366903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.73, Y:7.82, Z:-31.93 [[ 9.88107679e-01 -8.91842597e-02 -1.25257269e-01 9.07320905e+01] [ 8.87333318e-02 9.96013060e-01 -9.18590115e-03 7.82106030e+00] [ 1.25577114e-01 -2.03783537e-03 9.92081769e-01 -3.19330610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.76, Y:7.82, Z:-31.93 [[ 9.88083184e-01 -8.83487293e-02 -1.26040169e-01 9.07591731e+01] [ 8.78770081e-02 9.96087835e-01 -9.30894142e-03 7.82405891e+00] [ 1.26369512e-01 -1.87802444e-03 9.91981461e-01 -3.19286838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.79, Y:7.83, Z:-31.92 [[ 9.88577481e-01 -8.55492159e-02 -1.24080200e-01 9.07859662e+01] [ 8.50622613e-02 9.96332915e-01 -9.22680375e-03 7.82779822e+00] [ 1.24414533e-01 -1.43313198e-03 9.92229293e-01 -3.19222290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:90.81, Y:7.83, Z:-31.92 [[ 9.88610674e-01 -8.51918087e-02 -1.24061638e-01 9.08136921e+01] [ 8.46940840e-02 9.96363691e-01 -9.29013538e-03 7.83017448e+00] [ 1.24401955e-01 -1.32295979e-03 9.92231023e-01 -3.19171256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.85, Y:7.73, Z:-31.91 [[ 9.81004804e-01 -6.75333051e-02 -1.81848362e-01 9.08461260e+01] [ 8.47344161e-02 9.92462075e-01 8.85387416e-02 7.73436709e+00] [ 1.74498289e-01 -1.02265746e-01 9.79332459e-01 -3.19073478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.87, Y:7.83, Z:-31.91 [[ 9.82037532e-01 -8.22359622e-02 -1.69822060e-01 9.08672846e+01] [ 8.29860661e-02 9.96547081e-01 -2.68855841e-03 7.82569806e+00] [ 1.69456774e-01 -1.14525994e-02 9.85471075e-01 -3.19060318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:90.89, Y:7.85, Z:-31.90 [[ 9.82024853e-01 -8.79636759e-02 -1.67001735e-01 9.08915094e+01] [ 8.42796896e-02 9.96019053e-01 -2.90341141e-02 7.85355499e+00] [ 1.68890858e-01 1.44373672e-02 9.85529016e-01 -3.18989647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29592 meters Centerline goodness : 0.948510 Centerline is valid? [True, False] Translation: X:90.88, Y:7.85, Z:-31.90 [[ 9.83244779e-01 -8.21425302e-02 -1.62733859e-01 9.08845537e+01] [ 7.96672427e-02 9.96585513e-01 -2.16897404e-02 7.84661391e+00] [ 1.63959857e-01 8.36176608e-03 9.86431572e-01 -3.19010425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters Centerline goodness : 0.998756 Centerline is valid? [False, True] Translation: X:90.87, Y:7.84, Z:-31.90 [[ 9.86116471e-01 -7.62995592e-02 -1.47487906e-01 9.08712341e+01] [ 7.44738726e-02 9.97062847e-01 -1.78695551e-02 7.84297425e+00] [ 1.48418150e-01 6.63746713e-03 9.88902420e-01 -3.19038486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:90.90, Y:7.90, Z:-31.90 [[ 9.90591421e-01 -8.71652218e-02 -1.05502891e-01 9.09008355e+01] [ 7.93998388e-02 9.93964538e-01 -7.56978330e-02 7.90243444e+00] [ 1.11464351e-01 6.66087114e-02 9.91533649e-01 -3.18997280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:90.93, Y:7.83, Z:-31.90 [[ 9.90644228e-01 -7.68533103e-02 -1.12772260e-01 9.09338655e+01] [ 7.76783981e-02 9.96974151e-01 2.93416966e-03 7.82770999e+00] [ 1.12205527e-01 -1.16666867e-02 9.93616530e-01 -3.18985546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:90.96, Y:7.84, Z:-31.90 [[ 9.91024632e-01 -7.73105813e-02 -1.09056188e-01 9.09605079e+01] [ 7.62879974e-02 9.96994100e-01 -1.35243025e-02 7.84453955e+00] [ 1.09773948e-01 5.08323874e-03 9.93943580e-01 -3.18952794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:90.99, Y:7.75, Z:-31.89 [[ 9.86188567e-01 -6.30936991e-02 -1.53138155e-01 9.09896925e+01] [ 7.70309252e-02 9.93238884e-01 8.68490453e-02 7.74598904e+00] [ 1.46623142e-01 -9.74459093e-02 9.84380998e-01 -3.18853132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:91.01, Y:7.85, Z:-31.88 [[ 9.86027281e-01 -7.52231439e-02 -1.48632699e-01 9.10134848e+01] [ 7.35433616e-02 9.97150956e-01 -1.67733540e-02 7.84894217e+00] [ 1.49470982e-01 5.60803634e-03 9.88750209e-01 -3.18819881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters Centerline goodness : 0.981400 Centerline is valid? [True, True] Translation: X:91.01, Y:7.91, Z:-31.89 [[ 9.92703313e-01 -3.67776142e-02 -1.14837014e-01 9.10146290e+01] [ 3.08445294e-02 9.98116867e-01 -5.30220209e-02 7.90754870e+00] [ 1.16570784e-01 4.90930421e-02 9.91968309e-01 -3.18921588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53591999999999 meters Centerline goodness : 0.986571 Centerline is valid? [True, True] Translation: X:91.05, Y:7.89, Z:-31.89 [[ 9.92599951e-01 -3.85651352e-02 -1.15143679e-01 9.10456234e+01] [ 3.52697353e-02 9.98911632e-01 -3.05220805e-02 7.88631246e+00] [ 1.16195449e-01 2.62351286e-02 9.92879819e-01 -3.18894065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:91.10, Y:7.76, Z:-31.87 [[ 9.86439794e-01 -5.75592459e-02 -1.53699270e-01 9.10964753e+01] [ 7.10739296e-02 9.93933671e-01 8.39306513e-02 7.76004196e+00] [ 1.47935895e-01 -9.37165455e-02 9.84546688e-01 -3.18727520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:91.12, Y:7.85, Z:-31.87 [[ 9.87270070e-01 -6.91150779e-02 -1.43251228e-01 9.11233071e+01] [ 6.96172376e-02 9.97572634e-01 -1.50990122e-03 7.84736652e+00] [ 1.43007862e-01 -8.48207452e-03 9.89685205e-01 -3.18718559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:91.15, Y:7.97, Z:-31.86 [[ 9.92975417e-01 -8.63538345e-02 -8.08878012e-02 9.11451995e+01] [ 7.62223197e-02 9.89732510e-01 -1.20912023e-01 7.96878998e+00] [ 9.04985033e-02 1.13897210e-01 9.89362141e-01 -3.18577566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:91.18, Y:7.74, Z:-31.85 [[ 9.86887431e-01 -6.22869770e-02 -1.48907793e-01 9.11814515e+01] [ 7.98492212e-02 9.90147540e-01 1.15030217e-01 7.73778000e+00] [ 1.40275800e-01 -1.25412047e-01 9.82137729e-01 -3.18542262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:91.20, Y:7.98, Z:-31.85 [[ 9.92105303e-01 -9.71014821e-02 -7.93622678e-02 9.12011243e+01] [ 8.65867916e-02 9.88164708e-01 -1.26622422e-01 7.97910371e+00] [ 9.07182170e-02 1.18751052e-01 9.88771153e-01 -3.18470113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:91.24, Y:7.71, Z:-31.84 [[ 9.86362454e-01 -6.62204038e-02 -1.50678354e-01 9.12368737e+01] [ 8.81209293e-02 9.85696426e-01 1.43656737e-01 7.71275769e+00] [ 1.39010108e-01 -1.54975529e-01 9.78089349e-01 -3.18437596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:91.26, Y:7.86, Z:-31.85 [[ 9.87911298e-01 -8.38303805e-02 -1.30398370e-01 9.12603779e+01] [ 8.39637291e-02 9.96458720e-01 -4.48469584e-03 7.85908942e+00] [ 1.30312547e-01 -6.51825174e-03 9.91451538e-01 -3.18469960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:91.28, Y:8.00, Z:-31.83 [[ 9.92515995e-01 -9.92698056e-02 -7.11161385e-02 9.12814596e+01] [ 8.83711043e-02 9.85807139e-01 -1.42740435e-01 7.99952196e+00] [ 8.42766123e-02 1.35387553e-01 9.87201936e-01 -3.18326401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:91.34, Y:7.88, Z:-31.85 [[ 9.91692968e-01 -9.51482890e-02 -8.65555330e-02 9.13377666e+01] [ 9.39563155e-02 9.95418047e-01 -1.77516851e-02 7.87926980e+00] [ 8.78479821e-02 9.47178228e-03 9.96088860e-01 -3.18476896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83592 meters Centerline goodness : 0.864720 Centerline is valid? [True, False] Translation: X:91.33, Y:7.88, Z:-31.85 [[ 9.93760667e-01 -7.89334035e-02 -7.87988190e-02 9.13340110e+01] [ 7.77570014e-02 9.96811774e-01 -1.78923531e-02 7.87870777e+00] [ 7.99598948e-02 1.16535569e-02 9.96729958e-01 -3.18491266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:91.33, Y:7.88, Z:-31.85 [[ 9.95411180e-01 -6.45011192e-02 -7.06837143e-02 9.13307410e+01] [ 6.32493228e-02 9.97801137e-01 -1.98094696e-02 7.88149274e+00] [ 7.18060234e-02 1.52478704e-02 9.97302059e-01 -3.18505237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89591999999999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:91.36, Y:7.79, Z:-31.84 [[ 9.90104913e-01 -5.24699184e-02 -1.30150563e-01 9.13590197e+01] [ 6.22235089e-02 9.95458865e-01 7.20408438e-02 7.79105089e+00] [ 1.25779555e-01 -7.94264181e-02 9.88873575e-01 -3.18426548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:91.38, Y:7.87, Z:-31.84 [[ 9.90197796e-01 -6.03899869e-02 -1.25941951e-01 9.13840083e+01] [ 5.99182867e-02 9.98174855e-01 -7.53371692e-03 7.86961181e+00] [ 1.26167050e-01 -8.63560317e-05 9.92009006e-01 -3.18406154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95591999999999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:91.41, Y:7.85, Z:-31.84 [[ 9.90616890e-01 -5.67913476e-02 -1.24309777e-01 9.14111541e+01] [ 5.82661684e-02 9.98266929e-01 8.25780900e-03 7.85403471e+00] [ 1.23625368e-01 -1.54233795e-02 9.92209095e-01 -3.18394542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:91.44, Y:7.85, Z:-31.83 [[ 9.91205962e-01 -5.41991501e-02 -1.20719479e-01 9.14381190e+01] [ 5.68902992e-02 9.98200458e-01 1.89562391e-02 7.84521565e+00] [ 1.19474827e-01 -2.56573045e-02 9.92505652e-01 -3.18326827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01592 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:91.46, Y:7.91, Z:-31.83 [[ 9.90601654e-01 -6.34964161e-02 -1.21146888e-01 9.14584813e+01] [ 5.84547539e-02 9.97287491e-01 -4.47292182e-02 7.90688324e+00] [ 1.23658421e-01 3.72272260e-02 9.91626305e-01 -3.18270604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters Centerline goodness : 0.934564 Centerline is valid? [True, False] Translation: X:91.45, Y:7.90, Z:-31.83 [[ 9.92657390e-01 -5.38144329e-02 -1.08329647e-01 9.14516162e+01] [ 5.03800776e-02 9.98144524e-01 -3.41958574e-02 7.89846930e+00] [ 1.09968875e-01 2.84871145e-02 9.93526714e-01 -3.18304342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07592 meters Centerline goodness : 0.998656 Centerline is valid? [False, True] Translation: X:91.47, Y:7.90, Z:-31.83 [[ 9.93367034e-01 -4.29260777e-02 -1.06673747e-01 9.14717745e+01] [ 3.95689284e-02 9.98658743e-01 -3.33918503e-02 7.90018770e+00] [ 1.07964051e-01 2.89493974e-02 9.93733212e-01 -3.18282261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:91.54, Y:7.83, Z:-31.87 [[ 9.87576742e-01 -1.05338099e-02 -1.56783981e-01 9.15368504e+01] [ 1.80050809e-02 9.98764857e-01 4.63095775e-02 7.82531801e+00] [ 1.56102514e-01 -4.85571700e-02 9.86546606e-01 -3.18659698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13592 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:91.53, Y:7.92, Z:-31.82 [[ 9.93758691e-01 -4.39114708e-02 -1.02544850e-01 9.15264990e+01] [ 3.92588807e-02 9.98125092e-01 -4.69578618e-02 7.91666284e+00] [ 1.04414576e-01 4.26389873e-02 9.93619400e-01 -3.18220062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:91.55, Y:7.84, Z:-31.82 [[ 9.92292183e-01 -3.90166766e-02 -1.17617696e-01 9.15543657e+01] [ 4.27321386e-02 9.98658773e-01 2.92338725e-02 7.84149147e+00] [ 1.16319336e-01 -3.40345988e-02 9.92628560e-01 -3.18207545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:91.58, Y:7.87, Z:-31.82 [[ 9.93142231e-01 -4.80502735e-02 -1.06581805e-01 9.15800286e+01] [ 4.78664006e-02 9.98844559e-01 -4.28413124e-03 7.87333484e+00] [ 1.06664510e-01 -8.46935729e-04 9.94294707e-01 -3.18162422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:91.58, Y:7.92, Z:-31.83 [[ 9.91473669e-01 -5.39014318e-02 -1.18636413e-01 9.15834338e+01] [ 4.69777276e-02 9.97067879e-01 -6.04047792e-02 7.91865990e+00] [ 1.21544461e-01 5.43164790e-02 9.91098716e-01 -3.18275726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25591999999999 meters Centerline goodness : 0.971596 Centerline is valid? [True, True] Translation: X:91.60, Y:7.90, Z:-31.83 [[ 9.96298822e-01 8.60997372e-04 -8.59529882e-02 9.15977280e+01] [-1.89528823e-03 9.99926772e-01 -1.19523373e-02 7.89836600e+00] [ 8.59364031e-02 1.20710053e-02 9.96227497e-01 -3.18337627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:91.63, Y:7.96, Z:-31.82 [[ 9.95243988e-01 -4.25215493e-02 -8.76431527e-02 9.16250807e+01] [ 3.35473209e-02 9.94276025e-01 -1.01438472e-01 7.96023914e+00] [ 9.14548065e-02 9.80158367e-02 9.90973720e-01 -3.18230914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31591999999999 meters Centerline goodness : 0.924577 Centerline is valid? [True, False] Translation: X:91.62, Y:7.93, Z:-31.83 [[ 9.96239805e-01 -3.07235477e-02 -8.10081097e-02 9.16195496e+01] [ 2.52191830e-02 9.97358537e-01 -6.81171144e-02 7.93015534e+00] [ 8.28869292e-02 6.58180225e-02 9.94383098e-01 -3.18263891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters Centerline goodness : 0.921905 Centerline is valid? [False, False] Translation: X:91.62, Y:7.90, Z:-31.83 [[ 9.96890074e-01 -2.41749265e-02 -7.50050199e-02 9.16165627e+01] [ 2.11928455e-02 9.98962735e-01 -4.03028145e-02 7.90335624e+00] [ 7.59015374e-02 3.85879060e-02 9.96368371e-01 -3.18292847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37592 meters Centerline goodness : 0.921905 Centerline is valid? [False, False] Translation: X:91.62, Y:7.90, Z:-31.83 [[ 9.97047044e-01 -1.55882783e-02 -7.51943962e-02 9.16166704e+01] [ 1.33056541e-02 9.99438161e-01 -3.07623604e-02 7.89619735e+00] [ 7.56316813e-02 2.96710099e-02 9.96694276e-01 -3.18296356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:91.60, Y:7.89, Z:-31.83 [[ 9.98185250e-01 -9.10857412e-03 -5.95251230e-02 9.16045898e+01] [ 7.86201846e-03 9.99745561e-01 -2.11424289e-02 7.88639594e+00] [ 5.97025549e-02 2.06360731e-02 9.98002884e-01 -3.18325328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43592 meters Centerline goodness : 0.944751 Centerline is valid? [True, False] Translation: X:91.59, Y:7.88, Z:-31.83 [[ 9.99106645e-01 -5.88781392e-03 -4.18478973e-02 9.15895134e+01] [ 5.31444501e-03 9.99890662e-01 -1.37993274e-02 7.87670262e+00] [ 4.19245696e-02 1.35646013e-02 9.99028694e-01 -3.18341021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters Centerline goodness : 0.992647 Centerline is valid? [False, True] Translation: X:91.58, Y:7.88, Z:-31.83 [[ 9.99642983e-01 -3.16982876e-03 -2.65303210e-02 9.15805776e+01] [ 2.86210139e-03 9.99928284e-01 -1.16290286e-02 7.87544773e+00] [ 2.65652804e-02 1.15489443e-02 9.99580366e-01 -3.18348021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49592 meters Centerline goodness : 0.972997 Centerline is valid? [True, True] Translation: X:91.67, Y:7.84, Z:-31.82 [[ 9.98091432e-01 -5.99199186e-02 -1.49364282e-02 9.16689832e+01] [ 6.00364733e-02 9.98168153e-01 7.48071196e-03 7.83693655e+00] [ 1.44608233e-02 -8.36316498e-03 9.99860461e-01 -3.18170662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:91.65, Y:7.82, Z:-31.79 [[ 9.97739358e-01 -6.45064462e-02 1.88438937e-02 9.16484029e+01] [ 6.44956114e-02 9.97917290e-01 1.18277662e-03 7.82012434e+00] [-1.88809440e-02 3.52456609e-05 9.99821738e-01 -3.17938859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55592 meters Centerline goodness : 0.953584 Centerline is valid? [True, True] Translation: X:91.72, Y:7.80, Z:-31.84 [[ 9.94345031e-01 -1.05121971e-01 -1.50774698e-02 9.17187646e+01] [ 1.05505237e-01 9.94041378e-01 2.73931502e-02 7.79810323e+00] [ 1.21080069e-02 -2.88289948e-02 9.99511023e-01 -3.18365342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:91.70, Y:7.84, Z:-31.79 [[ 9.97385407e-01 -6.94229787e-02 2.00698966e-02 9.17044021e+01] [ 6.99097894e-02 9.97248304e-01 -2.46665932e-02 7.84270730e+00] [-1.83022419e-02 2.60051823e-02 9.99494251e-01 -3.17922320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61591999999999 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:91.70, Y:7.78, Z:-31.83 [[ 9.94275645e-01 -9.65092663e-02 -4.58465151e-02 9.17017023e+01] [ 9.71255923e-02 9.95206771e-01 1.14062253e-02 7.77920621e+00] [ 4.45259558e-02 -1.57938019e-02 9.98883374e-01 -3.18285705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters Centerline goodness : 0.982128 Centerline is valid? [True, True] Translation: X:91.76, Y:7.62, Z:-29.82 [[ 9.89328017e-01 1.45262409e-01 -1.13537456e-02 9.17586386e+01] [ 1.45557801e-01 -9.81813511e-01 1.21881727e-01 7.61796187e+00] [ 6.55757244e-03 -1.22233633e-01 -9.92479691e-01 -2.98217577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67591999999999 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:91.84, Y:7.82, Z:-31.79 [[ 9.92998870e-01 -1.17226605e-01 1.45315912e-02 9.18395016e+01] [ 1.17521075e-01 9.92839639e-01 -2.14067460e-02 7.82032494e+00] [-1.19180996e-02 2.29646428e-02 9.99665236e-01 -3.17931397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:91.88, Y:7.70, Z:-31.79 [[ 9.91905904e-01 -1.17312595e-01 -4.85842875e-02 9.18770665e+01] [ 1.21546367e-01 9.87928374e-01 9.60417050e-02 7.69935513e+00] [ 3.67308945e-02 -1.01169578e-01 9.94190906e-01 -3.17896486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73592 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:91.90, Y:7.90, Z:-31.79 [[ 9.92717720e-01 -1.18678687e-01 2.06615117e-02 9.18951401e+01] [ 1.20150242e-01 9.87828427e-01 -9.87872332e-02 7.89551522e+00] [-8.68608951e-03 1.00550322e-01 9.94894057e-01 -3.17885414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:91.94, Y:7.80, Z:-31.79 [[ 9.93052956e-01 -1.17127984e-01 1.12633348e-02 9.19368582e+01] [ 1.17123703e-01 9.93116788e-01 1.04126179e-03 7.80065971e+00] [-1.13077677e-02 2.85175374e-04 9.99936024e-01 -3.17937085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79592 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:91.97, Y:7.80, Z:-31.79 [[ 9.93425905e-01 -1.14004824e-01 1.03861479e-02 9.19696562e+01] [ 1.14001123e-01 9.93480167e-01 9.49620038e-04 7.80150722e+00] [-1.04266932e-02 2.40655376e-04 9.99945612e-01 -3.17939677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:92.01, Y:7.71, Z:-31.79 [[ 9.92753124e-01 -1.10716465e-01 -4.67236478e-02 9.20072124e+01] [ 1.14692110e-01 9.89004977e-01 9.33534951e-02 7.70505516e+00] [ 3.58741512e-02 -9.80358077e-02 9.94536086e-01 -3.17878660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85592 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:92.02, Y:7.89, Z:-31.79 [[ 9.93276458e-01 -1.13528028e-01 2.26553455e-02 9.20222232e+01] [ 1.15163947e-01 9.88941270e-01 -9.34474759e-02 7.89365039e+00] [-1.17958984e-02 9.54282569e-02 9.95366417e-01 -3.17865890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:92.07, Y:7.71, Z:-31.78 [[ 9.92531515e-01 -1.10848012e-01 -5.09304404e-02 9.20682346e+01] [ 1.15299313e-01 9.88787614e-01 9.48953244e-02 7.70657205e+00] [ 3.98404306e-02 -1.00058845e-01 9.94183568e-01 -3.17817603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:92.08, Y:7.90, Z:-31.78 [[ 9.93289667e-01 -1.12995028e-01 2.46528107e-02 9.20840493e+01] [ 1.14840852e-01 9.88863971e-01 -9.46552997e-02 7.89547421e+00] [-1.36826981e-02 9.68512809e-02 9.95204810e-01 -3.17831004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:92.13, Y:7.67, Z:-31.77 [[ 9.93070752e-01 -1.09835435e-01 -4.17930558e-02 9.21319806e+01] [ 1.14401831e-01 9.84892099e-01 1.29999129e-01 7.67188533e+00] [ 2.68831396e-02 -1.33879535e-01 9.90632912e-01 -3.17721240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97592 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:92.14, Y:7.93, Z:-31.78 [[ 9.93035798e-01 -1.13970833e-01 2.98421435e-02 9.21409364e+01] [ 1.16863926e-01 9.84998704e-01 -1.26966042e-01 7.92644140e+00] [-1.49240471e-02 1.29569295e-01 9.91458053e-01 -3.17786498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:92.19, Y:7.66, Z:-31.77 [[ 9.93007998e-01 -1.12737840e-01 -3.50042198e-02 9.21909128e+01] [ 1.16530832e-01 9.83539702e-01 1.38094965e-01 7.66203081e+00] [ 1.88595120e-02 -1.41208475e-01 9.89800225e-01 -3.17674505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03591999999999 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:92.20, Y:7.93, Z:-31.77 [[ 9.92988349e-01 -1.12671404e-01 3.57672249e-02 9.21992252e+01] [ 1.16476312e-01 9.84208741e-01 -1.33290748e-01 7.93009159e+00] [-2.01843597e-02 1.36522194e-01 9.90431362e-01 -3.17743432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:92.25, Y:7.68, Z:-31.76 [[ 9.93560221e-01 -1.10056263e-01 -2.69389354e-02 9.22498212e+01] [ 1.12572363e-01 9.85826200e-01 1.24395204e-01 7.67717964e+00] [ 1.28666370e-02 -1.26626706e-01 9.91866991e-01 -3.17633414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09591999999999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:92.26, Y:7.92, Z:-31.77 [[ 9.93469195e-01 -1.08105628e-01 3.64983665e-02 9.22598555e+01] [ 1.11720913e-01 9.86628909e-01 -1.18666898e-01 7.91743290e+00] [-2.31817840e-02 1.21969538e-01 9.92263088e-01 -3.17719684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:92.31, Y:7.69, Z:-31.76 [[ 9.94187233e-01 -1.05619685e-01 -2.08860891e-02 9.23076575e+01] [ 1.07321540e-01 9.87672119e-01 1.13955569e-01 7.69109241e+00] [ 8.59265658e-03 -1.15534699e-01 9.93266278e-01 -3.17633095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:92.33, Y:7.80, Z:-31.77 [[ 9.94731161e-01 -1.01852610e-01 -1.16603433e-02 9.23251166e+01] [ 1.01931862e-01 9.94770695e-01 6.41559931e-03 7.79801136e+00] [ 1.09459223e-02 -7.57035706e-03 9.99911434e-01 -3.17726438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.34, Y:7.92, Z:-31.77 [[ 9.94115669e-01 -9.91216653e-02 4.36913373e-02 9.23442978e+01] [ 1.03421614e-01 9.88462255e-01 -1.10663185e-01 7.91807931e+00] [-3.22181186e-02 1.14530635e-01 9.92897138e-01 -3.17687814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.39, Y:7.69, Z:-31.75 [[ 9.94532629e-01 -1.01704358e-01 -2.36869813e-02 9.23919537e+01] [ 1.03874356e-01 9.86780576e-01 1.24395389e-01 7.68819636e+00] [ 1.07222998e-02 -1.26175743e-01 9.91949955e-01 -3.17542253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:7.93, Z:-31.76 [[ 9.94034637e-01 -9.81971575e-02 4.74600813e-02 9.24027565e+01] [ 1.03186996e-01 9.87678086e-01 -1.17662411e-01 7.92969947e+00] [-3.53211680e-02 1.21857775e-01 9.91918897e-01 -3.17633299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:7.81, Z:-31.77 [[ 9.94091702e-01 -1.03313926e-01 3.32854513e-02 9.24461937e+01] [ 1.03271612e-01 9.94648691e-01 2.99255843e-03 7.81429785e+00] [-3.34165036e-02 4.62564721e-04 9.99441406e-01 -3.17685162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters Centerline goodness : 0.956850 Centerline is valid? [True, True] Translation: X:92.54, Y:7.76, Z:-31.79 [[ 9.94012451e-01 -8.97987167e-02 -6.22530068e-02 9.25395559e+01] [ 9.47346601e-02 9.92162253e-01 8.14825654e-02 7.76094487e+00] [ 5.44480537e-02 -8.68922020e-02 9.94728684e-01 -3.17916096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.49, Y:7.85, Z:-31.76 [[ 9.94175055e-01 -1.07619959e-01 -5.82275361e-03 9.24863025e+01] [ 1.07330521e-01 9.93521791e-01 -3.73444921e-02 7.84807678e+00] [ 9.80404528e-03 3.65020033e-02 9.99285487e-01 -3.17645143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.51, Y:7.86, Z:-31.76 [[ 9.94189383e-01 -1.07242842e-01 9.29753204e-03 9.25141519e+01] [ 1.07569669e-01 9.93013076e-01 -4.85159461e-02 7.86183977e+00] [-4.02958294e-03 4.92341710e-02 9.98779134e-01 -3.17642755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.55, Y:7.82, Z:-31.76 [[ 9.93457482e-01 -1.10520867e-01 2.87640391e-02 9.25494557e+01] [ 1.10705320e-01 9.93841214e-01 -4.89626748e-03 7.81960165e+00] [-2.80457478e-02 8.04856573e-03 9.99574238e-01 -3.17626545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.58, Y:7.84, Z:-31.76 [[ 9.92869072e-01 -1.09835945e-01 4.63365003e-02 9.25796824e+01] [ 1.10947173e-01 9.93579984e-01 -2.21255429e-02 7.83820443e+00] [-4.36088393e-02 2.71086710e-02 9.98680824e-01 -3.17640632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:7.81, Z:-31.76 [[ 9.93060768e-01 -1.09834767e-01 4.20313558e-02 9.26148790e+01] [ 1.09774252e-01 9.93949463e-01 3.75207423e-03 7.81497259e+00] [-4.21891517e-02 8.87922930e-04 9.99109247e-01 -3.17644548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.65, Y:7.82, Z:-31.76 [[ 9.93988575e-01 -1.09208278e-01 7.76301004e-03 9.26476536e+01] [ 1.09206161e-01 9.94018877e-01 6.97327113e-04 7.81846717e+00] [-7.79273242e-03 1.54633342e-04 9.99969624e-01 -3.17645067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51592 meters Centerline goodness : 0.970934 Centerline is valid? [True, True] Translation: X:92.73, Y:7.70, Z:-31.78 [[ 9.90169796e-01 -1.38926221e-01 1.62258885e-02 9.27339604e+01] [ 1.36563502e-01 9.85308220e-01 1.02557896e-01 7.70258027e+00] [-3.02354822e-02 -9.93338664e-02 9.94594691e-01 -3.17804414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.69, Y:7.92, Z:-31.77 [[ 9.93756000e-01 -1.02251965e-01 4.46491618e-02 9.26903144e+01] [ 1.06438211e-01 9.88813606e-01 -1.04491912e-01 7.92160835e+00] [-3.34651953e-02 1.08591841e-01 9.93522970e-01 -3.17671873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.73, Y:7.82, Z:-31.77 [[ 9.93813537e-01 -1.04213154e-01 3.83962459e-02 9.27322439e+01] [ 1.04164879e-01 9.94554696e-01 3.26112274e-03 7.82032192e+00] [-3.85270185e-02 7.58592363e-04 9.99257271e-01 -3.17668346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.77, Y:7.78, Z:-31.76 [[ 9.94461792e-01 -1.04088067e-01 1.45402737e-02 9.27670135e+01] [ 1.03348585e-01 9.93640441e-01 4.46961218e-02 7.78142870e+00] [-1.91001369e-02 -4.29458686e-02 9.98894808e-01 -3.17618489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:7.83, Z:-31.76 [[ 9.94257516e-01 -1.05018217e-01 2.05709889e-02 9.27954568e+01] [ 1.05019829e-01 9.94469620e-01 1.00492505e-03 7.82658926e+00] [-2.05627590e-02 1.16120745e-03 9.99787890e-01 -3.17644975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.82, Y:7.87, Z:-31.77 [[ 9.93061002e-01 -1.07689480e-01 4.72527575e-02 9.28231485e+01] [ 1.09546747e-01 9.93230045e-01 -3.86469568e-02 7.86901928e+00] [-4.27709878e-02 4.35551715e-02 9.98135056e-01 -3.17680117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.86, Y:7.83, Z:-31.77 [[ 9.92784222e-01 -1.12669508e-01 4.10496153e-02 9.28598147e+01] [ 1.12623137e-01 9.93631794e-01 3.44781767e-03 7.82547660e+00] [-4.11766668e-02 1.20019747e-03 9.99151161e-01 -3.17701072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.89, Y:7.83, Z:-31.77 [[ 9.92485277e-01 -1.14649720e-01 4.27599872e-02 9.28924919e+01] [ 1.14602178e-01 9.93405053e-01 3.56962843e-03 7.82525388e+00] [-4.28872442e-02 1.35758399e-03 9.99078997e-01 -3.17696829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:7.83, Z:-31.77 [[ 9.92319026e-01 -1.15500194e-01 4.43018742e-02 9.29257049e+01] [ 1.15451002e-01 9.93306374e-01 3.67599288e-03 7.82561033e+00] [-4.44299119e-02 1.46693809e-03 9.99011427e-01 -3.17683170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:7.83, Z:-31.77 [[ 9.92386482e-01 -1.14751535e-01 4.47342757e-02 9.29585043e+01] [ 1.14701619e-01 9.93393137e-01 3.68959602e-03 7.82796304e+00] [-4.48621093e-02 1.46958862e-03 9.98992108e-01 -3.17695616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:7.83, Z:-31.77 [[ 9.92559757e-01 -1.13295597e-01 4.46008499e-02 9.29921687e+01] [ 1.13245502e-01 9.93560309e-01 3.65644574e-03 7.82520674e+00] [-4.47278934e-02 1.42160474e-03 9.98998195e-01 -3.17719648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.03, Y:7.75, Z:-31.76 [[ 9.93424081e-01 -1.13794700e-01 1.26238522e-02 9.30285313e+01] [ 1.12405780e-01 9.90325357e-01 8.13672392e-02 7.74799026e+00] [-2.17608814e-02 -7.94131808e-02 9.96604240e-01 -3.17615078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.05, Y:7.90, Z:-31.77 [[ 9.92553563e-01 -1.10007933e-01 5.23037275e-02 9.30482600e+01] [ 1.13718232e-01 9.90735961e-01 -7.42321960e-02 7.90168087e+00] [-4.36530533e-02 7.96273180e-02 9.95868416e-01 -3.17744079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:7.83, Z:-31.77 [[ 9.92755199e-01 -1.11785797e-01 4.40573528e-02 9.30877841e+01] [ 1.11736731e-01 9.93731387e-01 3.58248184e-03 7.82512978e+00] [-4.41816449e-02 1.36629709e-03 9.99022580e-01 -3.17735887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:7.76, Z:-31.76 [[ 9.93485511e-01 -1.13666445e-01 8.15339723e-03 9.31213537e+01] [ 1.12846451e-01 9.91240378e-01 6.86162633e-02 7.75538518e+00] [-1.58813433e-02 -6.72491815e-02 9.97609809e-01 -3.17636643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:7.89, Z:-31.78 [[ 9.92404891e-01 -1.12271209e-01 5.02763233e-02 9.31422550e+01] [ 1.15388398e-01 9.91249391e-01 -6.41105541e-02 7.88727482e+00] [-4.26386054e-02 6.94249319e-02 9.96675538e-01 -3.17770941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:7.82, Z:-31.78 [[ 9.92523964e-01 -1.14231550e-01 4.29806206e-02 9.31803019e+01] [ 1.14188546e-01 9.93453063e-01 3.46236525e-03 7.82357564e+00] [-4.30947405e-02 1.47141410e-03 9.99069907e-01 -3.17755226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:7.82, Z:-31.78 [[ 9.92712554e-01 -1.12547985e-01 4.30666572e-02 9.32137247e+01] [ 1.12504164e-01 9.93645272e-01 3.44760570e-03 7.82437029e+00] [-4.31810014e-02 1.42269681e-03 9.99066253e-01 -3.17761714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.25, Y:7.82, Z:-31.78 [[ 9.92775409e-01 -1.11115090e-01 4.52816087e-02 9.32465605e+01] [ 1.11066228e-01 9.93806482e-01 3.60138805e-03 7.82144687e+00] [-4.54013248e-02 1.45388798e-03 9.98967770e-01 -3.17761542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.28, Y:7.82, Z:-31.78 [[ 9.92920066e-01 -1.10025247e-01 4.47681469e-02 9.32793774e+01] [ 1.09977390e-01 9.93927792e-01 3.53808294e-03 7.82305624e+00] [-4.48855838e-02 1.41045040e-03 9.98991139e-01 -3.17763981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.31, Y:7.76, Z:-31.77 [[ 9.93910613e-01 -1.09381937e-01 1.33148336e-02 9.33138848e+01] [ 1.08200751e-01 9.91675125e-01 6.98071863e-02 7.75673189e+00] [-2.08396345e-02 -6.79414283e-02 9.97471640e-01 -3.17661712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters Centerline goodness : 0.864156 Centerline is valid? [True, False] Translation: X:93.31, Y:7.77, Z:-31.77 [[ 9.94599297e-01 -1.01628517e-01 2.10685445e-02 9.33067311e+01] [ 1.00283426e-01 9.93309028e-01 5.72748640e-02 7.76678343e+00] [-2.67483349e-02 -5.48527136e-02 9.98136116e-01 -3.17662009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17591999999999 meters Centerline goodness : 0.865519 Centerline is valid? [False, False] Translation: X:93.30, Y:7.78, Z:-31.77 [[ 9.95396915e-01 -9.18296692e-02 2.74279620e-02 9.33026284e+01] [ 9.05018936e-02 9.94821318e-01 4.62596141e-02 7.77688520e+00] [-3.15339264e-02 -4.35643947e-02 9.98552830e-01 -3.17668431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:93.30, Y:7.78, Z:-31.77 [[ 9.96177286e-01 -8.07170234e-02 3.34002640e-02 9.33000855e+01] [ 7.94640852e-02 9.96140374e-01 3.72802185e-02 7.78375748e+00] [-3.62804997e-02 -3.44835855e-02 9.98746518e-01 -3.17677580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:7.82, Z:-31.77 [[ 9.96299578e-01 -7.83844974e-02 3.52565198e-02 9.33313493e+01] [ 7.83622244e-02 9.96922916e-01 2.01524981e-03 7.81861619e+00] [-3.53059968e-02 7.54986779e-04 9.99376264e-01 -3.17722602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:7.82, Z:-31.77 [[ 9.96741972e-01 -7.26047017e-02 3.51283181e-02 9.33642333e+01] [ 7.25796413e-02 9.97360635e-01 1.98975014e-03 7.82017326e+00] [-3.51800669e-02 5.66333253e-04 9.99380829e-01 -3.17715571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:7.82, Z:-31.77 [[ 9.96768193e-01 -7.22434158e-02 3.51291737e-02 9.33976390e+01] [ 7.22186663e-02 9.97386868e-01 1.97456068e-03 7.82224710e+00] [-3.51800255e-02 5.68802790e-04 9.99380829e-01 -3.17720821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:7.83, Z:-31.77 [[ 9.97286780e-01 -6.47717560e-02 3.49813862e-02 9.34299115e+01] [ 6.47431737e-02 9.97900054e-01 1.95039498e-03 7.82770170e+00] [-3.50342577e-02 3.19702829e-04 9.99386061e-01 -3.17722107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.46, Y:7.78, Z:-31.77 [[ 9.98121704e-01 -6.10854997e-02 -4.65040611e-03 9.34635520e+01] [ 6.12428546e-02 9.96837055e-01 5.06477955e-02 7.78361132e+00] [ 1.54185123e-03 -5.08374681e-02 9.98705750e-01 -3.17660535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:7.89, Z:-31.78 [[ 9.97667560e-01 -5.78939602e-02 3.61625380e-02 9.34883252e+01] [ 5.95849792e-02 9.97088682e-01 -4.75793037e-02 7.88505227e+00] [-3.33027031e-02 4.96230719e-02 9.98212643e-01 -3.17761567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:7.84, Z:-31.77 [[ 9.97900115e-01 -5.46190600e-02 3.48154817e-02 9.35238384e+01] [ 5.45856292e-02 9.98507265e-01 1.91071827e-03 7.84435905e+00] [-3.48678731e-02 -6.28100560e-06 9.99391931e-01 -3.17741643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:7.85, Z:-31.77 [[ 9.97996897e-01 -5.25588844e-02 3.52101785e-02 9.35568882e+01] [ 5.25240873e-02 9.98617825e-01 1.91315914e-03 7.84803068e+00] [-3.52620653e-02 -5.99443980e-05 9.99378098e-01 -3.17736204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:7.80, Z:-31.77 [[ 9.98599436e-01 -5.20789589e-02 9.32463047e-03 9.35896304e+01] [ 5.14237883e-02 9.96849376e-01 6.03897038e-02 7.79776503e+00] [-1.24402850e-02 -5.98256163e-02 9.98131321e-01 -3.17652164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:7.87, Z:-31.77 [[ 9.98736440e-01 -4.81322925e-02 1.44501206e-02 9.36159019e+01] [ 4.82350173e-02 9.98812550e-01 -6.84642339e-03 7.87018148e+00] [-1.41034277e-02 7.53477434e-03 9.99872152e-01 -3.17738836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:7.92, Z:-31.78 [[ 9.97998270e-01 -4.56014688e-02 4.38173304e-02 9.36450587e+01] [ 4.77887889e-02 9.97593153e-01 -5.02407515e-02 7.91681252e+00] [-4.14208168e-02 5.22341602e-02 9.97775480e-01 -3.17767095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.68, Y:7.83, Z:-31.77 [[ 9.98963454e-01 -4.55165570e-02 -5.10106508e-04 9.36818743e+01] [ 4.54937768e-02 9.97962034e-01 4.47447681e-02 7.82705746e+00] [-1.52756086e-03 -4.47215947e-02 9.98998321e-01 -3.17667609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:7.92, Z:-31.78 [[ 9.98116117e-01 -4.11850025e-02 4.54753988e-02 9.37068180e+01] [ 4.30711049e-02 9.98217800e-01 -4.13050029e-02 7.92075350e+00] [-4.36932059e-02 4.31858648e-02 9.98111159e-01 -3.17755501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:7.89, Z:-31.78 [[ 9.98309593e-01 -4.02242907e-02 4.19519146e-02 9.37412363e+01] [ 4.01666961e-02 9.99190537e-01 2.21521773e-03 7.88617491e+00] [-4.20070616e-02 -5.26403307e-04 9.99117175e-01 -3.17760166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:7.89, Z:-31.78 [[ 9.98304388e-01 -3.94996770e-02 4.27565749e-02 9.37736828e+01] [ 3.94401583e-02 9.99219435e-01 2.23502141e-03 7.88957227e+00] [-4.28114833e-02 -5.44905599e-04 9.99083020e-01 -3.17766171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:7.86, Z:-31.77 [[ 9.99133378e-01 -4.11161996e-02 6.47702481e-03 9.38071260e+01] [ 4.08373055e-02 9.98423257e-01 3.85138163e-02 7.85820612e+00] [-8.05035396e-03 -3.82159351e-02 9.99237076e-01 -3.17705037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:93.83, Y:7.93, Z:-31.78 [[ 9.97967475e-01 -4.19679331e-02 4.79542624e-02 9.38340604e+01] [ 4.36599617e-02 9.98440210e-01 -3.47987804e-02 7.93345556e+00] [-4.64190310e-02 3.68217322e-02 9.98243174e-01 -3.17775801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:7.83, Z:-31.77 [[ 9.98846243e-01 -4.70170056e-02 -9.77674552e-03 9.38689378e+01] [ 4.76137901e-02 9.96112034e-01 7.41197807e-02 7.82884898e+00] [ 6.25384372e-03 -7.44997724e-02 9.97201421e-01 -3.17672613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:7.89, Z:-31.77 [[ 9.98601142e-01 -5.14977374e-02 1.19892564e-02 9.38908812e+01] [ 5.12242099e-02 9.98442591e-01 2.21014424e-02 7.88546096e+00] [-1.31087585e-02 -2.14563854e-02 9.99683842e-01 -3.17745869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.92, Y:7.89, Z:-31.77 [[ 9.98553351e-01 -5.29637694e-02 9.27602499e-03 9.39222471e+01] [ 5.27143530e-02 9.98288192e-01 2.53353948e-02 7.88587499e+00] [-1.06020042e-02 -2.48097637e-02 9.99635970e-01 -3.17734602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:93.95, Y:8.02, Z:-31.78 [[ 9.96712826e-01 -5.37723099e-02 6.05977036e-02 9.39460581e+01] [ 6.03081637e-02 9.91902346e-01 -1.11770572e-01 8.02219085e+00] [-5.40968426e-02 1.15057699e-01 9.91884700e-01 -3.17767341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:93.98, Y:7.80, Z:-31.77 [[ 9.97856898e-01 -6.38973164e-02 1.40976567e-02 9.39827463e+01] [ 6.19268132e-02 9.91782891e-01 1.11945376e-01 7.80432745e+00] [-2.11348239e-02 -1.10832443e-01 9.93614356e-01 -3.17651952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89591999999999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:94.00, Y:8.02, Z:-31.78 [[ 9.96106444e-01 -5.88927553e-02 6.56018005e-02 9.40049478e+01] [ 6.56653579e-02 9.92154489e-01 -1.06383888e-01 8.02056868e+00] [-5.88218805e-02 1.10277442e-01 9.92158693e-01 -3.17780772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:94.04, Y:7.83, Z:-31.77 [[ 9.97394515e-01 -6.85010758e-02 2.26226638e-02 9.40403822e+01] [ 6.62017642e-02 9.93717429e-01 9.02385549e-02 7.83015517e+00] [-2.86619734e-02 -8.85057794e-02 9.95663205e-01 -3.17702229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95591999999999 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:94.07, Y:7.90, Z:-31.78 [[ 9.97314180e-01 -6.84983729e-02 2.59306756e-02 9.40684830e+01] [ 6.79274457e-02 9.97441152e-01 2.22937161e-02 7.89608900e+00] [-2.73914062e-02 -2.04724347e-02 9.99415124e-01 -3.17772103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:94.09, Y:8.02, Z:-31.78 [[ 9.95552054e-01 -6.16338793e-02 7.12556887e-02 9.40946362e+01] [ 6.87215001e-02 9.92436620e-01 -1.01719762e-01 8.01937863e+00] [-6.44473713e-02 1.06164115e-01 9.92257888e-01 -3.17792584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:94.13, Y:7.92, Z:-31.78 [[ 9.95860927e-01 -6.36347252e-02 6.48971119e-02 9.41328768e+01] [ 6.35612317e-02 9.97972815e-01 3.19858130e-03 7.91939336e+00] [-6.49690943e-02 9.39598228e-04 9.97886834e-01 -3.17821963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:94.17, Y:7.92, Z:-31.78 [[ 9.95992207e-01 -6.19697410e-02 6.44924326e-02 9.41658298e+01] [ 6.18958268e-02 9.98077659e-01 3.14537488e-03 7.92093116e+00] [-6.45633742e-02 8.59043560e-04 9.97913239e-01 -3.17847097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:94.19, Y:7.85, Z:-31.78 [[ 9.97499883e-01 -6.56100635e-02 2.62545923e-02 9.41945039e+01] [ 6.33790015e-02 9.94913081e-01 7.83011136e-02 7.84673231e+00] [-3.12583783e-02 -7.64413617e-02 9.96583981e-01 -3.17772236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:94.22, Y:8.00, Z:-31.79 [[ 9.96059960e-01 -5.57511686e-02 6.89663854e-02 9.42222133e+01] [ 6.07649796e-02 9.95488242e-01 -7.28750734e-02 7.99536388e+00] [-6.45923553e-02 7.67786837e-02 9.94953698e-01 -3.17867496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:94.26, Y:7.83, Z:-31.77 [[ 9.97276160e-01 -6.61462577e-02 3.26333016e-02 9.42562740e+01] [ 6.28165462e-02 9.93566118e-01 9.42361428e-02 7.83221904e+00] [-3.86567110e-02 -9.19295474e-02 9.95014883e-01 -3.17744073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:94.28, Y:8.01, Z:-31.79 [[ 9.95504541e-01 -5.50239979e-02 7.70912981e-02 9.42816784e+01] [ 6.17618381e-02 9.94209967e-01 -8.79318853e-02 8.01305952e+00] [-7.18065731e-02 9.22978914e-02 9.93138920e-01 -3.17868709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19592 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:94.32, Y:7.88, Z:-31.78 [[ 9.97496458e-01 -6.42301496e-02 2.95855345e-02 9.43152405e+01] [ 6.26486079e-02 9.96701063e-01 5.15959574e-02 7.87689599e+00] [-3.28019497e-02 -4.96132922e-02 9.98229710e-01 -3.17810585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:94.34, Y:7.95, Z:-31.79 [[ 9.97710438e-01 -5.87699840e-02 3.34659742e-02 9.43438610e+01] [ 5.96140093e-02 9.97913225e-01 -2.48065395e-02 7.95386908e+00] [-3.19382583e-02 2.67447843e-02 9.99131955e-01 -3.17881399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25591999999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:94.38, Y:7.95, Z:-31.79 [[ 9.95536433e-01 -5.70956039e-02 7.51485398e-02 9.43771320e+01] [ 5.87752900e-02 9.98064179e-01 -2.03312740e-02 7.95447241e+00] [-7.38422393e-02 2.46574012e-02 9.96965063e-01 -3.17919567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:94.41, Y:7.87, Z:-31.79 [[ 9.97253643e-01 -6.12146450e-02 4.16886024e-02 9.44094758e+01] [ 5.83637996e-02 9.96079828e-01 6.64728771e-02 7.87347389e+00] [-4.55942895e-02 -6.38572136e-02 9.96916956e-01 -3.17859624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31591999999999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:94.44, Y:8.00, Z:-31.79 [[ 9.95369539e-01 -5.29823678e-02 8.02019327e-02 9.44376991e+01] [ 5.78469291e-02 9.96545025e-01 -5.95965188e-02 7.99911749e+00] [-7.67672724e-02 6.39599950e-02 9.94995430e-01 -3.17935961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:94.47, Y:7.87, Z:-31.79 [[ 9.96893973e-01 -6.17535313e-02 4.88764538e-02 9.44712590e+01] [ 5.81249843e-02 9.95675508e-01 7.24690895e-02 7.87080984e+00] [-5.31403102e-02 -6.94030555e-02 9.96172336e-01 -3.17870871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:94.50, Y:7.97, Z:-31.79 [[ 9.97546632e-01 -5.77798097e-02 3.95247996e-02 9.44985399e+01] [ 5.87607269e-02 9.97980603e-01 -2.41224748e-02 7.96724662e+00] [-3.80511913e-02 2.63857994e-02 9.98927373e-01 -3.17933702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:94.53, Y:7.99, Z:-31.80 [[ 9.95048135e-01 -5.51002290e-02 8.27234726e-02 9.45306948e+01] [ 5.85831708e-02 9.97469479e-01 -4.02821361e-02 7.98841280e+00] [-8.02945842e-02 4.49288677e-02 9.95758091e-01 -3.17973803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:94.57, Y:7.95, Z:-31.80 [[ 9.95138500e-01 -5.83243078e-02 7.93576787e-02 9.45653160e+01] [ 5.82337201e-02 9.98296990e-01 3.45731010e-03 7.94919808e+00] [-7.94241770e-02 1.18079046e-03 9.96840211e-01 -3.17982249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:94.60, Y:7.91, Z:-31.79 [[ 9.97189545e-01 -6.09482001e-02 4.35698140e-02 9.45972742e+01] [ 5.92725757e-02 9.97488718e-01 3.87687944e-02 7.91426303e+00] [-4.58232862e-02 -3.60773413e-02 9.98297877e-01 -3.17929497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:94.63, Y:7.99, Z:-31.80 [[ 9.94772615e-01 -5.60665232e-02 8.53462941e-02 9.46271242e+01] [ 5.89946054e-02 9.97739491e-01 -3.21798814e-02 7.98597772e+00] [-8.33491540e-02 3.70466357e-02 9.95831545e-01 -3.18002072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:94.66, Y:7.86, Z:-31.79 [[ 9.96682592e-01 -6.43830663e-02 4.97858671e-02 9.46608403e+01] [ 5.94896399e-02 9.93774090e-01 9.42021285e-02 7.86343192e+00] [-5.55409267e-02 -9.09278782e-02 9.94307461e-01 -3.17897780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55592 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:94.69, Y:8.04, Z:-31.80 [[ 9.94738869e-01 -5.34896514e-02 8.73695584e-02 9.46860452e+01] [ 6.09782303e-02 9.94477222e-01 -8.54207814e-02 8.03876663e+00] [-8.23179079e-02 9.02990125e-02 9.92506852e-01 -3.18009536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:94.72, Y:7.87, Z:-31.79 [[ 9.96745695e-01 -6.29284649e-02 5.03788499e-02 9.47230928e+01] [ 5.82427047e-02 9.94271825e-01 8.96176590e-02 7.86780470e+00] [-5.57297728e-02 -8.63918153e-02 9.94701285e-01 -3.17938152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61591999999999 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:94.75, Y:8.04, Z:-31.81 [[ 9.94918402e-01 -5.07137093e-02 8.69798483e-02 9.47487551e+01] [ 5.79520978e-02 9.94878105e-01 -8.28197522e-02 8.03890655e+00] [-8.23342498e-02 8.74395601e-02 9.92761499e-01 -3.18053030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:94.79, Y:7.96, Z:-31.81 [[ 9.94998313e-01 -5.38676344e-02 8.41227360e-02 9.47850983e+01] [ 5.37644552e-02 9.98547536e-01 3.49312644e-03 7.95656604e+00] [-8.41887172e-02 1.04715815e-03 9.96449278e-01 -3.18062587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67591999999999 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:94.82, Y:7.94, Z:-31.81 [[ 9.97174193e-01 -4.84110604e-02 5.74456041e-02 9.48183673e+01] [ 4.75709476e-02 9.98741245e-01 1.59037673e-02 7.94318871e+00] [-5.81432124e-02 -1.31260845e-02 9.98221956e-01 -3.18068843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters Centerline goodness : 0.952440 Centerline is valid? [True, True] Translation: X:94.89, Y:7.98, Z:-31.84 [[ 9.98908110e-01 -2.93137905e-02 3.63770427e-02 9.48900811e+01] [ 2.89984019e-02 9.99537417e-01 9.16763859e-03 7.98020480e+00] [-3.66289535e-02 -8.10275243e-03 9.99296085e-01 -3.18376760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73592 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:94.74, Y:8.02, Z:-31.82 [[ 9.96506820e-01 7.99058467e-02 2.42737020e-02 9.47381691e+01] [-7.95705094e-02 9.96724042e-01 -1.44816463e-02 8.01929655e+00] [-2.53513506e-02 1.24995885e-02 9.99600455e-01 -3.18186547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:94.79, Y:7.97, Z:-31.80 [[ 9.94220443e-01 9.57327201e-02 4.85896704e-02 9.47875191e+01] [-9.84216822e-02 9.93548431e-01 5.63443759e-02 7.96884151e+00] [-4.28821904e-02 -6.08010075e-02 9.97228337e-01 -3.17997653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79592 meters Centerline goodness : 0.967869 Centerline is valid? [True, True] Translation: X:94.82, Y:7.97, Z:-31.82 [[ 9.97228403e-01 2.58658720e-02 6.97600790e-02 9.48231666e+01] [-2.74293837e-02 9.99391459e-01 2.15485557e-02 7.96696160e+00] [-6.91602550e-02 -2.34023078e-02 9.97331034e-01 -3.18166748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters Centerline goodness : 0.933526 Centerline is valid? [True, False] Translation: X:94.82, Y:7.97, Z:-31.82 [[ 9.97330535e-01 2.21704106e-02 6.95720934e-02 9.48234853e+01] [-2.33436872e-02 9.99597905e-01 1.60966286e-02 7.97285467e+00] [-6.91872499e-02 -1.76777284e-02 9.97447052e-01 -3.18170417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85592 meters Centerline goodness : 0.998109 Centerline is valid? [False, True] Translation: X:94.82, Y:7.98, Z:-31.82 [[ 9.97416563e-01 1.84935504e-02 6.94131757e-02 9.48237954e+01] [-1.92868122e-02 9.99755926e-01 1.07753209e-02 7.97822343e+00] [-6.91969598e-02 -1.20862425e-02 9.97529801e-01 -3.18173878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters Centerline goodness : 0.924287 Centerline is valid? [True, False] Translation: X:94.82, Y:7.98, Z:-31.82 [[ 9.97434026e-01 1.84540894e-02 6.91723300e-02 9.48244841e+01] [-1.92133303e-02 9.99762074e-01 1.03268280e-02 7.98025509e+00] [-6.89652999e-02 -1.16293604e-02 9.97551275e-01 -3.18179086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91592 meters Centerline goodness : 0.998208 Centerline is valid? [False, True] Translation: X:94.85, Y:7.99, Z:-31.82 [[ 9.98581309e-01 1.79180420e-02 5.01429211e-02 9.48454785e+01] [-1.82922292e-02 9.99808085e-01 7.01345171e-03 7.98944526e+00] [-5.00076306e-02 -7.92072760e-03 9.98717427e-01 -3.18205328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:94.88, Y:8.01, Z:-31.82 [[ 9.98452506e-01 2.09431291e-02 5.15167739e-02 9.48777516e+01] [-2.06292965e-02 9.99765302e-01 -6.61611653e-03 8.00735239e+00] [-5.16432452e-02 5.54312333e-03 9.98650214e-01 -3.18233491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:94.91, Y:8.01, Z:-31.82 [[ 9.98253701e-01 2.45584239e-02 5.37255189e-02 9.49104340e+01] [-2.44710330e-02 9.99697930e-01 -2.28394699e-03 8.01169729e+00] [-5.37653802e-02 9.65239587e-04 9.98553129e-01 -3.18240444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:94.94, Y:7.97, Z:-31.82 [[ 9.98285380e-01 1.92824111e-02 5.52674248e-02 9.49364178e+01] [-2.20456986e-02 9.98514230e-01 4.98329124e-02 7.96537382e+00] [-5.42244115e-02 -5.09658769e-02 9.97227252e-01 -3.18200170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03591999999999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:94.97, Y:8.07, Z:-31.83 [[ 9.98079159e-01 3.00402114e-02 5.41809796e-02 9.49710501e+01] [-2.73554935e-02 9.98392991e-01 -4.96297528e-02 8.07191535e+00] [-5.55847986e-02 4.80522745e-02 9.97297001e-01 -3.18251747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:95.00, Y:8.04, Z:-31.83 [[ 9.96142415e-01 2.68149436e-02 8.35538656e-02 9.50020579e+01] [-2.56092197e-02 9.99552336e-01 -1.54691782e-02 8.04226152e+00] [-8.39312667e-02 1.32697552e-02 9.96383187e-01 -3.18274231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09591999999999 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:95.04, Y:8.03, Z:-31.83 [[ 9.96197311e-01 2.38863356e-02 8.37875929e-02 9.50355118e+01] [-2.39745004e-02 9.99712569e-01 4.61027699e-05 8.03136774e+00] [-8.37624085e-02 -2.05469313e-03 9.96483636e-01 -3.18285151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:95.06, Y:8.00, Z:-31.83 [[ 9.97827972e-01 1.40331494e-02 6.43615520e-02 9.50639734e+01] [-1.66256083e-02 9.99064453e-01 3.99225357e-02 8.00175739e+00] [-6.37410998e-02 -4.09058727e-02 9.97127766e-01 -3.18275555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15592 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:95.10, Y:8.08, Z:-31.83 [[ 9.96010475e-01 2.00368180e-02 8.69578077e-02 9.50996369e+01] [-1.67003322e-02 9.99102437e-01 -3.89283958e-02 8.08339912e+00] [-8.76597587e-02 3.73208657e-02 9.95451114e-01 -3.18298378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:95.13, Y:8.05, Z:-31.83 [[ 9.96048528e-01 1.76323697e-02 8.70426823e-02 9.51329468e+01] [-1.76925785e-02 9.99843471e-01 -7.97651836e-05 8.04582725e+00] [-8.70304641e-02 -1.46055949e-03 9.96204580e-01 -3.18334410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:95.16, Y:8.02, Z:-31.83 [[ 9.97226548e-01 1.04853522e-02 7.36835708e-02 9.51609727e+01] [-1.28637621e-02 9.99408964e-01 3.18786141e-02 8.02079012e+00] [-7.33057627e-02 -3.27380482e-02 9.96772033e-01 -3.18345435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:95.20, Y:8.08, Z:-31.84 [[ 9.95799062e-01 1.46757128e-02 9.03816958e-02 9.51959828e+01] [-1.18158002e-02 9.99414920e-01 -3.20968035e-02 8.08427396e+00] [-9.07998588e-02 3.08940348e-02 9.95389845e-01 -3.18356885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27592 meters Centerline goodness : 0.987954 Centerline is valid? [True, True] Translation: X:95.25, Y:7.99, Z:-31.85 [[ 9.95982887e-01 -4.12249674e-02 7.94895638e-02 9.52514374e+01] [ 3.75925732e-02 9.98203005e-01 4.66643235e-02 7.99213418e+00] [-8.12704566e-02 -4.34886504e-02 9.95742863e-01 -3.18499969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters Centerline goodness : 0.988743 Centerline is valid? [True, True] Translation: X:95.28, Y:8.05, Z:-31.85 [[ 9.96082039e-01 -4.07326489e-02 7.84947291e-02 9.52808136e+01] [ 4.20417553e-02 9.99001785e-01 -1.50971717e-02 8.05480852e+00] [-7.78014267e-02 1.83380777e-02 9.96800207e-01 -3.18521250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:95.29, Y:8.11, Z:-31.84 [[ 9.95712874e-01 6.39086088e-03 9.22769195e-02 9.52873207e+01] [-1.90692153e-03 9.98816558e-01 -4.85988411e-02 8.10868561e+00] [-9.24783036e-02 4.82145269e-02 9.94546692e-01 -3.18390727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:95.32, Y:8.01, Z:-31.84 [[ 9.98511825e-01 -6.17614420e-03 5.41847732e-02 9.53155409e+01] [ 3.17584496e-03 9.98465622e-01 5.52839614e-02 8.01038668e+00] [-5.44430750e-02 -5.50296067e-02 9.96999345e-01 -3.18438688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.35, Y:8.12, Z:-31.84 [[ 9.95398395e-01 3.88301835e-03 9.57442272e-02 9.53498658e+01] [ 1.16495308e-03 9.98614386e-01 -5.26113225e-02 8.11759414e+00] [-9.58158534e-02 5.24807635e-02 9.94014634e-01 -3.18430733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.38, Y:8.07, Z:-31.85 [[ 9.95459708e-01 -7.20741280e-04 9.51811402e-02 9.53830622e+01] [ 6.96771635e-04 9.99999717e-01 2.85066837e-04 8.06740264e+00] [-9.51813187e-02 -2.17453032e-04 9.95459929e-01 -3.18481207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45591999999999 meters Centerline goodness : 0.845502 Centerline is valid? [True, False] Translation: X:95.41, Y:8.08, Z:-31.85 [[ 9.97292721e-01 8.51559579e-04 7.35289243e-02 9.54144853e+01] [-2.49716205e-04 9.99966398e-01 -8.19392935e-03 8.07636683e+00] [-7.35334312e-02 8.15338474e-03 9.97259423e-01 -3.18503649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters Centerline goodness : 0.840832 Centerline is valid? [False, False] Translation: X:95.47, Y:8.09, Z:-31.85 [[ 9.98902007e-01 1.50682790e-04 4.68482353e-02 9.54661693e+01] [ 7.64969923e-04 9.99809046e-01 -1.95265415e-02 8.08891361e+00] [-4.68422318e-02 1.95409389e-02 9.98711148e-01 -3.18515547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:95.47, Y:8.09, Z:-31.85 [[ 9.98910924e-01 2.59019364e-04 4.66572587e-02 9.54667132e+01] [ 6.69131121e-04 9.99802224e-01 -1.98762325e-02 8.09050634e+00] [-4.66531793e-02 1.98858056e-02 9.98713190e-01 -3.18515979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:95.49, Y:8.00, Z:-31.85 [[ 9.99833343e-01 -3.52694680e-03 1.79121761e-02 9.54948922e+01] [ 2.09646313e-03 9.96851728e-01 7.92605690e-02 7.99832133e+00] [-1.81353315e-02 -7.92098075e-02 9.96692990e-01 -3.18530394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.53, Y:8.15, Z:-31.85 [[ 9.98826095e-01 2.95103444e-03 4.83500027e-02 9.55297976e+01] [ 8.20870809e-04 9.96968061e-01 -7.78075296e-02 8.15265615e+00] [-4.84330211e-02 7.77558801e-02 9.95795293e-01 -3.18472583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:95.56, Y:8.08, Z:-31.85 [[ 9.98747245e-01 3.41460198e-03 4.99227581e-02 9.55628355e+01] [-3.40803223e-03 9.99994169e-01 -2.16720286e-04 8.08440033e+00] [-4.99232071e-02 4.63104195e-05 9.98753058e-01 -3.18542337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:95.59, Y:8.04, Z:-31.86 [[ 9.99913612e-01 7.35419472e-04 1.31235823e-02 9.55922131e+01] [-1.40862097e-03 9.98679117e-01 5.13618304e-02 8.03885482e+00] [-1.30684751e-02 -5.13758795e-02 9.98593878e-01 -3.18561616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.63, Y:8.11, Z:-31.85 [[ 9.99833034e-01 3.73109714e-03 1.78880917e-02 9.56252800e+01] [-3.45493503e-03 9.99874758e-01 -1.54444466e-02 8.10826281e+00] [-1.79434761e-02 1.53800657e-02 9.99720704e-01 -3.18541980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.66, Y:8.07, Z:-31.86 [[ 9.99979665e-01 3.43151302e-03 5.37533106e-03 9.56552765e+01] [-3.61556790e-03 9.99394226e-01 3.46136963e-02 8.06753395e+00] [-5.25329747e-03 -3.46324273e-02 9.99386311e-01 -3.18562562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:8.14, Z:-31.85 [[ 9.99781124e-01 4.45266010e-03 2.04420533e-02 9.56858765e+01] [-3.81529292e-03 9.99508591e-01 -3.11130278e-02 8.13757498e+00] [-2.05705436e-02 3.10282255e-02 9.99306811e-01 -3.18518370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:8.15, Z:-31.85 [[ 9.98425752e-01 5.08224348e-03 5.58586480e-02 9.57198377e+01] [-2.88029726e-03 9.99218183e-01 -3.94300116e-02 8.14790143e+00] [-5.60153697e-02 3.92070495e-02 9.97659805e-01 -3.18520299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:8.11, Z:-31.86 [[ 9.98365719e-01 1.39293983e-03 5.71310059e-02 9.57526350e+01] [-1.37170678e-03 9.99998975e-01 -4.10869269e-04 8.11196957e+00] [-5.71315197e-02 3.31830805e-04 9.98366606e-01 -3.18565559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:8.02, Z:-31.86 [[ 9.99732946e-01 -1.02480373e-02 2.07126788e-02 9.57764468e+01] [ 8.09784303e-03 9.94817779e-01 1.01350930e-01 8.01616276e+00] [-2.16439892e-02 -1.01156136e-01 9.94635096e-01 -3.18592362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:8.21, Z:-31.84 [[ 9.98215963e-01 -2.63759959e-03 5.96484257e-02 9.58146806e+01] [ 8.62583095e-03 9.94913897e-01 -1.00359022e-01 8.21387095e+00] [-5.90803408e-02 1.00694495e-01 9.93161685e-01 -3.18427842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:8.12, Z:-31.86 [[ 9.98139843e-01 -9.75780495e-03 6.01800582e-02 9.58465446e+01] [ 9.80649411e-03 9.99951783e-01 -5.13758740e-04 8.12257244e+00] [-6.01721433e-02 1.10295845e-03 9.98187406e-01 -3.18568732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:8.12, Z:-31.86 [[ 9.98104702e-01 -1.07087851e-02 6.05997145e-02 9.58792654e+01] [ 1.07617526e-02 9.99941941e-01 -5.47733563e-04 8.12498545e+00] [-6.05903305e-02 1.19885458e-03 9.98161998e-01 -3.18586488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:8.13, Z:-31.86 [[ 9.98051266e-01 -1.56899847e-02 6.03944943e-02 9.59125849e+01] [ 1.57534927e-02 9.99875740e-01 -5.75520973e-04 8.12741263e+00] [-6.03779598e-02 1.52582366e-03 9.98174421e-01 -3.18607412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:8.13, Z:-31.86 [[ 9.98139365e-01 -1.80454034e-02 5.82423456e-02 9.59456217e+01] [ 1.81100857e-02 9.99835829e-01 -5.82884121e-04 8.12846500e+00] [-5.82222655e-02 1.63657346e-03 9.98302304e-01 -3.18617822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:8.13, Z:-31.86 [[ 9.97950548e-01 -2.47555941e-02 5.90073223e-02 9.59790329e+01] [ 2.48354020e-02 9.99691362e-01 -6.19406153e-04 8.13140853e+00] [-5.89737766e-02 2.08360728e-03 9.98257358e-01 -3.18622037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters Centerline goodness : 0.908125 Centerline is valid? [True, False] Translation: X:95.98, Y:8.13, Z:-31.86 [[ 9.97954607e-01 -2.47101698e-02 5.89576984e-02 9.59792340e+01] [ 2.48183147e-02 9.99691370e-01 -1.10262097e-03 8.13346509e+00] [-5.89122563e-02 2.56359639e-03 9.98259873e-01 -3.18622441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:95.99, Y:8.14, Z:-31.86 [[ 9.98015013e-01 -2.78239125e-02 5.64965804e-02 9.59860349e+01] [ 2.82254682e-02 9.99581590e-01 -6.32198093e-03 8.13925666e+00] [-5.62970395e-02 7.90407432e-03 9.98382777e-01 -3.18647925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:8.13, Z:-31.87 [[ 9.97823767e-01 -2.99004959e-02 5.87681093e-02 9.60164768e+01] [ 2.98782625e-02 9.99552754e-01 1.25718936e-03 8.13189920e+00] [-5.87794162e-02 5.01435568e-04 9.98270869e-01 -3.18684282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:8.14, Z:-31.87 [[ 9.97816256e-01 -3.20154198e-02 5.77731123e-02 9.60461991e+01] [ 3.27206810e-02 9.99400622e-01 -1.13027821e-02 8.14332915e+00] [-5.73766211e-02 1.31684753e-02 9.98265754e-01 -3.18680756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:8.13, Z:-31.87 [[ 9.97806996e-01 -3.11919267e-02 5.83803220e-02 9.60747613e+01] [ 3.13486630e-02 9.99506942e-01 -1.77059670e-03 8.13271993e+00] [-5.82963088e-02 3.59685882e-03 9.98292844e-01 -3.18717530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:96.11, Y:8.13, Z:-31.87 [[ 9.97414561e-01 -2.65024443e-02 6.67968107e-02 9.61117109e+01] [ 2.65288676e-02 9.99647927e-01 4.91560312e-04 8.12572869e+00] [-6.67863209e-02 1.28175433e-03 9.97766478e-01 -3.18734302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:8.19, Z:-31.87 [[ 9.94903135e-01 -2.33646359e-02 9.80910057e-02 9.61443294e+01] [ 2.98192332e-02 9.97448716e-01 -6.48604070e-02 8.18553836e+00] [-9.63253079e-02 6.74548208e-02 9.93061570e-01 -3.18699752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:8.12, Z:-31.88 [[ 9.94519836e-01 -2.74386143e-02 1.00883194e-01 9.61754284e+01] [ 2.77880666e-02 9.99611714e-01 -2.06003729e-03 8.12240758e+00] [-1.00787498e-01 4.85209685e-03 9.94896144e-01 -3.18803557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:8.12, Z:-31.88 [[ 9.94550486e-01 -2.69884851e-02 1.00702292e-01 9.62079328e+01] [ 2.73391175e-02 9.99624004e-01 -2.10318004e-03 8.12038608e+00] [-1.00607667e-01 4.84483053e-03 9.94914381e-01 -3.18825119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:8.12, Z:-31.88 [[ 9.94500669e-01 -2.61745127e-02 1.01406681e-01 9.62406830e+01] [ 2.65307065e-02 9.99645654e-01 -2.16521749e-03 8.11829591e+00] [-1.01314075e-01 4.84370114e-03 9.94842700e-01 -3.18849892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:8.07, Z:-31.89 [[ 9.97122481e-01 -3.00223266e-02 6.96090367e-02 9.62698816e+01] [ 2.71857110e-02 9.98774967e-01 4.13461352e-02 8.07313106e+00] [-7.07650705e-02 -3.93347897e-02 9.96717151e-01 -3.18880049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:8.12, Z:-31.89 [[ 9.97065689e-01 -2.69876846e-02 7.16357165e-02 9.63024766e+01] [ 2.73521524e-02 9.99617404e-01 -4.11154494e-03 8.11600443e+00] [-7.14973480e-02 6.05887143e-03 9.97422388e-01 -3.18869545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:8.10, Z:-31.89 [[ 9.96723039e-01 -2.31976630e-02 7.74922680e-02 9.63360479e+01] [ 2.22811375e-02 9.99671442e-01 1.26711756e-02 8.09516172e+00] [-7.77607490e-02 -1.09030368e-02 9.96912428e-01 -3.18911046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:8.16, Z:-31.89 [[ 9.94682441e-01 -2.10389234e-02 1.00817686e-01 9.63678390e+01] [ 2.66837490e-02 9.98131228e-01 -5.49729947e-02 8.15687490e+00] [-9.94727083e-02 5.73708664e-02 9.93385003e-01 -3.18886747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:8.06, Z:-31.90 [[ 9.97031267e-01 -2.69345691e-02 7.21330882e-02 9.63969527e+01] [ 2.40160466e-02 9.98869389e-01 4.10264872e-02 8.05921912e+00] [-7.31565646e-02 -3.91723389e-02 9.96550874e-01 -3.18965249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:8.14, Z:-31.89 [[ 9.94263553e-01 -2.09425492e-02 1.04887540e-01 9.64316717e+01] [ 2.57249508e-02 9.98680248e-01 -4.44520940e-02 8.13966685e+00] [-1.03818174e-01 4.68953238e-02 9.93490118e-01 -3.18931027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:8.10, Z:-31.90 [[ 9.94013417e-01 -2.10918371e-02 1.07202896e-01 9.64636315e+01] [ 2.14825529e-02 9.99766120e-01 -2.49099303e-03 8.09614545e+00] [-1.07125284e-01 4.77907238e-03 9.94234044e-01 -3.18990118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:8.09, Z:-31.90 [[ 9.94135136e-01 -1.85374942e-02 1.06544320e-01 9.64963012e+01] [ 1.89140899e-02 9.99817924e-01 -2.52516862e-03 8.09401768e+00] [-1.06478110e-01 4.52554769e-03 9.94304748e-01 -3.19027964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:8.04, Z:-31.91 [[ 9.96892348e-01 -1.77104263e-02 7.67592840e-02 9.65269326e+01] [ 1.40546583e-02 9.98752883e-01 4.79076644e-02 8.04162276e+00] [-7.75120214e-02 -4.66799585e-02 9.95898021e-01 -3.19080602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:8.09, Z:-31.91 [[ 9.96737162e-01 -1.00139769e-02 8.00921301e-02 9.65593524e+01] [ 1.02120421e-02 9.99945726e-01 -2.06372924e-03 8.09010618e+00] [-8.00671171e-02 2.87489983e-03 9.96785329e-01 -3.19057999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:96.59, Y:8.09, Z:-31.91 [[ 9.97491445e-01 -6.84261583e-03 7.04556239e-02 9.65909020e+01] [ 7.37530965e-03 9.99946132e-01 -7.30333548e-03 8.09268997e+00] [-7.04018547e-02 7.80464671e-03 9.97488179e-01 -3.19084537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:8.13, Z:-31.91 [[ 9.94585626e-01 -1.68987113e-03 1.03906579e-01 9.66233618e+01] [ 6.46225266e-03 9.98938417e-01 -4.56100708e-02 8.12731605e+00] [-1.03719198e-01 4.60345914e-02 9.93540711e-01 -3.19088386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:8.04, Z:-31.92 [[ 9.96846083e-01 -6.30507001e-03 7.91083581e-02 9.66512729e+01] [ 2.63726959e-03 9.98920232e-01 4.63833434e-02 8.03540306e+00] [-7.93153897e-02 -4.60284242e-02 9.95786349e-01 -3.19150086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:8.08, Z:-31.91 [[ 9.96364207e-01 -3.87506023e-04 8.51951678e-02 9.66820830e+01] [ 4.86500785e-04 9.99999230e-01 -1.14121782e-03 8.08086192e+00] [-8.51946600e-02 1.17851610e-03 9.96363629e-01 -3.19127726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:8.08, Z:-31.92 [[ 9.95642650e-01 -1.68940254e-03 9.32355034e-02 9.67114100e+01] [ 1.70764442e-03 9.99998535e-01 -1.15873757e-04 8.07800056e+00] [-9.32351711e-02 2.74581942e-04 9.95644077e-01 -3.19151938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:8.13, Z:-31.91 [[ 9.93801429e-01 4.67550632e-03 1.11071412e-01 9.67468710e+01] [ 1.36260053e-03 9.98527847e-01 -5.42243724e-02 8.12649868e+00] [-1.11161424e-01 5.40396048e-02 9.92332031e-01 -3.19147545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:8.00, Z:-31.92 [[ 9.96101182e-01 -8.12175710e-03 8.78434552e-02 9.67719574e+01] [ 1.15587980e-03 9.96869142e-01 7.90605945e-02 7.99600700e+00] [-8.82105408e-02 -7.86508151e-02 9.92991918e-01 -3.19223529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:8.15, Z:-31.92 [[ 9.93659546e-01 5.64456772e-03 1.12289113e-01 9.68109152e+01] [ 3.61681775e-03 9.96617224e-01 -8.21037643e-02 8.15037616e+00] [-1.12372705e-01 8.19893185e-02 9.90277803e-01 -3.19173957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:8.07, Z:-31.93 [[ 9.93278650e-01 -2.24087435e-03 1.15725977e-01 9.68408438e+01] [ 2.62098651e-03 9.99991659e-01 -3.13252297e-03 8.07244697e+00] [-1.15717992e-01 3.41478442e-03 9.93276238e-01 -3.19274803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:8.00, Z:-31.93 [[ 9.96615061e-01 -1.12438313e-02 8.14370680e-02 9.68659444e+01] [ 5.47533323e-03 9.97481626e-01 7.07136893e-02 7.99913093e+00] [-8.20270719e-02 -7.00284327e-02 9.94166776e-01 -3.19282946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:8.06, Z:-31.93 [[ 9.95953727e-01 -3.90581364e-03 8.97826188e-02 9.68989716e+01] [ 3.52451996e-03 9.99984087e-01 4.40500290e-03 8.06253280e+00] [-8.97983952e-02 -4.07073843e-03 9.95951644e-01 -3.19299849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:8.06, Z:-31.93 [[ 9.95765173e-01 -4.01590227e-03 9.18454855e-02 9.69268326e+01] [ 3.36807954e-03 9.99968355e-01 7.20730991e-03 8.06018542e+00] [-9.18715229e-02 -6.86744529e-03 9.95747188e-01 -3.19316865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:8.10, Z:-31.93 [[ 9.96547303e-01 4.01649301e-04 8.30259735e-02 9.69585390e+01] [ 2.02886321e-03 9.99571890e-01 -2.91876795e-02 8.09542104e+00] [-8.30021525e-02 2.92553516e-02 9.96119856e-01 -3.19321790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:8.05, Z:-31.94 [[ 9.95605814e-01 -3.32856038e-03 9.35840982e-02 9.69860150e+01] [ 1.59866176e-03 9.99826584e-01 1.85538595e-02 8.04909434e+00] [-9.36296268e-02 -1.83227210e-02 9.95438482e-01 -3.19355623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:8.15, Z:-31.93 [[ 9.92356999e-01 1.18892035e-02 1.22826026e-01 9.70231277e+01] [-1.73912456e-03 9.96596446e-01 -8.24166169e-02 8.14740573e+00] [-1.23387849e-01 8.15730969e-02 9.89000136e-01 -3.19315876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:8.07, Z:-31.94 [[ 9.92035370e-01 5.32572942e-03 1.25846974e-01 9.70525539e+01] [-4.89012046e-03 9.99980936e-01 -3.77009804e-03 8.07257359e+00] [-1.25864654e-01 3.12466374e-03 9.92042502e-01 -3.19423739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:8.07, Z:-31.95 [[ 9.92034379e-01 5.54581670e-03 1.25845279e-01 9.70858872e+01] [-5.10489131e-03 9.99979651e-01 -3.82593741e-03 8.07169326e+00] [-1.25863936e-01 3.15303498e-03 9.92042503e-01 -3.19457943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:8.07, Z:-31.95 [[ 9.92370159e-01 8.40829911e-03 1.23007189e-01 9.71181686e+01] [-8.00509973e-03 9.99960846e-01 -3.77171291e-03 8.07406934e+00] [-1.23034086e-01 2.75825052e-03 9.92398612e-01 -3.19509880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:8.03, Z:-31.96 [[ 9.95442087e-01 4.89648212e-03 9.52421967e-02 9.71463091e+01] [-9.14445784e-03 9.98980114e-01 4.42166401e-02 8.02858822e+00] [-9.49285545e-02 -4.48860427e-02 9.94471625e-01 -3.19558685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:8.10, Z:-31.95 [[ 9.95365600e-01 1.38463780e-02 9.51609208e-02 9.71798679e+01] [-1.18009533e-02 9.99687799e-01 -2.20236644e-02 8.09614664e+00] [-9.54361594e-02 2.07986083e-02 9.95218246e-01 -3.19492497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:8.11, Z:-31.95 [[ 9.91645134e-01 1.74186273e-02 1.27814395e-01 9.72134778e+01] [-1.34492147e-02 9.99402051e-01 -3.18537168e-02 8.10651100e+00] [-1.28292816e-01 2.98685801e-02 9.91286448e-01 -3.19535128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:8.08, Z:-31.96 [[ 9.91686461e-01 1.62371748e-02 1.27649196e-01 9.72451826e+01] [-1.58418959e-02 9.99866057e-01 -4.11131701e-03 8.08136612e+00] [-1.27698855e-01 2.05493214e-03 9.91810859e-01 -3.19602855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:8.01, Z:-31.97 [[ 9.94915187e-01 9.53971807e-03 1.00263474e-01 9.72710931e+01] [-1.70726943e-02 9.97071524e-01 7.45446105e-02 8.00968293e+00] [-9.92587198e-02 -7.58773328e-02 9.92164471e-01 -3.19655719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.31, Y:8.08, Z:-31.97 [[ 9.94314108e-01 2.10523111e-02 1.04385130e-01 9.73071257e+01] [-2.12215364e-02 9.99774667e-01 5.10664130e-04 8.08439799e+00] [-1.04350858e-01 -2.72297339e-03 9.94536819e-01 -3.19652822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:8.17, Z:-31.96 [[ 9.91024751e-01 3.07365664e-02 1.30096910e-01 9.73437878e+01] [-2.03594036e-02 9.96558257e-01 -8.03562987e-02 8.16801784e+00] [-1.32119027e-01 7.69863854e-02 9.88239677e-01 -3.19584588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:8.10, Z:-31.97 [[ 9.90803202e-01 2.37471879e-02 1.33210686e-01 9.73733137e+01] [-2.33577216e-02 9.99717107e-01 -4.48586157e-03 8.09696585e+00] [-1.33279528e-01 1.33310791e-03 9.91077590e-01 -3.19714899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:8.10, Z:-31.98 [[ 9.91011570e-01 2.27431101e-02 1.31828746e-01 9.74060910e+01] [-2.23440808e-02 9.99740187e-01 -4.50553110e-03 8.10114323e+00] [-1.31896965e-01 1.51944130e-03 9.91262267e-01 -3.19757055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.43, Y:8.01, Z:-31.98 [[ 9.94375741e-01 1.29283991e-02 1.05117756e-01 9.74319137e+01] [-2.26783967e-02 9.95492019e-01 9.20941407e-02 8.01010401e+00] [-1.03453258e-01 -9.39600815e-02 9.90186309e-01 -3.19826373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:8.19, Z:-31.97 [[ 9.90888626e-01 3.14176632e-02 1.30968166e-01 9.74721765e+01] [-1.86742201e-02 9.95068348e-01 -9.74179474e-02 8.19449676e+00] [-1.33382921e-01 9.40846077e-02 9.86588609e-01 -3.19682313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.50, Y:8.11, Z:-31.99 [[ 9.90617201e-01 1.97958793e-02 1.35224571e-01 9.75003206e+01] [-1.93334062e-02 9.99801892e-01 -4.73251934e-03 8.10844738e+00] [-1.35291467e-01 2.07376350e-03 9.90803673e-01 -3.19861188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:8.11, Z:-31.99 [[ 9.90742631e-01 1.92008174e-02 1.34388871e-01 9.75334180e+01] [-1.87295420e-02 9.99813207e-01 -4.77029875e-03 8.11391296e+00] [-1.34455361e-01 2.20909633e-03 9.90917189e-01 -3.19886351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:8.12, Z:-31.99 [[ 9.90693571e-01 1.97976452e-02 1.34663658e-01 9.75662248e+01] [-1.93207707e-02 9.99801586e-01 -4.84728915e-03 8.11752879e+00] [-1.34732904e-01 2.20037253e-03 9.90879510e-01 -3.19925272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.60, Y:8.12, Z:-32.00 [[ 9.90776171e-01 2.09012719e-02 1.33886955e-01 9.75991432e+01] [-2.04309232e-02 9.99779327e-01 -4.88612028e-03 8.12108272e+00] [-1.33959536e-01 2.10561745e-03 9.90984565e-01 -3.19968502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.63, Y:8.05, Z:-32.00 [[ 9.93630147e-01 1.36393076e-02 1.11861966e-01 9.76255338e+01] [-2.25335926e-02 9.96648635e-01 7.86367343e-02 8.04602706e+00] [-1.10414525e-01 -8.06564818e-02 9.90607473e-01 -3.20045778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:97.67, Y:8.21, Z:-31.99 [[ 9.90340114e-01 3.13322621e-02 1.35073120e-01 9.76672524e+01] [-1.98540424e-02 9.96140133e-01 -8.55023497e-02 8.20543773e+00] [-1.37230738e-01 8.19946593e-02 9.87139605e-01 -3.19878898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:97.69, Y:8.03, Z:-32.01 [[ 9.94825935e-01 9.91477908e-03 1.01109129e-01 9.76867857e+01] [-1.95151902e-02 9.95342194e-01 9.44090753e-02 8.03492619e+00] [-9.97021373e-02 -9.58937605e-02 9.90385718e-01 -3.20120241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.73, Y:8.22, Z:-31.99 [[ 9.90982929e-01 2.91350527e-02 1.30782194e-01 9.77293167e+01] [-1.59881583e-02 9.94811461e-01 -1.00471570e-01 8.22403441e+00] [-1.33030870e-01 9.74746446e-02 9.86306991e-01 -3.19919419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:97.75, Y:8.07, Z:-32.02 [[ 9.95041693e-01 9.17224858e-03 9.90348407e-02 9.77491316e+01] [-1.52670194e-02 9.98023421e-01 6.09603840e-02 8.06934571e+00] [-9.82799468e-02 -6.21700905e-02 9.93214947e-01 -3.20165722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.78, Y:8.11, Z:-32.01 [[ 9.94284184e-01 9.06339224e-03 1.06380523e-01 9.77768781e+01] [-1.11439594e-02 9.99757763e-01 1.89796574e-02 8.11202600e+00] [-1.06182733e-01 -2.00566734e-02 9.94144334e-01 -3.20122644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:97.82, Y:8.22, Z:-32.00 [[ 9.89383878e-01 2.21383410e-02 1.43629508e-01 9.78184990e+01] [-8.61974812e-03 9.95528349e-01 -9.40691533e-02 8.22273323e+00] [-1.45069782e-01 9.18324535e-02 9.85150526e-01 -3.19973924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:97.84, Y:8.06, Z:-32.02 [[ 9.93653040e-01 -1.51514511e-04 1.12488279e-01 9.78373574e+01] [-8.56416435e-03 9.96994812e-01 7.69935072e-02 8.05773095e+00] [-1.12161896e-01 -7.74682006e-02 9.90665628e-01 -3.20236419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.88, Y:8.21, Z:-32.01 [[ 9.89264446e-01 1.75921006e-02 1.45073681e-01 9.78794668e+01] [-5.33328603e-03 9.96412576e-01 -8.44602543e-02 8.21114549e+00] [-1.46039073e-01 8.27798073e-02 9.85809359e-01 -3.20067838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.91, Y:8.13, Z:-32.03 [[ 9.89029133e-01 3.81882924e-03 1.47671224e-01 9.79071736e+01] [-2.98428036e-03 9.99978303e-01 -5.87254671e-03 8.13407891e+00] [-1.47690446e-01 5.36742745e-03 9.89019071e-01 -3.20256894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:8.13, Z:-32.03 [[ 9.88989966e-01 2.06826478e-03 1.47968138e-01 9.79402098e+01] [-1.20025576e-03 9.99981547e-01 -5.95523955e-03 8.13458576e+00] [-1.47977725e-01 5.71207255e-03 9.88974198e-01 -3.20293226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:97.97, Y:8.08, Z:-32.04 [[ 9.93352191e-01 -8.78430756e-03 1.14779186e-01 9.79655700e+01] [ 2.75557973e-03 9.98613017e-01 5.25780236e-02 8.07741470e+00] [-1.15081850e-01 -5.19122117e-02 9.91998634e-01 -3.20360854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:98.00, Y:8.13, Z:-32.03 [[ 9.93583267e-01 -2.32338273e-03 1.13079149e-01 9.79990613e+01] [ 3.02244372e-03 9.99977366e-01 -6.01100525e-03 8.13154981e+00] [-1.13062624e-01 6.31420960e-03 9.93567800e-01 -3.20319714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:98.04, Y:8.15, Z:-32.03 [[ 9.93522463e-01 6.36993820e-03 1.13457211e-01 9.80352769e+01] [-3.70639764e-03 9.99712916e-01 -2.36716569e-02 8.14611187e+00] [-1.13575427e-01 2.30978053e-02 9.93260849e-01 -3.20349561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03591999999999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:98.06, Y:8.12, Z:-32.04 [[ 9.93039361e-01 -3.15288555e-03 1.17740760e-01 9.80591042e+01] [ 2.46396897e-03 9.99978987e-01 5.99623385e-03 8.11819625e+00] [-1.17757191e-01 -5.66438665e-03 9.93026263e-01 -3.20402334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:98.09, Y:8.11, Z:-32.05 [[ 9.91974937e-01 -4.51063250e-04 1.26433861e-01 9.80914655e+01] [-1.91553363e-03 9.99825247e-01 1.85958552e-02 8.10612922e+00] [-1.26420155e-01 -1.86888106e-02 9.91800722e-01 -3.20464233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:98.13, Y:8.19, Z:-32.04 [[ 9.88484855e-01 1.31212121e-02 1.50749876e-01 9.81283853e+01] [-1.92732998e-03 9.97244342e-01 -7.41620382e-02 8.19355879e+00] [-1.51307557e-01 7.30175068e-02 9.85786218e-01 -3.20354281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:98.16, Y:8.13, Z:-32.05 [[ 9.88173985e-01 7.55905027e-03 1.53150372e-01 9.81565690e+01] [-6.63199032e-03 9.99956469e-01 -6.56322872e-03 8.13023532e+00] [-1.53193317e-01 5.46992009e-03 9.88181101e-01 -3.20513888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:98.19, Y:8.13, Z:-32.06 [[ 9.88392283e-01 8.07784483e-03 1.51708418e-01 9.81893819e+01] [-7.16348065e-03 9.99952741e-01 -6.57270114e-03 8.12995205e+00] [-1.51754342e-01 5.40964676e-03 9.88403438e-01 -3.20560809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:98.21, Y:8.03, Z:-32.07 [[ 9.94008601e-01 -1.42866571e-02 1.08364165e-01 9.82050900e+01] [ 3.92075910e-03 9.95443363e-01 9.52740210e-02 8.03088501e+00] [-1.09231536e-01 -9.42783265e-02 9.89535279e-01 -3.20661758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:98.26, Y:8.22, Z:-32.05 [[ 9.88681816e-01 1.86755546e-02 1.48860644e-01 9.82582622e+01] [-3.62589306e-03 9.94906616e-01 -1.00735681e-01 8.21856164e+00] [-1.49983734e-01 9.90557831e-02 9.83713795e-01 -3.20455332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:98.27, Y:8.07, Z:-32.07 [[ 9.93225285e-01 -8.99165560e-03 1.15856302e-01 9.82746877e+01] [ 2.73182723e-03 9.98533039e-01 5.40768627e-02 8.06992377e+00] [-1.16172585e-01 -5.33940080e-02 9.91792826e-01 -3.20721385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:98.32, Y:8.18, Z:-32.06 [[ 9.88067627e-01 7.99098385e-03 1.53813229e-01 9.83191480e+01] [ 1.67169377e-03 9.98037972e-01 -6.25892317e-02 8.18327635e+00] [-1.54011592e-01 6.20995222e-02 9.86115652e-01 -3.20610664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:98.34, Y:8.06, Z:-32.08 [[ 9.91578132e-01 -1.40623602e-02 1.28744162e-01 9.83373996e+01] [ 5.27231562e-03 9.97646574e-01 6.83631207e-02 8.05636218e+00] [-1.29402518e-01 -6.71085956e-02 9.89318667e-01 -3.20799873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:98.38, Y:8.20, Z:-32.07 [[ 9.87924612e-01 8.58768559e-03 1.54697164e-01 9.83827322e+01] [ 3.47140747e-03 9.96985176e-01 -7.75145700e-02 8.19518199e+00] [-1.54896450e-01 7.71155684e-02 9.84916382e-01 -3.20652279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:98.41, Y:8.13, Z:-32.08 [[ 9.87452926e-01 -2.31112556e-04 1.57913476e-01 9.84106304e+01] [ 1.40547057e-03 9.99972183e-01 -7.32508669e-03 8.12830850e+00] [-1.57907390e-01 7.45512103e-03 9.87425783e-01 -3.20830463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39591999999999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:98.44, Y:8.13, Z:-32.09 [[ 9.87544282e-01 7.53083914e-04 1.57339517e-01 9.84433508e+01] [ 4.11775331e-04 9.99972751e-01 -7.37074697e-03 8.12978053e+00] [-1.57340780e-01 7.34372756e-03 9.87517062e-01 -3.20876990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:98.48, Y:8.13, Z:-32.09 [[ 9.87412089e-01 1.73190053e-03 1.58159307e-01 9.84765171e+01] [-5.55477015e-04 9.99971854e-01 -7.48212092e-03 8.13266491e+00] [-1.58167814e-01 7.30008279e-03 9.87385260e-01 -3.20916411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45591999999999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:98.51, Y:8.13, Z:-32.10 [[ 9.87377133e-01 2.10443845e-03 1.58372880e-01 9.85090977e+01] [-9.17835914e-04 9.99970962e-01 -7.56522927e-03 8.13292178e+00] [-1.58384201e-01 7.32437407e-03 9.87350393e-01 -3.20958644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:98.54, Y:8.13, Z:-32.10 [[ 9.87424057e-01 8.21240356e-04 1.58091929e-01 9.85418305e+01] [ 3.89075936e-04 9.99970856e-01 -7.62467361e-03 8.13276739e+00] [-1.58093583e-01 7.59029591e-03 9.87394960e-01 -3.21001059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:98.56, Y:8.08, Z:-32.11 [[ 9.92177750e-01 -1.26081701e-02 1.24194791e-01 9.85633602e+01] [ 6.91848782e-03 9.98911127e-01 4.61377787e-02 8.08061305e+00] [-1.24641271e-01 -4.49176373e-02 9.91184624e-01 -3.21076307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters Centerline goodness : 0.881677 Centerline is valid? [True, False] Translation: X:98.61, Y:8.10, Z:-32.11 [[ 9.94909769e-01 -1.56307262e-02 9.95501504e-02 9.86127062e+01] [ 1.36462768e-02 9.99694992e-01 2.05840426e-02 8.10498443e+00] [-9.98415303e-02 -1.91207761e-02 9.94819614e-01 -3.21077903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57592 meters Centerline goodness : 0.999304 Centerline is valid? [False, True] Translation: X:98.65, Y:8.12, Z:-32.11 [[ 9.96815509e-01 -1.64124524e-02 7.80350709e-02 9.86499822e+01] [ 1.59796449e-02 9.99853295e-01 6.16757084e-03 8.11885159e+00] [-7.81248477e-02 -4.90095755e-03 9.96931537e-01 -3.21074511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:98.69, Y:8.20, Z:-32.10 [[ 9.93053380e-01 -2.41144973e-03 1.17639996e-01 9.86946239e+01] [ 1.18558523e-02 9.96752487e-01 -7.96487249e-02 8.19786983e+00] [-1.17065889e-01 8.04901579e-02 9.89857016e-01 -3.20980215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:98.72, Y:8.12, Z:-32.12 [[ 9.92925161e-01 -1.14077623e-02 1.18192589e-01 9.87220034e+01] [ 1.21944352e-02 9.99908033e-01 -5.93479156e-03 8.12440849e+00] [-1.18114016e-01 7.33409573e-03 9.92972955e-01 -3.21172967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:98.75, Y:8.12, Z:-32.12 [[ 9.93161391e-01 -1.19597642e-02 1.16135331e-01 9.87547195e+01] [ 1.27288044e-02 9.99901682e-01 -5.88252286e-03 8.12290096e+00] [-1.16053559e-01 7.32055849e-03 9.93215979e-01 -3.21212046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69592 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:98.79, Y:8.12, Z:-32.12 [[ 9.93018502e-01 -1.20012411e-02 1.17346601e-01 9.87879116e+01] [ 1.27930347e-02 9.99900185e-01 -5.99656826e-03 8.11817255e+00] [-1.17262922e-01 7.45592237e-03 9.93072916e-01 -3.21236614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:98.81, Y:8.05, Z:-32.13 [[ 9.95992453e-01 -2.34059183e-02 8.63203155e-02 9.88077503e+01] [ 1.83711595e-02 9.98108582e-01 5.86665105e-02 8.05291903e+00] [-8.75301913e-02 -5.68455974e-02 9.94538608e-01 -3.21302683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75591999999999 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:98.85, Y:8.17, Z:-32.12 [[ 9.93428761e-01 -8.68837162e-03 1.14121904e-01 9.88548162e+01] [ 1.62425306e-02 9.97724847e-01 -6.54317236e-02 8.16539220e+00] [-1.13293764e-01 6.68553846e-02 9.91309679e-01 -3.21189519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:98.87, Y:8.04, Z:-32.14 [[ 9.96227633e-01 -2.66630007e-02 8.25807899e-02 9.88706144e+01] [ 2.15253691e-02 9.97813395e-01 6.24907044e-02 8.03984735e+00] [-8.40664080e-02 -6.04773846e-02 9.94623208e-01 -3.21352678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81591999999999 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:98.92, Y:8.16, Z:-32.12 [[ 9.93275710e-01 -5.92824676e-03 1.15621018e-01 9.89171825e+01] [ 1.39908183e-02 9.97515334e-01 -6.90464683e-02 8.15975630e+00] [-1.14924414e-01 7.01998125e-02 9.90890693e-01 -3.21207481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:98.93, Y:8.04, Z:-32.14 [[ 9.95968907e-01 -1.74139851e-02 8.79925556e-02 9.89348497e+01] [ 1.26326510e-02 9.98428088e-01 5.46055768e-02 8.03971060e+00] [-8.88051398e-02 -5.32738774e-02 9.94623316e-01 -3.21374822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:98.97, Y:8.09, Z:-32.13 [[ 9.95985981e-01 -7.87685453e-03 8.91621061e-02 9.89709158e+01] [ 7.55344810e-03 9.99963615e-01 3.96401052e-03 8.08689639e+00] [-8.91900859e-02 -3.27461757e-03 9.96009240e-01 -3.21323750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:99.01, Y:8.15, Z:-32.12 [[ 9.92370546e-01 7.25856031e-03 1.23077261e-01 9.90104861e+01] [ 1.12187279e-03 9.97692508e-01 -6.78852024e-02 8.15316096e+00] [-1.23286010e-01 6.75053524e-02 9.90072516e-01 -3.21244023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:99.03, Y:8.02, Z:-32.14 [[ 9.95650493e-01 -3.07568606e-03 9.31162454e-02 9.90293687e+01] [-3.03571820e-03 9.97853247e-01 6.54192790e-02 8.02489078e+00] [-9.31175570e-02 -6.54174121e-02 9.93503741e-01 -3.21421123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.07, Y:8.10, Z:-32.14 [[ 9.95400987e-01 1.41487344e-02 9.47453914e-02 9.90669083e+01] [-1.28280739e-02 9.99812089e-01 -1.45336703e-02 8.09817188e+00] [-9.49332207e-02 1.32514289e-02 9.95395441e-01 -3.21373190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.10, Y:8.09, Z:-32.14 [[ 9.95205281e-01 1.35439179e-02 9.68659395e-02 9.90972947e+01] [-1.30776279e-02 9.99899648e-01 -5.44705781e-03 8.08778768e+00] [-9.69299933e-02 4.15416398e-03 9.95282532e-01 -3.21411703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:8.14, Z:-32.14 [[ 9.91213910e-01 2.13119790e-02 1.30540353e-01 9.91336979e+01] [-1.32168298e-02 9.97953184e-01 -6.25680231e-02 8.13818843e+00] [-1.31606610e-01 6.02929652e-02 9.89466755e-01 -3.21379422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:8.08, Z:-32.15 [[ 9.90824779e-01 1.80152275e-02 1.33946664e-01 9.91623088e+01] [-1.71697039e-02 9.99824723e-01 -7.46492474e-03 8.08420569e+00] [-1.34057669e-01 5.09660785e-03 9.90960426e-01 -3.21499522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.19, Y:8.02, Z:-32.16 [[ 9.94734390e-01 1.51789007e-02 1.01356274e-01 9.91890350e+01] [-2.09243459e-02 9.98219034e-01 5.58653021e-02 8.02487781e+00] [-1.00327788e-01 -5.76919509e-02 9.93280410e-01 -3.21566253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:8.14, Z:-32.14 [[ 9.91196398e-01 2.65533122e-02 1.29709760e-01 9.92292028e+01] [-1.79035102e-02 9.97565218e-01 -6.74025289e-02 8.14097750e+00] [-1.31183705e-01 6.44868839e-02 9.89258448e-01 -3.21437765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.25, Y:8.03, Z:-32.16 [[ 9.94442705e-01 1.67972272e-02 1.03930554e-01 9.92528486e+01] [-2.19009754e-02 9.98599375e-01 4.81625894e-02 8.03025321e+00] [-1.02975989e-01 -5.01711162e-02 9.93417739e-01 -3.21599077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:8.13, Z:-32.15 [[ 9.91051212e-01 2.61697162e-02 1.30891713e-01 9.92923103e+01] [-1.84136083e-02 9.98021352e-01 -6.01192126e-02 8.13199346e+00] [-1.32206028e-01 5.71710298e-02 9.89572150e-01 -3.21498549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:8.08, Z:-32.16 [[ 9.90619197e-01 2.01876103e-02 1.35152017e-01 9.93212933e+01] [-1.93271951e-02 9.99783750e-01 -7.67546322e-03 8.08083431e+00] [-1.35277739e-01 4.99135182e-03 9.90795145e-01 -3.21624811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:8.08, Z:-32.17 [[ 9.90531344e-01 1.81717891e-02 1.36078812e-01 9.93538427e+01] [-1.72756029e-02 9.99820622e-01 -7.76390780e-03 8.07803791e+00] [-1.36195487e-01 5.33955050e-03 9.90667592e-01 -3.21671615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:7.99, Z:-32.18 [[ 9.95017608e-01 6.09272402e-03 9.95130022e-02 9.93747374e+01] [-1.43998166e-02 9.96447672e-01 8.29739852e-02 7.98993783e+00] [-9.86539618e-02 -8.39935453e-02 9.91570714e-01 -3.21758667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.42, Y:8.16, Z:-32.16 [[ 9.90843577e-01 2.55740715e-02 1.32570633e-01 9.94222352e+01] [-1.32894168e-02 9.95602184e-01 -9.27344757e-02 8.15645693e+00] [-1.34359210e-01 9.01235732e-02 9.86825894e-01 -3.21562266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:7.98, Z:-32.18 [[ 9.95198288e-01 1.48120865e-03 9.78681466e-02 9.94352357e+01] [-1.07909886e-02 9.95450683e-01 9.46651545e-02 7.97705858e+00] [-9.72826945e-02 -9.52666937e-02 9.90686799e-01 -3.21798128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.47, Y:8.09, Z:-32.17 [[ 9.94796180e-01 1.63206928e-02 1.00569359e-01 9.94740022e+01] [-1.43111681e-02 9.99683906e-01 -2.06706951e-02 8.08630803e+00] [-1.00874929e-01 1.91238635e-02 9.94715299e-01 -3.21706192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.50, Y:8.07, Z:-32.18 [[ 9.94593275e-01 1.44143137e-02 1.02841845e-01 9.95027835e+01] [-1.30575970e-02 9.99818776e-01 -1.38533426e-02 8.07458751e+00] [-1.03022894e-01 1.24355740e-02 9.94601247e-01 -3.21754267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:8.05, Z:-32.18 [[ 9.93632412e-01 1.54719087e-02 1.11603089e-01 9.95335042e+01] [-1.65069861e-02 9.99828829e-01 8.35654318e-03 8.05019269e+00] [-1.11454694e-01 -1.01455628e-02 9.93717726e-01 -3.21834959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:99.57, Y:8.14, Z:-32.17 [[ 9.89660243e-01 2.28122800e-02 1.41605805e-01 9.95708437e+01] [-9.61625331e-03 9.95602633e-01 -9.31822147e-02 8.14154099e+00] [-1.43108811e-01 9.08570159e-02 9.85527712e-01 -3.21726472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:7.99, Z:-32.19 [[ 9.92311951e-01 8.55945986e-03 1.23465494e-01 9.95909471e+01] [-1.57117936e-02 9.98246366e-01 5.70730384e-02 7.99471517e+00] [-1.22760466e-01 -5.85741224e-02 9.90706283e-01 -3.21949910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:8.11, Z:-32.18 [[ 9.89381787e-01 2.02748447e-02 1.43918761e-01 9.96309941e+01] [-9.93722805e-03 9.97341526e-01 -7.21881708e-02 8.11452370e+00] [-1.44999761e-01 6.99915079e-02 9.86953017e-01 -3.21825827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.65, Y:8.00, Z:-32.20 [[ 9.93082385e-01 7.61133145e-03 1.17172713e-01 9.96523384e+01] [-1.28749719e-02 9.98938367e-01 4.42309187e-02 7.99703595e+00] [-1.16711663e-01 -4.54335416e-02 9.92126091e-01 -3.21981992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:8.03, Z:-32.20 [[ 9.93530619e-01 1.27077153e-02 1.12851330e-01 9.96859273e+01] [-1.35984108e-02 9.99882142e-01 7.12636668e-03 8.02857484e+00] [-1.12747470e-01 -8.61486225e-03 9.93586329e-01 -3.21971455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:8.10, Z:-32.19 [[ 9.89319295e-01 1.91162892e-02 1.44505708e-01 9.97242899e+01] [-8.86328132e-03 9.97417980e-01 -7.12658031e-02 8.09507295e+00] [-1.45494929e-01 6.92238394e-02 9.86934286e-01 -3.21929500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.75, Y:8.03, Z:-32.21 [[ 9.88998876e-01 1.07500622e-02 1.47531895e-01 9.97517033e+01] [-9.54080230e-03 9.99914862e-01 -8.90183246e-03 8.03103756e+00] [-1.47615030e-01 7.39632965e-03 9.89017238e-01 -3.22067980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.77, Y:7.92, Z:-32.21 [[ 9.93653245e-01 -1.05606500e-02 1.11989742e-01 9.97674297e+01] [-9.94595191e-04 9.94719417e-01 1.02626956e-01 7.91876114e+00] [-1.12482178e-01 -1.02086993e-01 9.88395673e-01 -3.22120085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:8.12, Z:-32.20 [[ 9.89377213e-01 2.14166681e-02 1.43784760e-01 9.98208233e+01] [-5.15036115e-03 9.93631415e-01 -1.12561473e-01 8.12066084e+00] [-1.45279746e-01 1.10625213e-01 9.83186583e-01 -3.21950441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.83, Y:7.94, Z:-32.22 [[ 9.93056423e-01 -4.94916133e-03 1.17534875e-01 9.98340817e+01] [-2.64350584e-03 9.97923524e-01 6.43556646e-02 7.94440554e+00] [-1.17609323e-01 -6.42195102e-02 9.90981282e-01 -3.22159658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:99.87, Y:7.99, Z:-32.22 [[ 9.93641187e-01 -2.33344837e-03 1.12568854e-01 9.98657022e+01] [ 4.66512740e-04 9.99861963e-01 1.66083240e-02 7.98555056e+00] [-1.12592070e-01 -1.64502000e-02 9.93505117e-01 -3.22160791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.90, Y:7.99, Z:-32.22 [[ 9.93095504e-01 8.75076004e-04 1.17305389e-01 9.98973984e+01] [-1.66427578e-03 9.99976637e-01 6.62995316e-03 7.98989029e+00] [-1.17296847e-01 -6.77940519e-03 9.93073758e-01 -3.22189892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.94, Y:8.09, Z:-32.21 [[ 9.87999961e-01 1.69737747e-02 1.53518627e-01 9.99408003e+01] [-1.32096308e-04 9.94035671e-01 -1.09055342e-01 8.08881064e+00] [-1.54454072e-01 1.07726394e-01 9.82109446e-01 -3.22100881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:7.90, Z:-32.23 [[ 9.91641575e-01 -8.78465669e-03 1.28723800e-01 9.99519460e+01] [-1.42603510e-03 9.96872293e-01 7.90164413e-02 7.90397268e+00] [-1.29015322e-01 -7.85395529e-02 9.88527483e-01 -3.22261851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.00, Y:8.06, Z:-32.22 [[ 9.87212085e-01 1.81352091e-02 1.58377437e-01 9.99994033e+01] [-3.38824595e-03 9.95670555e-01 -9.28906077e-02 8.05874156e+00] [-1.59376341e-01 9.11661088e-02 9.82999452e-01 -3.22199885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:100.01, Y:7.91, Z:-32.23 [[ 9.91976881e-01 -5.30987624e-03 1.26307850e-01 1.00012405e+02] [-2.81488657e-03 9.97942094e-01 6.40597670e-02 7.90531548e+00] [-1.26388069e-01 -6.39013501e-02 9.89920539e-01 -3.22333616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:100.06, Y:8.03, Z:-32.23 [[ 9.87380134e-01 2.28549019e-02 1.56710323e-01 1.00059690e+02] [-1.05113405e-02 9.96807487e-01 -7.91476161e-02 8.03430360e+00] [-1.58018934e-01 7.65015482e-02 9.84468146e-01 -3.22308956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:7.96, Z:-32.24 [[ 9.86377890e-01 1.96767525e-02 1.63314064e-01 1.00086859e+02] [-1.81872730e-02 9.99778294e-01 -1.06106358e-02 7.96091818e+00] [-1.63486639e-01 7.49585911e-03 9.86517071e-01 -3.22423801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.12, Y:7.96, Z:-32.25 [[ 9.86355305e-01 2.30277409e-02 1.63012073e-01 1.00119638e+02] [-2.15765468e-02 9.99710287e-01 -1.06674803e-02 7.95689708e+00] [-1.63210494e-01 7.00468813e-03 9.86566404e-01 -3.22468608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.15, Y:7.95, Z:-32.25 [[ 9.86123988e-01 2.70055411e-02 1.63799208e-01 1.00151769e+02] [-2.55827797e-02 9.99614478e-01 -1.07896559e-02 7.95353304e+00] [-1.64027440e-01 6.44949948e-03 9.86434693e-01 -3.22514348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.18, Y:7.95, Z:-32.26 [[ 9.85575816e-01 3.58820464e-02 1.65386790e-01 1.00183936e+02] [-3.45478948e-02 9.99343192e-01 -1.09374468e-02 7.95163872e+00] [-1.65670621e-01 5.06591759e-03 9.86168131e-01 -3.22561553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:7.95, Z:-32.26 [[ 9.85403277e-01 3.96892127e-02 1.65545003e-01 1.00217071e+02] [-3.83921351e-02 9.99201884e-01 -1.10290276e-02 7.94994159e+00] [-1.65850612e-01 4.51241381e-03 9.86140564e-01 -3.22609077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:100.25, Y:7.95, Z:-32.27 [[ 9.85168692e-01 4.56405175e-02 1.65407350e-01 1.00250024e+02] [-4.44151559e-02 9.98951478e-01 -1.11013290e-02 7.94793951e+00] [-1.65740587e-01 3.59008849e-03 9.86162851e-01 -3.22659398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.28, Y:7.95, Z:-32.27 [[ 9.85340586e-01 4.80052516e-02 1.63705302e-01 1.00282794e+02] [-4.68254000e-02 9.98841851e-01 -1.10606517e-02 7.94583621e+00] [-1.64046676e-01 3.23294281e-03 9.86447280e-01 -3.22709868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.32, Y:7.95, Z:-32.28 [[ 9.85685036e-01 4.91997785e-02 1.61258770e-01 1.00315741e+02] [-4.80642216e-02 9.98784361e-01 -1.09376089e-02 7.94502431e+00] [-1.61600866e-01 3.03026011e-03 9.86851548e-01 -3.22755096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:7.94, Z:-32.28 [[ 9.85448130e-01 4.92300333e-02 1.62691075e-01 1.00348660e+02] [-4.80606886e-02 9.98782540e-01 -1.11178936e-02 7.94272682e+00] [-1.63040340e-01 3.13706232e-03 9.86614416e-01 -3.22790534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.37, Y:7.86, Z:-32.28 [[ 9.89831660e-01 3.71304831e-02 1.37312101e-01 1.00371208e+02] [-4.72001584e-02 9.96371752e-01 7.08200264e-02 7.86334290e+00] [-1.34184317e-01 -7.65810572e-02 9.87992870e-01 -3.22818156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:8.01, Z:-32.28 [[ 9.84964069e-01 5.89514288e-02 1.62389996e-01 1.00416207e+02] [-4.49360283e-02 9.95046956e-01 -8.86696642e-02 8.01377738e+00] [-1.66812875e-01 8.00392719e-02 9.82734542e-01 -3.22773056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:7.88, Z:-32.29 [[ 9.88819133e-01 4.01458214e-02 1.43614187e-01 1.00433945e+02] [-4.89032431e-02 9.97119436e-01 5.79767492e-02 7.87525788e+00] [-1.40872973e-01 -6.43517184e-02 9.87934037e-01 -3.22899518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:8.00, Z:-32.29 [[ 9.84991206e-01 6.05125389e-02 1.61649489e-01 1.00478274e+02] [-4.81569641e-02 9.95687600e-01 -7.92913021e-02 8.00491258e+00] [-1.65750510e-01 7.03166866e-02 9.83657629e-01 -3.22861371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:7.94, Z:-32.30 [[ 9.84692647e-01 5.31291269e-02 1.66005081e-01 1.00505816e+02] [-5.19278263e-02 9.98583797e-01 -1.15715527e-02 7.93870471e+00] [-1.66384770e-01 2.77413984e-03 9.86057003e-01 -3.22974911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:7.94, Z:-32.30 [[ 9.84763830e-01 5.70534660e-02 1.64271427e-01 1.00539008e+02] [-5.59178554e-02 9.98368763e-01 -1.15328448e-02 7.93978125e+00] [-1.64661450e-01 2.17142252e-03 9.86347754e-01 -3.23031166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:7.94, Z:-32.31 [[ 9.84481788e-01 5.85205413e-02 1.65441699e-01 1.00572075e+02] [-5.73749209e-02 9.98284149e-01 -1.16993733e-02 7.93898464e+00] [-1.65842480e-01 2.02561548e-03 9.86150176e-01 -3.23075725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:7.94, Z:-32.31 [[ 9.84122617e-01 5.86802041e-02 1.67509127e-01 1.00604298e+02] [-5.74930038e-02 9.98274597e-01 -1.19324352e-02 7.93700374e+00] [-1.67920304e-01 2.11237646e-03 9.85798311e-01 -3.23121258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:7.86, Z:-32.32 [[ 9.89123905e-01 4.40097293e-02 1.40346158e-01 1.00625815e+02] [-5.45819619e-02 9.95881674e-01 7.23912971e-02 7.85573878e+00] [-1.36582245e-01 -7.92643311e-02 9.87452508e-01 -3.23171684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:8.01, Z:-32.31 [[ 9.85187355e-01 6.47032979e-02 1.58806044e-01 1.00673894e+02] [-5.03632145e-02 9.94417463e-01 -9.27224618e-02 8.01174413e+00] [-1.63918953e-01 8.33510140e-02 9.82946176e-01 -3.23124211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:7.86, Z:-32.33 [[ 9.89084945e-01 4.23449252e-02 1.41130719e-01 1.00690333e+02] [-5.16910302e-02 9.96659580e-01 6.32275123e-02 7.86015159e+00] [-1.37981919e-01 -6.98325728e-02 9.87969839e-01 -3.23277781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:7.92, Z:-32.33 [[ 9.88854893e-01 5.05419626e-02 1.40041101e-01 1.00726643e+02] [-5.00194123e-02 9.98721925e-01 -7.25091052e-03 7.92476323e+00] [-1.40228593e-01 1.65324805e-04 9.90119142e-01 -3.23278149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:7.93, Z:-32.33 [[ 9.89438836e-01 4.88563249e-02 1.36469223e-01 1.00758298e+02] [-4.73917401e-02 9.98778792e-01 -1.39623639e-02 7.92930702e+00] [-1.36984715e-01 7.34739110e-03 9.90545912e-01 -3.23280267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:7.99, Z:-32.33 [[ 9.84266064e-01 5.85167764e-02 1.66721632e-01 1.00797024e+02] [-4.51743985e-02 9.95547730e-01 -8.27284159e-02 7.99111032e+00] [-1.70820342e-01 7.38952229e-02 9.82527306e-01 -3.23271156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:7.92, Z:-32.34 [[ 9.83782007e-01 4.81762896e-02 1.72777333e-01 1.00822820e+02] [-4.66919685e-02 9.98829267e-01 -1.26473158e-02 7.91775184e+00] [-1.73184358e-01 4.37488795e-03 9.84879708e-01 -3.23397983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.86, Y:7.91, Z:-32.35 [[ 9.83809400e-01 4.94505254e-02 1.72260590e-01 1.00855108e+02] [-4.79795970e-02 9.98767641e-01 -1.26947554e-02 7.91370043e+00] [-1.72676065e-01 4.22422606e-03 9.84969610e-01 -3.23456204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:7.91, Z:-32.35 [[ 9.83696570e-01 5.33893359e-02 1.71728382e-01 1.00887565e+02] [-5.19721959e-02 9.98567254e-01 -1.27408861e-02 7.91235239e+00] [-1.72162567e-01 3.60806481e-03 9.85061943e-01 -3.23493014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:7.91, Z:-32.35 [[ 9.83772201e-01 5.52152968e-02 1.70714755e-01 1.00919966e+02] [-5.38275938e-02 9.98468838e-01 -1.27502908e-02 7.91253223e+00] [-1.71157374e-01 3.35421711e-03 9.85237993e-01 -3.23535142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:7.91, Z:-32.36 [[ 9.83211120e-01 5.95385033e-02 1.72484954e-01 1.00952915e+02] [-5.81721686e-02 9.98222308e-01 -1.29700540e-02 7.91447409e+00] [-1.72950547e-01 2.71847745e-03 9.84926758e-01 -3.23574353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:7.91, Z:-32.36 [[ 9.83225217e-01 6.16468435e-02 1.71661994e-01 1.00985703e+02] [-6.03103658e-02 9.98095081e-01 -1.29949485e-02 7.91325962e+00] [-1.72136089e-01 2.42396342e-03 9.85070196e-01 -3.23621421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.02, Y:7.91, Z:-32.37 [[ 9.82866148e-01 6.36092754e-02 1.72997096e-01 1.01018235e+02] [-6.22661505e-02 9.97972482e-01 -1.31852792e-02 7.91417288e+00] [-1.73485048e-01 2.18750132e-03 9.84834074e-01 -3.23667766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:7.82, Z:-32.37 [[ 9.88246528e-01 4.81942534e-02 1.45072791e-01 1.01036973e+02] [-6.13958518e-02 9.94231747e-01 8.79419258e-02 7.81900664e+00] [-1.39997679e-01 -9.58151704e-02 9.85504999e-01 -3.23721860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:8.00, Z:-32.36 [[ 9.82726028e-01 7.74353340e-02 1.68087247e-01 1.01088373e+02] [-5.97490799e-02 9.92370520e-01 -1.07846175e-01 8.00489055e+00] [-1.75155933e-01 9.59401853e-02 9.79855030e-01 -3.23624993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:7.91, Z:-32.38 [[ 9.82295006e-01 6.40862715e-02 1.76038265e-01 1.01112646e+02] [-6.26675682e-02 9.97941620e-01 -1.36124853e-02 7.91209271e+00] [-1.76548284e-01 2.33958638e-03 9.84289200e-01 -3.23795556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:7.91, Z:-32.38 [[ 9.82560839e-01 6.30286112e-02 1.74933108e-01 1.01145702e+02] [-6.15995335e-02 9.98008386e-01 -1.35925858e-02 7.91376447e+00] [-1.75441430e-01 2.57974474e-03 9.84486490e-01 -3.23848783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.17, Y:7.85, Z:-32.39 [[ 9.88589000e-01 4.97071381e-02 1.42200524e-01 1.01168771e+02] [-5.79240713e-02 9.96846533e-01 5.42382771e-02 7.85309388e+00] [-1.39056070e-01 -6.18561974e-02 9.88350758e-01 -3.23902710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.21, Y:7.98, Z:-32.39 [[ 9.82886521e-01 6.99390587e-02 1.70418941e-01 1.01213922e+02] [-5.76633970e-02 9.95442689e-01 -7.59525256e-02 7.97504009e+00] [-1.74954337e-01 6.48257786e-02 9.82440125e-01 -3.23852811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.24, Y:7.91, Z:-32.40 [[ 9.82702428e-01 6.00305901e-02 1.75192082e-01 1.01241245e+02] [-5.85104543e-02 9.98190936e-01 -1.38341038e-02 7.91375736e+00] [-1.75705618e-01 3.34423905e-03 9.84437074e-01 -3.23972519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:101.26, Y:7.79, Z:-32.40 [[ 9.88569631e-01 3.77509026e-02 1.45962166e-01 1.01256695e+02] [-5.42936630e-02 9.92328593e-01 1.11068278e-01 7.79415633e+00] [-1.40649503e-01 -1.17723547e-01 9.83035546e-01 -3.24018569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.31, Y:8.02, Z:-32.39 [[ 9.82972270e-01 7.23851970e-02 1.68896119e-01 1.01314247e+02] [-5.04793772e-02 9.90153293e-01 -1.30569094e-01 8.02212175e+00] [-1.76684318e-01 1.19820028e-01 9.76947190e-01 -3.23879480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.33, Y:7.91, Z:-32.41 [[ 9.82587076e-01 5.33051841e-02 1.77992122e-01 1.01334874e+02] [-5.15864238e-02 9.98566523e-01 -1.42737725e-02 7.90718454e+00] [-1.78497840e-01 4.84324739e-03 9.83928384e-01 -3.24106309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:7.90, Z:-32.42 [[ 9.82413486e-01 5.09793414e-02 1.79624187e-01 1.01367531e+02] [-4.91736767e-02 9.98685076e-01 -1.44937291e-02 7.90288817e+00] [-1.80126875e-01 5.40605329e-03 9.83628529e-01 -3.24153354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:7.90, Z:-32.42 [[ 9.82421004e-01 4.70297363e-02 1.80657620e-01 1.01399947e+02] [-4.51202999e-02 9.98873890e-01 -1.46666678e-02 7.89758397e+00] [-1.81143949e-01 6.25751654e-03 9.83436685e-01 -3.24180571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:7.89, Z:-32.42 [[ 9.82530472e-01 4.59683027e-02 1.80335205e-01 1.01432492e+02] [-4.40318769e-02 9.98921551e-01 -1.47285023e-02 7.89455246e+00] [-1.80817767e-01 6.53070471e-03 9.83494934e-01 -3.24226898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:7.79, Z:-32.43 [[ 9.87830885e-01 2.96183152e-02 1.52685616e-01 1.01450681e+02] [-4.40674480e-02 9.94770894e-01 9.21353863e-02 7.78931924e+00] [-1.49158312e-01 -9.77426457e-02 9.83970616e-01 -3.24287516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.49, Y:7.91, Z:-32.43 [[ 9.88892710e-01 4.91009844e-02 1.40286499e-01 1.01491397e+02] [-4.49199689e-02 9.98451390e-01 -3.28179571e-02 7.90659210e+00] [-1.41680644e-01 2.61517733e-02 9.89566915e-01 -3.24254416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:7.86, Z:-32.43 [[ 9.87882160e-01 4.32511147e-02 1.49057638e-01 1.01517303e+02] [-4.48238135e-02 9.98968917e-01 7.20611469e-03 7.86247959e+00] [-1.48592275e-01 -1.38001239e-02 9.88802251e-01 -3.24326206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:101.56, Y:7.97, Z:-32.43 [[ 9.81873247e-01 6.30874627e-02 1.78731360e-01 1.01560698e+02] [-4.34591671e-02 9.92793043e-01 -1.11683818e-01 7.96940860e+00] [-1.84489099e-01 1.01891837e-01 9.77538657e-01 -3.24255879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:7.87, Z:-32.44 [[ 9.81238918e-01 4.91344200e-02 1.86429596e-01 1.01583732e+02] [-4.70679904e-02 9.98771468e-01 -1.54970715e-02 7.87469934e+00] [-1.86962001e-01 6.43146326e-03 9.82346093e-01 -3.24433047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:7.78, Z:-32.45 [[ 9.87875474e-01 3.24369889e-02 1.51821903e-01 1.01602850e+02] [-4.51026252e-02 9.95714379e-01 8.07380281e-02 7.78357853e+00] [-1.48552353e-01 -8.66066841e-02 9.85104807e-01 -3.24463729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:7.87, Z:-32.45 [[ 9.86539369e-01 4.80528461e-02 1.56304182e-01 1.01642364e+02] [-4.71202475e-02 9.98842430e-01 -9.66859807e-03 7.86695519e+00] [-1.56587852e-01 2.17336091e-03 9.87661643e-01 -3.24488822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.67, Y:7.90, Z:-32.45 [[ 9.86968601e-01 5.47541480e-02 1.51310816e-01 1.01674757e+02] [-4.77568835e-02 9.97631696e-01 -4.95002883e-02 7.89833092e+00] [-1.53662813e-01 4.16290973e-02 9.87246047e-01 -3.24475616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:7.91, Z:-32.45 [[ 9.79316588e-01 5.84142311e-02 1.93718350e-01 1.01708282e+02] [-4.52458870e-02 9.96397930e-01 -7.17215037e-02 7.91267741e+00] [-1.97210119e-01 6.14730997e-02 9.78432025e-01 -3.24532922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:7.86, Z:-32.46 [[ 9.78658633e-01 5.26430295e-02 1.98635322e-01 1.01734968e+02] [-5.03059660e-02 9.98592587e-01 -1.67974708e-02 7.85834614e+00] [-1.99240030e-01 6.44644808e-03 9.79929515e-01 -3.24647612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:7.78, Z:-32.47 [[ 9.84596218e-01 3.95984223e-02 1.70300474e-01 1.01756739e+02] [-5.21159735e-02 9.96207777e-01 6.96705879e-02 7.77651488e+00] [-1.66895812e-01 -7.74727724e-02 9.82926120e-01 -3.24708049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:7.86, Z:-32.47 [[ 9.85265036e-01 5.91139352e-02 1.60494089e-01 1.01796136e+02] [-5.72553795e-02 9.98228376e-01 -1.61842967e-02 7.85612029e+00] [-1.61166471e-01 6.75667172e-03 9.86904107e-01 -3.24723856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:7.92, Z:-32.47 [[ 9.78989806e-01 7.43087252e-02 1.89887266e-01 1.01835010e+02] [-5.76826083e-02 9.94120200e-01 -9.16392108e-02 7.92279427e+00] [-1.95580360e-01 7.87606604e-02 9.77519862e-01 -3.24699789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:7.79, Z:-32.48 [[ 9.84701640e-01 5.38772758e-02 1.65710348e-01 1.01852027e+02] [-6.31944022e-02 9.96672965e-01 5.14729915e-02 7.78585609e+00] [-1.62385800e-01 -6.11575056e-02 9.84830245e-01 -3.24827776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:7.86, Z:-32.48 [[ 9.82935037e-01 7.19585689e-02 1.69294648e-01 1.01889297e+02] [-6.87147679e-02 9.97324313e-01 -2.49498576e-02 7.85773989e+00] [-1.70637024e-01 1.28910468e-02 9.85249627e-01 -3.24831400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:7.83, Z:-32.49 [[ 9.81832399e-01 6.87369755e-02 1.76862569e-01 1.01916047e+02] [-6.91860166e-02 9.97597157e-01 -3.63411335e-03 7.83466127e+00] [-1.76687394e-01 -8.66832639e-03 9.84228848e-01 -3.24894439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:7.91, Z:-32.49 [[ 9.77279784e-01 8.04508718e-02 1.96091514e-01 1.01955150e+02] [-6.50177265e-02 9.94349205e-01 -8.39187300e-02 7.90693672e+00] [-2.01734776e-01 6.92626539e-02 9.76988109e-01 -3.24887406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:7.84, Z:-32.50 [[ 9.76882859e-01 6.85106791e-02 2.02499793e-01 1.01980247e+02] [-6.63356826e-02 9.97643602e-01 -1.75163108e-02 7.84100306e+00] [-2.03222677e-01 3.67842180e-03 9.79125637e-01 -3.25022465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:7.76, Z:-32.51 [[ 9.83403225e-01 5.11710184e-02 1.74067870e-01 1.02000896e+02] [-6.36082698e-02 9.95747789e-01 6.66357854e-02 7.75929634e+00] [-1.69917876e-01 -7.66020023e-02 9.82476488e-01 -3.25096118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.05, Y:7.87, Z:-32.51 [[ 9.82745545e-01 7.28045824e-02 1.70031426e-01 1.02045665e+02] [-6.53235525e-02 9.96650844e-01 -4.91927781e-02 7.86660975e+00] [-1.73043423e-01 3.72369268e-02 9.84210031e-01 -3.25082390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:7.80, Z:-32.52 [[ 9.82201428e-01 5.77822287e-02 1.78722043e-01 1.02067815e+02] [-6.13812908e-02 9.98006586e-01 1.46694091e-02 7.80102406e+00] [-1.77518145e-01 -2.53785043e-02 9.83790242e-01 -3.25165400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:7.85, Z:-32.52 [[ 9.82643266e-01 6.63177867e-02 1.73245960e-01 1.02103050e+02] [-6.03080019e-02 9.97388758e-01 -3.97317373e-02 7.85005965e+00] [-1.75428494e-01 2.85940064e-02 9.84076840e-01 -3.25171330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:7.87, Z:-32.52 [[ 9.76220992e-01 6.91895237e-02 2.05439492e-01 1.02136594e+02] [-5.52721482e-02 9.95818653e-01 -7.27337612e-02 7.87321759e+00] [-2.09612892e-01 5.96491425e-02 9.75963327e-01 -3.25225894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:7.82, Z:-32.53 [[ 9.75684841e-01 5.88445893e-02 2.11131254e-01 1.02163364e+02] [-5.61724578e-02 9.98247125e-01 -1.86368740e-02 7.81697726e+00] [-2.11857846e-01 6.32395400e-03 9.77280032e-01 -3.25338963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:7.81, Z:-32.54 [[ 9.75611684e-01 5.63721300e-02 2.12141523e-01 1.02195667e+02] [-5.35931743e-02 9.98385266e-01 -1.88316600e-02 7.81391151e+00] [-2.12860552e-01 7.00304989e-03 9.77057492e-01 -3.25396477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:7.75, Z:-32.54 [[ 9.82267693e-01 4.37309230e-02 1.82312328e-01 1.02218945e+02] [-5.36064125e-02 9.97329803e-01 4.95945310e-02 7.74870723e+00] [-1.79656703e-01 -5.84882154e-02 9.81989103e-01 -3.25447738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:7.87, Z:-32.54 [[ 9.75973819e-01 6.70705023e-02 2.07308110e-01 1.02263812e+02] [-5.09290003e-02 9.95309800e-01 -8.22474203e-02 7.87001591e+00] [-2.11852170e-01 6.97133340e-02 9.74812140e-01 -3.25445134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:7.75, Z:-32.55 [[ 9.82020913e-01 4.50624136e-02 1.83314769e-01 1.02280941e+02] [-5.32855219e-02 9.97770635e-01 4.01797623e-02 7.75205134e+00] [-1.81095496e-01 -4.92253900e-02 9.82232804e-01 -3.25545748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:102.32, Y:7.86, Z:-32.56 [[ 9.75579176e-01 6.45814599e-02 2.09939292e-01 1.02324227e+02] [-5.01065251e-02 9.96031553e-01 -7.35559752e-02 7.85788984e+00] [-2.13856511e-01 6.12403493e-02 9.74943594e-01 -3.25554474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.34, Y:7.75, Z:-32.57 [[ 9.80970641e-01 4.43672689e-02 1.89018906e-01 1.02342910e+02] [-5.33214639e-02 9.97670418e-01 4.25506587e-02 7.74680942e+00] [-1.86690714e-01 -5.18197117e-02 9.81051117e-01 -3.25659026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:7.78, Z:-32.57 [[ 9.81321503e-01 5.17824094e-02 1.85274636e-01 1.02376128e+02] [-5.28016407e-02 9.98604859e-01 5.67912485e-04 7.78480435e+00] [-1.84986744e-01 -1.03401095e-02 9.82686617e-01 -3.25700041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:7.77, Z:-32.58 [[ 9.80773825e-01 5.02147739e-02 1.88576722e-01 1.02401127e+02] [-5.43460348e-02 9.98380858e-01 1.67979344e-02 7.76596128e+00] [-1.87427885e-01 -2.67233714e-02 9.81914787e-01 -3.25757680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:7.79, Z:-32.58 [[ 9.81345621e-01 5.56495281e-02 1.84021472e-01 1.02433635e+02] [-5.47465897e-02 9.98450327e-01 -9.98776655e-03 7.79235048e+00] [-1.84292113e-01 -2.73097050e-04 9.82871478e-01 -3.25790878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.47, Y:7.82, Z:-32.58 [[ 9.81002297e-01 6.32216220e-02 1.83405345e-01 1.02466014e+02] [-5.70503465e-02 9.97619512e-01 -3.87371625e-02 7.81866203e+00] [-1.85417777e-01 2.75379069e-02 9.82273848e-01 -3.25808240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.51, Y:7.88, Z:-32.58 [[ 9.73442029e-01 7.98177875e-02 2.14568723e-01 1.02506494e+02] [-5.68916510e-02 9.92192373e-01 -1.10984842e-01 7.88142785e+00] [-2.21752015e-01 9.58301409e-02 9.70382722e-01 -3.25805532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.52, Y:7.71, Z:-32.60 [[ 9.79118868e-01 4.52474099e-02 1.98189086e-01 1.02516786e+02] [-5.86350038e-02 9.96339377e-01 6.22075751e-02 7.71145579e+00] [-1.94648859e-01 -7.25294283e-02 9.78187765e-01 -3.25958334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.55, Y:7.75, Z:-32.60 [[ 9.78319357e-01 5.46108573e-02 1.99772095e-01 1.02548572e+02] [-6.00733105e-02 9.97964972e-01 2.13801623e-02 7.74855287e+00] [-1.98197965e-01 -3.29175977e-02 9.79609105e-01 -3.25992238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:102.58, Y:7.79, Z:-32.60 [[ 9.76521393e-01 6.70504452e-02 2.04719825e-01 1.02583521e+02] [-6.31273381e-02 9.97676013e-01 -2.56419949e-02 7.79113535e+00] [-2.05963366e-01 1.21165389e-02 9.78484686e-01 -3.26027079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:7.88, Z:-32.60 [[ 9.70088944e-01 8.87313890e-02 2.25951721e-01 1.02628809e+02] [-6.12047430e-02 9.90133640e-01 -1.26052984e-01 7.88126352e+00] [-2.34907257e-01 1.08453289e-01 9.65948479e-01 -3.25991597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:7.69, Z:-32.62 [[ 9.78349963e-01 5.05023150e-02 2.00700937e-01 1.02635498e+02] [-6.58830043e-02 9.95319106e-01 7.07057779e-02 7.69171557e+00] [-1.96190671e-01 -8.23977758e-02 9.77097655e-01 -3.26176285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:7.86, Z:-32.61 [[ 9.70394250e-01 8.86141346e-02 2.24683187e-01 1.02688226e+02] [-6.58000012e-02 9.92070465e-01 -1.07081990e-01 7.85764834e+00] [-2.32390532e-01 8.91275937e-02 9.68530285e-01 -3.26136113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:102.70, Y:7.69, Z:-32.63 [[ 9.79535379e-01 5.27468164e-02 1.94237522e-01 1.02695151e+02] [-6.81335613e-02 9.94972271e-01 7.34029859e-02 7.68951407e+00] [-1.89389175e-01 -8.51349157e-02 9.78204369e-01 -3.26293258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:7.86, Z:-32.63 [[ 9.69878032e-01 9.40463559e-02 2.24703997e-01 1.02748713e+02] [-7.12565684e-02 9.91650537e-01 -1.07478903e-01 7.85869019e+00] [-2.32935838e-01 8.82297908e-02 9.68481491e-01 -3.26268093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:7.67, Z:-32.64 [[ 9.77974245e-01 4.85011682e-02 2.03012347e-01 1.02752337e+02] [-6.82010226e-02 9.93495133e-01 9.11923304e-02 7.66827501e+00] [-1.97268844e-01 -1.03029400e-01 9.74920482e-01 -3.26404824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:7.87, Z:-32.63 [[ 9.67587511e-01 9.90896782e-02 2.32283543e-01 1.02812098e+02] [-7.13248753e-02 9.89584728e-01 -1.25039309e-01 7.87144150e+00] [-2.42254352e-01 1.04418879e-01 9.64577382e-01 -3.26322181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.83, Y:7.77, Z:-32.65 [[ 9.66987288e-01 7.69901618e-02 2.42915828e-01 1.02832215e+02] [-7.34411157e-02 9.97019187e-01 -2.36462283e-02 7.77488330e+00] [-2.44012268e-01 5.02559279e-03 9.69759123e-01 -3.26516360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:7.66, Z:-32.66 [[ 9.76408033e-01 4.86317327e-02 2.10386092e-01 1.02846724e+02] [-6.93628108e-02 9.93311821e-01 9.23061528e-02 7.66497497e+00] [-2.04489984e-01 -1.04721440e-01 9.73250875e-01 -3.26581153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:7.76, Z:-32.66 [[ 9.75665488e-01 6.99587223e-02 2.07804312e-01 1.02885132e+02] [-7.07188643e-02 9.97489132e-01 -3.77812110e-03 7.75518130e+00] [-2.07546855e-01 -1.10095025e-02 9.78163122e-01 -3.26616093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:7.76, Z:-32.67 [[ 9.74792978e-01 7.01793477e-02 2.11786472e-01 1.02916296e+02] [-6.96929290e-02 9.97520647e-01 -9.77007876e-03 7.75838627e+00] [-2.11947036e-01 -5.23621540e-03 9.77267126e-01 -3.26687580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.97, Y:7.89, Z:-32.66 [[ 9.67521874e-01 1.00027870e-01 2.32154795e-01 1.02968876e+02] [-6.54575855e-02 9.86192288e-01 -1.52118623e-01 7.88906358e+00] [-2.44165370e-01 1.31981803e-01 9.60710193e-01 -3.26601630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:7.76, Z:-32.68 [[ 9.66002938e-01 7.00377734e-02 2.48863486e-01 1.02985368e+02] [-6.59126114e-02 9.97515145e-01 -2.48809644e-02 7.76413407e+00] [-2.49987704e-01 7.63184246e-03 9.68218933e-01 -3.26843192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:7.68, Z:-32.69 [[ 9.72565069e-01 5.08664056e-02 2.27001754e-01 1.03005652e+02] [-6.64671873e-02 9.95884413e-01 6.16145203e-02 7.67987830e+00] [-2.22933399e-01 -7.50122982e-02 9.71943339e-01 -3.26902228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:7.76, Z:-32.69 [[ 9.72524306e-01 7.00431017e-02 2.22014502e-01 1.03045836e+02] [-6.72117598e-02 9.97532356e-01 -2.02923240e-02 7.75600948e+00] [-2.22887986e-01 4.81279291e-03 9.74832182e-01 -3.26932605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:103.08, Y:7.79, Z:-32.70 [[ 9.74768458e-01 7.98877538e-02 2.08433203e-01 1.03079921e+02] [-6.98624611e-02 9.96037253e-01 -5.50366030e-02 7.78752945e+00] [-2.12003985e-01 3.90862881e-02 9.76486852e-01 -3.26969674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:7.74, Z:-32.71 [[ 9.74232386e-01 6.98820361e-02 2.14447566e-01 1.03100344e+02] [-7.09579035e-02 9.97475693e-01 -2.68664619e-03 7.73610182e+00] [-2.14093983e-01 -1.25993320e-02 9.76731807e-01 -3.27082192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.15, Y:7.82, Z:-32.71 [[ 9.65541980e-01 9.23093779e-02 2.43326251e-01 1.03145616e+02] [-7.17015030e-02 9.93151150e-01 -9.22479738e-02 7.81596006e+00] [-2.50175098e-01 7.16224334e-02 9.65547848e-01 -3.27087538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:103.15, Y:7.65, Z:-32.72 [[ 9.73694063e-01 5.72129753e-02 2.20559624e-01 1.03152997e+02] [-7.61385427e-02 9.94019913e-01 7.82772928e-02 7.65271097e+00] [-2.14762182e-01 -9.30112236e-02 9.72227400e-01 -3.27245028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:7.84, Z:-32.72 [[ 9.63485169e-01 1.10683469e-01 2.43814477e-01 1.03210858e+02] [-8.30425472e-02 9.89185555e-01 -1.20896126e-01 7.84151567e+00] [-2.54558962e-01 9.62346489e-02 9.62257048e-01 -3.27171374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.22, Y:7.70, Z:-32.74 [[ 9.71995691e-01 7.98922213e-02 2.21001378e-01 1.03222341e+02] [-8.83237608e-02 9.95683446e-01 2.85199703e-02 7.69981429e+00] [-2.17768890e-01 -4.72409611e-02 9.74856401e-01 -3.27376007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:7.70, Z:-32.74 [[ 9.71284766e-01 8.29992602e-02 2.22973153e-01 1.03252004e+02] [-9.10324680e-02 9.95509087e-01 2.59759149e-02 7.70055019e+00] [-2.19815818e-01 -4.55278069e-02 9.74478437e-01 -3.27440610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:7.84, Z:-32.74 [[ 9.61496962e-01 1.21132812e-01 2.46678806e-01 1.03302902e+02] [-9.34943343e-02 9.88255848e-01 -1.20868477e-01 7.83764080e+00] [-2.58422911e-01 9.31516027e-02 9.61530227e-01 -3.27378410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.31, Y:7.69, Z:-32.76 [[ 9.70867722e-01 8.92570414e-02 2.22371418e-01 1.03313536e+02] [-9.81792662e-02 9.94735137e-01 2.93741220e-02 7.69432718e+00] [-2.18578816e-01 -5.03506496e-02 9.74519427e-01 -3.27596593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:7.75, Z:-32.76 [[ 9.69933894e-01 1.04028125e-01 2.20014524e-01 1.03349393e+02] [-1.01427142e-01 9.94574350e-01 -2.31170287e-02 7.74514394e+00] [-2.21225623e-01 1.06545224e-04 9.75222648e-01 -3.27645383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.38, Y:7.74, Z:-32.77 [[ 9.69364160e-01 1.04295845e-01 2.22385931e-01 1.03380316e+02] [-1.02927875e-01 9.94530162e-01 -1.77653804e-02 7.73891008e+00] [-2.23022371e-01 -5.66858815e-03 9.74796845e-01 -3.27711763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.40, Y:7.69, Z:-32.78 [[ 9.68102871e-01 9.32974751e-02 2.32534755e-01 1.03398680e+02] [-1.02360867e-01 9.94375604e-01 2.71921326e-02 7.69417093e+00] [-2.28689930e-01 -5.01272407e-02 9.72207887e-01 -3.27778025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:103.45, Y:7.85, Z:-32.77 [[ 9.56689075e-01 1.35868526e-01 2.57460205e-01 1.03454435e+02] [-1.02744401e-01 9.85079201e-01 -1.38067215e-01 7.84929442e+00] [-2.72377682e-01 1.05634802e-01 9.56374240e-01 -3.27655565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:103.46, Y:7.66, Z:-32.79 [[ 9.65648624e-01 8.67337701e-02 2.44948950e-01 1.03455599e+02] [-1.04891024e-01 9.92545656e-01 6.20563834e-02 7.65756840e+00] [-2.37740632e-01 -8.56176073e-02 9.67547941e-01 -3.27938592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25591999999999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:103.51, Y:7.78, Z:-32.79 [[ 9.66283626e-01 1.18112440e-01 2.28791183e-01 1.03506608e+02] [-1.05936746e-01 9.92257139e-01 -6.48319067e-02 7.78004120e+00] [-2.34677140e-01 3.84086163e-02 9.71314274e-01 -3.27922700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:103.52, Y:7.70, Z:-32.81 [[ 9.63784753e-01 9.47202769e-02 2.49293038e-01 1.03522466e+02] [-1.01393663e-01 9.94747372e-01 1.40353717e-02 7.69965741e+00] [-2.46654160e-01 -3.88038116e-02 9.68326386e-01 -3.28066575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.57, Y:7.82, Z:-32.80 [[ 9.56250041e-01 1.21950405e-01 2.65920961e-01 1.03573014e+02] [-9.43850993e-02 9.88971995e-01 -1.14130829e-01 7.81676866e+00] [-2.76906684e-01 8.40386339e-02 9.57214812e-01 -3.27991619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:103.59, Y:7.73, Z:-32.82 [[ 9.56048940e-01 9.87176833e-02 2.76089193e-01 1.03593140e+02] [-9.41184030e-02 9.95112097e-01 -2.98938225e-02 7.73267614e+00] [-2.77690745e-01 2.59488340e-03 9.60667017e-01 -3.28192141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.61, Y:7.64, Z:-32.83 [[ 9.64914072e-01 7.01557778e-02 2.53019764e-01 1.03609100e+02] [-8.96558633e-02 9.93759124e-01 6.63673836e-02 7.64054540e+00] [-2.46784644e-01 -8.67235278e-02 9.65182039e-01 -3.28293068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:103.67, Y:7.81, Z:-32.82 [[ 9.56017499e-01 1.17264913e-01 2.68848435e-01 1.03668072e+02] [-8.77500592e-02 9.88969675e-01 -1.19326900e-01 7.81339035e+00] [-2.79875808e-01 9.04871381e-02 9.55762319e-01 -3.28195524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.69, Y:7.72, Z:-32.84 [[ 9.55123406e-01 9.62912209e-02 2.80120117e-01 1.03687054e+02] [-9.13310085e-02 9.95346041e-01 -3.07393188e-02 7.72492073e+00] [-2.81776376e-01 3.77619010e-03 9.59472675e-01 -3.28424475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.72, Y:7.72, Z:-32.85 [[ 9.55193182e-01 9.96641257e-02 2.78698846e-01 1.03719373e+02] [-9.48534307e-02 9.95016862e-01 -3.07289945e-02 7.72365324e+00] [-2.80372629e-01 2.91658443e-03 9.59886807e-01 -3.28510009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:103.74, Y:7.63, Z:-32.86 [[ 9.63790006e-01 7.68537971e-02 2.55347447e-01 1.03735401e+02] [-9.64999758e-02 9.93188318e-01 6.53048185e-02 7.63325140e+00] [-2.48589179e-01 -8.75811539e-02 9.64641364e-01 -3.28615928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:103.80, Y:7.81, Z:-32.85 [[ 9.54832214e-01 1.26144404e-01 2.69040949e-01 1.03796091e+02] [-9.71419473e-02 9.88182791e-01 -1.18567334e-01 7.80536749e+00] [-2.80818242e-01 8.70767488e-02 9.55802676e-01 -3.28509349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:103.80, Y:7.64, Z:-32.88 [[ 9.62539733e-01 7.94374090e-02 2.59243053e-01 1.03799926e+02] [-9.72500628e-02 9.93649050e-01 5.66038064e-02 7.63742962e+00] [-2.53100153e-01 -7.96948158e-02 9.64151984e-01 -3.28760704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.86, Y:7.80, Z:-32.87 [[ 9.55882780e-01 1.20719105e-01 2.67796580e-01 1.03859570e+02] [-9.34006730e-02 9.89246442e-01 -1.12551287e-01 7.79768736e+00] [-2.78503905e-01 8.25734565e-02 9.56878884e-01 -3.28684698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:103.88, Y:7.72, Z:-32.89 [[ 9.54616377e-01 9.72072776e-02 2.81528539e-01 1.03879714e+02] [-9.19993344e-02 9.95254642e-01 -3.16910075e-02 7.71813744e+00] [-2.83273181e-01 4.35231655e-03 9.59029385e-01 -3.28877932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:103.89, Y:7.62, Z:-32.90 [[ 9.64138217e-01 6.60843704e-02 2.57041542e-01 1.03892950e+02] [-8.75685579e-02 9.93477015e-01 7.30422406e-02 7.61809022e+00] [-2.50537914e-01 -9.29315728e-02 9.63636071e-01 -3.28985122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:103.96, Y:7.81, Z:-32.89 [[ 9.54597022e-01 1.18363963e-01 2.73376112e-01 1.03956978e+02] [-8.61265004e-02 9.88144339e-01 -1.27094422e-01 7.80565214e+00] [-2.85178456e-01 9.77790287e-02 9.53473917e-01 -3.28851970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:103.97, Y:7.72, Z:-32.91 [[ 9.54702765e-01 9.26737177e-02 2.82761760e-01 1.03974395e+02] [-8.70826716e-02 9.95677107e-01 -3.23064610e-02 7.71513089e+00] [-2.84533371e-01 6.21941816e-03 9.58645962e-01 -3.29101616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:104.01, Y:7.71, Z:-32.92 [[ 9.54619153e-01 9.21948243e-02 2.83200259e-01 1.04005710e+02] [-8.65215970e-02 9.95719605e-01 -3.25035733e-02 7.71170064e+00] [-2.84984711e-01 6.52559493e-03 9.58509849e-01 -3.29197969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:104.04, Y:7.71, Z:-32.93 [[ 9.54029742e-01 9.39055393e-02 2.84620804e-01 1.04037766e+02] [-8.82040995e-02 9.95561803e-01 -3.28136021e-02 7.70830575e+00] [-2.86438980e-01 6.20043063e-03 9.58078423e-01 -3.29276490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:104.07, Y:7.71, Z:-32.94 [[ 9.53283938e-01 9.64035168e-02 2.86279750e-01 1.04070375e+02] [-9.06990063e-02 9.95326360e-01 -3.31530806e-02 7.71073840e+00] [-2.88137855e-01 5.63901037e-03 9.57572336e-01 -3.29352529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:7.71, Z:-32.94 [[ 9.53081844e-01 9.83862276e-02 2.86278099e-01 1.04102449e+02] [-9.27250558e-02 9.95134760e-01 -3.32997456e-02 7.70941240e+00] [-2.88161523e-01 5.19223025e-03 9.57567740e-01 -3.29444264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:104.12, Y:7.63, Z:-32.96 [[ 9.63272420e-01 7.60065562e-02 2.57544655e-01 1.04116580e+02] [-9.07881489e-02 9.94808222e-01 4.59794938e-02 7.63349643e+00] [-2.52712797e-01 -6.76727807e-02 9.65171817e-01 -3.29575690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:104.17, Y:7.77, Z:-32.95 [[ 9.53606797e-01 1.19296183e-01 2.76410016e-01 1.04174462e+02] [-9.43079241e-02 9.90299367e-01 -1.02044988e-01 7.77084016e+00] [-2.85902241e-01 7.12431395e-02 9.55606783e-01 -3.29494393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:104.20, Y:7.71, Z:-32.97 [[ 9.52983982e-01 1.01782461e-01 2.85415241e-01 1.04195939e+02] [-9.61516329e-02 9.94795656e-01 -3.37115277e-02 7.70575881e+00] [-2.87361084e-01 4.68340443e-03 9.57810875e-01 -3.29683034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:104.21, Y:7.64, Z:-32.98 [[ 9.62597505e-01 7.92244603e-02 2.59093665e-01 1.04212709e+02] [-9.29665769e-02 9.94816301e-01 4.12036724e-02 7.64062727e+00] [-2.54486263e-01 -6.37496035e-02 9.64972917e-01 -3.29810939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:104.27, Y:7.77, Z:-32.97 [[ 9.53033248e-01 1.16269451e-01 2.79658798e-01 1.04268679e+02] [-9.14697321e-02 9.90754260e-01 -1.00196232e-01 7.77076848e+00] [-2.88722906e-01 6.99100251e-02 9.54856885e-01 -3.29745854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:104.29, Y:7.71, Z:-32.99 [[ 9.52886861e-01 9.80907198e-02 2.87027597e-01 1.04289804e+02] [-9.21006447e-02 9.95157668e-01 -3.43320220e-02 7.70650946e+00] [-2.89005367e-01 6.27910596e-03 9.57306884e-01 -3.29944137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03591999999999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:104.32, Y:7.71, Z:-33.00 [[ 9.53073072e-01 9.61903897e-02 2.87052485e-01 1.04321930e+02] [-9.00706113e-02 9.95338277e-01 -3.44818566e-02 7.70654483e+00] [-2.89031149e-01 7.00873620e-03 9.57294036e-01 -3.30028947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:104.34, Y:7.65, Z:-33.01 [[ 9.63284948e-01 7.55250153e-02 2.57639439e-01 1.04339487e+02] [-8.58083059e-02 9.95892735e-01 2.88893484e-02 7.64949041e+00] [-2.54399377e-01 -4.99362783e-02 9.65809156e-01 -3.30145686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:104.39, Y:7.76, Z:-33.01 [[ 9.53165567e-01 1.07803046e-01 2.82584333e-01 1.04392168e+02] [-8.57587675e-02 9.92306947e-01 -8.92880597e-02 7.75556550e+00] [-2.90035922e-01 6.08722199e-02 9.55077870e-01 -3.30091211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:104.40, Y:7.64, Z:-33.03 [[ 9.63832732e-01 6.82303645e-02 2.57625858e-01 1.04396767e+02] [-8.06491368e-02 9.96020347e-01 3.79365898e-02 7.63527634e+00] [-2.54012169e-01 -5.73418300e-02 9.65499732e-01 -3.30326118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:104.46, Y:7.76, Z:-33.02 [[ 9.52777411e-01 1.05934325e-01 2.84592909e-01 1.04455186e+02] [-8.11763188e-02 9.91923579e-01 -9.74577745e-02 7.75867820e+00] [-2.92618540e-01 6.97533614e-02 9.53681739e-01 -3.30226974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:104.48, Y:7.69, Z:-33.04 [[ 9.52371184e-01 8.36230039e-02 2.93251294e-01 1.04475398e+02] [-7.63857373e-02 9.96425826e-01 -3.60664931e-02 7.69235387e+00] [-2.95219151e-01 1.19484725e-02 9.55354849e-01 -3.30443151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:104.51, Y:7.69, Z:-33.05 [[ 9.52227331e-01 8.12087551e-02 2.94394714e-01 1.04506583e+02] [-7.37554855e-02 9.96613606e-01 -3.63517432e-02 7.68560001e+00] [-2.96349857e-01 1.29018984e-02 9.54992305e-01 -3.30540927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:104.54, Y:7.68, Z:-33.06 [[ 9.52365321e-01 7.84710659e-02 2.94690665e-01 1.04538080e+02] [-7.08299805e-02 9.96819228e-01 -3.65313582e-02 7.67886485e+00] [-2.96619976e-01 1.39182646e-02 9.54894168e-01 -3.30628763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:104.57, Y:7.67, Z:-33.07 [[ 9.52845793e-01 7.38720122e-02 2.94326044e-01 1.04568457e+02] [-6.59921795e-02 9.97147599e-01 -3.66292048e-02 7.66947437e+00] [-2.96192381e-01 1.54787666e-02 9.55002870e-01 -3.30720407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:104.60, Y:7.66, Z:-33.08 [[ 9.53442519e-01 7.24446183e-02 2.92744156e-01 1.04599520e+02] [-6.45437386e-02 9.97244499e-01 -3.65720447e-02 7.66232391e+00] [-2.94586947e-01 1.59745401e-02 9.55491154e-01 -3.30813692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:104.63, Y:7.65, Z:-33.09 [[ 9.53364058e-01 7.15238412e-02 2.93225702e-01 1.04629774e+02] [-6.35102912e-02 9.97303489e-01 -3.67721770e-02 7.65154065e+00] [-2.95065103e-01 1.64344222e-02 9.55335802e-01 -3.30908018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:104.64, Y:7.57, Z:-33.10 [[ 9.60650545e-01 4.93860786e-02 2.73334129e-01 1.04644231e+02] [-6.41249838e-02 9.96915524e-01 4.52484739e-02 7.56784615e+00] [-2.70256392e-01 -6.09955177e-02 9.60854323e-01 -3.31015847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:104.69, Y:7.64, Z:-33.10 [[ 9.62382143e-01 7.42636795e-02 2.61353242e-01 1.04687320e+02] [-6.74791949e-02 9.97111812e-01 -3.48509926e-02 7.63886766e+00] [-2.63186567e-01 1.59040667e-02 9.64613856e-01 -3.31015761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:7.64, Z:-33.11 [[ 9.63051314e-01 7.81597299e-02 2.57727034e-01 1.04716767e+02] [-6.88068707e-02 9.96608889e-01 -4.51257839e-02 7.63904804e+00] [-2.60380072e-01 2.57250547e-02 9.65163426e-01 -3.31106252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.74, Y:7.60, Z:-33.12 [[ 9.59044881e-01 7.41983377e-02 2.73363354e-01 1.04741018e+02] [-7.13916497e-02 9.97243496e-01 -2.02149022e-02 7.60471132e+00] [-2.74109739e-01 -1.28862317e-04 9.61698411e-01 -3.31173356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:104.78, Y:7.62, Z:-33.12 [[ 9.59897786e-01 8.49486984e-02 2.67170280e-01 1.04777430e+02] [-7.48491078e-02 9.96049499e-01 -4.77808220e-02 7.62276574e+00] [-2.70173742e-01 2.58672482e-02 9.62464043e-01 -3.31220251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.81, Y:7.60, Z:-33.13 [[ 9.58969100e-01 8.32874213e-02 2.71000867e-01 1.04805328e+02] [-7.69541285e-02 9.96457051e-01 -3.39323892e-02 7.60026358e+00] [-2.72866866e-01 1.16854773e-02 9.61980833e-01 -3.31320326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:7.63, Z:-33.14 [[ 9.49281192e-01 1.00548575e-01 2.97918115e-01 1.04845365e+02] [-7.85076395e-02 9.93276417e-01 -8.50794283e-02 7.63358486e+00] [-3.04469653e-01 5.73754531e-02 9.50792453e-01 -3.31399983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.87, Y:7.58, Z:-33.15 [[ 9.48428494e-01 9.29603464e-02 3.03054064e-01 1.04869653e+02] [-8.49413449e-02 9.95600083e-01 -3.95656690e-02 7.58107220e+00] [-3.05398690e-01 1.17833880e-02 9.52151664e-01 -3.31539562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.90, Y:7.58, Z:-33.16 [[ 9.47482573e-01 9.65140070e-02 3.04896409e-01 1.04901924e+02] [-8.85173074e-02 9.95272054e-01 -3.99778004e-02 7.57534127e+00] [-3.07313293e-01 1.08896601e-02 9.51546087e-01 -3.31632592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:7.57, Z:-33.17 [[ 9.47019582e-01 9.97748274e-02 3.05284940e-01 1.04934241e+02] [-9.18661478e-02 9.94959527e-01 -4.02013746e-02 7.57013589e+00] [-3.07757244e-01 1.00261376e-02 9.51412085e-01 -3.31718739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:7.48, Z:-33.18 [[ 9.56885581e-01 7.67518418e-02 2.80141283e-01 1.04947931e+02] [-9.62075644e-02 9.93764875e-01 5.63513757e-02 7.47598744e+00] [-2.74069496e-01 -8.08735295e-02 9.58303388e-01 -3.31816962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:7.55, Z:-33.19 [[ 9.55907880e-01 1.05459758e-01 2.74077297e-01 1.04994626e+02] [-1.02103261e-01 9.94420098e-01 -2.65253327e-02 7.55173679e+00] [-2.75345327e-01 -2.62841111e-03 9.61341793e-01 -3.31900900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:7.56, Z:-33.20 [[ 9.55159495e-01 1.08886471e-01 2.75343561e-01 1.05025973e+02] [-1.02446486e-01 9.94023509e-01 -3.77091748e-02 7.55851251e+00] [-2.77803991e-01 7.81029608e-03 9.60606028e-01 -3.31967952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:7.56, Z:-33.20 [[ 9.54342889e-01 1.12506898e-01 2.76716188e-01 1.05052881e+02] [-1.03800331e-01 9.93535587e-01 -4.59622522e-02 7.56227783e+00] [-2.80098451e-01 1.51405167e-02 9.59851875e-01 -3.32025318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:7.63, Z:-33.20 [[ 9.44611630e-01 1.35764845e-01 2.98792195e-01 1.05099321e+02] [-1.01718601e-01 9.86704114e-01 -1.26760865e-01 7.63205326e+00] [-3.12029158e-01 8.93470630e-02 9.45861992e-01 -3.32040810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:7.55, Z:-33.22 [[ 9.44169282e-01 1.13191647e-01 3.09405911e-01 1.05117304e+02] [-1.05493044e-01 9.93551266e-01 -4.15583936e-02 7.55000859e+00] [-3.12114697e-01 6.59798738e-03 9.50021517e-01 -3.32249706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:7.55, Z:-33.24 [[ 9.44020335e-01 1.14244181e-01 3.09473543e-01 1.05150664e+02] [-1.06536076e-01 9.93431788e-01 -4.17534203e-02 7.54741476e+00] [-3.12210940e-01 6.44598100e-03 9.49990936e-01 -3.32361131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.18, Y:7.54, Z:-33.25 [[ 9.43873171e-01 1.16153033e-01 3.09211757e-01 1.05183690e+02] [-1.08490573e-01 9.93213059e-01 -4.19239156e-02 7.54444821e+00] [-3.11982745e-01 6.02429825e-03 9.50068668e-01 -3.32459960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.20, Y:7.45, Z:-33.26 [[ 9.51878679e-01 8.97687447e-02 2.93033364e-01 1.05199274e+02] [-1.10744055e-01 9.92283649e-01 5.57576358e-02 7.45013131e+00] [-2.85766923e-01 -8.55262078e-02 9.54475004e-01 -3.32558272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:7.63, Z:-33.25 [[ 9.43642194e-01 1.43985953e-01 2.98005799e-01 1.05262715e+02] [-1.08374704e-01 9.85194564e-01 -1.32840483e-01 7.62586277e+00] [-3.12720857e-01 9.30575944e-02 9.45275595e-01 -3.32505046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:7.53, Z:-33.27 [[ 9.43014902e-01 1.18463694e-01 3.10948947e-01 1.05278839e+02] [-1.10642739e-01 9.92940859e-01 -4.27391377e-02 7.53443928e+00] [-3.13816951e-01 5.89940051e-03 9.49465175e-01 -3.32733296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:7.53, Z:-33.28 [[ 9.42891625e-01 1.19091470e-01 3.11082957e-01 1.05311621e+02] [-1.11234689e-01 9.92865818e-01 -4.29454379e-02 7.52963936e+00] [-3.13978070e-01 5.88967790e-03 9.49411967e-01 -3.32834904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.32, Y:7.43, Z:-33.29 [[ 9.52873869e-01 8.89369521e-02 2.90037253e-01 1.05324621e+02] [-1.11705193e-01 9.91749953e-01 6.28806847e-02 7.42645333e+00] [-2.82052015e-01 -9.23160286e-02 9.54947334e-01 -3.32921149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.38, Y:7.56, Z:-33.29 [[ 9.53361337e-01 1.33519507e-01 2.70693006e-01 1.05379832e+02] [-1.15033772e-01 9.89878141e-01 -8.31173706e-02 7.56376087e+00] [-2.79050879e-01 4.81020500e-02 9.59070800e-01 -3.32905355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:7.57, Z:-33.30 [[ 9.41439997e-01 1.38281440e-01 3.07520690e-01 1.05412922e+02] [-1.14191714e-01 9.88897627e-01 -9.50880468e-02 7.56558243e+00] [-3.17255393e-01 5.44033759e-02 9.46778373e-01 -3.33020270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.44, Y:7.51, Z:-33.32 [[ 9.40867219e-01 1.24818981e-01 3.14943009e-01 1.05436108e+02] [-1.16836492e-01 9.92168067e-01 -4.41787265e-02 7.51243705e+00] [-3.17990741e-01 4.76947897e-03 9.48081822e-01 -3.33172755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:7.51, Z:-33.33 [[ 9.40701813e-01 1.27763987e-01 3.14255410e-01 1.05468994e+02] [-1.19913124e-01 9.91796672e-01 -4.42741894e-02 7.50905384e+00] [-3.17334117e-01 3.96546216e-03 9.48305506e-01 -3.33277139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:105.50, Y:7.51, Z:-33.34 [[ 9.40037065e-01 1.30399253e-01 3.15160833e-01 1.05502355e+02] [-1.22573468e-01 9.91456036e-01 -4.46169749e-02 7.50612993e+00] [-3.18286130e-01 3.31125387e-03 9.47988911e-01 -3.33368507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:105.54, Y:7.50, Z:-33.35 [[ 9.39794440e-01 1.33390610e-01 3.14632096e-01 1.05535615e+02] [-1.25683069e-01 9.91060343e-01 -4.47567008e-02 7.50352326e+00] [-3.17789516e-01 2.51817132e-03 9.48157942e-01 -3.33462427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.57, Y:7.51, Z:-33.36 [[ 9.38986140e-01 1.37888562e-01 3.15105973e-01 1.05569683e+02] [-1.30330508e-01 9.90446992e-01 -4.50412612e-02 7.50503368e+00] [-3.18306437e-01 1.22519840e-03 9.47987084e-01 -3.33566925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.60, Y:7.50, Z:-33.37 [[ 9.38829863e-01 1.39855319e-01 3.14704587e-01 1.05602883e+02] [-1.32351653e-01 9.90171639e-01 -4.52013943e-02 7.50441866e+00] [-3.17933212e-01 7.84746642e-04 9.48112787e-01 -3.33672689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.63, Y:7.46, Z:-33.38 [[ 9.51103966e-01 1.24652869e-01 2.82600263e-01 1.05626467e+02] [-1.31679089e-01 9.91274672e-01 5.92806236e-03 7.46166313e+00] [-2.79395533e-01 -4.28507487e-02 9.59219448e-01 -3.33775538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:7.55, Z:-33.38 [[ 9.39146824e-01 1.50926871e-01 3.08584386e-01 1.05675395e+02] [-1.29310839e-01 9.87559991e-01 -8.94649168e-02 7.54580593e+00] [-3.18248253e-01 4.41173866e-02 9.46980309e-01 -3.33781603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.70, Y:7.50, Z:-33.39 [[ 9.40006634e-01 1.33044125e-01 3.14144534e-01 1.05700325e+02] [-1.24990687e-01 9.91103100e-01 -4.57380859e-02 7.50182575e+00] [-3.17434805e-01 3.72896300e-03 9.48272766e-01 -3.33929635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.73, Y:7.50, Z:-33.40 [[ 9.39814537e-01 1.31379393e-01 3.15417327e-01 1.05734194e+02] [-1.23101204e-01 9.91321877e-01 -4.61197404e-02 7.49997393e+00] [-3.18739280e-01 4.51574975e-03 9.47831672e-01 -3.34030524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.77, Y:7.50, Z:-33.41 [[ 9.40164343e-01 1.30117549e-01 3.14897494e-01 1.05767934e+02] [-1.21727407e-01 9.91485166e-01 -4.62558546e-02 7.49863450e+00] [-3.18234892e-01 5.15644984e-03 9.47997872e-01 -3.34134309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:105.80, Y:7.50, Z:-33.42 [[ 9.40194968e-01 1.29351375e-01 3.15121632e-01 1.05801388e+02] [-1.20835662e-01 9.91582769e-01 -4.65011352e-02 7.50026852e+00] [-3.18484166e-01 5.64220245e-03 9.47911389e-01 -3.34248336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:105.83, Y:7.50, Z:-33.44 [[ 9.40193123e-01 1.31853569e-01 3.14088408e-01 1.05834959e+02] [-1.23461331e-01 9.91256618e-01 -4.65576816e-02 7.50043043e+00] [-3.17481010e-01 4.99543904e-03 9.48251472e-01 -3.34358992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:105.87, Y:7.50, Z:-33.45 [[ 9.39568084e-01 1.33458462e-01 3.15278693e-01 1.05867306e+02] [-1.25017279e-01 9.91043296e-01 -4.69453507e-02 7.49854878e+00] [-3.18720089e-01 4.69306900e-03 9.47837264e-01 -3.34455299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:105.88, Y:7.39, Z:-33.46 [[ 9.49958522e-01 1.01257644e-01 2.95509214e-01 1.05878049e+02] [-1.26651019e-01 9.89610816e-01 6.80437509e-02 7.39015136e+00] [-2.85549164e-01 -1.02065284e-01 9.52913612e-01 -3.34611009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:105.93, Y:7.50, Z:-33.46 [[ 9.50322346e-01 1.37227787e-01 2.79384992e-01 1.05930486e+02] [-1.29861312e-01 9.90519520e-01 -4.48008845e-02 7.50054987e+00] [-2.82884215e-01 6.29397988e-03 9.59133415e-01 -3.34624449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.98, Y:7.59, Z:-33.46 [[ 9.39969031e-01 1.65465327e-01 2.98461801e-01 1.05981153e+02] [-1.25809427e-01 9.81006489e-01 -1.47642327e-01 7.59352214e+00] [-3.17222649e-01 1.01229907e-01 9.42932817e-01 -3.34560606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:105.99, Y:7.50, Z:-33.48 [[ 9.39280089e-01 1.36084577e-01 3.15014130e-01 1.05993495e+02] [-1.27607435e-01 9.90687440e-01 -4.74840858e-02 7.49603775e+00] [-3.18542393e-01 4.40271121e-03 9.47898391e-01 -3.34842267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:106.03, Y:7.50, Z:-33.49 [[ 9.38998566e-01 1.35701816e-01 3.16016947e-01 1.06025672e+02] [-1.27083330e-01 9.90738346e-01 -4.78263191e-02 7.49575540e+00] [-3.19580226e-01 4.74835898e-03 9.47547325e-01 -3.34945498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:7.41, Z:-33.51 [[ 9.49895778e-01 1.05182503e-01 2.94337650e-01 1.06038356e+02] [-1.24770821e-01 9.90998122e-01 4.85279840e-02 7.40867074e+00] [-2.86583764e-01 -8.28212773e-02 9.54468639e-01 -3.35100190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:7.58, Z:-33.49 [[ 9.38306552e-01 1.58792394e-01 3.07190152e-01 1.06107224e+02] [-1.21744995e-01 9.83152545e-01 -1.36342328e-01 7.57821262e+00] [-3.23664905e-01 9.05320363e-02 9.41830653e-01 -3.34943395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:7.49, Z:-33.52 [[ 9.37414713e-01 1.30676041e-01 3.22765282e-01 1.06121465e+02] [-1.21196998e-01 9.91399141e-01 -4.93865558e-02 7.49302479e+00] [-3.26442863e-01 7.17750084e-03 9.45189685e-01 -3.35221204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:7.49, Z:-33.53 [[ 9.37436229e-01 1.29134840e-01 3.23322610e-01 1.06153913e+02] [-1.19466891e-01 9.91595344e-01 -4.96622071e-02 7.48910623e+00] [-3.27018316e-01 7.92880502e-03 9.44984738e-01 -3.35328278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:7.48, Z:-33.54 [[ 9.37749796e-01 1.28888203e-01 3.22510700e-01 1.06186575e+02] [-1.19191557e-01 9.91625315e-01 -4.97253159e-02 7.48439121e+00] [-3.26218781e-01 8.18935239e-03 9.45258822e-01 -3.35426530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:7.48, Z:-33.55 [[ 9.37550269e-01 1.29024652e-01 3.23035808e-01 1.06219681e+02] [-1.19237488e-01 9.91606182e-01 -4.99960175e-02 7.48160538e+00] [-3.26775023e-01 8.35580156e-03 9.45065217e-01 -3.35521287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:7.48, Z:-33.56 [[ 9.36758135e-01 1.31288663e-01 3.24418684e-01 1.06253346e+02] [-1.21472914e-01 9.91313306e-01 -5.04208281e-02 7.48141390e+00] [-3.28220241e-01 7.82403805e-03 9.44568821e-01 -3.35605253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:7.48, Z:-33.57 [[ 9.36560905e-01 1.32175233e-01 3.24628063e-01 1.06285985e+02] [-1.22332296e-01 9.91196324e-01 -5.06424473e-02 7.47704869e+00] [-3.28463820e-01 7.71724007e-03 9.44485025e-01 -3.35705595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:106.30, Y:7.39, Z:-33.59 [[ 9.47794433e-01 1.04833943e-01 3.01157031e-01 1.06296125e+02] [-1.23622240e-01 9.91354874e-01 4.39665329e-02 7.38620756e+00] [-2.93944306e-01 -7.89009418e-02 9.52560437e-01 -3.35875527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:106.37, Y:7.55, Z:-33.57 [[ 9.35955895e-01 1.60527543e-01 3.13396666e-01 1.06365309e+02] [-1.23157183e-01 9.83060800e-01 -1.35734194e-01 7.54844318e+00] [-3.29877054e-01 8.84441684e-02 9.39871671e-01 -3.35724504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:106.38, Y:7.46, Z:-33.60 [[ 9.35339316e-01 1.36842719e-01 3.26212253e-01 1.06379498e+02] [-1.26966859e-01 9.90569870e-01 -5.14854325e-02 7.46448368e+00] [-3.30181436e-01 6.73820391e-03 9.43893435e-01 -3.35990173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:106.40, Y:7.41, Z:-33.61 [[ 9.42291263e-01 1.25373578e-01 3.10432991e-01 1.06401990e+02] [-1.32987006e-01 9.91111974e-01 3.39280716e-03 7.41164565e+00] [-3.07248487e-01 -4.44805666e-02 9.50589210e-01 -3.36149539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:7.51, Z:-33.61 [[ 9.35593139e-01 1.55353417e-01 3.17065915e-01 1.06454297e+02] [-1.28015700e-01 9.86151322e-01 -1.05439801e-01 7.50812040e+00] [-3.29055405e-01 5.80593395e-02 9.42524087e-01 -3.36087198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:7.37, Z:-33.64 [[ 9.45961544e-01 1.11427587e-01 3.04533495e-01 1.06453455e+02] [-1.29932293e-01 9.90669766e-01 4.11219502e-02 7.37036832e+00] [-2.97110007e-01 -7.84685189e-02 9.51613543e-01 -3.36365325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:7.53, Z:-33.62 [[ 9.34625534e-01 1.67527174e-01 3.13703293e-01 1.06523666e+02] [-1.30939450e-01 9.82233745e-01 -1.34431136e-01 7.52959634e+00] [-3.30650829e-01 8.45666356e-02 9.39956655e-01 -3.36210595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:106.54, Y:7.45, Z:-33.65 [[ 9.33717031e-01 1.43025685e-01 3.28201400e-01 1.06537761e+02] [-1.33098397e-01 9.89703868e-01 -5.26409489e-02 7.44701082e+00] [-3.32351203e-01 5.46867014e-03 9.43139847e-01 -3.36471493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:7.44, Z:-33.66 [[ 9.33354894e-01 1.42584488e-01 3.29421167e-01 1.06570029e+02] [-1.32483772e-01 9.89765303e-01 -5.30348483e-02 7.44237141e+00] [-3.33611588e-01 5.85737629e-03 9.42692420e-01 -3.36579659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:106.60, Y:7.44, Z:-33.67 [[ 9.33789321e-01 1.42527141e-01 3.28212612e-01 1.06602689e+02] [-1.32422962e-01 9.89772208e-01 -5.30578494e-02 7.43830218e+00] [-3.32417905e-01 6.08196674e-03 9.43112584e-01 -3.36684650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:7.43, Z:-33.68 [[ 9.33463209e-01 1.42280791e-01 3.29245523e-01 1.06635431e+02] [-1.32017616e-01 9.89805495e-01 -5.34455890e-02 7.43429056e+00] [-3.33493309e-01 6.42328194e-03 9.42730584e-01 -3.36792300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:7.43, Z:-33.69 [[ 9.33364261e-01 1.41922516e-01 3.29680385e-01 1.06667579e+02] [-1.31532381e-01 9.89854484e-01 -5.37339059e-02 7.42853310e+00] [-3.33961659e-01 6.78966119e-03 9.42562205e-01 -3.36906902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:7.42, Z:-33.70 [[ 9.33777396e-01 1.41617194e-01 3.28640144e-01 1.06699905e+02] [-1.31199839e-01 9.89896016e-01 -5.37817811e-02 7.42272352e+00] [-3.32935994e-01 7.10267759e-03 9.42922677e-01 -3.37023609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:106.70, Y:7.31, Z:-33.72 [[ 9.47092703e-01 1.00629811e-01 3.04777054e-01 1.06702988e+02] [-1.24586240e-01 9.90383840e-01 6.01507905e-02 7.31250964e+00] [-2.95793306e-01 -9.49394020e-02 9.50522398e-01 -3.37201662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:7.51, Z:-33.70 [[ 9.35240122e-01 1.69284927e-01 3.10915627e-01 1.06783635e+02] [-1.26606664e-01 9.80112366e-01 -1.52808715e-01 7.50501553e+00] [-3.30600463e-01 1.03548851e-01 9.38073009e-01 -3.37023662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:7.40, Z:-33.73 [[ 9.33420034e-01 1.37613670e-01 3.31345013e-01 1.06792993e+02] [-1.26505893e-01 9.90441412e-01 -5.49733412e-02 7.40139575e+00] [-3.35742905e-01 9.39612135e-03 9.41906797e-01 -3.37322543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:7.40, Z:-33.74 [[ 9.33424220e-01 1.37891491e-01 3.31217697e-01 1.06825156e+02] [-1.26740532e-01 9.90401820e-01 -5.51459107e-02 7.39502398e+00] [-3.35642762e-01 9.49582148e-03 9.41941487e-01 -3.37427510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:7.32, Z:-33.76 [[ 9.44726225e-01 1.15061956e-01 3.07006686e-01 1.06838653e+02] [-1.27647014e-01 9.91593882e-01 2.11615912e-02 7.32039734e+00] [-3.01991057e-01 -5.91803969e-02 9.51472061e-01 -3.37586978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:7.39, Z:-33.76 [[ 9.45173013e-01 1.42098905e-01 2.94033802e-01 1.06885772e+02] [-1.31504927e-01 9.89755082e-01 -5.55997494e-02 7.38934785e+00] [-2.98922114e-01 1.38844890e-02 9.54176499e-01 -3.37597533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:7.43, Z:-33.76 [[ 9.32754993e-01 1.62208825e-01 3.21957172e-01 1.06930335e+02] [-1.32400976e-01 9.84783167e-01 -1.12570404e-01 7.43283349e+00] [-3.35317917e-01 6.23731621e-02 9.40038022e-01 -3.37635199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:7.37, Z:-33.78 [[ 9.31648117e-01 1.46770111e-01 3.32400843e-01 1.06950776e+02] [-1.35740095e-01 9.89143447e-01 -5.63015721e-02 7.37384036e+00] [-3.37055504e-01 7.33313171e-03 9.41456219e-01 -3.37837571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:7.37, Z:-33.79 [[ 9.31016192e-01 1.47472675e-01 3.33857245e-01 1.06983866e+02] [-1.36305745e-01 9.89038836e-01 -5.67708131e-02 7.36818182e+00] [-3.38569925e-01 7.34788585e-03 9.40912544e-01 -3.37936672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:7.36, Z:-33.81 [[ 9.31515552e-01 1.47411679e-01 3.32488456e-01 1.07016647e+02] [-1.36257260e-01 9.89046280e-01 -5.67575061e-02 7.36277098e+00] [-3.37213190e-01 7.56653346e-03 9.41397903e-01 -3.38051443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:7.36, Z:-33.82 [[ 9.31423418e-01 1.48075387e-01 3.32451645e-01 1.07049727e+02] [-1.36885304e-01 9.88947199e-01 -5.69723791e-02 7.35770331e+00] [-3.37213330e-01 7.55766345e-03 9.41397924e-01 -3.38163708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:7.35, Z:-33.83 [[ 9.31547118e-01 1.48497242e-01 3.31916459e-01 1.07082566e+02] [-1.37288467e-01 9.88883368e-01 -5.71100857e-02 7.35236929e+00] [-3.36707356e-01 7.63243382e-03 9.41578410e-01 -3.38280678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:7.35, Z:-33.84 [[ 9.30695233e-01 1.49416457e-01 3.33887863e-01 1.07115133e+02] [-1.38046302e-01 9.88745280e-01 -5.76714023e-02 7.34898743e+00] [-3.38747105e-01 7.58251442e-03 9.40846908e-01 -3.38390534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:7.35, Z:-33.85 [[ 9.30131248e-01 1.49675252e-01 3.35340395e-01 1.07148492e+02] [-1.38137200e-01 9.88704752e-01 -5.81466088e-02 7.34516092e+00] [-3.40255751e-01 7.76099464e-03 9.40300905e-01 -3.38494731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:7.27, Z:-33.87 [[ 9.39241669e-01 1.24470511e-01 3.19894012e-01 1.07161620e+02] [-1.40044169e-01 9.89802449e-01 2.60527000e-02 7.26577798e+00] [-3.13389084e-01 -6.92690726e-02 9.47095073e-01 -3.38653285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:7.36, Z:-33.86 [[ 9.43023849e-01 1.57270485e-01 2.93209847e-01 1.07214559e+02] [-1.42340649e-01 9.87215904e-01 -7.17209791e-02 7.35716309e+00] [-3.00741017e-01 2.58989140e-02 9.53354125e-01 -3.38606322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:7.39, Z:-33.87 [[ 9.28664870e-01 1.69526526e-01 3.29912588e-01 1.07255806e+02] [-1.39787295e-01 9.83820774e-01 -1.12054433e-01 7.38562033e+00] [-3.43571057e-01 5.79434276e-02 9.37337446e-01 -3.38685569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:7.25, Z:-33.89 [[ 9.42188560e-01 1.19969136e-01 3.12870777e-01 1.07251460e+02] [-1.36170423e-01 9.90219763e-01 3.03716593e-02 7.25198262e+00] [-3.06167165e-01 -7.12195758e-02 9.49309981e-01 -3.38938234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85592 meters Centerline goodness : 0.964028 Centerline is valid? [True, True] Translation: X:107.30, Y:7.34, Z:-33.92 [[ 9.24109938e-01 2.20148643e-01 3.12338593e-01 1.07302680e+02] [-2.22390928e-01 9.74529056e-01 -2.89031933e-02 7.34489069e+00] [-3.10746033e-01 -4.27515414e-02 9.49531047e-01 -3.39176948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:7.35, Z:-33.90 [[ 9.39405806e-01 1.53067652e-01 3.06736086e-01 1.07337281e+02] [-1.31943491e-01 9.87290593e-01 -8.85900694e-02 7.35114794e+00] [-3.16397926e-01 4.27501954e-02 9.47662795e-01 -3.38980526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:107.38, Y:7.38, Z:-33.91 [[ 9.29742994e-01 1.62186626e-01 3.30565370e-01 1.07377826e+02] [-1.25128436e-01 9.83506272e-01 -1.30607379e-01 7.37761918e+00] [-3.46295885e-01 8.00681682e-02 9.34702225e-01 -3.39053126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:107.39, Y:7.31, Z:-33.93 [[ 9.29240177e-01 1.37472585e-01 3.42948951e-01 1.07393167e+02] [-1.24034843e-01 9.90405497e-01 -6.09287286e-02 7.30506503e+00] [-3.48034555e-01 1.40798031e-02 9.37375969e-01 -3.39307063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:7.30, Z:-33.94 [[ 9.29812147e-01 1.36665413e-01 3.41719091e-01 1.07425103e+02] [-1.23194677e-01 9.90510338e-01 -6.09289850e-02 7.29861352e+00] [-3.46803177e-01 1.45545374e-02 9.37824995e-01 -3.39433242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:7.23, Z:-33.96 [[ 9.39480035e-01 1.13326619e-01 3.23317711e-01 1.07439403e+02] [-1.22849755e-01 9.92383296e-01 9.12863274e-03 7.22565045e+00] [-3.19820578e-01 -4.82956698e-02 9.46246440e-01 -3.39557567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:107.50, Y:7.34, Z:-33.95 [[ 9.27689358e-01 1.61380444e-01 3.36673146e-01 1.07501492e+02] [-1.26851650e-01 9.84352816e-01 -1.22303692e-01 7.33621704e+00] [-3.51142584e-01 7.07522896e-02 9.33645007e-01 -3.39505901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:7.20, Z:-33.98 [[ 9.36579418e-01 1.20741285e-01 3.28999295e-01 1.07501544e+02] [-1.33769417e-01 9.90863805e-01 1.71657324e-02 7.20215701e+00] [-3.23920881e-01 -6.00871155e-02 9.44174137e-01 -3.39768066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:7.31, Z:-33.97 [[ 9.37610413e-01 1.67410164e-01 3.04730292e-01 1.07563402e+02] [-1.41127507e-01 9.84247492e-01 -1.06488969e-01 7.31480705e+00] [-3.17757361e-01 5.68393396e-02 9.46466877e-01 -3.39711354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:7.28, Z:-33.99 [[ 9.23666580e-01 1.62759887e-01 3.46913920e-01 1.07586567e+02] [-1.42139530e-01 9.86253337e-01 -8.42657104e-02 7.28101066e+00] [-3.55860089e-01 2.85232389e-02 9.34103860e-01 -3.39918801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:7.26, Z:-34.01 [[ 9.22921999e-01 1.58275822e-01 3.50946931e-01 1.07615638e+02] [-1.44991485e-01 9.87361055e-01 -6.39970024e-02 7.25559015e+00] [-3.56640510e-01 8.17992477e-03 9.34205885e-01 -3.40064467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:7.19, Z:-34.02 [[ 9.32273044e-01 1.39887112e-01 3.33614400e-01 1.07634672e+02] [-1.50295631e-01 9.88626039e-01 5.45697238e-03 7.19033516e+00] [-3.29056523e-01 -5.52281752e-02 9.42693828e-01 -3.40217022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:7.23, Z:-34.03 [[ 9.32979195e-01 1.53954297e-01 3.25342736e-01 1.07673137e+02] [-1.48676650e-01 9.88027900e-01 -4.11840133e-02 7.23105154e+00] [-3.27788156e-01 -9.94704032e-03 9.44698884e-01 -3.40261151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:7.32, Z:-34.02 [[ 9.22461029e-01 1.89986145e-01 3.36111461e-01 1.07731223e+02] [-1.47452839e-01 9.77921000e-01 -1.48081661e-01 7.32175906e+00] [-3.56823920e-01 8.70389719e-02 9.30108009e-01 -3.40211108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:7.24, Z:-34.05 [[ 9.22123623e-01 1.60867808e-01 3.51865845e-01 1.07742889e+02] [-1.47281177e-01 9.86940761e-01 -6.52394786e-02 7.23645909e+00] [-3.57765677e-01 8.33564840e-03 9.33774190e-01 -3.40475421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:7.23, Z:-34.06 [[ 9.21621268e-01 1.60532816e-01 3.53331931e-01 1.07776415e+02] [-1.46711733e-01 9.86991634e-01 -6.57509023e-02 7.23055128e+00] [-3.59290837e-01 8.75948997e-03 9.33184529e-01 -3.40587529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:7.22, Z:-34.07 [[ 9.20507869e-01 1.60989594e-01 3.56016310e-01 1.07809684e+02] [-1.46879082e-01 9.86915662e-01 -6.65132488e-02 7.22385070e+00] [-3.62066013e-01 8.93462033e-03 9.32109637e-01 -3.40697885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:7.22, Z:-34.08 [[ 9.21128989e-01 1.61905097e-01 3.53988877e-01 1.07842860e+02] [-1.47936780e-01 9.86767395e-01 -6.63687946e-02 7.21698650e+00] [-3.60050129e-01 8.76624612e-03 9.32891772e-01 -3.40813322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:7.21, Z:-34.09 [[ 9.21621285e-01 1.63053223e-01 3.52175885e-01 1.07875575e+02] [-1.49213419e-01 9.86580246e-01 -6.62930846e-02 7.21294296e+00] [-3.58259073e-01 8.54774977e-03 9.33583083e-01 -3.40940236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:107.91, Y:7.21, Z:-34.11 [[ 9.21330063e-01 1.64499592e-01 3.52265239e-01 1.07909408e+02] [-1.50654670e-01 9.86342545e-01 -6.65699224e-02 7.20947936e+00] [-3.58404917e-01 8.26246744e-03 9.33529671e-01 -3.41063946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:7.20, Z:-34.12 [[ 9.21220281e-01 1.64722069e-01 3.52448341e-01 1.07942221e+02] [-1.50776756e-01 9.86303751e-01 -6.68676416e-02 7.20381766e+00] [-3.58635697e-01 8.45881020e-03 9.33439278e-01 -3.41176595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:7.20, Z:-34.13 [[ 9.21060066e-01 1.64304031e-01 3.53061667e-01 1.07974794e+02] [-1.50177256e-01 9.86369446e-01 -6.72466160e-02 7.19509012e+00] [-3.59298131e-01 8.91634025e-03 9.33180236e-01 -3.41301144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:7.19, Z:-34.14 [[ 9.21690320e-01 1.63405517e-01 3.51831766e-01 1.08006853e+02] [-1.49219298e-01 9.86513228e-01 -6.72699945e-02 7.18680471e+00] [-3.58078979e-01 9.50201343e-03 9.33642949e-01 -3.41428342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:7.18, Z:-34.15 [[ 9.22794603e-01 1.59353849e-01 3.50794057e-01 1.08039299e+02] [-1.44873691e-01 9.87156744e-01 -6.73288686e-02 7.18019372e+00] [-3.57017834e-01 1.13098869e-02 9.34029096e-01 -3.41545725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:7.17, Z:-34.17 [[ 9.23120387e-01 1.57271272e-01 3.50876757e-01 1.08072575e+02] [-1.42540256e-01 9.87477702e-01 -6.76022488e-02 7.17470967e+00] [-3.57114865e-01 1.23909512e-02 9.33978285e-01 -3.41661072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:7.16, Z:-34.18 [[ 9.23554423e-01 1.51654717e-01 3.52204591e-01 1.08105394e+02] [-1.36313774e-01 9.88321259e-01 -6.81149315e-02 7.16432692e+00] [-3.58421236e-01 1.48975092e-02 9.33441097e-01 -3.41773862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:7.16, Z:-34.19 [[ 9.24162466e-01 1.49720730e-01 3.51436252e-01 1.08137804e+02] [-1.34218659e-01 9.88600874e-01 -6.82177682e-02 7.15576606e+00] [-3.57643800e-01 1.58749982e-02 9.33723137e-01 -3.41895549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:7.08, Z:-34.20 [[ 9.38239751e-01 1.21584316e-01 3.23918855e-01 1.08149260e+02] [-1.30750512e-01 9.91393343e-01 6.59870773e-03 7.08447812e+00] [-3.20328697e-01 -4.85437259e-02 9.46061855e-01 -3.42025341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:7.20, Z:-34.20 [[ 9.25693678e-01 1.66669698e-01 3.39576833e-01 1.08214058e+02] [-1.29339140e-01 9.83052915e-01 -1.29916720e-01 7.20114684e+00] [-3.55475176e-01 7.63425107e-02 9.31562784e-01 -3.42031059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:7.13, Z:-34.22 [[ 9.24364707e-01 1.45017192e-01 3.52873776e-01 1.08230113e+02] [-1.28752239e-01 9.89254276e-01 -6.92736412e-02 7.13020097e+00] [-3.59127761e-01 1.86008202e-02 9.33103028e-01 -3.42245348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:7.03, Z:-34.24 [[ 9.35577422e-01 1.10310410e-01 3.35449699e-01 1.08237043e+02] [-1.27311722e-01 9.91437312e-01 2.90479219e-02 7.03320378e+00] [-3.29373059e-01 -6.98832588e-02 9.41610173e-01 -3.42379875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:7.19, Z:-34.23 [[ 9.26302565e-01 1.72765305e-01 3.34836836e-01 1.08313660e+02] [-1.26886461e-01 9.79806722e-01 -1.54527064e-01 7.19435011e+00] [-3.54772298e-01 1.00652554e-01 9.29519058e-01 -3.42337900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:7.10, Z:-34.26 [[ 9.24207409e-01 1.43446742e-01 3.53926119e-01 1.08323569e+02] [-1.26640665e-01 9.89452320e-01 -7.03295667e-02 7.10300787e+00] [-3.60281567e-01 2.01776676e-02 9.32625356e-01 -3.42591319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:7.01, Z:-34.27 [[ 9.33340885e-01 1.11749509e-01 3.41155155e-01 1.08333849e+02] [-1.26629951e-01 9.91715063e-01 2.15891203e-02 7.00956325e+00] [-3.35916133e-01 -6.33504694e-02 9.39759049e-01 -3.42700447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.38, Y:7.09, Z:-34.27 [[ 9.35410682e-01 1.42995201e-01 3.23356194e-01 1.08384019e+02] [-1.25995067e-01 9.89339345e-01 -7.30267349e-02 7.09377361e+00] [-3.30351477e-01 2.75687026e-02 9.43455281e-01 -3.42719340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.43, Y:7.15, Z:-34.28 [[ 9.22853217e-01 1.70340325e-01 3.45436121e-01 1.08433874e+02] [-1.27302420e-01 9.81378940e-01 -1.43838343e-01 7.14589191e+00] [-3.63505204e-01 8.87668237e-02 9.27353448e-01 -3.42791080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.43, Y:7.01, Z:-34.30 [[ 9.33291366e-01 1.23199098e-01 3.37326559e-01 1.08429252e+02] [-1.29341456e-01 9.91590800e-01 -4.29799716e-03 7.01020107e+00] [-3.35019422e-01 -3.96190245e-02 9.41377884e-01 -3.43003058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:7.11, Z:-34.31 [[ 9.22248550e-01 1.68448051e-01 3.47969635e-01 1.08491634e+02] [-1.31483419e-01 9.83094613e-01 -1.27424851e-01 7.11263061e+00] [-3.63551541e-01 7.17651468e-02 9.28805707e-01 -3.43058573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:6.96, Z:-34.32 [[ 9.30413321e-01 1.17369540e-01 3.47210950e-01 1.08486538e+02] [-1.34464789e-01 9.90591048e-01 2.54675592e-02 6.96208069e+00] [-3.40954943e-01 -7.03830034e-02 9.37441177e-01 -3.43218899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:7.04, Z:-34.33 [[ 9.33160401e-01 1.51415599e-01 3.26013777e-01 1.08539078e+02] [-1.38961121e-01 9.88398518e-01 -6.13039673e-02 7.03979978e+00] [-3.31513911e-01 1.19031947e-02 9.43375238e-01 -3.43279883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:7.06, Z:-34.34 [[ 9.29681817e-01 1.65971603e-01 3.28854294e-01 1.08574526e+02] [-1.44568619e-01 9.85512543e-01 -8.86845040e-02 7.05547300e+00] [-3.38809141e-01 3.49063596e-02 9.40207377e-01 -3.43365298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:7.02, Z:-34.35 [[ 9.27535876e-01 1.58771874e-01 3.38332218e-01 1.08598557e+02] [-1.47002487e-01 9.87295804e-01 -6.03097271e-02 7.01914479e+00] [-3.43609468e-01 6.20375794e-03 9.39092140e-01 -3.43512531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.65, Y:7.09, Z:-34.36 [[ 9.15049251e-01 1.89254717e-01 3.56184671e-01 1.08650510e+02] [-1.44264566e-01 9.78233616e-01 -1.49153367e-01 7.08748342e+00] [-3.76659797e-01 8.50978500e-02 9.22434688e-01 -3.43571891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:7.01, Z:-34.38 [[ 9.13132999e-01 1.64839013e-01 3.72848796e-01 1.08664721e+02] [-1.46378169e-01 9.86187439e-01 -7.75097804e-02 7.01031331e+00] [-3.80475436e-01 1.61998143e-02 9.24649127e-01 -3.43790024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.70, Y:7.00, Z:-34.39 [[ 9.13852575e-01 1.64809208e-01 3.71094860e-01 1.08696826e+02] [-1.46418681e-01 9.86188950e-01 -7.74139827e-02 6.99802784e+00] [-3.78728188e-01 1.64097473e-02 9.25362459e-01 -3.43926563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:108.72, Y:6.94, Z:-34.40 [[ 9.24790575e-01 1.47726616e-01 3.50626923e-01 1.08716253e+02] [-1.49390047e-01 9.88523120e-01 -2.24645277e-02 6.94221783e+00] [-3.49921428e-01 -3.16051889e-02 9.36245751e-01 -3.44033977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:108.77, Y:7.02, Z:-34.41 [[ 9.14369712e-01 1.82058661e-01 3.61638873e-01 1.08771221e+02] [-1.46513453e-01 9.81451048e-01 -1.23643233e-01 7.02255715e+00] [-3.77441172e-01 6.00706673e-02 9.24083155e-01 -3.44131054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:108.79, Y:6.97, Z:-34.43 [[ 9.12668176e-01 1.67124653e-01 3.72969370e-01 1.08793543e+02] [-1.48333120e-01 9.85796849e-01 -7.87518761e-02 6.96960850e+00] [-3.80833409e-01 1.65506208e-02 9.24495533e-01 -3.44299750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:108.83, Y:6.96, Z:-34.44 [[ 9.11613468e-01 1.69165038e-01 3.74625245e-01 1.08826827e+02] [-1.50237326e-01 9.85456194e-01 -7.94029903e-02 6.95989775e+00] [-3.82608978e-01 1.61021402e-02 9.23770042e-01 -3.44425575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.86, Y:6.95, Z:-34.46 [[ 9.10485205e-01 1.71853062e-01 3.76142548e-01 1.08859588e+02] [-1.52856942e-01 9.85002718e-01 -8.00275010e-02 6.94869621e+00] [-3.84254403e-01 1.53678558e-02 9.23099335e-01 -3.44555297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:6.94, Z:-34.47 [[ 9.10963299e-01 1.74506864e-01 3.73755564e-01 1.08891970e+02] [-1.55854668e-01 9.84549767e-01 -7.98190389e-02 6.94072058e+00] [-3.81909924e-01 1.44606659e-02 9.24086413e-01 -3.44689771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.92, Y:6.93, Z:-34.48 [[ 9.10227160e-01 1.81405501e-01 3.72261416e-01 1.08924718e+02] [-1.63340255e-01 9.83337226e-01 -7.97988828e-02 6.93224651e+00] [-3.80534465e-01 1.18298357e-02 9.24691071e-01 -3.44832899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:108.96, Y:6.93, Z:-34.50 [[ 9.07723962e-01 1.89288815e-01 3.74442189e-01 1.08958692e+02] [-1.71515197e-01 9.81880964e-01 -8.05748681e-02 6.92627659e+00] [-3.82909579e-01 8.91721298e-03 9.23742788e-01 -3.44951302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:108.98, Y:6.86, Z:-34.51 [[ 9.14790015e-01 1.70367229e-01 3.66243409e-01 1.08978138e+02] [-1.77995418e-01 9.83943912e-01 -1.31152321e-02 6.86049477e+00] [-3.62597379e-01 -5.31919652e-02 9.30426653e-01 -3.45073415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.70, Y:7.70, Z:-33.56 [[ 8.97299616e-01 4.00312074e-01 -1.86020543e-01 1.09698061e+02] [-1.68977755e-01 -7.78132666e-02 -9.82543441e-01 7.69733699e+00] [-4.07798869e-01 9.13069186e-01 -2.17797876e-03 -3.35595412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.11, Y:6.90, Z:-34.50 [[ 8.77944129e-01 1.97813625e-01 4.35986096e-01 1.09110821e+02] [-1.73720559e-01 9.80210256e-01 -9.49158685e-02 6.89984164e+00] [-4.46133694e-01 7.59108119e-03 8.94934133e-01 -3.44979800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.15, Y:6.89, Z:-34.52 [[ 8.77675098e-01 1.99128553e-01 4.35929171e-01 1.09146709e+02] [-1.75059208e-01 9.79946774e-01 -9.51766440e-02 6.89304470e+00] [-4.46139773e-01 7.22075480e-03 8.94934167e-01 -3.45150968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.18, Y:6.89, Z:-34.53 [[ 8.77846890e-01 2.00236742e-01 4.35074804e-01 1.09182442e+02] [-1.76053842e-01 9.79719634e-01 -9.56790643e-02 6.88920061e+00] [-4.45409792e-01 7.39497815e-03 8.95296282e-01 -3.45330461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.21, Y:6.85, Z:-34.55 [[ 8.93796078e-01 1.84505834e-01 4.08761751e-01 1.09207435e+02] [-1.78083277e-01 9.82527401e-01 -5.40948441e-02 6.84975542e+00] [-4.11600435e-01 -2.44438726e-02 9.11036541e-01 -3.45472790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.24, Y:6.82, Z:-34.57 [[ 8.91626834e-01 1.75031610e-01 4.17570981e-01 1.09243366e+02] [-1.79640870e-01 9.83316682e-01 -2.85912623e-02 6.81641295e+00] [-4.15608887e-01 -4.95200777e-02 9.08194371e-01 -3.45659753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.00, Y:7.64, Z:-33.75 [[ 8.62740245e-01 4.82839601e-01 -1.50150557e-01 1.10002654e+02] [-1.74027147e-01 4.72732529e-03 -9.84729508e-01 7.64205759e+00] [-4.74756593e-01 8.75696050e-01 8.81056522e-02 -3.37516156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:109.36, Y:6.77, Z:-34.56 [[ 8.55567505e-01 1.63516601e-01 4.91188931e-01 1.09359662e+02] [-1.74898619e-01 9.84316950e-01 -2.30351026e-02 6.77026772e+00] [-4.87252212e-01 -6.62001802e-02 8.70748424e-01 -3.45626823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:7.61, Z:-33.86 [[ 8.22565491e-01 5.56752256e-01 -1.15814242e-01 1.10157962e+02] [-1.78984808e-01 6.01630464e-02 -9.82010614e-01 7.60961554e+00] [-5.39768887e-01 8.28497033e-01 1.49138242e-01 -3.38606766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:109.49, Y:6.75, Z:-34.58 [[ 8.18034062e-01 1.75004084e-01 5.47899484e-01 1.09488070e+02] [-1.82944845e-01 9.82284197e-01 -4.06071396e-02 6.75204090e+00] [-5.45299420e-01 -6.70173630e-02 8.35558026e-01 -3.45764205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:110.37, Y:7.57, Z:-33.89 [[ 7.77979224e-01 6.09635717e-01 -1.51962561e-01 1.10373986e+02] [-1.83075828e-01 -1.14083874e-02 -9.83032599e-01 7.56868843e+00] [-6.01025431e-01 7.92599610e-01 1.02734075e-01 -3.38853538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:109.62, Y:6.74, Z:-34.60 [[ 7.69133479e-01 1.96127187e-01 6.08249799e-01 1.09623015e+02] [-1.85774985e-01 9.79260820e-01 -8.08449237e-02 6.74385007e+00] [-6.11491084e-01 -5.08170600e-02 7.89617807e-01 -3.46022501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:110.58, Y:7.52, Z:-33.95 [[ 7.29852198e-01 6.61827305e-01 -1.71173560e-01 1.10578521e+02] [-1.78871510e-01 -5.67858713e-02 -9.82232329e-01 7.51937344e+00] [-6.59788415e-01 7.47502497e-01 7.69367563e-02 -3.39491747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:109.78, Y:6.79, Z:-34.64 [[ 7.01166701e-01 2.61182784e-01 6.63437120e-01 1.09781511e+02] [-1.82075056e-01 9.65229860e-01 -1.87563300e-01 6.79214951e+00] [-6.89357623e-01 1.07177893e-02 7.24341906e-01 -3.46423101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:109.82, Y:6.78, Z:-34.68 [[ 6.99947974e-01 2.66471023e-01 6.62620576e-01 1.09816843e+02] [-1.87724292e-01 9.63808846e-01 -1.89293686e-01 6.78433607e+00] [-6.89080854e-01 8.10575350e-03 7.24639133e-01 -3.46757570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters Centerline goodness : 0.951344 Centerline is valid? [True, True] Translation: X:109.84, Y:6.75, Z:-34.73 [[ 0.69002938 0.29351185 0.66159674 109.84356691] [ -0.29124971 0.94941206 -0.1174323 6.75452843] [ -0.6625957 -0.11165812 0.74060746 -34.73110538] [ 0. 0. 0. 1. ]] SLAMing on 126.95591999999999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:111.20, Y:7.11, Z:-33.65 [[ 0.67871474 0.41640372 -0.60494152 111.20181673] [ -0.1726655 -0.7101526 -0.68254664 7.10735248] [ -0.71381575 0.56770699 -0.41009248 -33.64582027] [ 0. 0. 0. 1. ]] SLAMing on 126.98592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.10, Y:5.73, Z:-33.67 [[ 0.73008736 -0.52480845 -0.43766258 111.10396565] [ -0.12291243 -0.73086834 0.67135982 5.73260386] [ -0.67220903 -0.43635715 -0.59810322 -33.67002749] [ 0. 0. 0. 1. ]] SLAMing on 127.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:110.07, Y:6.49, Z:-34.95 [[ 7.23779151e-01 9.99150152e-02 6.82759643e-01 1.10067263e+02] [-1.02372126e-01 9.94059749e-01 -3.69481186e-02 6.49185349e+00] [-6.82395551e-01 -4.31532785e-02 7.29708234e-01 -3.49501003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:110.87, Y:7.35, Z:-34.46 [[ 6.71725813e-01 7.40048243e-01 3.33621109e-02 1.10870468e+02] [-1.16072039e-01 1.49621414e-01 -9.81906673e-01 7.35360020e+00] [-7.31649995e-01 6.55699649e-01 1.86403474e-01 -3.44649401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:111.70, Y:6.40, Z:-33.79 [[ 6.84291586e-01 6.02310914e-02 -7.26716754e-01 1.11697946e+02] [-4.01380174e-02 -9.91961003e-01 -1.20009620e-01 6.40170207e+00] [-7.28102991e-01 1.11290543e-01 -6.76373011e-01 -3.37859874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:110.29, Y:6.38, Z:-35.11 [[ 6.76557408e-01 3.02562615e-02 7.35768056e-01 1.10293799e+02] [-4.23878301e-02 9.99099008e-01 -2.10827362e-03 6.38133164e+00] [-7.35168923e-01 -2.97612432e-02 6.77230332e-01 -3.51099334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.21, Y:7.29, Z:-34.56 [[ 6.13128672e-01 7.89983029e-01 2.12115269e-04 1.11206398e+02] [-2.10840553e-02 1.66323542e-02 -9.99639349e-01 7.29171937e+00] [-7.89701649e-01 6.12903074e-01 2.68538191e-02 -3.45630419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:111.36, Y:7.28, Z:-34.66 [[ 5.56252891e-01 8.30995102e-01 -5.46462243e-03 1.11358001e+02] [-2.02170896e-02 6.95845418e-03 -9.99771398e-01 7.28380197e+00] [-8.30767110e-01 5.56236210e-01 2.06709627e-02 -3.46574492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.53, Y:7.27, Z:-34.74 [[ 4.97426681e-01 8.65396632e-01 -6.04596230e-02 1.11527035e+02] [-4.85290983e-02 -4.18256194e-02 -9.97945662e-01 7.26894609e+00] [-8.66147576e-01 4.99338849e-01 2.11917392e-02 -3.47361405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:112.33, Y:6.12, Z:-34.41 [[ 5.26964909e-01 -5.36336305e-02 -8.48193031e-01 1.12333857e+02] [ 3.42524296e-02 -9.95855675e-01 8.42510856e-02 6.11800293e+00] [-8.49196536e-01 -7.34500377e-02 -5.22943913e-01 -3.44068076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25591999999999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:111.75, Y:5.30, Z:-34.96 [[ 5.68262973e-01 -7.81549802e-01 -2.57404546e-01 1.11752931e+02] [ 4.12656547e-02 -2.85360232e-01 9.57531558e-01 5.30463897e+00] [-8.21811621e-01 -5.54751697e-01 -1.29908489e-01 -3.49648328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:110.79, Y:6.13, Z:-35.65 [[ 5.70425144e-01 -1.73191369e-01 8.02882248e-01 1.10789245e+02] [ 3.13854077e-02 9.81398104e-01 1.89400943e-01 6.12570407e+00] [-8.20749725e-01 -8.28402736e-02 5.65249837e-01 -3.56511034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31591999999999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:111.61, Y:7.23, Z:-35.24 [[ 4.88059898e-01 8.56640572e-01 1.67225794e-01 1.11613223e+02] [ 5.03488682e-02 1.63643039e-01 -9.85233956e-01 7.22979860e+00] [-8.71356717e-01 4.89272813e-01 3.67367216e-02 -3.52367060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:111.83, Y:5.30, Z:-35.37 [[ 5.75068727e-01 -8.08452099e-01 -1.25304281e-01 1.11829409e+02] [ 1.82887320e-02 -1.40421792e-01 9.89922847e-01 5.29567497e+00] [-8.17900655e-01 -5.71565328e-01 -6.59666176e-02 -3.53697367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:111.80, Y:7.24, Z:-35.50 [[ 4.86588530e-01 8.59279772e-01 1.57701858e-01 1.11804966e+02] [ 5.01558619e-02 1.52738808e-01 -9.86993032e-01 7.24327658e+00] [-8.72190342e-01 4.88169161e-01 3.12230343e-02 -3.54993347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:111.98, Y:7.25, Z:-35.58 [[ 4.32997240e-01 8.96677170e-01 9.21056073e-02 1.11981278e+02] [ 1.12357309e-02 9.68042334e-02 -9.95240021e-01 7.25098428e+00] [-9.01325218e-01 4.31971056e-01 3.18411425e-02 -3.55830821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:112.95, Y:6.27, Z:-35.32 [[ 4.56716458e-01 1.54963740e-01 -8.76011596e-01 1.12953070e+02] [ 1.14350562e-01 -9.86768993e-01 -1.14938695e-01 6.27256867e+00] [-8.82232410e-01 -4.76780245e-02 -4.68393830e-01 -3.53162620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.24, Y:6.14, Z:-36.22 [[ 4.11123263e-01 -2.13385843e-01 8.86252867e-01 1.11241598e+02] [ 7.61209402e-02 9.76857155e-01 1.99889225e-01 6.13694376e+00] [-9.08395985e-01 -1.47167086e-02 4.17851831e-01 -3.62189622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.26, Y:6.16, Z:-36.27 [[ 4.11512015e-01 -2.06022789e-01 8.87813309e-01 1.11261799e+02] [ 7.38656508e-02 9.78450331e-01 1.92818087e-01 6.15634332e+00] [-9.08406147e-01 -1.37680514e-02 4.17862075e-01 -3.62675863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.28, Y:6.17, Z:-36.32 [[ 4.12668863e-01 -1.97509811e-01 8.89209921e-01 1.11283243e+02] [ 6.96783515e-02 9.80193033e-01 1.85382159e-01 6.17232431e+00] [-9.08212165e-01 -1.45427632e-02 4.18257303e-01 -3.63157437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:6.19, Z:-36.36 [[ 4.15132165e-01 -1.89420136e-01 8.89823184e-01 1.11304895e+02] [ 6.64304858e-02 9.81784827e-01 1.78004335e-01 6.18924978e+00] [-9.07332506e-01 -1.47839386e-02 4.20153732e-01 -3.63649508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:112.13, Y:5.32, Z:-36.24 [[ 5.08841947e-01 -8.60859782e-01 5.56596110e-04 1.12127096e+02] [ 5.49045007e-02 3.30984961e-02 9.97942877e-01 5.32069805e+00] [-8.59107310e-01 -5.07764636e-01 6.41069797e-02 -3.62376354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61591999999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:112.14, Y:5.34, Z:-36.43 [[ 5.68387347e-01 -8.22467148e-01 2.19912326e-02 1.12142622e+02] [ 5.26539426e-02 6.30356681e-02 9.96621326e-01 5.34123712e+00] [-8.21074531e-01 -5.65309026e-01 7.91348142e-02 -3.64268007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:112.22, Y:5.35, Z:-36.57 [[ 6.23228843e-01 -7.81513668e-01 -2.86739702e-02 1.12219539e+02] [ 8.83907218e-02 3.39629603e-02 9.95506704e-01 5.35260500e+00] [-7.77028243e-01 -6.22963004e-01 9.02452536e-02 -3.65740225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:111.55, Y:6.30, Z:-37.08 [[ 5.97333479e-01 -1.34338839e-01 7.90661616e-01 1.11549109e+02] [ 4.37086889e-02 9.89858898e-01 1.35162539e-01 6.30238010e+00] [-8.00801015e-01 -4.61783270e-02 5.97147634e-01 -3.70836448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:111.58, Y:6.26, Z:-37.12 [[ 6.24124006e-01 -1.77199150e-01 7.60966285e-01 1.11583033e+02] [ 4.72302576e-02 9.80718275e-01 1.89633773e-01 6.25515512e+00] [-7.79896485e-01 -8.24143562e-02 6.20458980e-01 -3.71183840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:111.63, Y:6.40, Z:-37.17 [[ 6.14094888e-01 -7.02663996e-02 7.86098023e-01 1.11627190e+02] [ 3.20194454e-02 9.97426910e-01 6.41429168e-02 6.39935655e+00] [-7.88582414e-01 -1.42194146e-02 6.14764658e-01 -3.71734794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:112.39, Y:7.32, Z:-36.74 [[ 5.34242419e-01 8.08685972e-01 2.46195119e-01 1.12391646e+02] [ 9.86437217e-03 2.85257200e-01 -9.58400242e-01 7.32226114e+00] [-8.45273761e-01 5.14446624e-01 1.44419317e-01 -3.67430612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:113.46, Y:6.46, Z:-36.29 [[ 5.34617863e-01 3.00451263e-01 -7.89881497e-01 1.13455338e+02] [ 1.29832542e-01 -9.52771583e-01 -2.74535649e-01 6.45743994e+00] [-8.35061226e-01 4.42193397e-02 -5.48377059e-01 -3.62912445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:112.97, Y:7.26, Z:-36.70 [[ 4.47994880e-01 8.91380342e-01 -6.88598048e-02 1.12972631e+02] [ 1.38428143e-01 -1.45251691e-01 -9.79663001e-01 7.26130791e+00] [-8.83254344e-01 4.29351874e-01 -1.88464140e-01 -3.66990190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:111.98, Y:6.24, Z:-37.53 [[ 5.04160699e-01 -2.69523181e-01 8.20475011e-01 1.11981264e+02] [ 6.62033612e-02 9.59318948e-01 2.74452675e-01 6.24351358e+00] [-8.61068583e-01 -8.40500491e-02 5.01494252e-01 -3.75325659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.75, Y:7.36, Z:-37.22 [[ 3.87580338e-01 8.50882983e-01 3.54654240e-01 1.12750347e+02] [ 6.29776148e-02 3.59386600e-01 -9.31061272e-01 7.36213230e+00] [-9.19682174e-01 3.83196321e-01 8.57045992e-02 -3.72186893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:113.13, Y:5.42, Z:-37.35 [[ 4.88340797e-01 -8.22162152e-01 -2.92528054e-01 1.13128816e+02] [ 5.45346078e-02 -3.05809614e-01 9.50529566e-01 5.41559221e+00] [-8.70947325e-01 -4.80135269e-01 -1.04503020e-01 -3.73503267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:113.19, Y:5.41, Z:-37.52 [[ 5.38190684e-01 -7.81925667e-01 -3.14552123e-01 1.13187513e+02] [ 7.61669786e-02 -3.26562630e-01 9.42101608e-01 5.41165363e+00] [-8.39374397e-01 -5.30988794e-01 -1.16196050e-01 -3.75223661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:113.26, Y:5.41, Z:-37.69 [[ 5.87401417e-01 -7.36098938e-01 -3.36330088e-01 1.13260788e+02] [ 9.89547519e-02 -3.47138262e-01 9.32578675e-01 5.41234445e+00] [-8.03223214e-01 -5.81079495e-01 -1.31069019e-01 -3.76899072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.97, Y:7.38, Z:-37.83 [[ 5.11658148e-01 7.69765711e-01 3.81663058e-01 1.12970493e+02] [ 1.10421940e-01 3.81615571e-01 -9.17701777e-01 7.38414094e+00] [-8.52063926e-01 5.11693567e-01 1.10257693e-01 -3.78334407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:113.16, Y:7.43, Z:-37.92 [[ 4.71145339e-01 8.21107817e-01 3.22186317e-01 1.13161797e+02] [ 6.45502234e-02 3.32191429e-01 -9.41000597e-01 7.42617680e+00] [-8.79690479e-01 4.64145244e-01 1.03507751e-01 -3.79162505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:114.28, Y:6.65, Z:-37.61 [[ 4.53551571e-01 4.36657365e-01 -7.76930704e-01 1.14276890e+02] [ 1.48361163e-01 -8.96579409e-01 -4.17294055e-01 6.64704999e+00] [-8.78794594e-01 7.39980315e-02 -4.71427994e-01 -3.76057628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:112.57, Y:6.34, Z:-38.56 [[ 4.15229992e-01 -3.10966787e-01 8.54917371e-01 1.12570987e+02] [ 1.38390175e-01 9.50417013e-01 2.78488170e-01 6.33834863e+00] [-8.99128585e-01 2.67552410e-03 4.37676397e-01 -3.85594521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:112.60, Y:6.36, Z:-38.62 [[ 4.15928404e-01 -3.01233890e-01 8.58056937e-01 1.12596979e+02] [ 1.35048483e-01 9.53542420e-01 2.69293077e-01 6.36275565e+00] [-8.99313889e-01 3.87264841e-03 4.37286556e-01 -3.86175045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.62, Y:6.38, Z:-38.67 [[ 4.17085509e-01 -2.91970543e-01 8.60693255e-01 1.12618188e+02] [ 1.35312080e-01 9.56389588e-01 2.58862119e-01 6.38363110e+00] [-8.98738182e-01 8.49455593e-03 4.38403380e-01 -3.86676672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:112.64, Y:6.40, Z:-38.72 [[ 4.18509016e-01 -2.84156982e-01 8.62615217e-01 1.12642132e+02] [ 1.32854592e-01 9.58731641e-01 2.51362880e-01 6.40007152e+00] [-8.98443020e-01 9.40476144e-03 4.38989396e-01 -3.87174011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:112.67, Y:6.42, Z:-38.77 [[ 4.18430685e-01 -2.77120805e-01 8.64939201e-01 1.12665953e+02] [ 1.31972655e-01 9.60759383e-01 2.43976692e-01 6.41976625e+00] [-8.98609471e-01 1.20609889e-02 4.38583575e-01 -3.87671076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:112.69, Y:6.44, Z:-38.82 [[ 4.19186373e-01 -2.69600666e-01 8.66947672e-01 1.12688739e+02] [ 1.30264384e-01 9.62873074e-01 2.36445836e-01 6.43764227e+00] [-8.98506525e-01 1.38175324e-02 4.38742636e-01 -3.88169923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:113.62, Y:5.50, Z:-38.69 [[ 4.87334854e-01 -8.53720176e-01 -1.83484608e-01 1.13623714e+02] [ 1.03590134e-01 -1.52119322e-01 9.82918509e-01 5.49639518e+00] [-8.67048917e-01 -4.98017643e-01 1.43039399e-02 -3.86881469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:113.73, Y:7.50, Z:-38.55 [[ 4.57019147e-01 8.67764128e-01 1.95240664e-01 1.13731729e+02] [ 1.40784566e-01 1.46164959e-01 -9.79191253e-01 7.50214869e+00] [-8.78244388e-01 4.74996023e-01 -5.53676113e-02 -3.85487402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:113.79, Y:5.54, Z:-38.99 [[ 4.85092541e-01 -8.54767302e-01 -1.84548329e-01 1.13791820e+02] [ 1.06286744e-01 -1.51844561e-01 9.82673067e-01 5.53612404e+00] [-8.67979467e-01 -4.96302416e-01 1.71917693e-02 -3.89928221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:113.90, Y:7.54, Z:-38.85 [[ 4.57004037e-01 8.68510109e-01 1.91930980e-01 1.13899048e+02] [ 1.37871969e-01 1.44005230e-01 -9.79925412e-01 7.54495572e+00] [-8.78714191e-01 4.74291772e-01 -5.39322275e-02 -3.88513689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:113.91, Y:5.59, Z:-39.32 [[ 4.81171869e-01 -8.60975919e-01 -1.64906335e-01 1.13914479e+02] [ 1.40116685e-01 -1.10160586e-01 9.83987784e-01 5.58688019e+00] [-8.65355965e-01 -4.96573370e-01 6.76309170e-02 -3.93160045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.11, Y:6.53, Z:-39.73 [[ 4.83676424e-01 -2.85420527e-01 8.27400894e-01 1.13105815e+02] [ 1.31989062e-01 9.58309172e-01 2.53421423e-01 6.52592429e+00] [-8.65237542e-01 -1.33660995e-02 5.01183941e-01 -3.97266327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.13, Y:6.59, Z:-39.77 [[ 4.85114701e-01 -2.36438712e-01 8.41879126e-01 1.13128411e+02] [ 1.29911109e-01 9.71555140e-01 1.97999276e-01 6.59117723e+00] [-8.64746686e-01 1.33170909e-02 5.02031696e-01 -3.97689323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:113.16, Y:6.61, Z:-39.81 [[ 4.85509400e-01 -2.28567292e-01 8.43823214e-01 1.13155521e+02] [ 1.23582022e-01 9.73468404e-01 1.92579205e-01 6.60762986e+00] [-8.65452545e-01 1.07823643e-02 5.00874868e-01 -3.98144821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:113.18, Y:6.62, Z:-39.86 [[ 4.86590311e-01 -2.21313698e-01 8.45133194e-01 1.13182084e+02] [ 1.18735056e-01 9.75157805e-01 1.87000644e-01 6.62340664e+00] [-8.65524035e-01 9.35423521e-03 5.00780034e-01 -3.98605129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:113.21, Y:6.64, Z:-39.91 [[ 4.88304016e-01 -2.13849924e-01 8.46065835e-01 1.13210225e+02] [ 1.13642551e-01 9.76836866e-01 1.81314939e-01 6.64064960e+00] [-8.65242485e-01 7.61226690e-03 5.01295816e-01 -3.99087961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57592 meters Centerline goodness : 0.985756 Centerline is valid? [True, True] Translation: X:113.22, Y:6.64, Z:-39.95 [[ 5.21572754e-01 -2.13698512e-01 8.26011385e-01 1.13218027e+02] [ 6.86652490e-02 9.75498766e-01 2.09014930e-01 6.63969701e+00] [-8.50439266e-01 -5.22982150e-02 5.23467239e-01 -3.99506952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:113.27, Y:6.64, Z:-40.01 [[ 4.99994692e-01 -2.31240254e-01 8.34585677e-01 1.13266105e+02] [ 1.07972575e-01 9.72818743e-01 2.04855108e-01 6.63702679e+00] [-8.59271337e-01 -1.23141023e-02 5.11371814e-01 -4.00054593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:113.30, Y:6.67, Z:-40.07 [[ 4.91025135e-01 -2.08889025e-01 8.45730271e-01 1.13303173e+02] [ 9.68938722e-02 9.77897662e-01 1.85277467e-01 6.67243230e+00] [-8.65740085e-01 -9.02981253e-03 5.00412398e-01 -4.00679344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:113.33, Y:6.72, Z:-40.11 [[ 4.92958494e-01 -1.74095140e-01 8.52456923e-01 1.13330194e+02] [ 9.62529109e-02 9.84674367e-01 1.45436477e-01 6.72133365e+00] [-8.64712265e-01 1.03573137e-02 5.02160756e-01 -4.01104745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:113.36, Y:6.74, Z:-40.16 [[ 4.89164667e-01 -1.69322888e-01 8.55597854e-01 1.13358497e+02] [ 9.58748312e-02 9.85468930e-01 1.40210573e-01 6.73579217e+00] [-8.66905961e-01 1.34442413e-02 4.98290385e-01 -4.01562191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:113.39, Y:6.75, Z:-40.20 [[ 4.89102191e-01 -1.64834861e-01 8.56509495e-01 1.13386329e+02] [ 9.67964105e-02 9.86172656e-01 1.34513741e-01 6.75119856e+00] [-8.66838798e-01 1.71160790e-02 4.98294630e-01 -4.02024698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:113.41, Y:6.65, Z:-40.25 [[ 5.22789414e-01 -2.56186750e-01 8.13055704e-01 1.13412637e+02] [ 1.04513301e-01 9.65840548e-01 2.37126562e-01 6.65182754e+00] [-8.46030849e-01 -3.89921210e-02 5.31706137e-01 -4.02497447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.29, Y:7.69, Z:-39.86 [[ 4.64495380e-01 8.25477772e-01 3.20671935e-01 1.14288749e+02] [ 8.08655598e-02 3.21056269e-01 -9.43601417e-01 7.69112126e+00] [-8.81875730e-01 4.64229814e-01 8.23764313e-02 -3.98627182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:114.45, Y:7.72, Z:-40.00 [[ 4.12423437e-01 8.62868121e-01 2.92173776e-01 1.14454926e+02] [ 6.17840253e-02 2.93488711e-01 -9.53963894e-01 7.72167095e+00] [-9.08894737e-01 4.11488740e-01 6.77301572e-02 -3.99963198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:114.60, Y:5.72, Z:-40.21 [[ 4.21751750e-01 -8.74461348e-01 -2.39672303e-01 1.14603258e+02] [ 1.58366817e-02 -2.57186767e-01 9.66231942e-01 5.71716028e+00] [-9.06573031e-01 -4.11305626e-01 -9.46204028e-02 -4.02120952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:114.67, Y:5.71, Z:-40.40 [[ 4.78190064e-01 -8.35863962e-01 -2.69565762e-01 1.14673500e+02] [ 3.36825861e-02 -2.89252915e-01 9.56659937e-01 5.71072686e+00] [-8.77610247e-01 -4.66544948e-01 -1.10163810e-01 -4.03997539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:114.61, Y:7.73, Z:-40.51 [[ 4.78842667e-01 8.18079385e-01 3.18521303e-01 1.14609140e+02] [ 8.01978490e-02 3.20542033e-01 -9.43833200e-01 7.73222675e+00] [-8.74229950e-01 4.77492330e-01 8.78809948e-02 -4.05095964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.77, Y:7.76, Z:-40.65 [[ 4.28060864e-01 8.55153757e-01 2.92362701e-01 1.14774637e+02] [ 5.91859154e-02 2.96279111e-01 -9.53265816e-01 7.76230998e+00] [-9.01809805e-01 4.25359543e-01 7.62124344e-02 -4.06485891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:114.94, Y:5.75, Z:-40.85 [[ 4.11800111e-01 -8.77458092e-01 -2.45943011e-01 1.14936603e+02] [ 9.51743234e-03 -2.65733142e-01 9.63999645e-01 5.75314735e+00] [-9.11224499e-01 -3.99315907e-01 -1.01077789e-01 -4.08524625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.92, Y:7.77, Z:-40.99 [[ 4.31754147e-01 8.53175328e-01 2.92711833e-01 1.14922703e+02] [ 5.88058840e-02 2.97201861e-01 -9.53002058e-01 7.77368902e+00] [-9.00072344e-01 4.28675768e-01 7.81464065e-02 -4.09859052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:5.77, Z:-41.19 [[ 4.09063566e-01 -8.83055247e-01 -2.29957452e-01 1.15079828e+02] [ 5.14459159e-03 -2.49770720e-01 9.68291341e-01 5.77038248e+00] [-9.12491387e-01 -3.97275746e-01 -9.76291429e-02 -4.11864251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:5.78, Z:-41.34 [[ 4.57839780e-01 -8.27611562e-01 -3.24718090e-01 1.15193329e+02] [ 5.86065386e-02 -3.36357172e-01 9.39909105e-01 5.77681931e+00] [-8.87100901e-01 -4.49358382e-01 -1.05494245e-01 -4.13418654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:6.71, Z:-41.94 [[ 4.80704908e-01 -2.76733980e-01 8.32070367e-01 1.14248456e+02] [ 9.36518783e-02 9.59671103e-01 2.65067349e-01 6.71404089e+00] [-8.71867029e-01 -4.94942231e-02 4.87235266e-01 -4.19427414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:6.90, Z:-41.98 [[ 4.89209004e-01 -1.11354074e-01 8.65028798e-01 1.14278667e+02] [ 9.57003504e-02 9.92680736e-01 7.36641031e-02 6.90491881e+00] [-8.66900221e-01 4.67464166e-02 4.96284978e-01 -4.19799892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:6.90, Z:-42.02 [[ 5.12357772e-01 -1.19152051e-01 8.50465932e-01 1.14304963e+02] [ 9.69937426e-02 9.92020050e-01 8.05508170e-02 6.89605783e+00] [-8.53277052e-01 4.12190366e-02 5.19826186e-01 -4.20239599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17592000000002 meters Centerline goodness : 0.939812 Centerline is valid? [True, False] Translation: X:114.37, Y:6.94, Z:-42.12 [[ 5.49017093e-01 -9.16474163e-02 8.30771318e-01 1.14374607e+02] [ 1.00127547e-01 9.94023808e-01 4.34872727e-02 6.93563740e+00] [-8.29791965e-01 5.93078382e-02 5.54912493e-01 -4.21214575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:114.44, Y:6.96, Z:-42.21 [[ 5.76106733e-01 -7.54929117e-02 8.13880736e-01 1.14441324e+02] [ 9.97871168e-02 9.94773518e-01 2.16374694e-02 6.95903855e+00] [-8.11260479e-01 6.87493203e-02 5.80628941e-01 -4.22101218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:114.49, Y:6.93, Z:-42.28 [[ 5.50669067e-01 -9.68180933e-02 8.29089763e-01 1.14485706e+02] [ 8.26589069e-02 9.94693531e-01 6.12558860e-02 6.93053840e+00] [-8.30620903e-01 3.47999319e-02 5.55749837e-01 -4.22832998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters Centerline goodness : 0.977529 Centerline is valid? [True, True] Translation: X:114.48, Y:6.90, Z:-42.32 [[ 5.83097989e-01 -1.08839805e-01 8.05078028e-01 1.14483938e+02] [ 1.93637879e-02 9.92565454e-01 1.20161825e-01 6.89811360e+00] [-8.12171028e-01 -5.44767581e-02 5.80870471e-01 -4.23189148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:6.89, Z:-42.38 [[ 5.46848257e-01 -1.24495138e-01 8.27923876e-01 1.14548855e+02] [ 6.27978030e-02 9.92196129e-01 1.07718508e-01 6.89040260e+00] [-8.34873295e-01 -6.91387799e-03 5.50398745e-01 -4.23758148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:6.96, Z:-42.42 [[ 5.47380377e-01 -6.26060741e-02 8.34538916e-01 1.14584546e+02] [ 6.06642815e-02 9.97542853e-01 3.50442669e-02 6.96210297e+00] [-8.34682316e-01 3.14441597e-02 5.49833336e-01 -4.24159120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35592 meters Centerline goodness : 0.839696 Centerline is valid? [True, False] Translation: X:114.66, Y:6.99, Z:-42.52 [[ 5.78792834e-01 -4.75840206e-02 8.14085141e-01 1.14659403e+02] [ 6.50824550e-02 9.97807121e-01 1.20508477e-02 6.98502524e+00] [-8.12873378e-01 4.60077153e-02 5.80620496e-01 -4.25182021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:114.74, Y:7.00, Z:-42.62 [[ 6.10919211e-01 -3.91431685e-02 7.90724687e-01 1.14739095e+02] [ 6.73741594e-02 9.97724225e-01 -2.66348175e-03 7.00110574e+00] [-7.88820918e-01 5.49015832e-02 6.12166134e-01 -4.26210230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:6.95, Z:-42.67 [[ 6.10977691e-01 -8.27307332e-02 7.87313081e-01 1.14769381e+02] [ 6.24559296e-02 9.96461875e-01 5.62404499e-02 6.94688572e+00] [-7.89180282e-01 1.48107101e-02 6.13983001e-01 -4.26746964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:6.96, Z:-42.72 [[ 6.09261340e-01 -6.98399002e-02 7.89887972e-01 1.14810177e+02] [ 5.57321837e-02 9.97422036e-01 4.52018410e-02 6.96215689e+00] [-7.91008561e-01 1.64824473e-02 6.11583016e-01 -4.27248249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:7.01, Z:-42.79 [[ 5.83859244e-01 -2.57124712e-02 8.11447628e-01 1.14867790e+02] [ 4.16463884e-02 9.99130977e-01 1.69388337e-03 7.01086588e+00] [-8.10786015e-01 3.28048736e-02 5.84422688e-01 -4.27865081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:6.94, Z:-42.83 [[ 6.21001210e-01 -8.91794062e-02 7.78719802e-01 1.14886823e+02] [ 4.55963805e-02 9.95934086e-01 7.76934178e-02 6.93556845e+00] [-7.82482247e-01 -1.27409021e-02 6.22542530e-01 -4.28263085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:7.03, Z:-42.89 [[ 6.06844941e-01 -9.34255572e-03 7.94765333e-01 1.14947403e+02] [ 2.92548693e-02 9.99515904e-01 -1.05882026e-02 7.02767706e+00] [-7.94281670e-01 2.96761531e-02 6.06824485e-01 -4.28860159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:6.99, Z:-42.94 [[ 6.16665839e-01 -3.88057152e-02 7.86267995e-01 1.14983285e+02] [ 2.64742259e-02 9.99241625e-01 2.85532863e-02 6.99073360e+00] [-7.86779740e-01 3.20800027e-03 6.17225526e-01 -4.29374569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.03, Y:7.02, Z:-42.99 [[ 6.12546508e-01 -1.39473099e-02 7.90311488e-01 1.15030051e+02] [ 1.61467255e-02 9.99856470e-01 5.13049318e-03 7.01714088e+00] [-7.90269611e-01 9.61827698e-03 6.12683793e-01 -4.29889452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.15, Y:7.15, Z:-43.10 [[ 5.69852503e-01 1.05434823e-01 8.14954982e-01 1.15148309e+02] [-1.76307634e-02 9.93075084e-01 -1.16150908e-01 7.15284196e+00] [-8.21557838e-01 5.18206074e-02 5.67765219e-01 -4.30951274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:115.17, Y:7.12, Z:-43.14 [[ 5.67735520e-01 7.75806319e-02 8.19547208e-01 1.15172126e+02] [-2.39473032e-02 9.96684488e-01 -7.77596179e-02 7.11569710e+00] [-8.22862629e-01 2.45209516e-02 5.67711032e-01 -4.31447898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:7.12, Z:-43.19 [[ 5.68182333e-01 8.46802079e-02 8.18534116e-01 1.15204134e+02] [-2.90234532e-02 9.96134557e-01 -8.29070735e-02 7.11958659e+00] [-8.22390707e-01 2.33496479e-02 5.68443769e-01 -4.31874843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.24, Y:7.12, Z:-43.23 [[ 5.68861976e-01 9.08310372e-02 8.17401844e-01 1.15235808e+02] [-3.35995209e-02 9.95619516e-01 -8.72516547e-02 7.12229290e+00] [-8.21746387e-01 2.21698384e-02 5.69421965e-01 -4.32300817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:7.12, Z:-43.27 [[ 5.67100764e-01 9.75173655e-02 8.17855175e-01 1.15268260e+02] [-3.87282988e-02 9.95025156e-01 -9.17881140e-02 7.12459250e+00] [-8.22737408e-01 2.03789700e-02 5.68056208e-01 -4.32725997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.30, Y:7.13, Z:-43.31 [[ 5.65981890e-01 1.03872092e-01 8.17847839e-01 1.15301520e+02] [-4.33899806e-02 9.94409163e-01 -9.62690284e-02 7.12782528e+00] [-8.23275051e-01 1.90001247e-02 5.67324586e-01 -4.33144140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:115.32, Y:7.10, Z:-43.36 [[ 6.00747496e-01 7.96545742e-02 7.95460618e-01 1.15322926e+02] [-4.90442874e-02 9.96821680e-01 -6.27789391e-02 7.09805521e+00] [-7.97933020e-01 -1.29850871e-03 6.02744730e-01 -4.33577195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.36, Y:7.07, Z:-43.41 [[ 5.93431739e-01 6.32605114e-02 8.02394466e-01 1.15356609e+02] [-5.65118467e-02 9.97721088e-01 -3.68651880e-02 7.07229946e+00] [-8.02897990e-01 -2.34678204e-02 5.95654329e-01 -4.34114647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:7.82, Z:-42.93 [[ 5.38518663e-01 8.42062404e-01 -3.04722535e-02 1.16468315e+02] [-5.98990424e-02 2.18426356e-03 -9.98202051e-01 7.81921317e+00] [-8.40481859e-01 5.39375692e-01 5.16149983e-02 -4.29266523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:7.78, Z:-43.02 [[ 4.78871955e-01 8.71136636e-01 -1.08639826e-01 1.16666878e+02] [-9.59017001e-02 -7.11004693e-02 -9.92848220e-01 7.77974609e+00] [-8.72630801e-01 4.85865912e-01 4.94954637e-02 -4.30165845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:6.65, Z:-42.77 [[ 4.80867189e-01 4.01035394e-02 -8.75875820e-01 1.17374262e+02] [-2.99834549e-02 -9.97617030e-01 -6.21389840e-02 6.64806228e+00] [-8.76280628e-01 5.61423818e-02 -4.78518855e-01 -4.27715982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:115.66, Y:6.87, Z:-43.70 [[ 4.63414441e-01 -6.54868689e-02 8.83718578e-01 1.15656492e+02] [ 3.38983835e-02 9.97845702e-01 5.61680963e-02 6.87287403e+00] [-8.85493058e-01 3.92752431e-03 4.64636007e-01 -4.37026833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:115.71, Y:6.92, Z:-43.79 [[ 4.62940810e-01 -2.38093755e-02 8.86069365e-01 1.15707119e+02] [ 2.55016122e-02 9.99583137e-01 1.35358626e-02 6.91909927e+00] [-8.86022277e-01 1.63298942e-02 4.63355004e-01 -4.37864083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:116.62, Y:7.76, Z:-43.55 [[ 4.15056023e-01 8.77400728e-01 2.40616834e-01 1.16624982e+02] [ 1.42431445e-03 2.63846463e-01 -9.64563640e-01 7.75989697e+00] [-9.09794740e-01 4.00690662e-01 1.08261369e-01 -4.35528978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:116.86, Y:7.76, Z:-43.66 [[ 3.61821346e-01 9.24947528e-01 1.16436179e-01 1.16862888e+02] [-5.01048665e-02 1.44012125e-01 -9.88306638e-01 7.75888534e+00] [-9.30900003e-01 3.51756418e-01 9.84510331e-02 -4.36561433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:117.70, Y:7.26, Z:-43.54 [[ 2.94717700e-01 6.38007154e-01 -7.11398867e-01 1.17704040e+02] [-2.19741830e-02 -7.39743008e-01 -6.72530607e-01 7.25569568e+00] [-9.55331677e-01 2.13839083e-01 -2.03995672e-01 -4.35421857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:117.72, Y:6.14, Z:-43.75 [[ 2.85418145e-01 -3.80694077e-01 -8.79550170e-01 1.17724531e+02] [ 5.53473580e-02 -9.09645853e-01 4.11680813e-01 6.13586473e+00] [-9.56803612e-01 -1.66181952e-01 -2.38559021e-01 -4.37476942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13592 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:116.08, Y:6.39, Z:-44.37 [[ 2.84075519e-01 -4.61350420e-01 8.40509899e-01 1.16083287e+02] [ 9.58185255e-02 8.85896889e-01 4.53878301e-01 6.39381481e+00] [-9.54002049e-01 -4.83992947e-02 2.95867536e-01 -4.43694225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:117.13, Y:7.69, Z:-44.11 [[ 2.93126303e-01 9.49320035e-01 1.13439155e-01 1.17126397e+02] [ 1.00584672e-01 8.73717978e-02 -9.91084705e-01 7.68882195e+00] [-9.50767950e-01 3.01923236e-01 -6.98760724e-02 -4.41099903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19592 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:117.01, Y:5.75, Z:-44.47 [[ 2.92095383e-01 -9.51021420e-01 -1.01185696e-01 1.17011281e+02] [ 8.51551584e-02 -7.95178192e-02 9.93189567e-01 5.74682798e+00] [-9.52590618e-01 -2.98722571e-01 5.77575919e-02 -4.44723505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:116.20, Y:6.46, Z:-44.77 [[ 3.29710423e-01 -4.34131566e-01 8.38344094e-01 1.16203480e+02] [ 1.01344190e-01 8.99143412e-01 4.25758712e-01 6.45772382e+00] [-9.38626865e-01 -5.54157818e-02 3.40453666e-01 -4.47721060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25592 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:116.19, Y:6.64, Z:-44.87 [[ 3.45266096e-01 -2.68351111e-01 8.99321413e-01 1.16190025e+02] [ 4.50955795e-02 9.61885949e-01 2.69706897e-01 6.64333794e+00] [-9.37420776e-01 -5.25652270e-02 3.44208055e-01 -4.48730553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:118.03, Y:7.16, Z:-44.41 [[ 3.16991622e-01 5.95044058e-01 -7.38538341e-01 1.18032217e+02] [ 1.12754804e-01 -7.96818564e-01 -5.93604691e-01 7.16485607e+00] [-9.41702005e-01 1.04893968e-01 -3.19678885e-01 -4.44050567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31592 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:116.34, Y:6.42, Z:-45.06 [[ 2.83119835e-01 -4.68710865e-01 8.36751626e-01 1.16342466e+02] [ 1.52922670e-01 8.83348059e-01 4.43069819e-01 6.41982747e+00] [-9.46814562e-01 2.51643879e-03 3.21769874e-01 -4.50602231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:116.35, Y:6.51, Z:-45.16 [[ 2.84544687e-01 -4.04760527e-01 8.69024302e-01 1.16350905e+02] [ 1.31136311e-01 9.14409101e-01 3.82961177e-01 6.50715005e+00] [-9.49651299e-01 4.99107328e-03 3.13269054e-01 -4.51556700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37592 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:116.37, Y:6.61, Z:-45.27 [[ 2.84867930e-01 -3.31006367e-01 8.99602717e-01 1.16368689e+02] [ 1.07582273e-01 9.43598065e-01 3.13127365e-01 6.60685139e+00] [-9.52510534e-01 7.58136103e-03 3.04411244e-01 -4.52705771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:116.39, Y:6.67, Z:-45.37 [[ 2.85310969e-01 -2.84547896e-01 9.15221364e-01 1.16391726e+02] [ 8.99486830e-02 9.58647249e-01 2.70008679e-01 6.67223680e+00] [-9.54204844e-01 5.28651842e-03 2.99107284e-01 -4.53711373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43592 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:116.41, Y:6.69, Z:-45.44 [[ 2.86097905e-01 -2.79005905e-01 9.16680802e-01 1.16411744e+02] [ 8.20706084e-02 9.60288801e-01 2.66664270e-01 6.68540715e+00] [-9.54679215e-01 -1.05953785e-03 2.97634799e-01 -4.54384900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:116.43, Y:6.77, Z:-45.52 [[ 2.80704287e-01 -2.06451150e-01 9.37327598e-01 1.16431106e+02] [ 6.16413497e-02 9.78453803e-01 1.97049487e-01 6.76900740e+00] [-9.57812846e-01 2.46550248e-03 2.87382105e-01 -4.55182107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49592 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:117.29, Y:7.80, Z:-45.45 [[ 2.05451539e-01 9.14568987e-01 3.48357908e-01 1.17290613e+02] [ 3.78343513e-02 3.48262866e-01 -9.36633086e-01 7.80269697e+00] [-9.77935697e-01 2.05612604e-01 3.69490174e-02 -4.54491903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:117.61, Y:7.82, Z:-45.57 [[ 1.54593900e-01 9.79964011e-01 1.25583688e-01 1.17606413e+02] [-1.79789544e-02 1.29881202e-01 -9.91366547e-01 7.81820953e+00] [-9.87814498e-01 1.51001357e-01 3.76975698e-02 -4.55678293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55592000000001 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:118.58, Y:6.87, Z:-45.65 [[ 1.35482641e-01 2.60916322e-01 -9.55807055e-01 1.18582731e+02] [ 5.76775457e-02 -9.65142852e-01 -2.55289199e-01 6.87101926e+00] [-9.89099467e-01 -2.05413503e-02 -1.45809116e-01 -4.56460997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:116.74, Y:6.34, Z:-45.94 [[ 6.55900751e-02 -6.03979501e-01 7.94296358e-01 1.16738134e+02] [ 8.32261680e-02 7.96548136e-01 5.98819232e-01 6.34311623e+00] [-9.94369824e-01 2.68296437e-02 1.02512551e-01 -4.59413818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61592000000002 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:116.78, Y:6.29, Z:-46.00 [[ 1.00694860e-01 -6.59310591e-01 7.45097369e-01 1.16779200e+02] [ 1.03420666e-01 7.51783035e-01 6.51249901e-01 6.29159746e+00] [-9.89527519e-01 1.14809484e-02 1.43887027e-01 -4.59995867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:116.72, Y:6.45, Z:-46.11 [[ 1.04141783e-01 -5.36923015e-01 8.37178694e-01 1.16721319e+02] [ 9.49140040e-02 8.43279298e-01 5.29028692e-01 6.44995376e+00] [-9.90023142e-01 2.43659903e-02 1.38782123e-01 -4.61062835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67592000000002 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:117.23, Y:7.74, Z:-46.19 [[ 6.33663243e-02 7.86833369e-01 6.13903867e-01 1.17232504e+02] [ 4.48701699e-02 6.12271852e-01 -7.89373073e-01 7.73639198e+00] [-9.96981132e-01 7.75656409e-02 3.49206979e-03 -4.61911590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:117.57, Y:5.87, Z:-46.38 [[ 6.36534356e-02 -9.92611890e-01 -1.03295095e-01 1.17573788e+02] [-2.14657144e-02 -1.04842840e-01 9.94257111e-01 5.86660468e+00] [-9.97741180e-01 -6.10705779e-02 -2.79807303e-02 -4.63752812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73592000000002 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:116.67, Y:6.89, Z:-46.52 [[ 1.30142061e-01 -1.44494266e-01 9.80910012e-01 1.16668140e+02] [ 5.81726398e-02 9.88732356e-01 1.37928502e-01 6.89120094e+00] [-9.89787345e-01 3.91118252e-02 1.37081279e-01 -4.65238323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:116.79, Y:7.31, Z:-46.69 [[ 1.16717759e-01 2.50178639e-01 9.61138707e-01 1.16792428e+02] [-4.93436446e-03 9.67887310e-01 -2.51336046e-01 7.31265527e+00] [-9.93152867e-01 2.45927714e-02 1.14204111e-01 -4.66900488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79592 meters Centerline goodness : 0.990069 Centerline is valid? [True, True] Translation: X:116.86, Y:7.45, Z:-46.78 [[ 8.18930743e-02 3.79014726e-01 9.21759926e-01 1.16864331e+02] [-4.50029403e-02 9.25329350e-01 -3.76484170e-01 7.44831412e+00] [-9.95624558e-01 -1.06504608e-02 9.28348423e-02 -4.67786930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:116.79, Y:7.26, Z:-46.84 [[ 9.29872373e-02 1.98951787e-01 9.75587802e-01 1.16790099e+02] [-2.15916740e-02 9.80005636e-01 -1.97794726e-01 7.25859001e+00] [-9.95433159e-01 -2.67218863e-03 9.54237188e-02 -4.68448594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85592 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:116.98, Y:7.55, Z:-46.93 [[ 9.93373842e-02 5.27373016e-01 8.43806723e-01 1.16978619e+02] [-3.88161337e-02 8.49409408e-01 -5.26305012e-01 7.55171164e+00] [-9.94296431e-01 1.95284486e-02 1.04848690e-01 -4.69258547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:117.11, Y:7.66, Z:-47.00 [[ 9.50481128e-02 6.61116388e-01 7.44238522e-01 1.17106380e+02] [-4.98660789e-02 7.49846703e-01 -6.59729714e-01 7.66070430e+00] [-9.94222928e-01 2.55938074e-02 1.04238796e-01 -4.70043797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91592 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:118.46, Y:7.57, Z:-47.13 [[ 4.70544002e-02 8.23461577e-01 -5.65417469e-01 1.18462301e+02] [-5.66418607e-02 -5.62934092e-01 -8.24558614e-01 7.56831271e+00] [-9.97285106e-01 7.08254085e-02 2.01538699e-02 -4.71340307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:118.20, Y:7.74, Z:-47.16 [[ 3.06522893e-02 9.59043970e-01 -2.81593859e-01 1.18203365e+02] [-3.89103285e-02 -2.80367771e-01 -9.59103696e-01 7.74302902e+00] [-9.98772458e-01 4.03556335e-02 2.87228018e-02 -4.71642239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97592 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:118.40, Y:7.62, Z:-47.25 [[-1.66622995e-02 8.70336938e-01 -4.92174747e-01 1.18401658e+02] [-9.49238916e-03 -4.92358595e-01 -8.70340685e-01 7.61727193e+00] [-9.99816114e-01 -9.82996296e-03 1.64654033e-02 -4.72479793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:118.74, Y:7.09, Z:-47.30 [[-3.27909962e-02 3.96812752e-01 -9.17313681e-01 1.18741094e+02] [-3.36510713e-02 -9.17725218e-01 -3.95787859e-01 7.08922966e+00] [-9.98895568e-01 1.78903099e-02 4.34462984e-02 -4.73007301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03592 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:118.75, Y:6.65, Z:-47.37 [[-7.46776227e-02 -3.94967334e-02 -9.96425241e-01 1.18749682e+02] [-2.23098343e-02 -9.98899055e-01 4.12668140e-02 6.65191055e+00] [-9.96958136e-01 2.53117896e-02 7.37142411e-02 -4.73701901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:118.69, Y:6.47, Z:-47.42 [[-5.75028682e-02 -2.27253824e-01 -9.72136369e-01 1.18693824e+02] [-8.51016029e-03 -9.73600633e-01 2.28099506e-01 6.47226035e+00] [-9.98309069e-01 2.13894121e-02 5.40508625e-02 -4.74231452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09592 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:118.51, Y:6.18, Z:-47.44 [[-7.04518386e-02 -5.45299731e-01 -8.35275249e-01 1.18512330e+02] [-2.30612721e-03 -8.37264651e-01 5.46793001e-01 6.18392253e+00] [-9.97512516e-01 4.04488232e-02 5.77293035e-02 -4.74371229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:118.48, Y:6.15, Z:-47.34 [[-8.13933489e-02 -5.94408873e-01 -8.00033259e-01 1.18479870e+02] [ 3.04981997e-02 -8.03806044e-01 5.94109168e-01 6.14704932e+00] [-9.96215329e-01 2.39569608e-02 8.35528663e-02 -4.73374551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15592 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:118.65, Y:6.37, Z:-47.39 [[-7.07144956e-02 -3.43156964e-01 -9.36612384e-01 1.18645360e+02] [ 1.80921783e-02 -9.39249763e-01 3.42757285e-01 6.36605172e+00] [-9.97332509e-01 7.29255023e-03 7.26270302e-02 -4.73918024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:118.30, Y:6.01, Z:-47.54 [[-3.07624491e-02 -7.55665693e-01 -6.54234692e-01 1.18298594e+02] [ 6.59322073e-02 -6.54653021e-01 7.53048714e-01 6.00946271e+00] [-9.97349796e-01 -1.99695146e-02 6.99614374e-02 -4.75367986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21592 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:117.84, Y:5.86, Z:-47.62 [[-2.63051059e-02 -9.75889307e-01 -2.16675108e-01 1.17840575e+02] [ 8.53344764e-02 -2.18151065e-01 9.72177011e-01 5.86277813e+00] [-9.96005054e-01 7.08336234e-03 8.90154898e-02 -4.76193640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:117.67, Y:5.87, Z:-47.70 [[-1.21187007e-02 -9.98592388e-01 -5.16369941e-02 1.17673136e+02] [ 8.58716272e-02 -5.24893483e-02 9.94922576e-01 5.87158675e+00] [-9.96232503e-01 7.62301625e-03 8.63868560e-02 -4.76999449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27592 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:117.39, Y:5.95, Z:-47.83 [[ 1.03688606e-02 -9.73815028e-01 2.27105215e-01 1.17394982e+02] [ 8.92570454e-02 2.27112172e-01 9.69769684e-01 5.95418493e+00] [-9.95954651e-01 1.02153338e-02 8.92747466e-02 -4.78316820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:117.24, Y:6.05, Z:-47.93 [[ 2.46356657e-02 -9.17439432e-01 3.97112040e-01 1.17237022e+02] [ 7.68030178e-02 3.97795512e-01 9.14253809e-01 6.04532403e+00] [-9.96741883e-01 7.97615191e-03 8.02620743e-02 -4.79297774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33592000000002 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:117.12, Y:6.13, Z:-48.00 [[ 3.56585299e-02 -8.50915749e-01 5.24090505e-01 1.17124450e+02] [ 7.15769761e-02 5.25251783e-01 8.47931189e-01 6.13027473e+00] [-9.96797475e-01 7.27683390e-03 7.96356826e-02 -4.79984160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:116.95, Y:6.35, Z:-48.14 [[ 5.58762748e-02 -6.79444713e-01 7.31596012e-01 1.16946036e+02] [ 5.68824600e-02 7.33716957e-01 6.77070021e-01 6.34513427e+00] [-9.96816045e-01 3.78283036e-03 7.96458570e-02 -4.81371337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39592000000002 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:116.78, Y:7.01, Z:-48.32 [[ 4.29979567e-02 -9.04785241e-02 9.94969755e-01 1.16777975e+02] [-1.31633595e-02 9.95753044e-01 9.11186123e-02 7.00738171e+00] [-9.98988439e-01 -1.70150587e-02 4.16243450e-02 -4.83179343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters Centerline goodness : 0.963387 Centerline is valid? [True, True] Translation: X:117.18, Y:6.13, Z:-48.44 [[ 1.51040631e-01 -9.06988506e-01 3.93139388e-01 1.17182333e+02] [-4.87033942e-02 3.90391274e-01 9.19359904e-01 6.12589119e+00] [-9.87327052e-01 -1.58007923e-01 1.47915258e-02 -4.84444426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45592000000002 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:117.74, Y:6.01, Z:-48.43 [[ 1.22465381e-01 -9.77927510e-01 -1.69292691e-01 1.17743824e+02] [-8.90489552e-02 -1.80715747e-01 9.79495841e-01 6.00659929e+00] [-9.88469784e-01 -1.04878994e-01 -1.09214846e-01 -4.84326813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:116.76, Y:7.01, Z:-48.78 [[ 1.81015794e-01 -1.01951113e-01 9.78181605e-01 1.16756962e+02] [-5.71731484e-02 9.91839483e-01 1.13954691e-01 7.00521095e+00] [-9.81816945e-01 -7.65533209e-02 1.73709746e-01 -4.87807905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51592000000002 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:116.90, Y:7.46, Z:-48.88 [[ 1.55756114e-01 3.74614566e-01 9.14004354e-01 1.16901896e+02] [-6.10445395e-02 9.27178936e-01 -3.69611669e-01 7.45970571e+00] [-9.85907499e-01 1.77430230e-03 1.67281962e-01 -4.88823779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:117.00, Y:7.56, Z:-48.95 [[ 1.98999093e-01 4.96854648e-01 8.44709903e-01 1.16995740e+02] [-8.24190218e-02 8.67380561e-01 -4.90772929e-01 7.56401901e+00] [-9.76527760e-01 2.80432037e-02 2.13558219e-01 -4.89514392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:118.18, Y:7.85, Z:-48.98 [[ 1.52819659e-01 9.61618518e-01 -2.27894663e-01 1.18179570e+02] [-1.16726618e-01 -2.11425448e-01 -9.70398978e-01 7.85327432e+00] [-9.81336358e-01 1.74897414e-01 7.99365126e-02 -4.89815514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:118.53, Y:7.65, Z:-49.12 [[ 6.02074609e-02 8.50421442e-01 -5.22645609e-01 1.18527003e+02] [-9.43835578e-02 -5.16399389e-01 -8.51130669e-01 7.64940602e+00] [-9.93713644e-01 1.00573569e-01 4.91747052e-02 -4.91186685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63592 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:118.87, Y:6.61, Z:-49.24 [[ 1.35807908e-02 -8.30891274e-02 -9.96449577e-01 1.18866721e+02] [-4.12417043e-02 -9.95740012e-01 8.24678696e-02 6.61075803e+00] [-9.99056897e-01 3.99752999e-02 -1.69496740e-02 -4.92384102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:118.17, Y:5.85, Z:-49.47 [[ 5.70865937e-02 -9.02995006e-01 -4.25841684e-01 1.18171291e+02] [ 7.04943037e-03 -4.26162056e-01 9.04619372e-01 5.85372827e+00] [-9.98344343e-01 -5.46435798e-02 -1.79625397e-02 -4.94733269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69592 meters Centerline goodness : 0.918931 Centerline is valid? [True, False] Translation: X:118.49, Y:6.20, Z:-50.18 [[ 1.19207216e-01 8.07166189e-01 -5.78162938e-01 1.18492904e+02] [-2.51582012e-01 5.87867238e-01 7.68842377e-01 6.20241831e+00] [ 9.60466621e-01 5.38038356e-02 2.73146511e-01 -5.01798405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters Centerline goodness : 0.997957 Centerline is valid? [False, True] Translation: X:118.53, Y:6.27, Z:-50.18 [[ 1.17148635e-01 7.57226325e-01 -6.42560884e-01 1.18531169e+02] [-2.29308131e-01 6.50156810e-01 7.24371385e-01 6.26561122e+00] [ 9.66278417e-01 6.24853167e-02 2.49803136e-01 -5.01752102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75592 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:118.11, Y:6.00, Z:-50.19 [[ 1.18954748e-01 9.74357060e-01 -1.90992375e-01 1.18106920e+02] [-2.61922318e-01 2.16338285e-01 9.40528812e-01 6.00002604e+00] [ 9.57729851e-01 -6.18552020e-02 2.80940326e-01 -5.01924213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:118.01, Y:5.97, Z:-50.17 [[ 1.11023594e-01 9.89112259e-01 -9.65955487e-02 1.18007406e+02] [-2.24783185e-01 1.19670196e-01 9.67032349e-01 5.97464456e+00] [ 9.68063160e-01 -8.56503520e-02 2.35622020e-01 -5.01705328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81592 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:118.24, Y:6.01, Z:-50.10 [[ 1.01839639e-01 9.38197916e-01 -3.30776902e-01 1.18238967e+02] [-1.99646286e-01 3.45016043e-01 9.17117926e-01 6.01049934e+00] [ 9.74561465e-01 -2.73605787e-02 2.22444038e-01 -5.00984425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters Centerline goodness : 0.776183 Centerline is valid? [True, False] Translation: X:117.28, Y:8.50, Z:-49.69 [[ 1.91613327e-02 9.35196223e-01 3.53611181e-01 1.17277009e+02] [ 7.19708118e-02 3.51468440e-01 -9.33429236e-01 8.49573383e+00] [-9.97222666e-01 4.33354318e-02 -6.05722276e-02 -4.96893937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87592 meters Centerline goodness : 0.997808 Centerline is valid? [False, True] Translation: X:117.22, Y:8.47, Z:-49.62 [[ 5.18645243e-03 9.08502317e-01 4.17847628e-01 1.17215623e+02] [ 7.83726472e-02 4.16198658e-01 -9.05889842e-01 8.47456429e+00] [-9.96910642e-01 3.74461793e-02 -6.90431370e-02 -4.96229371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters Centerline goodness : 0.732615 Centerline is valid? [True, False] Translation: X:117.16, Y:8.45, Z:-49.57 [[-7.54898004e-03 8.78614507e-01 4.77472052e-01 1.17158355e+02] [ 7.92630312e-02 4.76509030e-01 -8.75589240e-01 8.44943944e+00] [-9.96825153e-01 3.12360765e-02 -7.32388062e-02 -4.95718100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93592 meters Centerline goodness : 0.997310 Centerline is valid? [False, True] Translation: X:117.10, Y:8.41, Z:-49.51 [[-2.20342928e-02 8.43529931e-01 5.36629989e-01 1.17096056e+02] [ 8.36906010e-02 5.36432599e-01 -8.39783276e-01 8.41452383e+00] [-9.96248148e-01 2.64068557e-02 -8.24154398e-02 -4.95090698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters Centerline goodness : 0.735055 Centerline is valid? [True, False] Translation: X:117.04, Y:8.38, Z:-49.46 [[-3.51383577e-02 8.04283499e-01 5.93205992e-01 1.17038801e+02] [ 8.21473433e-02 5.93888358e-01 -8.00342697e-01 8.37742947e+00] [-9.96000557e-01 2.06075683e-02 -8.69380142e-02 -4.94575962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99592 meters Centerline goodness : 0.785333 Centerline is valid? [False, False] Translation: X:116.99, Y:8.34, Z:-49.41 [[-4.65493022e-02 7.63896905e-01 6.43657270e-01 1.16991147e+02] [ 7.97524703e-02 6.45140890e-01 -7.59889976e-01 8.34189122e+00] [-9.95727225e-01 1.59609092e-02 -9.09535235e-02 -4.94088560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters Centerline goodness : 0.789952 Centerline is valid? [False, False] Translation: X:116.95, Y:8.30, Z:-49.36 [[-5.85671770e-02 7.20551268e-01 6.90923842e-01 1.16945116e+02] [ 7.80833979e-02 6.93297966e-01 -7.16408342e-01 8.30274195e+00] [-9.95225034e-01 1.19916671e-02 -9.68675961e-02 -4.93590288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05592000000001 meters Centerline goodness : 0.707811 Centerline is valid? [False, False] Translation: X:116.90, Y:8.26, Z:-49.31 [[-6.96105046e-02 6.75412750e-01 7.34147121e-01 1.16900746e+02] [ 7.56801643e-02 7.37386962e-01 -6.71217536e-01 8.25995951e+00] [-9.94699397e-01 8.83658334e-03 -1.02445226e-01 -4.93111221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters Centerline goodness : 0.889770 Centerline is valid? [False, False] Translation: X:116.86, Y:8.22, Z:-49.27 [[-7.93211473e-02 6.30310194e-01 7.72280529e-01 1.16864841e+02] [ 7.29392785e-02 7.76314774e-01 -6.26111199e-01 8.22019652e+00] [-9.94177055e-01 6.66572591e-03 -1.07552549e-01 -4.92656971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11592000000002 meters Centerline goodness : 0.996560 Centerline is valid? [False, True] Translation: X:116.83, Y:8.18, Z:-49.23 [[-8.71236611e-02 5.85060299e-01 8.06296418e-01 1.16833128e+02] [ 6.57129296e-02 8.10986437e-01 -5.81362890e-01 8.18235132e+00] [-9.94027806e-01 2.33363638e-03 -1.09102134e-01 -4.92341179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters Centerline goodness : 0.693284 Centerline is valid? [True, False] Translation: X:116.80, Y:8.15, Z:-49.23 [[-8.91352576e-02 5.42342467e-01 8.35415797e-01 1.16804968e+02] [ 5.44505553e-02 8.40153462e-01 -5.39608467e-01 8.14553592e+00] [-9.94530061e-01 -2.60928559e-03 -1.04418144e-01 -4.92255007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17592000000002 meters Centerline goodness : 0.784386 Centerline is valid? [False, False] Translation: X:116.78, Y:8.12, Z:-49.25 [[-8.52990541e-02 5.05440083e-01 8.58635193e-01 1.16781980e+02] [ 3.65982642e-02 8.62783901e-01 -5.04246475e-01 8.11571208e+00] [-9.95683001e-01 -1.15871897e-02 -9.20928803e-02 -4.92460358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters Centerline goodness : 0.995410 Centerline is valid? [False, True] Translation: X:116.76, Y:8.09, Z:-49.29 [[-7.04386008e-02 4.71217863e-01 8.79199709e-01 1.16762740e+02] [ 1.22441155e-02 8.81731009e-01 -4.71593586e-01 8.08938130e+00] [-9.97440968e-01 -2.24533695e-02 -6.78775444e-02 -4.92940125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23592000000002 meters Centerline goodness : 0.975657 Centerline is valid? [True, True] Translation: X:117.28, Y:8.56, Z:-49.73 [[-1.26770950e-02 9.47326580e-01 3.20018191e-01 1.17279594e+02] [ 4.41235604e-02 3.20262143e-01 -9.46300835e-01 8.55549194e+00] [-9.98945646e-01 2.12399643e-03 -4.58594151e-02 -4.97283282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters Centerline goodness : 0.975657 Centerline is valid? [True, True] Translation: X:118.48, Y:8.02, Z:-49.96 [[-9.03090058e-02 4.49978154e-01 -8.88461560e-01 1.18476745e+02] [-7.22680465e-02 -8.92715959e-01 -4.44787080e-01 8.01734810e+00] [-9.93288283e-01 2.40391024e-02 1.13139333e-01 -4.99589062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29592 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:117.14, Y:6.72, Z:-49.65 [[-7.72939420e-02 -9.23841585e-01 3.74889813e-01 1.17140436e+02] [ 2.88486427e-02 3.73784890e-01 9.27066671e-01 6.71771561e+00] [-9.96590890e-01 8.24716998e-02 -2.23973179e-03 -4.96494205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:116.55, Y:7.67, Z:-49.84 [[-6.10400189e-02 7.41695850e-03 9.98107762e-01 1.16554801e+02] [ 4.95642397e-02 9.98761287e-01 -4.39067709e-03 7.66720673e+00] [-9.96903958e-01 4.92024453e-02 -6.13320238e-02 -4.98358584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35592 meters Centerline goodness : 0.854503 Centerline is valid? [True, False] Translation: X:116.55, Y:7.69, Z:-49.98 [[-1.79573542e-02 2.45763895e-02 9.99536660e-01 1.16552280e+02] [ 4.98813806e-02 9.98475002e-01 -2.36541329e-02 7.69036410e+00] [-9.98593702e-01 4.94335029e-02 -1.91558735e-02 -4.99770903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters Centerline goodness : 0.990274 Centerline is valid? [False, True] Translation: X:116.56, Y:7.72, Z:-50.07 [[ 1.62574085e-02 5.28517644e-02 9.98470023e-01 1.16558524e+02] [ 3.77311762e-02 9.97858304e-01 -5.34337355e-02 7.72320770e+00] [-9.99155671e-01 3.85421425e-02 1.42284308e-02 -5.00716338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41592 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:116.57, Y:7.82, Z:-50.19 [[-4.77533845e-04 1.09175367e-01 9.94022390e-01 1.16569225e+02] [-4.83118436e-02 9.92859265e-01 -1.09070828e-01 7.81582996e+00] [-9.98832187e-01 -4.80751393e-02 4.80033934e-03 -5.01900110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:116.57, Y:7.94, Z:-50.43 [[-2.55334450e-03 2.23255896e-01 9.74756526e-01 1.16569703e+02] [-5.16616350e-02 9.73428596e-01 -2.23087076e-01 7.94333729e+00] [-9.98661382e-01 -5.09271341e-02 9.04826606e-03 -5.04252103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47592 meters Centerline goodness : 0.938477 Centerline is valid? [True, False] Translation: X:116.57, Y:7.95, Z:-50.51 [[ 1.91028094e-02 2.28858211e-01 9.73272316e-01 1.16574533e+02] [-6.95494366e-02 9.71396052e-01 -2.27051946e-01 7.94870225e+00] [-9.97395588e-01 -6.33532112e-02 3.44733533e-02 -5.05131449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters Centerline goodness : 0.996014 Centerline is valid? [False, True] Translation: X:116.58, Y:7.95, Z:-50.60 [[ 4.12588016e-02 2.33306136e-01 9.71527642e-01 1.16580759e+02] [-8.81364296e-02 9.69414979e-01 -2.29055819e-01 7.95025231e+00] [-9.95253576e-01 -7.61764090e-02 6.05596701e-02 -5.06021867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:116.98, Y:8.49, Z:-50.74 [[ 3.39072107e-02 7.97758765e-01 6.02022636e-01 1.16983949e+02] [-1.19159317e-01 6.01299201e-01 -7.90088810e-01 8.48791325e+00] [-9.92296003e-01 -4.49468986e-02 1.15448769e-01 -5.07448328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:118.50, Y:7.35, Z:-50.87 [[-1.45090018e-02 -2.05379909e-01 -9.78574771e-01 1.18496007e+02] [-3.28404932e-02 -9.78051902e-01 2.05757086e-01 7.34574911e+00] [-9.99355288e-01 3.51222080e-02 7.44577929e-03 -5.08717490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:117.40, Y:6.61, Z:-51.03 [[ 1.11165354e-01 -9.93579581e-01 2.10209620e-02 1.17404449e+02] [-4.31832618e-02 1.63027446e-02 9.98934145e-01 6.61043624e+00] [-9.92863269e-01 -1.11954622e-01 -4.10937067e-02 -5.10267434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters Centerline goodness : 0.847890 Centerline is valid? [True, False] Translation: X:117.23, Y:6.68, Z:-50.98 [[ 9.71159964e-02 -9.75100941e-01 1.99365590e-01 1.17232646e+02] [-3.16912660e-02 1.97181208e-01 9.79854701e-01 6.68174352e+00] [-9.94768389e-01 -1.01477714e-01 -1.17527339e-02 -5.09767846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65592 meters Centerline goodness : 0.966965 Centerline is valid? [False, True] Translation: X:117.08, Y:6.77, Z:-50.92 [[ 8.56144867e-02 -9.28378565e-01 3.61639877e-01 1.17083902e+02] [-2.18478565e-02 3.61135962e-01 9.32257201e-01 6.77213264e+00] [-9.96088767e-01 -8.77157779e-02 1.06353884e-02 -5.09193795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:116.84, Y:8.32, Z:-51.14 [[ 3.16576541e-02 5.99534468e-01 7.99722586e-01 1.16838221e+02] [-9.95548532e-02 7.98036112e-01 -5.94329198e-01 8.32134845e+00] [-9.94528343e-01 -6.08011965e-02 8.49505172e-02 -5.11412270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71592 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:117.20, Y:8.57, Z:-51.23 [[ 9.17374601e-03 8.86234081e-01 4.63146840e-01 1.17202579e+02] [-1.05307122e-01 4.61447019e-01 -8.80895600e-01 8.57044805e+00] [-9.94397432e-01 -4.06915484e-02 9.75599585e-02 -5.12307294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:118.50, Y:8.00, Z:-51.34 [[-3.00241214e-02 4.78138932e-01 -8.77770878e-01 1.18504414e+02] [-1.23411237e-03 -8.78183841e-01 -4.78321669e-01 7.99596617e+00] [-9.99548413e-01 -1.32779199e-02 2.69567754e-02 -5.13442058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:118.06, Y:6.74, Z:-51.40 [[ 4.19350699e-02 -8.18867018e-01 -5.72449349e-01 1.18063091e+02] [ 2.49572711e-02 -5.71916052e-01 8.19932414e-01 6.73789167e+00] [-9.98808583e-01 -4.86706967e-02 -3.54665350e-03 -5.13961788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:116.88, Y:6.91, Z:-51.49 [[ 4.21863218e-02 -7.73795807e-01 6.32028767e-01 1.16883181e+02] [ 5.25455495e-03 6.32755010e-01 7.74334222e-01 6.91167392e+00] [-9.99095943e-01 -2.93452828e-02 3.07595591e-02 -5.14885395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83592000000002 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:116.68, Y:7.23, Z:-51.58 [[ 4.15570400e-02 -4.87707263e-01 8.72017568e-01 1.16678188e+02] [-6.78369391e-03 8.72613682e-01 4.88363946e-01 7.22682066e+00] [-9.99113104e-01 -2.62104603e-02 3.29547849e-02 -5.15832305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:116.61, Y:7.52, Z:-51.66 [[ 6.50376104e-02 -2.07205693e-01 9.76133141e-01 1.16611616e+02] [-4.08731144e-03 9.78140661e-01 2.07904162e-01 7.51955293e+00] [-9.97874443e-01 -1.75113501e-02 6.27690171e-02 -5.16581357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89592000000002 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:116.61, Y:7.65, Z:-51.77 [[ 6.77804471e-02 -8.54964413e-02 9.94030266e-01 1.16611060e+02] [-2.46386175e-02 9.95874250e-01 8.73350881e-02 7.65146234e+00] [-9.97395984e-01 -3.04111428e-02 6.53942878e-02 -5.17702663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:116.66, Y:7.93, Z:-51.87 [[ 5.49223268e-02 1.90274372e-01 9.80193451e-01 1.16661942e+02] [-4.35145429e-02 9.81198615e-01 -1.88031281e-01 7.92902634e+00] [-9.97541990e-01 -3.23255545e-02 6.21694132e-02 -5.18664660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95592000000002 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:116.82, Y:8.23, Z:-51.96 [[ 4.16974388e-02 5.07048020e-01 8.60908607e-01 1.16824857e+02] [-6.00776749e-02 8.61371294e-01 -5.04410712e-01 8.22597142e+00] [-9.97322414e-01 -3.06887526e-02 6.63792429e-02 -5.19571760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:118.24, Y:8.40, Z:-52.12 [[-4.33368836e-02 8.67660179e-01 -4.95265311e-01 1.18241332e+02] [ 5.64691465e-03 -4.95510390e-01 -8.68583655e-01 8.39542091e+00] [-9.99044557e-01 -4.04384297e-02 1.65742731e-02 -5.21167168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01592000000002 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:117.06, Y:8.39, Z:-52.16 [[-9.50774979e-02 7.11415553e-01 6.96310406e-01 1.17061216e+02] [-5.66900316e-02 6.94474511e-01 -7.17280555e-01 8.38911695e+00] [-9.93854370e-01 -1.07671099e-01 -2.56987287e-02 -5.21628333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:118.44, Y:8.20, Z:-52.28 [[-9.55583881e-02 6.93669830e-01 -7.13926300e-01 1.18442103e+02] [-3.91653592e-02 -7.19273052e-01 -6.93622629e-01 8.20434857e+00] [-9.94653040e-01 -3.83202803e-02 9.59004016e-02 -5.22794443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:117.35, Y:8.55, Z:-52.29 [[-1.58698439e-01 8.93712272e-01 4.19634580e-01 1.17354022e+02] [-8.33811005e-02 4.11370944e-01 -9.07646153e-01 8.54600097e+00] [-9.83799978e-01 -1.79031621e-01 9.23478603e-03 -5.22910071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:118.51, Y:8.10, Z:-52.42 [[-1.44443761e-01 5.95089061e-01 -7.90572583e-01 1.18511100e+02] [-5.36535388e-02 -8.02486000e-01 -5.94253748e-01 8.10254817e+00] [-9.88057335e-01 -4.34192299e-02 1.47842730e-01 -5.24185460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:118.13, Y:6.73, Z:-52.36 [[-1.08696238e-01 -7.96910845e-01 -5.94237522e-01 1.18134159e+02] [-3.76586274e-02 -5.94049222e-01 8.03546731e-01 6.73477134e+00] [-9.93361443e-01 1.09720676e-01 3.45603471e-02 -5.23579298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:118.59, Y:7.85, Z:-52.46 [[-1.07145291e-01 3.71534721e-01 -9.22215722e-01 1.18590867e+02] [-2.41377744e-02 -9.28253961e-01 -3.71162971e-01 7.85276813e+00] [-9.93950328e-01 -1.75081296e-02 1.08426062e-01 -5.24620132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:117.87, Y:6.63, Z:-52.43 [[-4.76139029e-02 -9.31563480e-01 -3.60447498e-01 1.17867194e+02] [-4.34717631e-03 -3.60660100e-01 9.32687190e-01 6.62575567e+00] [-9.98856355e-01 4.59758061e-02 1.31227643e-02 -5.24327122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:118.60, Y:7.67, Z:-52.49 [[-2.75412636e-02 2.04786639e-01 -9.78419088e-01 1.18604440e+02] [ 1.02799826e-02 -9.78680592e-01 -2.05130741e-01 7.67449546e+00] [-9.99567807e-01 -1.57076910e-02 2.48488971e-02 -5.24872301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:118.59, Y:7.37, Z:-52.52 [[-2.90640261e-02 -9.93558571e-02 -9.94627416e-01 1.18585948e+02] [ 1.87825323e-02 -9.94926373e-01 9.88368760e-02 7.37194449e+00] [-9.99401070e-01 -1.58090240e-02 3.07827207e-02 -5.25233049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:117.38, Y:6.62, Z:-52.72 [[ 8.39523011e-02 -9.93937593e-01 7.09934695e-02 1.17381822e+02] [-1.07915712e-02 7.03339258e-02 9.97465128e-01 6.62324305e+00] [-9.96411337e-01 -8.45056238e-02 -4.82145339e-03 -5.27234832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:116.60, Y:7.52, Z:-52.91 [[ 1.22545627e-01 -2.11682574e-01 9.69625215e-01 1.16599473e+02] [-1.40302801e-03 9.76950970e-01 2.13459209e-01 7.52006527e+00] [-9.92461889e-01 -2.75189039e-02 1.19424072e-01 -5.29119238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:117.54, Y:8.61, Z:-53.02 [[ 1.47965765e-02 9.74180946e-01 2.25283256e-01 1.17544512e+02] [-1.57574242e-02 2.25507128e-01 -9.74114079e-01 8.60766256e+00] [-9.99766355e-01 1.08636697e-02 1.86873159e-02 -5.30164729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.00, Y:8.37, Z:-53.09 [[ 4.09193086e-02 6.69241224e-01 7.41917646e-01 1.17004585e+02] [-5.94905992e-02 7.42854088e-01 -6.66804823e-01 8.37231963e+00] [-9.97389833e-01 -1.68519330e-02 7.02106371e-02 -5.30929094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.15, Y:8.47, Z:-53.24 [[-8.78709126e-03 7.74436893e-01 6.32590140e-01 1.17153388e+02] [-6.83506862e-02 6.30669824e-01 -7.73035418e-01 8.46873947e+00] [-9.97622659e-01 -5.00307029e-02 4.73915398e-02 -5.32350212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.82, Y:8.60, Z:-53.27 [[-2.08622293e-02 9.99689626e-01 -1.36168719e-02 1.17816994e+02] [-7.11231501e-02 -1.50693023e-02 -9.97353705e-01 8.60419060e+00] [-9.97249349e-01 -1.98385469e-02 7.14154546e-02 -5.32724607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.53, Y:8.12, Z:-53.34 [[-6.95547896e-02 6.21323773e-01 -7.80460697e-01 1.18526646e+02] [-1.21728908e-02 -7.82825832e-01 -6.22121803e-01 8.12136836e+00] [-9.97503861e-01 -3.37710882e-02 6.20125924e-02 -5.33405410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:7.67, Z:-53.37 [[-4.44625418e-02 1.95207478e-01 -9.79753603e-01 1.18664290e+02] [ 1.55208268e-02 -9.80470142e-01 -1.96054598e-01 7.67159754e+00] [-9.98890478e-01 -2.39236717e-02 4.05644132e-02 -5.33726246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.88, Y:8.58, Z:-53.41 [[-1.32927507e-01 9.89195090e-01 -6.18332625e-02 1.17880616e+02] [ 1.41590810e-02 -6.04852479e-02 -9.98068663e-01 8.58123590e+00] [-9.91024620e-01 -1.33546281e-01 -5.96594020e-03 -5.34122992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.66, Y:7.51, Z:-53.53 [[-1.10657357e-01 3.41854734e-02 -9.93270508e-01 1.18658483e+02] [ 2.70086765e-02 -9.98935715e-01 -3.73894108e-02 7.50684437e+00] [-9.93491560e-01 -3.09643352e-02 1.09616282e-01 -5.35324258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.88, Y:8.58, Z:-53.51 [[-2.02548192e-01 9.77297977e-01 -6.21521832e-02 1.17882598e+02] [ 2.45979039e-02 -5.83702378e-02 -9.97991913e-01 8.58087642e+00] [-9.78963315e-01 -2.03670271e-01 -1.22166956e-02 -5.35132772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.63, Y:7.43, Z:-53.72 [[-2.06907245e-01 -5.09794327e-02 -9.77031468e-01 1.18627242e+02] [ 3.94126037e-02 -9.98265185e-01 4.37409039e-02 7.42732941e+00] [-9.77566386e-01 -2.94570442e-02 2.08557531e-01 -5.37231393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.57, Y:6.63, Z:-53.62 [[-1.27401100e-01 -9.89904284e-01 -6.21165653e-02 1.17566415e+02] [ 4.45706594e-02 -6.82773950e-02 9.96670283e-01 6.63007566e+00] [-9.90849341e-01 1.24208314e-01 5.28193020e-02 -5.36212492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:116.66, Y:7.64, Z:-53.55 [[-1.16653160e-01 -1.46835441e-01 9.82258313e-01 1.16656007e+02] [-3.33019049e-02 9.89032726e-01 1.43893192e-01 7.63979557e+00] [-9.92614237e-01 -1.59254774e-02 -1.20263693e-01 -5.35533812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.73, Y:8.61, Z:-53.80 [[-1.95907970e-01 9.78629676e-01 6.24821936e-02 1.17730283e+02] [-4.03874381e-02 5.56106421e-02 -9.97635360e-01 8.61349727e+00] [-9.79790244e-01 -1.97968214e-01 2.86297774e-02 -5.38029377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:118.61, Y:7.70, Z:-53.97 [[-1.98772411e-01 2.25271459e-01 -9.53804120e-01 1.18605677e+02] [-2.18702098e-02 -9.74001378e-01 -2.25483946e-01 7.69802772e+00] [-9.79801624e-01 -2.39600913e-02 1.98531336e-01 -5.39657851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:117.75, Y:6.64, Z:-53.85 [[-1.18127933e-01 -9.47966527e-01 -2.95643798e-01 1.17751193e+02] [-4.15818084e-03 -2.97253539e-01 9.54789528e-01 6.63962912e+00] [-9.92989678e-01 1.14016653e-01 3.11721298e-02 -5.38548661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:116.62, Y:7.51, Z:-53.81 [[-1.03798661e-01 -2.89526359e-01 9.51525263e-01 1.16619572e+02] [-8.45204970e-02 9.55800067e-01 2.81607025e-01 7.50954997e+00] [-9.91000567e-01 -5.11929559e-02 -1.23681679e-01 -5.38115642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.44, Y:8.61, Z:-54.04 [[-1.80445427e-01 9.27572021e-01 3.27184343e-01 1.17437094e+02] [-1.00217114e-01 3.13575023e-01 -9.44260152e-01 8.60884709e+00] [-9.78466135e-01 -2.03176897e-01 3.63754115e-02 -5.40424806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:118.48, Y:8.06, Z:-54.17 [[-1.80787967e-01 5.82332743e-01 -7.92593393e-01 1.18477045e+02] [-8.36696967e-02 -8.12057348e-01 -5.77548479e-01 8.06138041e+00] [-9.79956679e-01 -3.80977665e-02 1.95533801e-01 -5.41679619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.02, Y:6.73, Z:-54.10 [[-1.05294836e-01 -7.98754712e-01 -5.92371427e-01 1.18017458e+02] [-4.46701541e-02 -5.91282420e-01 8.05226475e-01 6.72570225e+00] [-9.93437253e-01 1.11247513e-01 2.65784894e-02 -5.40969165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:116.71, Y:7.10, Z:-54.06 [[-6.34831618e-02 -6.68744230e-01 7.40777324e-01 1.16714441e+02] [-1.17805309e-01 7.42106442e-01 6.59848421e-01 7.10408635e+00] [-9.91005448e-01 -4.53782375e-02 -1.25892884e-01 -5.40638710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters Centerline goodness : 0.809775 Centerline is valid? [True, False] Translation: X:116.67, Y:7.25, Z:-54.01 [[-6.81283471e-02 -5.52146391e-01 8.30959019e-01 1.16665317e+02] [-1.07828053e-01 8.32090405e-01 5.44057597e-01 7.25381059e+00] [-9.91832465e-01 -5.25349485e-02 -1.16225814e-01 -5.40131047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:116.64, Y:7.38, Z:-53.99 [[-6.39732463e-02 -4.43737608e-01 8.93870437e-01 1.16638941e+02] [-9.46611783e-02 8.94364722e-01 4.37208194e-01 7.38033015e+00] [-9.93451904e-01 -5.66452013e-02 -9.92201395e-02 -5.39885568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:118.23, Y:8.39, Z:-54.27 [[-9.80235961e-02 8.65922879e-01 -4.90478279e-01 1.18228338e+02] [-5.88483780e-02 -4.97032933e-01 -8.65733869e-01 8.39267071e+00] [-9.93442622e-01 -5.59984960e-02 9.96791123e-02 -5.42731850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:118.42, Y:8.16, Z:-54.33 [[-1.07136254e-01 6.85158206e-01 -7.20472106e-01 1.18417185e+02] [-5.02821763e-02 -7.27449447e-01 -6.84316451e-01 8.16430519e+00] [-9.92972067e-01 -3.70881958e-02 1.12387455e-01 -5.43335045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:118.22, Y:6.86, Z:-54.31 [[-4.79285015e-02 -6.19755256e-01 -7.83330250e-01 1.18218499e+02] [ 5.11381696e-03 -7.84373486e-01 6.20267752e-01 6.86285634e+00] [-9.98837678e-01 2.57226964e-02 4.07631608e-02 -5.43109347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:116.92, Y:6.86, Z:-54.34 [[ 1.33460676e-02 -8.77106651e-01 4.80110201e-01 1.16920686e+02] [-4.19268613e-02 4.79239803e-01 8.76682012e-01 6.85700255e+00] [-9.99031541e-01 -3.18297712e-02 -3.03783620e-02 -5.43388809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:117.39, Y:8.60, Z:-54.54 [[-1.24506913e-02 9.33931089e-01 3.57236199e-01 1.17391622e+02] [-5.77284014e-02 3.55996624e-01 -9.32702437e-01 8.59844133e+00] [-9.98254683e-01 -3.22354647e-02 4.94819447e-02 -5.45379550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.73, Y:8.60, Z:-54.55 [[-1.18418055e-02 9.99738937e-01 1.95404361e-02 1.17732485e+02] [-5.94068903e-02 1.88038879e-02 -9.98056729e-01 8.59951691e+00] [-9.98163610e-01 -1.29796302e-02 5.91687094e-02 -5.45487453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.43, Y:8.10, Z:-54.61 [[-5.39760234e-02 6.52502371e-01 -7.55861922e-01 1.18433856e+02] [-5.09870190e-03 -7.57135632e-01 -6.53237811e-01 8.10459777e+00] [-9.98529214e-01 -3.14052648e-02 4.41940857e-02 -5.46118511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:118.55, Y:7.76, Z:-54.65 [[-5.80764788e-02 3.37608789e-01 -9.39493176e-01 1.18554832e+02] [-5.13107401e-04 -9.41091563e-01 -3.38151454e-01 7.76087788e+00] [-9.98312005e-01 -1.91565849e-02 5.48285138e-02 -5.46455516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:118.57, Y:7.58, Z:-54.65 [[-2.64034269e-02 1.61479000e-01 -9.86522879e-01 1.18567940e+02] [ 1.67141142e-02 -9.86657668e-01 -1.61948402e-01 7.57787126e+00] [-9.99511629e-01 -2.07648488e-02 2.33521652e-02 -5.46530118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:118.39, Y:7.04, Z:-54.83 [[ 1.27466865e-02 -3.70721313e-01 -9.28656680e-01 1.18392444e+02] [ 7.13500598e-02 -9.26027505e-01 3.70651089e-01 7.03927557e+00] [-9.97369887e-01 -7.09842829e-02 1.46472056e-02 -5.48252449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:117.47, Y:6.59, Z:-54.95 [[ 2.95004301e-02 -9.93742153e-01 -1.07732348e-01 1.17474446e+02] [ 8.88956426e-02 -1.04743862e-01 9.90518192e-01 6.58774183e+00] [-9.95603982e-01 -3.87976490e-02 8.52493582e-02 -5.49499541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:117.20, Y:6.66, Z:-55.02 [[ 4.13224917e-02 -9.84602104e-01 1.69856256e-01 1.17204247e+02] [ 1.00010197e-01 1.73223678e-01 9.79791569e-01 6.65542227e+00] [-9.94127966e-01 -2.35000713e-02 1.05628285e-01 -5.50201668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters Centerline goodness : 0.980587 Centerline is valid? [True, True] Translation: X:117.04, Y:6.72, Z:-55.11 [[ 1.26988663e-01 -9.44273748e-01 3.03679056e-01 1.17038827e+02] [ 4.99999583e-02 3.11862309e-01 9.48810784e-01 6.72003068e+00] [-9.90643167e-01 -1.05304273e-01 8.68166256e-02 -5.51080033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.17, Y:8.52, Z:-55.18 [[ 1.59462495e-02 8.05731528e-01 5.92066231e-01 1.17165781e+02] [-1.02921549e-03 5.92154435e-01 -8.05823843e-01 8.52278732e+00] [-9.99872321e-01 1.22405043e-02 1.02719137e-02 -5.51783336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:118.54, Y:7.98, Z:-55.18 [[-9.21556125e-03 5.22424244e-01 -8.52635903e-01 1.18536916e+02] [ 4.88953890e-02 -8.51416724e-01 -5.22205709e-01 7.97657811e+00] [-9.98761390e-01 -4.65023829e-02 -1.76978537e-02 -5.51828131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:117.98, Y:8.54, Z:-55.16 [[-8.58286659e-02 9.78050317e-01 -1.89871057e-01 1.17979675e+02] [ 7.29910266e-02 -1.83889492e-01 -9.80233118e-01 8.54134861e+00] [-9.93632603e-01 -9.79909842e-02 -5.56059069e-02 -5.51610231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.55, Y:7.27, Z:-55.33 [[-1.00643653e-01 -1.85466840e-01 -9.77482944e-01 1.18547909e+02] [ 5.65611118e-02 -9.81949075e-01 1.80490592e-01 7.27082731e+00] [-9.93313493e-01 -3.71222896e-02 1.09317152e-01 -5.53346647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.37, Y:6.99, Z:-55.41 [[-1.02054281e-01 -4.98906093e-01 -8.60626303e-01 1.18373706e+02] [ 6.77526550e-02 -8.66620412e-01 4.94346680e-01 6.99088460e+00] [-9.92468892e-01 -7.85952180e-03 1.22244536e-01 -5.54078982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:118.28, Y:6.90, Z:-55.45 [[-9.75448046e-02 -6.14170871e-01 -7.83121416e-01 1.18276536e+02] [ 7.66752588e-02 -7.89172842e-01 6.09366171e-01 6.89609392e+00] [-9.92273105e-01 -6.05533229e-04 1.24071421e-01 -5.54471645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:6.85, Z:-55.50 [[-9.33262944e-02 -6.74128600e-01 -7.32694229e-01 1.18213790e+02] [ 8.05395487e-02 -7.38605920e-01 6.69309103e-01 6.85330947e+00] [-9.92372704e-01 3.45327588e-03 1.23225367e-01 -5.55014357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.16, Y:6.82, Z:-55.55 [[-8.95635046e-02 -7.24178505e-01 -6.83771798e-01 1.18159015e+02] [ 8.25999363e-02 -6.89566613e-01 7.19496447e-01 6.82032562e+00] [-9.92550064e-01 7.96111632e-03 1.21577101e-01 -5.55464396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.07, Y:6.78, Z:-55.61 [[-7.49001778e-02 -7.90170056e-01 -6.08293717e-01 1.18072761e+02] [ 9.32906465e-02 -6.12884323e-01 7.84646202e-01 6.77553541e+00] [-9.92817616e-01 2.02202596e-03 1.19620620e-01 -5.56068711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:117.95, Y:6.72, Z:-55.65 [[-6.71994387e-02 -8.65843476e-01 -4.95781515e-01 1.17951202e+02] [ 1.02049248e-01 -5.00263360e-01 8.59838660e-01 6.72441909e+00] [-9.92507021e-01 7.18654459e-03 1.21976092e-01 -5.56482224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:117.80, Y:6.69, Z:-55.74 [[-3.64669165e-02 -9.35783640e-01 -3.50683822e-01 1.17797207e+02] [ 1.27071762e-01 -3.52410843e-01 9.27178173e-01 6.69495348e+00] [-9.91222947e-01 -1.07506821e-02 1.31763013e-01 -5.57410306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:6.67, Z:-55.81 [[-2.11996802e-02 -9.94423844e-01 -1.03304369e-01 1.17546341e+02] [ 9.47791035e-02 -1.04861215e-01 9.89960124e-01 6.67438712e+00] [-9.95272573e-01 1.11957426e-02 9.64736246e-02 -5.58139072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.33, Y:6.71, Z:-55.87 [[-2.11343951e-02 -9.92938664e-01 1.16731085e-01 1.17334684e+02] [ 1.02811829e-01 1.13979683e-01 9.88148956e-01 6.71179341e+00] [-9.94476277e-01 3.28852669e-02 9.96769489e-02 -5.58746145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.30, Y:6.73, Z:-55.96 [[-1.21183157e-02 -9.88045140e-01 1.53687825e-01 1.17297750e+02] [ 1.01552569e-01 1.51688284e-01 9.83197712e-01 6.73006339e+00] [-9.94756363e-01 2.75220937e-02 9.85003156e-02 -5.59588260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:6.77, Z:-56.11 [[ 1.16776549e-02 -9.74446730e-01 2.24314965e-01 1.17219347e+02] [ 1.00526340e-01 2.24337809e-01 9.69312644e-01 6.77290823e+00] [-9.94865864e-01 1.12302640e-02 1.00577303e-01 -5.61081099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:6.85, Z:-56.21 [[ 4.33707097e-02 -9.33256051e-01 3.56583966e-01 1.17093087e+02] [ 1.44549587e-01 3.59025990e-01 9.22066025e-01 6.84713846e+00] [-9.88546609e-01 1.15534070e-02 1.50472988e-01 -5.62063441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:116.63, Y:8.03, Z:-56.29 [[ 8.00180037e-02 1.23968293e-01 9.89054590e-01 1.16627033e+02] [ 6.16214797e-02 9.89723253e-01 -1.29037498e-01 8.03100941e+00] [-9.94886884e-01 7.12723304e-02 7.15565693e-02 -5.62882859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:8.77, Z:-56.39 [[ 6.94649372e-03 9.99961658e-01 -5.33177411e-03 1.17772154e+02] [ 5.25875911e-02 -5.68982772e-03 -9.98600106e-01 8.76871960e+00] [-9.98592155e-01 6.65638421e-03 -5.26250991e-02 -5.63924019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:118.11, Y:6.92, Z:-56.50 [[-4.24589205e-02 -8.15231210e-01 -5.77577107e-01 1.18110425e+02] [ 2.44874056e-02 -5.78773900e-01 8.15120322e-01 6.91917790e+00] [-9.98798081e-01 2.04657641e-02 4.45370123e-02 -5.64977224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:7.31, Z:-56.53 [[-8.72063247e-03 -5.99171931e-01 8.00572888e-01 1.16775022e+02] [-7.90146809e-03 8.00619626e-01 5.99120840e-01 7.30798600e+00] [-9.99930756e-01 -1.10098848e-03 -1.17162474e-02 -5.65293398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.91, Y:8.47, Z:-56.63 [[ 5.51639249e-02 5.82421146e-01 8.11013286e-01 1.16912377e+02] [-2.08837184e-02 8.12745420e-01 -5.82244581e-01 8.47437860e+00] [-9.98258890e-01 1.51819233e-02 5.69973465e-02 -5.66277746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.98, Y:8.54, Z:-56.74 [[ 4.23973451e-02 6.49525345e-01 7.59156961e-01 1.16980511e+02] [-3.35931981e-02 7.60337314e-01 -6.48659130e-01 8.53614182e+00] [-9.98535909e-01 1.99891481e-03 5.40559170e-02 -5.67365256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:8.39, Z:-56.91 [[-1.67697505e-02 7.17083134e-01 -6.96785874e-01 1.18457472e+02] [ 1.12360345e-02 -6.96704712e-01 -7.17270030e-01 8.38829757e+00] [-9.99796243e-01 -1.98575495e-02 3.62639335e-03 -5.69099631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:117.33, Y:6.84, Z:-56.86 [[-5.10780870e-03 -9.70655477e-01 2.40420163e-01 1.17329195e+02] [ 1.64843590e-02 2.40308901e-01 9.70556489e-01 6.84233241e+00] [-9.99851077e-01 8.92058915e-03 1.47731814e-02 -5.68637915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11592000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.94, Y:7.10, Z:-56.94 [[ 1.42798124e-02 -7.51748938e-01 6.59294791e-01 1.16942942e+02] [ 1.73375254e-02 6.59449048e-01 7.51549309e-01 7.10289228e+00] [-9.99747717e-01 6.98557067e-04 2.24502750e-02 -5.69417663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:7.62, Z:-57.04 [[-3.91875882e-03 -2.55851517e-01 9.66708149e-01 1.16697349e+02] [-6.74225709e-03 9.66700358e-01 2.55822124e-01 7.62371463e+00] [-9.99969592e-01 -5.51528966e-03 -5.51328225e-03 -5.70374539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.82, Y:7.26, Z:-57.21 [[ 2.59210912e-02 -6.31671463e-01 7.74802723e-01 1.16819348e+02] [-7.34630901e-02 7.71763806e-01 6.31651646e-01 7.26442321e+00] [-9.96961018e-01 -7.32925022e-02 -2.63995776e-02 -5.72092444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:8.65, Z:-57.41 [[ 6.87188515e-02 7.99700018e-01 5.96454190e-01 1.17149569e+02] [-5.45070470e-02 5.99984109e-01 -7.98152899e-01 8.64690164e+00] [-9.96145924e-01 2.23371939e-02 8.48195054e-02 -5.74059791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:8.69, Z:-57.48 [[ 6.87318086e-02 8.57833518e-01 5.09310901e-01 1.17244265e+02] [-5.82158657e-02 5.13096971e-01 -8.56354139e-01 8.68977665e+00] [-9.95935164e-01 2.92087938e-02 8.52056037e-02 -5.74772377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:117.25, Y:8.68, Z:-57.55 [[ 8.77045845e-02 8.60066571e-01 5.02586708e-01 1.17252643e+02] [-1.03156764e-01 5.09659982e-01 -8.54169412e-01 8.68211879e+00] [-9.90790890e-01 2.30693551e-02 1.33421201e-01 -5.75509909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.62, Y:8.09, Z:-57.61 [[ 4.41516714e-02 4.44124609e-01 -8.94876506e-01 1.18622749e+02] [-5.41714921e-02 -8.93367843e-01 -4.46048592e-01 8.09040576e+00] [-9.97555051e-01 6.81705865e-02 -1.53847907e-02 -5.76146307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:8.69, Z:-57.71 [[ 2.93188092e-02 9.53342822e-01 3.00462762e-01 1.17488557e+02] [-6.62551947e-03 3.00770728e-01 -9.53673462e-01 8.69308185e+00] [-9.99548153e-01 2.59698484e-02 1.51346310e-02 -5.77091938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:7.17, Z:-57.84 [[ 1.83304871e-02 -6.66566540e-01 7.45220129e-01 1.16882390e+02] [-7.95917874e-02 7.42007169e-01 6.65650441e-01 7.16665335e+00] [-9.96658989e-01 -7.15150989e-02 -3.94518695e-02 -5.78420845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:8.61, Z:-58.00 [[ 8.52941716e-02 8.24098264e-01 5.59988353e-01 1.17187734e+02] [-9.45941792e-02 5.66195616e-01 -8.18825052e-01 8.60978528e+00] [-9.91855254e-01 1.68693658e-02 1.26248085e-01 -5.80022280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41592 meters Centerline goodness : 0.938967 Centerline is valid? [True, False] Translation: X:117.13, Y:8.58, Z:-57.96 [[ 7.56312421e-02 7.88054280e-01 6.10942196e-01 1.17134427e+02] [-9.59677534e-02 6.15605534e-01 -7.82189246e-01 8.58463355e+00] [-9.92506980e-01 5.27194214e-04 1.22186810e-01 -5.79574309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:117.09, Y:8.56, Z:-57.92 [[ 6.74705961e-02 7.50673982e-01 6.57218602e-01 1.17087844e+02] [-9.89930708e-02 6.60506039e-01 -7.44266178e-01 8.55839764e+00] [-9.92798112e-01 -1.48440049e-02 1.18876259e-01 -5.79194253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.24, Y:8.65, Z:-57.99 [[ 5.08986083e-02 8.54868536e-01 5.16342056e-01 1.17240317e+02] [-1.04425335e-01 5.18733703e-01 -8.48534439e-01 8.64594437e+00] [-9.93229420e-01 -1.07299701e-02 1.15672757e-01 -5.79894426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:118.57, Y:8.20, Z:-58.10 [[-2.06096106e-02 5.61132548e-01 -8.27469339e-01 1.18573088e+02] [-5.36411907e-02 -8.27073652e-01 -5.59528191e-01 8.19633766e+00] [-9.98347568e-01 3.28547825e-02 4.71454839e-02 -5.80951822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.68, Y:7.50, Z:-58.21 [[-2.16854783e-02 -1.24073171e-01 -9.92036082e-01 1.18679205e+02] [ 2.00236026e-02 -9.92124286e-01 1.23646495e-01 7.49614456e+00] [-9.99564303e-01 -1.71828029e-02 2.39990815e-02 -5.82058107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:6.93, Z:-58.30 [[ 1.32173349e-02 -7.15549090e-01 -6.98437400e-01 1.18345974e+02] [ 1.94517878e-02 -6.98182234e-01 7.15655781e-01 6.93298972e+00] [-9.99723427e-01 -2.30449183e-02 4.69060064e-03 -5.82954350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:7.87, Z:-58.43 [[ 1.36283257e-02 3.11207264e-01 -9.50244341e-01 1.18690756e+02] [ 1.02474392e-01 -9.45763475e-01 -3.08270091e-01 7.87362962e+00] [-9.94642281e-01 -9.31745062e-02 -4.47799479e-02 -5.84300482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.72, Y:6.67, Z:-58.55 [[-2.36917176e-03 -9.97411452e-01 -7.18664170e-02 1.17720354e+02] [ 1.05809769e-01 -7.17132193e-02 9.91797110e-01 6.66533644e+00] [-9.94383568e-01 -5.25443128e-03 1.05705776e-01 -5.85534240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.72, Y:6.67, Z:-58.61 [[ 1.15863171e-03 -9.97261585e-01 -7.39458429e-02 1.17718000e+02] [ 1.29979514e-01 -7.31683988e-02 9.88813284e-01 6.67251971e+00] [-9.91516003e-01 -1.07571151e-02 1.29538801e-01 -5.86079899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:7.52, Z:-58.71 [[ 3.21548156e-02 -2.89230983e-01 9.56719137e-01 1.16749090e+02] [ 4.45975335e-02 9.56675925e-01 2.87719021e-01 7.51781482e+00] [-9.98487420e-01 3.34157617e-02 4.36607264e-02 -5.87057113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:117.06, Y:6.99, Z:-58.79 [[ 4.12294163e-02 -8.01919098e-01 5.96008301e-01 1.17059410e+02] [ 5.72783354e-02 5.97431514e-01 7.99871726e-01 6.99016726e+00] [-9.97506555e-01 1.16011899e-03 7.05643437e-02 -5.87874495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:8.16, Z:-58.94 [[ 1.39836297e-02 3.08778226e-01 9.51031264e-01 1.16825954e+02] [-2.23426866e-02 9.50983277e-01 -3.08434126e-01 8.16477705e+00] [-9.99652571e-01 -1.69355649e-02 2.01971331e-02 -5.89400835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:7.43, Z:-59.09 [[ 3.44179475e-02 -4.71534093e-01 8.81175921e-01 1.16806684e+02] [-8.84248676e-02 8.76803684e-01 4.72648222e-01 7.42943819e+00] [-9.95488045e-01 -9.41854459e-02 -1.15175566e-02 -5.90884348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.26, Y:6.94, Z:-59.19 [[ 1.00611783e-01 -9.35656180e-01 3.38267323e-01 1.17257837e+02] [-9.73722484e-02 3.29100161e-01 9.39261268e-01 6.93501089e+00] [-9.90149440e-01 -1.27438601e-01 -5.79955920e-02 -5.91888806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:116.92, Y:8.42, Z:-59.49 [[ 1.46965101e-01 5.52004233e-01 8.20787783e-01 1.16919635e+02] [-1.29380609e-01 8.33396673e-01 -5.37318009e-01 8.42292858e+00] [-9.80643624e-01 -2.72270281e-02 1.93898870e-01 -5.94913204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:8.60, Z:-59.63 [[ 1.02399346e-01 7.53703291e-01 6.49188511e-01 1.17132462e+02] [-1.24047323e-01 6.57200097e-01 -7.43438158e-01 8.59962390e+00] [-9.86978539e-01 -4.40251571e-03 1.60791736e-01 -5.96285196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:8.65, Z:-59.79 [[ 7.95965411e-02 8.30297576e-01 5.51607039e-01 1.17269254e+02] [-1.46781464e-01 5.57093306e-01 -8.17375220e-01 8.65322111e+00] [-9.85961253e-01 -1.59054483e-02 1.66214994e-01 -5.97866124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.40, Y:8.69, Z:-59.90 [[ 7.91339985e-02 8.95450438e-01 4.38071141e-01 1.17403846e+02] [-1.86605795e-01 4.44987517e-01 -8.75879208e-01 8.68746599e+00] [-9.79242609e-01 -1.24347897e-02 2.02309883e-01 -5.99044833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.69, Y:8.14, Z:-59.93 [[ 3.48446764e-02 5.06424854e-01 -8.61579779e-01 1.18687697e+02] [-1.29252225e-01 -8.52579349e-01 -5.06361843e-01 8.13653450e+00] [-9.90999350e-01 1.29005118e-01 3.57486878e-02 -5.99279516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:8.68, Z:-60.06 [[ 2.37309093e-02 9.77332951e-01 2.10373827e-01 1.17675740e+02] [-8.88703035e-02 2.11662309e-01 -9.73293962e-01 8.67836606e+00] [-9.95760470e-01 4.40116485e-03 9.18788150e-02 -6.00595756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:117.81, Y:8.66, Z:-60.21 [[-1.09933527e-03 9.94584233e-01 1.03927831e-01 1.17808158e+02] [-1.57524805e-01 1.02458121e-01 -9.82185456e-01 8.66162437e+00] [-9.87514419e-01 -1.74509624e-02 1.56559051e-01 -6.02109570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:118.01, Y:8.64, Z:-60.26 [[-1.85984104e-02 9.94678535e-01 -1.01334644e-01 1.18010494e+02] [-1.54967005e-01 -1.02995173e-01 -9.82536117e-01 8.63637974e+00] [-9.87744565e-01 -2.57008353e-03 1.56057900e-01 -6.02608524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.13, Y:8.61, Z:-60.26 [[-2.50805035e-02 9.75502732e-01 -2.18552941e-01 1.18126807e+02] [-1.22580037e-01 -2.19972906e-01 -9.67773762e-01 8.61006239e+00] [-9.92141675e-01 2.51797423e-03 1.25094192e-01 -6.02607039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.75, Y:7.32, Z:-60.23 [[-2.32317329e-02 -2.51585836e-01 -9.67556124e-01 1.18748322e+02] [-1.04649518e-01 -9.61888345e-01 2.52624801e-01 7.31658125e+00] [-9.94237781e-01 1.07123193e-01 -3.98200322e-03 -6.02278900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:8.47, Z:-60.33 [[-1.67023649e-02 8.80620064e-01 -4.73528598e-01 1.18362129e+02] [-5.81195534e-02 -4.73648975e-01 -8.78793927e-01 8.46917808e+00] [-9.98169900e-01 1.28433338e-02 5.90923029e-02 -6.03322048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.47, Y:8.38, Z:-60.37 [[-2.98420800e-02 8.08305919e-01 -5.88005946e-01 1.18468703e+02] [-5.06786383e-02 -5.88734889e-01 -8.06735958e-01 8.38485158e+00] [-9.98269065e-01 5.72466163e-03 5.85329170e-02 -6.03696478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:118.57, Y:8.28, Z:-60.43 [[-5.50517981e-02 7.14358572e-01 -6.97611016e-01 1.18568673e+02] [-6.65810746e-02 -6.99741870e-01 -7.11286353e-01 8.27765071e+00] [-9.96261140e-01 7.29009843e-03 8.60848095e-02 -6.04259698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:118.53, Y:6.96, Z:-60.43 [[-3.43121921e-02 -6.05383506e-01 -7.95193992e-01 1.18527830e+02] [-1.09503100e-02 -7.95387017e-01 6.06002957e-01 6.95578640e+00] [-9.99351172e-01 2.95009106e-02 2.06623350e-02 -6.04283634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:6.84, Z:-60.49 [[ 2.39454598e-02 -8.56568358e-01 5.15477704e-01 1.17200002e+02] [-2.54114512e-02 5.14937436e-01 8.56851034e-01 6.84181718e+00] [-9.99390251e-01 -3.36167285e-02 -9.43623136e-03 -6.04936328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.86, Y:7.93, Z:-60.63 [[ 4.98064241e-02 2.13796369e-01 9.75607725e-01 1.16855795e+02] [-5.03227458e-02 9.76116554e-01 -2.11338813e-01 7.93452836e+00] [-9.97490321e-01 -3.85692290e-02 5.93756953e-02 -6.06275939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.22, Y:8.43, Z:-60.73 [[ 4.19501147e-03 7.45356563e-01 6.66652830e-01 1.17219343e+02] [-3.52172906e-02 6.66355265e-01 -7.44802258e-01 8.42827538e+00] [-9.99370874e-01 -2.03532524e-02 2.90448067e-02 -6.07335212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.75, Y:7.91, Z:-60.86 [[-2.32747911e-02 4.40517959e-01 -8.97442038e-01 1.18751612e+02] [-2.20906868e-02 -8.97692654e-01 -4.40068064e-01 7.90852903e+00] [-9.99485010e-01 9.58261875e-03 3.06249533e-02 -6.08577295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.20, Y:6.65, Z:-60.90 [[ 2.47879899e-02 -8.69807997e-01 -4.92767291e-01 1.18200959e+02] [ 1.56141427e-02 -4.92521762e-01 8.70160050e-01 6.65051743e+00] [-9.99570785e-01 -2.92636574e-02 1.37268172e-03 -6.09002116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:6.77, Z:-61.00 [[ 5.02574118e-02 -8.63016443e-01 5.02669684e-01 1.17220956e+02] [ 3.65735614e-02 5.04558451e-01 8.62602541e-01 6.77139536e+00] [-9.98066414e-01 -2.49677506e-02 5.69213867e-02 -6.09956505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:6.95, Z:-61.06 [[ 6.15045759e-02 -7.05725765e-01 7.05810408e-01 1.17038631e+02] [ 2.79704560e-02 7.08090136e-01 7.05567865e-01 6.95264367e+00] [-9.97714809e-01 -2.36538134e-02 6.32902550e-02 -6.10600012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.22, Y:8.37, Z:-61.23 [[-1.89689076e-02 6.89925391e-01 7.23631906e-01 1.17222078e+02] [-5.19684822e-02 7.22103413e-01 -6.89830369e-01 8.37029108e+00] [-9.98468556e-01 -5.06913804e-02 2.21568625e-02 -6.12275949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.10, Y:8.57, Z:-61.29 [[-1.54434969e-02 9.91508674e-01 -1.29120282e-01 1.18103640e+02] [-4.08010600e-02 -1.29653034e-01 -9.90719619e-01 8.56572869e+00] [-9.99047933e-01 -1.00319310e-02 4.24569011e-02 -6.12883513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.29, Y:8.50, Z:-61.31 [[-2.09122310e-02 9.46434254e-01 -3.22218687e-01 1.18293604e+02] [-5.12924458e-02 -3.22880370e-01 -9.45048862e-01 8.49504718e+00] [-9.98464703e-01 -3.23569559e-03 5.52970765e-02 -6.13121710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55592000000001 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:118.63, Y:6.98, Z:-61.34 [[ 6.64149067e-03 -5.18360379e-01 -8.55136485e-01 1.18626210e+02] [ 9.14137486e-03 -8.55088140e-01 5.18402071e-01 6.97512829e+00] [-9.99936161e-01 -1.12600857e-02 -9.40533368e-04 -6.13356866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:117.88, Y:6.58, Z:-61.55 [[ 1.22590342e-01 -9.71574911e-01 -2.02518642e-01 1.17882970e+02] [ 5.43978596e-03 -2.03396917e-01 9.79081255e-01 6.58256376e+00] [-9.92442450e-01 -1.21127563e-01 -1.96493379e-02 -6.15492850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61592000000002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:116.85, Y:7.37, Z:-61.72 [[ 1.49619780e-01 -3.40341034e-01 9.28322089e-01 1.16851264e+02] [ 2.61071950e-02 9.39923126e-01 3.40386445e-01 7.36812560e+00] [-9.88398875e-01 -2.66926591e-02 1.49516441e-01 -6.17152517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:117.01, Y:8.13, Z:-61.85 [[ 1.08208180e-01 3.93486486e-01 9.12939963e-01 1.17010903e+02] [-5.01612300e-02 9.19323502e-01 -3.90292389e-01 8.12997811e+00] [-9.92861944e-01 -3.56136246e-03 1.19216089e-01 -6.18462137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67592000000002 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:117.06, Y:8.19, Z:-61.95 [[ 9.88128576e-02 4.50449602e-01 8.87316840e-01 1.17058872e+02] [-6.26690967e-02 8.92727592e-01 -4.46217470e-01 8.18717151e+00] [-9.93130708e-01 -1.15153216e-02 1.16442234e-01 -6.19452547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:117.18, Y:8.31, Z:-62.02 [[ 7.11690128e-02 5.89791994e-01 8.04413063e-01 1.17176913e+02] [-6.61551298e-02 8.07473343e-01 -5.86182820e-01 8.31301757e+00] [-9.95268039e-01 -1.14979980e-02 9.64848466e-02 -6.20212166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:118.72, Y:8.19, Z:-62.13 [[ 1.45910710e-03 7.25500286e-01 -6.88220318e-01 1.18723411e+02] [ 1.71312857e-02 -6.88138188e-01 -7.25377386e-01 8.18932844e+00] [-9.99852184e-01 -1.07316956e-02 -1.34328200e-02 -6.21331729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters Centerline goodness : 0.786879 Centerline is valid? [True, False] Translation: X:118.67, Y:8.24, Z:-62.11 [[-1.07352679e-02 7.76923443e-01 -6.29503549e-01 1.18674140e+02] [ 2.18124437e-02 -6.29208081e-01 -7.76930761e-01 8.23758130e+00] [-9.99704442e-01 -2.20715706e-02 -1.01918815e-02 -6.21067760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79592 meters Centerline goodness : 0.811866 Centerline is valid? [False, False] Translation: X:118.63, Y:8.28, Z:-62.07 [[-2.07366824e-02 8.23374477e-01 -5.67119441e-01 1.18625343e+02] [ 2.88075749e-02 -5.66513820e-01 -8.23548551e-01 8.28097262e+00] [-9.99369858e-01 -3.34150005e-02 -1.19718047e-02 -6.20675651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters Centerline goodness : 0.999105 Centerline is valid? [False, True] Translation: X:118.57, Y:8.32, Z:-62.03 [[-3.17243574e-02 8.64546765e-01 -5.01550054e-01 1.18572151e+02] [ 3.34077934e-02 -5.00605042e-01 -8.65030931e-01 8.32126020e+00] [-9.98938179e-01 -4.41982310e-02 -1.30012264e-02 -6.20319404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:117.25, Y:6.81, Z:-62.07 [[-3.04982036e-03 -8.41043876e-01 5.40958314e-01 1.17252214e+02] [-3.54573696e-03 5.40966525e-01 8.41036650e-01 6.80923202e+00] [-9.99989063e-01 6.46914809e-04 -4.63197108e-03 -6.20676714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:116.98, Y:7.22, Z:-62.15 [[ 1.92667318e-02 -4.86898851e-01 8.73245843e-01 1.16979486e+02] [-3.80603618e-02 8.72417721e-01 4.87276851e-01 7.21979322e+00] [-9.99089687e-01 -4.26242851e-02 -1.72290817e-03 -6.21488394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:117.37, Y:8.38, Z:-62.28 [[ 2.90621782e-02 7.25756686e-01 6.87337343e-01 1.17367345e+02] [-7.72277756e-02 6.87202708e-01 -7.22349160e-01 8.38322694e+00] [-9.96589816e-01 -3.20884941e-02 7.60201820e-02 -6.22762436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:117.77, Y:8.53, Z:-62.32 [[-8.50545883e-04 9.44147909e-01 3.29520867e-01 1.17774849e+02] [-1.11770263e-01 3.27366474e-01 -9.38263609e-01 8.53432690e+00] [-9.93733709e-01 -3.76286700e-02 1.05249219e-01 -6.23175658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:118.81, Y:8.02, Z:-62.37 [[-5.69396605e-02 6.38940111e-01 -7.67146277e-01 1.18813951e+02] [-6.41436657e-02 -7.69146581e-01 -6.35845207e-01 8.02268256e+00] [-9.96314943e-01 1.30027641e-02 8.47789061e-02 -6.23676252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:118.61, Y:6.78, Z:-62.37 [[-2.44237322e-02 -6.04823552e-01 -7.95984894e-01 1.18607198e+02] [ 2.57811154e-03 -7.96257870e-01 6.04951864e-01 6.77906804e+00] [-9.99698372e-01 1.27230445e-02 2.10068915e-02 -6.23688486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:117.88, Y:6.51, Z:-62.51 [[ 4.42347657e-02 -9.88666136e-01 -1.43466223e-01 1.17880229e+02] [ 1.33369389e-02 -1.43009580e-01 9.89631440e-01 6.51454453e+00] [-9.98932136e-01 -4.56895151e-02 6.85978458e-03 -6.25067546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:116.98, Y:7.19, Z:-62.64 [[ 7.14891272e-02 -5.02852477e-01 8.61410872e-01 1.16979702e+02] [ 9.72732867e-04 8.63655287e-01 5.04081937e-01 7.18701315e+00] [-9.97440905e-01 -3.51984550e-02 6.22311038e-02 -6.26356562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09592 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:116.96, Y:7.79, Z:-62.71 [[ 4.74200312e-02 7.53341308e-02 9.96030175e-01 1.16956336e+02] [-8.46020662e-03 9.97146458e-01 -7.50157780e-02 7.78500251e+00] [-9.98839209e-01 -4.86937056e-03 4.79220584e-02 -6.27149224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:117.81, Y:6.51, Z:-62.79 [[ 1.16833779e-01 -9.87754830e-01 -1.03393729e-01 1.17807078e+02] [-1.92823908e-02 -1.06343126e-01 9.94142509e-01 6.51218696e+00] [-9.92964278e-01 -1.14155748e-01 -3.14707439e-02 -6.27937283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:117.63, Y:6.53, Z:-63.01 [[ 1.83913875e-01 -9.82129279e-01 3.99720580e-02 1.17633390e+02] [-2.05057630e-02 3.68233028e-02 9.99111384e-01 6.53429141e+00] [-9.82728447e-01 -1.84570103e-01 -1.33669939e-02 -6.30084338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters Centerline goodness : 0.989380 Centerline is valid? [True, True] Translation: X:118.00, Y:6.49, Z:-63.12 [[ 3.05721092e-01 -8.81591740e-01 -3.59625663e-01 1.18001079e+02] [ 3.57385328e-02 -3.66818422e-01 9.29605832e-01 6.48659647e+00] [-9.51450141e-01 -2.97052604e-01 -8.06373331e-02 -6.31175542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:116.91, Y:7.60, Z:-63.51 [[ 2.42790703e-01 -1.03611850e-01 9.64529553e-01 1.16914204e+02] [ 6.19749315e-04 9.94296063e-01 1.06653430e-01 7.60461933e+00] [-9.70078497e-01 -2.52966947e-02 2.41470054e-01 -6.35057245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:116.96, Y:7.77, Z:-63.55 [[ 2.57087955e-01 5.75910013e-02 9.64670441e-01 1.16957898e+02] [-8.32003211e-04 9.98235514e-01 -5.93731106e-02 7.77188047e+00] [-9.66387651e-01 1.44615027e-02 2.56682243e-01 -6.35548827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27592 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:116.97, Y:7.78, Z:-63.61 [[ 2.44470602e-01 6.71358597e-02 9.67329779e-01 1.16973087e+02] [-7.48309924e-04 9.97613024e-01 -6.90484979e-02 7.78258268e+00] [-9.69656416e-01 1.61564654e-02 2.43937295e-01 -6.36124509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:117.00, Y:7.81, Z:-63.67 [[ 2.52153682e-01 9.57824634e-02 9.62935221e-01 1.16997948e+02] [-3.83972432e-03 9.95180542e-01 -9.79844138e-02 7.81220856e+00] [-9.67679584e-01 2.10097250e-02 2.51306216e-01 -6.36684941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33592000000002 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:117.01, Y:7.82, Z:-63.72 [[ 2.46654774e-01 1.03570612e-01 9.63553087e-01 1.17014877e+02] [-6.64687358e-03 9.94430137e-01 -1.05188034e-01 7.82070822e+00] [-9.69080617e-01 1.95405152e-02 2.45969361e-01 -6.37249276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:117.04, Y:7.84, Z:-63.78 [[ 2.48334802e-01 1.20817514e-01 9.61110272e-01 1.17036288e+02] [-8.91352492e-03 9.92434404e-01 -1.22452046e-01 7.83912872e+00] [-9.68633251e-01 2.18422242e-02 2.47532911e-01 -6.37843879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39592000000002 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:117.05, Y:7.84, Z:-63.84 [[ 2.68832743e-01 1.21112655e-01 9.55542088e-01 1.17051166e+02] [-1.37145476e-02 9.92443775e-01 -1.21931396e-01 7.83880901e+00] [-9.63089231e-01 1.96743243e-02 2.68462388e-01 -6.38363119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters Centerline goodness : 0.944867 Centerline is valid? [True, False] Translation: X:117.09, Y:7.88, Z:-63.92 [[ 3.03578378e-01 1.69306750e-01 9.37643532e-01 1.17093892e+02] [-2.92447303e-02 9.85278081e-01 -1.68439451e-01 7.88206511e+00] [-9.52357556e-01 2.37134433e-02 3.04060452e-01 -6.39161808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45592000000002 meters Centerline goodness : 0.918416 Centerline is valid? [False, False] Translation: X:117.14, Y:7.92, Z:-64.00 [[ 3.38456128e-01 2.13965090e-01 9.16333122e-01 1.17143886e+02] [-4.98896077e-02 9.76515645e-01 -2.09590606e-01 7.91847546e+00] [-9.39658702e-01 2.52217250e-02 3.41182339e-01 -6.40011113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters Centerline goodness : 0.768720 Centerline is valid? [False, False] Translation: X:117.19, Y:7.95, Z:-64.08 [[ 3.69188392e-01 2.54536280e-01 8.93818334e-01 1.17193601e+02] [-7.32338082e-02 9.66739688e-01 -2.45053434e-01 7.94823894e+00] [-9.26464646e-01 2.50131630e-02 3.75549732e-01 -6.40776828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51592000000002 meters Centerline goodness : 0.998207 Centerline is valid? [False, True] Translation: X:117.24, Y:7.97, Z:-64.14 [[ 3.95113528e-01 2.89542334e-01 8.71808773e-01 1.17240712e+02] [-9.83624633e-02 9.56907678e-01 -2.73226136e-01 7.96894996e+00] [-9.13351042e-01 2.22020843e-02 4.06567266e-01 -6.41444514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:117.24, Y:7.92, Z:-64.20 [[ 4.13137596e-01 2.46172172e-01 8.76764842e-01 1.17239981e+02] [-1.05425734e-01 9.69225971e-01 -2.22455462e-01 7.91869673e+00] [-9.04545599e-01 -5.28862513e-04 4.26376570e-01 -6.41976151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:117.36, Y:8.03, Z:-64.31 [[ 3.76185217e-01 3.74641027e-01 8.47424795e-01 1.17362641e+02] [-1.18311271e-01 9.26543562e-01 -3.57098686e-01 8.03252043e+00] [-9.18959807e-01 3.40753421e-02 3.92876246e-01 -6.43077747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:117.37, Y:8.01, Z:-64.36 [[ 3.85781131e-01 3.58930770e-01 8.49906831e-01 1.17374286e+02] [-1.21132452e-01 9.32949032e-01 -3.39017747e-01 8.00758805e+00] [-9.14603656e-01 2.78353512e-02 4.03392297e-01 -6.43640567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:117.47, Y:8.04, Z:-64.51 [[ 3.73271052e-01 4.06846958e-01 8.33753126e-01 1.17466079e+02] [-1.50649844e-01 9.13363388e-01 -3.78248525e-01 8.03576376e+00] [-9.15408841e-01 1.55844471e-02 4.02223543e-01 -6.45074752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:117.51, Y:8.05, Z:-64.56 [[ 3.70601099e-01 4.36665091e-01 8.19742901e-01 1.17506734e+02] [-1.56581522e-01 8.99331383e-01 -4.08271100e-01 8.05264217e+00] [-9.15498253e-01 2.29491273e-02 4.01666884e-01 -6.45609213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:117.54, Y:8.06, Z:-64.61 [[ 3.69896414e-01 4.56898655e-01 8.08962460e-01 1.17542051e+02] [-1.63127324e-01 8.89132832e-01 -4.27588918e-01 8.05940334e+00] [-9.14639885e-01 2.61997266e-02 4.03419701e-01 -6.46134925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:117.58, Y:8.07, Z:-64.66 [[ 3.65806960e-01 4.76722438e-01 7.99325331e-01 1.17576121e+02] [-1.71427614e-01 8.78670059e-01 -4.45591181e-01 8.06788493e+00] [-9.14766550e-01 2.59739217e-02 4.03147013e-01 -6.46606088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:117.59, Y:8.04, Z:-64.71 [[ 3.70972118e-01 4.63218976e-01 8.04865124e-01 1.17585493e+02] [-1.80989176e-01 8.86154593e-01 -4.26582883e-01 8.04480597e+00] [-9.10836212e-01 1.25784796e-02 4.12576267e-01 -6.47118558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:117.63, Y:8.07, Z:-64.77 [[ 3.44660243e-01 5.00299444e-01 7.94298296e-01 1.17633279e+02] [-1.84282818e-01 8.65739154e-01 -4.65333816e-01 8.06939974e+00] [-9.20461384e-01 1.40065379e-02 3.90582458e-01 -6.47722016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.66, Y:8.07, Z:-64.83 [[ 3.53006263e-01 5.07645418e-01 7.85927928e-01 1.17664839e+02] [-1.98836502e-01 8.61522760e-01 -4.67164403e-01 8.06544824e+00] [-9.14248666e-01 8.64080053e-03 4.05061369e-01 -6.48268615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:8.07, Z:-64.88 [[ 3.45114739e-01 5.18267745e-01 7.82492403e-01 1.17694211e+02] [-2.01585848e-01 8.55189312e-01 -4.77508519e-01 8.06531245e+00] [-9.16656404e-01 7.05583292e-03 3.99613880e-01 -6.48810099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:8.07, Z:-64.94 [[ 3.18655985e-01 5.36636635e-01 7.81331866e-01 1.17731312e+02] [-1.96393385e-01 8.43794179e-01 -4.99440709e-01 8.06982111e+00] [-9.27301462e-01 5.70136118e-03 3.74271951e-01 -6.49371749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:8.09, Z:-65.00 [[ 3.30137590e-01 5.64935780e-01 7.56212097e-01 1.17780856e+02] [-2.07271743e-01 8.24962858e-01 -5.25808623e-01 8.08620029e+00] [-9.20894997e-01 1.68477922e-02 3.89446474e-01 -6.49953614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.75, Y:8.02, Z:-65.05 [[ 3.46999027e-01 5.07691452e-01 7.88568998e-01 1.17749162e+02] [-2.24182539e-01 8.61338400e-01 -4.55892916e-01 8.02257717e+00] [-9.10677695e-01 -1.85890021e-02 4.12699145e-01 -6.50501791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:8.04, Z:-64.75 [[ 2.81830561e-01 8.00917422e-01 -5.28301825e-01 1.19224705e+02] [-2.05432410e-01 -4.87480592e-01 -8.48622529e-01 8.03920261e+00] [-9.37213455e-01 3.47698081e-01 2.71474676e-02 -6.47543373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:8.01, Z:-64.94 [[ 2.24241122e-01 8.48155078e-01 -4.79946750e-01 1.19283200e+02] [-1.73290727e-01 -4.49936510e-01 -8.76086446e-01 8.01364581e+00] [-9.59002734e-01 2.79624928e-01 4.60831420e-02 -6.49392121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:7.95, Z:-65.11 [[ 1.71377401e-01 8.54196448e-01 -4.90895319e-01 1.19384080e+02] [-1.31214176e-01 -4.74038352e-01 -8.70672431e-01 7.94744143e+00] [-9.76428506e-01 2.13626003e-01 3.08432221e-02 -6.51106826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:7.97, Z:-65.36 [[ 1.40902403e-01 6.29772138e-01 7.63893689e-01 1.18104957e+02] [-1.05642803e-01 7.76750299e-01 -6.20885312e-01 7.97388932e+00] [-9.84370921e-01 6.78436157e-03 1.75976878e-01 -6.53601923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:6.89, Z:-65.46 [[ 1.45049457e-01 -4.96848484e-01 8.55629732e-01 1.17753035e+02] [-1.80784990e-01 8.36908426e-01 5.16624693e-01 6.89147667e+00] [-9.72767928e-01 -2.29621144e-01 3.15703640e-02 -6.54588630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:6.18, Z:-65.38 [[ 2.13940391e-01 -9.75018343e-01 -5.97389249e-02 1.18519335e+02] [-2.03397052e-01 -1.04277355e-01 9.73527541e-01 6.18181394e+00] [-9.55436627e-01 -1.96126142e-01 -2.20624995e-01 -6.53818761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:6.63, Z:-65.40 [[ 2.28101787e-01 -2.73189579e-01 -9.34525029e-01 1.19551649e+02] [-1.40231850e-01 -9.59039228e-01 2.46127584e-01 6.62642524e+00] [-9.63485653e-01 7.49080317e-02 -2.57068441e-01 -6.54029468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:6.13, Z:-65.88 [[ 3.03579432e-01 -9.37407401e-01 1.70607424e-01 1.18317825e+02] [-1.44226612e-01 1.31784331e-01 9.80730123e-01 6.12609850e+00] [-9.41827061e-01 -3.22335624e-01 -9.51920808e-02 -6.58790393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:6.43, Z:-65.71 [[ 3.55894559e-01 -3.61114105e-01 -8.61937159e-01 1.19504353e+02] [-9.32560389e-02 -9.31444989e-01 3.51729361e-01 6.43031329e+00] [-9.29861481e-01 -4.47977208e-02 -3.65172275e-01 -6.57102013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:6.90, Z:-65.85 [[ 3.34262341e-01 1.82856868e-01 -9.24571281e-01 1.19742508e+02] [-2.75299944e-02 -9.78685277e-01 -2.03512232e-01 6.90059816e+00] [-9.42077909e-01 9.34799172e-02 -3.22103583e-01 -6.58469061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:5.97, Z:-66.24 [[ 3.83683212e-01 -7.27059154e-01 -5.69361203e-01 1.19201309e+02] [ 3.98447666e-02 -6.02940877e-01 7.96790244e-01 5.97300612e+00] [-9.22604784e-01 -3.28401104e-01 -2.02368790e-01 -6.62403174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:6.84, Z:-66.88 [[ 3.90537551e-01 -2.84128307e-01 8.75643493e-01 1.17922535e+02] [ 3.82700167e-02 9.55368046e-01 2.92928834e-01 6.83576713e+00] [-9.19791186e-01 -8.08888184e-02 3.83980693e-01 -6.68784058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.14, Y:5.91, Z:-66.55 [[ 4.56368418e-01 -7.66500310e-01 -4.51890631e-01 1.19144967e+02] [ 4.31332245e-02 -4.88207121e-01 8.71661248e-01 5.91472892e+00] [-8.88744841e-01 -4.17290165e-01 -1.89740682e-01 -6.65497135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.03, Y:6.98, Z:-67.20 [[ 4.74493469e-01 -1.56122863e-01 8.66303411e-01 1.18025924e+02] [ 6.76825371e-02 9.87703299e-01 1.40930007e-01 6.97905706e+00] [-8.77653133e-01 -8.23675489e-03 4.79225556e-01 -6.71972283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:7.06, Z:-67.26 [[ 4.52679691e-01 -9.00977103e-02 8.87109632e-01 1.18066367e+02] [ 5.35576164e-02 9.95833128e-01 7.38103128e-02 7.05656816e+00] [-8.90063300e-01 1.40990477e-02 4.55618852e-01 -6.72629801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:5.91, Z:-66.91 [[ 5.18283721e-01 -7.59108188e-01 -3.93874020e-01 1.19213634e+02] [ 4.46959252e-02 -4.35886157e-01 8.98891279e-01 5.90567733e+00] [-8.54039963e-01 -4.83485281e-01 -1.91983657e-01 -6.69088106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:7.50, Z:-66.66 [[ 4.93452861e-01 7.18265916e-01 -4.90508254e-01 1.19765815e+02] [ 1.01336071e-01 -6.07586385e-01 -7.87762518e-01 7.50149961e+00] [-8.63849104e-01 3.39017489e-01 -3.72601486e-01 -6.66622100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.09, Y:6.69, Z:-66.79 [[ 4.52651459e-01 1.61294823e-01 -8.76978128e-01 1.20088884e+02] [ 1.62300145e-01 -9.81978383e-01 -9.68355194e-02 6.69417597e+00] [-8.76792632e-01 -9.85009384e-02 -4.70672121e-01 -6.67930009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:5.87, Z:-67.67 [[ 5.24865005e-01 -8.39762151e-01 -1.38982934e-01 1.19191149e+02] [ 1.67717184e-01 -5.80493446e-02 9.84124596e-01 5.87040681e+00] [-8.34498456e-01 -5.39842387e-01 1.10374474e-01 -6.76703777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:6.69, Z:-67.06 [[ 5.43334589e-01 2.02374521e-01 -8.14758908e-01 1.20198603e+02] [ 2.41581800e-01 -9.67149263e-01 -7.91235548e-02 6.68751840e+00] [-8.04006069e-01 -1.53840359e-01 -5.74375648e-01 -6.70647210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:6.70, Z:-68.18 [[ 5.00636496e-01 -4.35086462e-01 7.48373482e-01 1.18542247e+02] [ 2.46858075e-01 9.00372746e-01 3.58315516e-01 6.70490747e+00] [-8.29713317e-01 5.35621284e-03 5.58164064e-01 -6.81843393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:6.74, Z:-68.23 [[ 5.06532497e-01 -4.22009360e-01 7.51886248e-01 1.18564265e+02] [ 2.46411406e-01 9.06516793e-01 3.42795453e-01 6.73533531e+00] [-8.26260400e-01 1.16363104e-02 5.63168134e-01 -6.82296036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.85, Y:5.94, Z:-67.87 [[ 5.65825103e-01 -6.09133004e-01 -5.55696802e-01 1.19848345e+02] [ 2.69907812e-01 -4.99990324e-01 8.22896986e-01 5.94212180e+00] [-7.79096737e-01 -6.15602680e-01 -1.18497320e-01 -6.78711964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:5.97, Z:-68.04 [[ 0.60618101 -0.56018152 -0.56457174 119.93112509] [ 0.30281977 -0.49382963 0.81512728 5.9677115 ] [ -0.73542149 -0.66507816 -0.1297161 -68.04235909] [ 0. 0. 0. 1. ]] SLAMing on 138.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:6.79, Z:-68.72 [[ 5.98835377e-01 -4.61961008e-01 6.54208085e-01 1.18789613e+02] [ 3.10719423e-01 8.86899068e-01 3.41853013e-01 6.79166736e+00] [-7.38139304e-01 -1.43851982e-03 6.74646796e-01 -6.87185934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:6.53, Z:-67.70 [[ 6.20235954e-01 1.12268115e-01 -7.76339637e-01 1.20452062e+02] [ 3.61745064e-01 -9.19116998e-01 1.56091170e-01 6.53244896e+00] [-6.96022894e-01 -3.77650387e-01 -6.10681845e-01 -6.76980479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:6.78, Z:-68.92 [[ 5.84850727e-01 -5.28707187e-01 6.15157165e-01 1.18956008e+02] [ 3.67875842e-01 8.48793893e-01 3.79758201e-01 6.78057317e+00] [-7.22922535e-01 4.19960013e-03 6.90916327e-01 -6.89211680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:6.81, Z:-68.96 [[ 5.88899617e-01 -5.21177924e-01 6.17714184e-01 1.18980525e+02] [ 3.69825363e-01 8.53362697e-01 3.67425243e-01 6.81280253e+00] [-7.18628167e-01 1.20697878e-02 6.95289780e-01 -6.89598069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:6.23, Z:-68.24 [[ 0.61042259 -0.23846213 -0.7553278 120.46379959] [ 0.41170013 -0.71914821 0.55975786 6.23020172] [ -0.67667368 -0.65265739 -0.34080942 -68.24061597] [ 0. 0. 0. 1. ]] SLAMing on 138.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:6.78, Z:-69.23 [[ 6.16430793e-01 -6.03332101e-01 5.05967838e-01 1.19194596e+02] [ 4.08598533e-01 7.94384228e-01 4.49445144e-01 6.77625063e+00] [-6.73097553e-01 -7.03141100e-02 7.36203511e-01 -6.92287832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.45, Y:6.18, Z:-68.68 [[ 0.6709405 -0.40383415 -0.62189776 120.44517861] [ 0.41075372 -0.49584528 0.76512668 6.17904105] [ -0.61734935 -0.7688013 -0.16680629 -68.67573696] [ 0. 0. 0. 1. ]] SLAMing on 138.89592000000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:120.55, Y:6.24, Z:-68.81 [[ 0.67392927 -0.33847933 -0.6566971 120.55451636] [ 0.46838195 -0.49166259 0.73408872 6.24450853] [ -0.57134725 -0.80230894 -0.1728082 -68.8055331 ] [ 0. 0. 0. 1. ]] SLAMing on 138.92592000000002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:119.51, Y:6.96, Z:-69.66 [[ 6.74881454e-01 -6.08589365e-01 4.17317634e-01 1.19510410e+02] [ 4.69101107e-01 7.90378583e-01 3.94012496e-01 6.96482943e+00] [-5.69630735e-01 -7.01475624e-02 8.18901792e-01 -6.96604234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95592000000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:119.50, Y:7.08, Z:-69.67 [[ 6.75224375e-01 -5.63537469e-01 4.75917603e-01 1.19499921e+02] [ 4.70142918e-01 8.25976135e-01 3.11012960e-01 7.07884277e+00] [-5.68364039e-01 1.37457588e-02 8.22662369e-01 -6.96715643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:119.54, Y:7.10, Z:-69.70 [[ 6.76673264e-01 -5.60843961e-01 4.77040192e-01 1.19536079e+02] [ 4.67899638e-01 8.27807169e-01 3.09524183e-01 7.10438232e+00] [-5.68492060e-01 1.37601943e-02 8.22573666e-01 -6.96984963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:119.57, Y:7.13, Z:-69.73 [[ 6.78648479e-01 -5.58510100e-01 4.76972442e-01 1.19569317e+02] [ 4.66582466e-01 8.29379542e-01 3.07295260e-01 7.12892096e+00] [-5.67218692e-01 1.40015179e-02 8.23448185e-01 -6.97259189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:119.64, Y:7.07, Z:-69.76 [[ 6.95385462e-01 -5.99718172e-01 3.95950973e-01 1.19637533e+02] [ 4.83775421e-01 7.98090591e-01 3.59183449e-01 7.06750404e+00] [-5.31413587e-01 -5.82195999e-02 8.45109506e-01 -6.97625407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07592 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:119.65, Y:7.18, Z:-69.78 [[ 7.01833431e-01 -5.56125508e-01 4.45145206e-01 1.19646287e+02] [ 4.78205748e-01 8.30990225e-01 2.84208565e-01 7.17991783e+00] [-5.27966948e-01 1.34039236e-02 8.49159135e-01 -6.97818890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:119.80, Y:8.20, Z:-69.06 [[ 0.69623432 0.30983981 0.64750063 119.79592797] [ 0.43073906 0.54125214 -0.72215648 8.19700312] [ -0.57421393 0.78169394 0.2433782 -69.06187279] [ 0. 0. 0. 1. ]] SLAMing on 139.13592 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:120.27, Y:8.32, Z:-68.66 [[ 6.62451581e-01 6.59109815e-01 3.55994600e-01 1.20273805e+02] [ 4.05954165e-01 8.35284244e-02 -9.10068249e-01 8.31903919e+00] [-6.29570583e-01 7.47393641e-01 -2.12234838e-01 -6.86649785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:121.19, Y:7.78, Z:-68.41 [[ 0.59912212 0.67941193 -0.42361789 121.19070543] [ 0.44698461 -0.72278451 -0.52705531 7.77640029] [ -0.66427212 0.12641982 -0.73672287 -68.40901424] [ 0. 0. 0. 1. ]] SLAMing on 139.19592 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:121.52, Y:6.97, Z:-68.99 [[ 5.76259779e-01 4.42145303e-02 -8.16069692e-01 1.21522710e+02] [ 5.15095563e-01 -7.94891181e-01 3.20662706e-01 6.96517821e+00] [-6.34508651e-01 -6.05138897e-01 -4.80838525e-01 -6.89887664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:120.30, Y:7.14, Z:-70.19 [[ 0.57701236 -0.76940787 0.27398591 120.29752738] [ 0.56662364 0.61871656 0.54417596 7.13881271] [ -0.58821288 -0.15874936 0.79297178 -70.18854404] [ 0. 0. 0. 1. ]] SLAMing on 139.25592 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:120.20, Y:7.35, Z:-70.21 [[ 5.84547395e-01 -6.86678740e-01 4.32176643e-01 1.20204200e+02] [ 5.60297059e-01 7.26891972e-01 3.97108634e-01 7.35186536e+00] [-5.86831788e-01 1.00184849e-02 8.09646887e-01 -7.02083166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters Centerline goodness : 0.977735 Centerline is valid? [True, True] Translation: X:120.26, Y:7.42, Z:-70.30 [[ 5.91458001e-01 -6.87596506e-01 4.21175115e-01 1.20260110e+02] [ 5.68732673e-01 7.26011402e-01 3.86588400e-01 7.41539835e+00] [-5.71594769e-01 1.08852463e-02 8.20463852e-01 -7.02998956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:121.31, Y:8.28, Z:-68.80 [[ 5.72744239e-01 8.13487072e-01 -1.01009007e-01 1.21306258e+02] [ 5.29657533e-01 -4.61294709e-01 -7.11807621e-01 8.27792680e+00] [-6.25641218e-01 3.54183533e-01 -6.95073443e-01 -6.87993723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:121.96, Y:7.60, Z:-69.15 [[ 5.21224085e-01 4.24867626e-01 -7.40143874e-01 1.21960093e+02] [ 5.86535106e-01 -8.08319468e-01 -5.09529977e-02 7.59611655e+00] [-6.19920981e-01 -4.07562436e-01 -6.70515353e-01 -6.91465605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37592 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:121.78, Y:7.08, Z:-70.18 [[ 0.518064 -0.47473906 -0.71150018 121.78026275] [ 0.6427159 -0.33280629 0.69004075 7.07603454] [ -0.56438104 -0.81477776 0.13270738 -70.18295855] [ 0. 0. 0. 1. ]] SLAMing on 139.40592 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:120.77, Y:7.61, Z:-70.77 [[ 5.14126337e-01 -8.07552810e-01 2.89020015e-01 1.20771615e+02] [ 6.90365679e-01 5.89577330e-01 4.19277714e-01 7.61213790e+00] [-5.08988545e-01 -1.60322164e-02 8.60623977e-01 -7.07665823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:121.43, Y:8.62, Z:-69.19 [[ 0.54205341 0.82640051 0.15244769 121.42627295] [ 0.64193036 -0.29012566 -0.70975525 8.6179441 ] [ -0.54231312 0.48258605 -0.68775518 -69.1854718 ] [ 0. 0. 0. 1. ]] SLAMing on 139.46592 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:122.31, Y:7.98, Z:-69.51 [[ 4.73112426e-01 5.28522816e-01 -7.04860458e-01 1.22314098e+02] [ 6.86303840e-01 -7.22758329e-01 -8.12861499e-02 7.97627770e+00] [-5.52405351e-01 -4.45290951e-01 -7.04673185e-01 -6.95093538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49592 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:122.23, Y:7.51, Z:-70.60 [[ 0.45820967 -0.4219287 -0.78231711 122.22879443] [ 0.73685546 -0.31190181 0.59980104 7.5139512 ] [ -0.4970794 -0.85128928 0.16798405 -70.59514649] [ 0. 0. 0. 1. ]] SLAMing on 139.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:121.25, Y:7.89, Z:-71.19 [[ 4.70585633e-01 -8.71733441e-01 1.36491649e-01 1.21247771e+02] [ 7.74840939e-01 4.82272431e-01 4.08698938e-01 7.89396896e+00] [-4.22102691e-01 -8.65685309e-02 9.02405235e-01 -7.11881345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55592000000001 meters Centerline goodness : 0.980497 Centerline is valid? [True, True] Translation: X:122.06, Y:8.61, Z:-69.43 [[ 5.41138657e-01 8.12666277e-01 -2.16200085e-01 1.22064830e+02] [ 7.18366271e-01 -5.80383144e-01 -3.83543095e-01 8.61057887e+00] [-4.37171424e-01 5.22391462e-02 -8.97859798e-01 -6.94314343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:121.40, Y:8.06, Z:-71.28 [[ 4.63846380e-01 -8.78668681e-01 1.13083529e-01 1.21398680e+02] [ 7.68650964e-01 4.62622886e-01 4.41764373e-01 8.06140758e+00] [-4.40479548e-01 -1.17989041e-01 8.89975480e-01 -7.12775992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61592000000002 meters Centerline goodness : 0.911806 Centerline is valid? [True, False] Translation: X:121.32, Y:8.10, Z:-71.26 [[ 4.67185031e-01 -8.65267274e-01 1.81798492e-01 1.21323493e+02] [ 7.73391332e-01 4.99572079e-01 3.90248108e-01 8.10130262e+00] [-4.28490367e-01 -4.17166967e-02 9.02582807e-01 -7.12583288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters Centerline goodness : 0.994467 Centerline is valid? [False, True] Translation: X:121.26, Y:8.14, Z:-71.24 [[ 4.73081481e-01 -8.47345297e-01 2.41246471e-01 1.21260411e+02] [ 7.74924515e-01 5.30482227e-01 3.43628583e-01 8.14008521e+00] [-4.19149029e-01 2.43834853e-02 9.07589961e-01 -7.12394038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67592000000002 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:120.93, Y:9.07, Z:-70.43 [[ 5.04489783e-01 3.20759435e-02 8.62821646e-01 1.20929488e+02] [ 7.36193485e-01 5.06140870e-01 -4.49266705e-01 9.06974212e+00] [-4.51119952e-01 8.61854137e-01 2.31728797e-01 -7.04343071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:121.80, Y:9.30, Z:-69.64 [[ 0.44977212 0.85072119 0.27198988 121.7993888 ] [ 0.70263831 -0.14903379 -0.69576457 9.30481429] [ -0.55136598 0.50404602 -0.66478054 -69.64406607] [ 0. 0. 0. 1. ]] SLAMing on 139.73592000000002 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:122.48, Y:9.12, Z:-69.71 [[ 3.61009522e-01 8.97436251e-01 -2.53535601e-01 1.22477938e+02] [ 7.62737859e-01 -4.40571451e-01 -4.73421329e-01 9.11859493e+00] [-5.36566010e-01 -2.24715935e-02 -8.43559093e-01 -6.97084035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters Centerline goodness : 0.973774 Centerline is valid? [True, True] Translation: X:122.80, Y:9.10, Z:-69.89 [[ 0.29654349 0.79795669 -0.52471619 122.80262988] [ 0.77096219 -0.52428227 -0.36158733 9.09639884] [ -0.56363042 -0.29730998 -0.77066693 -69.89296577] [ 0. 0. 0. 1. ]] SLAMing on 139.79592 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:121.90, Y:8.47, Z:-71.59 [[ 2.64414422e-01 -9.62168219e-01 6.57064061e-02 1.21902380e+02] [ 8.28864570e-01 2.61553458e-01 4.94543541e-01 8.46505663e+00] [-4.93019815e-01 -7.63027325e-02 8.66665653e-01 -7.15870343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:121.90, Y:8.57, Z:-71.61 [[ 2.46419655e-01 -9.62981049e-01 1.09292511e-01 1.21897186e+02] [ 8.29458467e-01 2.67880323e-01 4.90141596e-01 8.56746851e+00] [-5.01274381e-01 -3.01269239e-02 8.64763762e-01 -7.16081699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85592 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:121.89, Y:9.78, Z:-70.09 [[ 0.25400676 0.81199751 0.52549083 121.89105099] [ 0.80648869 0.12210043 -0.57850452 9.78447527] [ -0.53390688 0.57074647 -0.62385248 -70.0912452 ] [ 0. 0. 0. 1. ]] SLAMing on 139.88592 meters Centerline goodness : 0.987124 Centerline is valid? [True, True] Translation: X:123.29, Y:9.06, Z:-70.99 [[ 1.98419671e-01 -1.73474473e-02 -9.79963622e-01 1.23291122e+02] [ 7.95024264e-01 -5.81894702e-01 1.71274562e-01 9.05663663e+00] [-5.73206816e-01 -8.13079100e-01 -1.01667714e-01 -7.09940136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91592 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:121.80, Y:9.13, Z:-71.86 [[ 0.25036262 -0.89886303 0.35967181 121.79817405] [ 0.83271441 0.38943617 0.39360664 9.12851012] [ -0.49386767 0.20095951 0.84599645 -71.86065165] [ 0. 0. 0. 1. ]] SLAMing on 139.94592 meters Centerline goodness : 0.836426 Centerline is valid? [True, False] Translation: X:121.75, Y:9.17, Z:-71.84 [[ 0.26063855 -0.87234034 0.41363011 121.74939174] [ 0.83520565 0.41863681 0.35661568 9.1660874 ] [ -0.48425104 0.25251841 0.83769647 -71.83836463] [ 0. 0. 0. 1. ]] SLAMing on 139.97592 meters Centerline goodness : 0.992090 Centerline is valid? [False, True] Translation: X:121.71, Y:9.21, Z:-71.82 [[ 0.27568993 -0.84558938 0.45713636 121.71224486] [ 0.83638547 0.44540751 0.31948631 9.20757504] [ -0.4737662 0.29426305 0.83003304 -71.82368699] [ 0. 0. 0. 1. ]] SLAMing on 140.00592 meters Centerline goodness : 0.854155 Centerline is valid? [True, False] Translation: X:121.69, Y:9.26, Z:-71.82 [[ 0.2932024 -0.82261562 0.48717133 121.69344476] [ 0.83805515 0.46637575 0.28312051 9.26232345] [ -0.46010425 0.32526482 0.82613974 -71.82241715] [ 0. 0. 0. 1. ]] SLAMing on 140.03592 meters Centerline goodness : 0.995076 Centerline is valid? [False, True] Translation: X:121.69, Y:9.32, Z:-71.83 [[ 0.31730721 -0.80156415 0.50676528 121.6858991 ] [ 0.83828126 0.48693474 0.24531424 9.32279681] [ -0.44339672 0.34697186 0.82644411 -71.82887617] [ 0. 0. 0. 1. ]] SLAMing on 140.06592 meters Centerline goodness : 0.902268 Centerline is valid? [True, False] Translation: X:121.69, Y:9.37, Z:-71.84 [[ 0.33446017 -0.78717242 0.51816597 121.68770926] [ 0.83610653 0.50153733 0.22223 9.36839494] [ -0.4348129 0.35891487 0.82590427 -71.8366473 ] [ 0. 0. 0. 1. ]] SLAMing on 140.09592 meters Centerline goodness : 0.992528 Centerline is valid? [False, True] Translation: X:121.69, Y:9.40, Z:-71.84 [[ 0.35077963 -0.77404964 0.52706812 121.68650037] [ 0.83173933 0.51614494 0.20446047 9.40332442] [ -0.4303061 0.36666272 0.82486066 -71.84117613] [ 0. 0. 0. 1. ]] SLAMing on 140.12592 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:122.45, Y:10.24, Z:-70.26 [[ 0.35903789 0.92279984 0.13975784 122.45184227] [ 0.8041976 -0.22988222 -0.54810618 10.24127622] [ -0.47366445 0.3091838 -0.82464984 -70.26340936] [ 0. 0. 0. 1. ]] SLAMing on 140.15592 meters Centerline goodness : 0.975828 Centerline is valid? [True, True] Translation: X:122.42, Y:9.40, Z:-72.15 [[ 2.39549547e-01 -9.69978371e-01 -4.19282082e-02 1.22415142e+02] [ 8.55278817e-01 1.90391366e-01 4.81922475e-01 9.40003612e+00] [-4.59471609e-01 -1.51304619e-01 8.75210119e-01 -7.21478689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters Centerline goodness : 0.810661 Centerline is valid? [True, False] Translation: X:122.30, Y:9.41, Z:-72.12 [[ 2.37302705e-01 -9.69355455e-01 6.35407518e-02 1.22302695e+02] [ 8.60567381e-01 2.40114835e-01 4.49186653e-01 9.40907884e+00] [-4.50678610e-01 -5.19121096e-02 8.91175585e-01 -7.21172737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21592 meters Centerline goodness : 0.946443 Centerline is valid? [False, False] Translation: X:122.21, Y:9.43, Z:-72.09 [[ 2.36791261e-01 -9.59770535e-01 1.50898703e-01 1.22213470e+02] [ 8.66960059e-01 2.78838290e-01 4.13073194e-01 9.43255060e+00] [-4.38531817e-01 3.30110257e-02 8.98109190e-01 -7.20911779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters Centerline goodness : 0.800219 Centerline is valid? [False, False] Translation: X:122.14, Y:9.45, Z:-72.06 [[ 2.40693721e-01 -9.43917794e-01 2.26021529e-01 1.22137914e+02] [ 8.71075198e-01 3.12791496e-01 3.78668033e-01 9.45366775e+00] [-4.28129107e-01 1.05738730e-01 8.97510328e-01 -7.20642640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27592 meters Centerline goodness : 0.939317 Centerline is valid? [False, False] Translation: X:122.08, Y:9.49, Z:-72.05 [[ 0.24771905 -0.92497782 0.28818623 122.07918721] [ 0.87542124 0.34113702 0.34243712 9.48972238] [ -0.41505774 0.16745615 0.89425137 -72.04550676] [ 0. 0. 0. 1. ]] SLAMing on 140.30592000000001 meters Centerline goodness : 0.870690 Centerline is valid? [False, False] Translation: X:122.03, Y:9.53, Z:-72.03 [[ 0.26034753 -0.90337396 0.34078534 122.03003752] [ 0.87712522 0.36882271 0.30760552 9.52837408] [ -0.40357219 0.21882708 0.88839417 -72.0292496 ] [ 0. 0. 0. 1. ]] SLAMing on 140.33592000000002 meters Centerline goodness : 0.996073 Centerline is valid? [False, True] Translation: X:122.00, Y:9.58, Z:-72.02 [[ 0.27613485 -0.88346192 0.37847666 121.99883216] [ 0.87904782 0.39137327 0.27221662 9.58290709] [ -0.38861867 0.25753059 0.88467707 -72.01994115] [ 0. 0. 0. 1. ]] SLAMing on 140.36592000000002 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:122.24, Y:9.54, Z:-72.12 [[ 2.82277647e-01 -9.48267391e-01 1.45286906e-01 1.22236323e+02] [ 8.71828166e-01 3.16763697e-01 3.73599262e-01 9.53821746e+00] [-4.00293615e-01 2.12064961e-02 9.16141532e-01 -7.21224919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39592000000002 meters Centerline goodness : 0.946266 Centerline is valid? [True, False] Translation: X:122.17, Y:9.58, Z:-72.11 [[ 2.87901811e-01 -9.34073641e-01 2.11232055e-01 1.22171470e+02] [ 8.76619834e-01 3.45849395e-01 3.34553229e-01 9.57645529e+00] [-3.85551831e-01 8.88517288e-02 9.18398147e-01 -7.21055225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters Centerline goodness : 0.986503 Centerline is valid? [False, True] Translation: X:122.12, Y:9.61, Z:-72.09 [[ 0.29735095 -0.91659675 0.26726918 122.11673023] [ 0.87836137 0.37234584 0.29973301 9.61215333] [ -0.37425087 0.14563303 0.91582056 -72.08878063] [ 0. 0. 0. 1. ]] SLAMing on 140.45592000000002 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:122.31, Y:9.62, Z:-72.15 [[ 2.80237733e-01 -9.54367144e-01 1.03199645e-01 1.22306733e+02] [ 8.87061752e-01 2.98550622e-01 3.52120681e-01 9.62075037e+00] [-3.66862727e-01 -7.13304354e-03 9.30247741e-01 -7.21489133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:122.29, Y:9.69, Z:-72.17 [[ 2.84976310e-01 -9.47570090e-01 1.44566344e-01 1.22285582e+02] [ 8.79242513e-01 3.18476138e-01 3.54267630e-01 9.68889356e+00] [-3.81734341e-01 2.61509937e-02 9.23902061e-01 -7.21689502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51592 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:122.34, Y:9.73, Z:-72.20 [[ 2.91024619e-01 -9.51216336e-01 1.02431211e-01 1.22338562e+02] [ 8.83006400e-01 3.08269071e-01 3.53934850e-01 9.73023739e+00] [-3.68244985e-01 -1.25563406e-02 9.29644001e-01 -7.21975258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:122.31, Y:9.80, Z:-72.21 [[ 2.95128867e-01 -9.42984793e-01 1.53878626e-01 1.22312464e+02] [ 8.74368420e-01 3.31485223e-01 3.54397254e-01 9.80345730e+00] [-3.85199712e-01 2.99537510e-02 9.22346982e-01 -7.22137062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:123.43, Y:9.75, Z:-71.84 [[ 0.3179108 -0.38803945 -0.86507694 123.42587658] [ 0.88720481 -0.20002016 0.41576383 9.74562916] [ -0.3343656 -0.89967623 0.2806819 -71.8449257 ] [ 0. 0. 0. 1. ]] SLAMing on 140.60592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:122.41, Y:10.05, Z:-72.37 [[ 3.36018396e-01 -9.36231834e-01 1.02769597e-01 1.22406119e+02] [ 8.86960568e-01 3.51251477e-01 2.99872224e-01 1.00476393e+01] [-3.16847895e-01 -9.61000357e-03 9.48427677e-01 -7.23727402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.40, Y:10.11, Z:-72.39 [[ 3.38413569e-01 -9.31654705e-01 1.32271563e-01 1.22395980e+02] [ 8.83088894e-01 3.62983931e-01 2.97315777e-01 1.01063027e+01] [-3.25008095e-01 1.61918552e-02 9.45572611e-01 -7.23858966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:122.43, Y:10.14, Z:-72.40 [[ 3.40371418e-01 -9.33819589e-01 1.10128440e-01 1.22431533e+02] [ 8.84407793e-01 3.57714256e-01 2.99772191e-01 1.01393320e+01] [-3.19327658e-01 -4.63543515e-03 9.47633030e-01 -7.24032792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:122.53, Y:10.15, Z:-72.43 [[ 3.43990255e-01 -9.38823583e-01 1.67625638e-02 1.22525147e+02] [ 8.95221838e-01 3.33295624e-01 2.95790275e-01 1.01460429e+01] [-2.83281775e-01 -8.67427591e-02 9.55105821e-01 -7.24262098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:10.97, Z:-71.50 [[ 3.71615690e-01 -3.90329694e-02 9.27565742e-01 1.21868872e+02] [ 8.59101369e-01 3.93187515e-01 -3.27640681e-01 1.09748419e+01] [-3.51918480e-01 9.18629417e-01 1.79647927e-01 -7.14967121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:121.97, Y:11.18, Z:-71.42 [[ 4.00505988e-01 7.84966009e-02 9.12925647e-01 1.21971688e+02] [ 8.19304398e-01 4.15442890e-01 -3.95155042e-01 1.11797913e+01] [-4.10286797e-01 9.06225959e-01 1.02074755e-01 -7.14195906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.74, Y:11.42, Z:-70.75 [[ 3.49414638e-01 8.52013553e-01 3.89849094e-01 1.22738605e+02] [ 8.03302444e-01 -5.82329076e-02 -5.92717566e-01 1.14246647e+01] [-4.82301353e-01 5.20270923e-01 -7.04772000e-01 -7.07527503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.63, Y:11.24, Z:-70.86 [[ 0.26159788 0.86708875 -0.42393826 123.6339018 ] [ 0.82488216 -0.42890871 -0.36824819 11.24170211] [ -0.50113468 -0.25336616 -0.82744765 -70.86405105] [ 0. 0. 0. 1. ]] SLAMing on 140.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:10.87, Z:-71.70 [[ 0.21362826 0.13637494 -0.96734939 124.08241381] [ 0.8747508 -0.46756307 0.12726282 10.8718545 ] [ -0.43494139 -0.87337658 -0.21917877 -71.69899423] [ 0. 0. 0. 1. ]] SLAMing on 140.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.08, Y:10.80, Z:-72.72 [[ 0.21239711 -0.96869638 -0.12850988 123.07984414] [ 0.90834589 0.14723436 0.39144577 10.79669054] [ -0.36027103 -0.19987337 0.91118353 -72.72470565] [ 0. 0. 0. 1. ]] SLAMing on 140.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.78, Y:11.03, Z:-72.74 [[ 2.35381157e-01 -9.45744863e-01 2.23969563e-01 1.22775448e+02] [ 8.81060424e-01 3.04916861e-01 3.61605085e-01 1.10250674e+01] [-4.10278248e-01 1.12215695e-01 9.05030053e-01 -7.27361423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:11.00, Z:-72.78 [[ 2.42028354e-01 -9.69558540e-01 3.71283238e-02 1.22952137e+02] [ 8.99731885e-01 2.38592401e-01 3.65453420e-01 1.10038412e+01] [-3.63187020e-01 -5.50445530e-02 9.30088859e-01 -7.27836291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:11.17, Z:-72.80 [[ 2.64093576e-01 -9.47198546e-01 1.81850207e-01 1.22842520e+02] [ 8.83758717e-01 3.13161083e-01 3.47707731e-01 1.11700308e+01] [-3.86296665e-01 6.88843277e-02 9.19798802e-01 -7.28049020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:122.92, Y:11.20, Z:-72.84 [[ 2.70121228e-01 -9.55076251e-01 1.21917498e-01 1.22917855e+02] [ 8.80260506e-01 2.96272579e-01 3.70626497e-01 1.12039124e+01] [-3.90097377e-01 7.20507426e-03 9.20745417e-01 -7.28430101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.96, Y:11.24, Z:-72.87 [[ 2.79377059e-01 -9.56190485e-01 8.74540800e-02 1.22963571e+02] [ 8.80880837e-01 2.91483028e-01 3.72943154e-01 1.12438572e+01] [-3.82096075e-01 -2.71551382e-02 9.23723545e-01 -7.28700974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.95, Y:11.33, Z:-72.89 [[ 2.88918309e-01 -9.50018795e-01 1.18281443e-01 1.22952943e+02] [ 8.77688382e-01 3.12190270e-01 3.63593646e-01 1.13279021e+01] [-3.82347113e-01 -1.23461332e-03 9.24017944e-01 -7.28949457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:11.43, Z:-72.92 [[ 3.02155437e-01 -9.38684037e-01 1.66055321e-01 1.22929304e+02] [ 8.72715506e-01 3.42475991e-01 3.47962414e-01 1.14291209e+01] [-3.83496724e-01 3.97803181e-02 9.22685097e-01 -7.29180672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.38, Y:12.24, Z:-72.15 [[ 3.44793027e-01 -8.20016854e-02 9.35090098e-01 1.22383475e+02] [ 8.20514617e-01 5.10188259e-01 -2.57805554e-01 1.22435001e+01] [-4.55931500e-01 8.56144651e-01 2.43192936e-01 -7.21452057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:12.64, Z:-71.57 [[ 0.33106026 0.61598674 0.71481427 122.81146428] [ 0.77892415 0.24918505 -0.57548587 12.63861384] [ -0.53261269 0.7473066 -0.39731168 -71.56837893] [ 0. 0. 0. 1. ]] SLAMing on 141.17592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.88, Y:12.61, Z:-71.39 [[ 2.30562457e-01 9.50795833e-01 -2.06949844e-01 1.23877386e+02] [ 7.95810987e-01 -3.06634559e-01 -5.22168670e-01 1.26131961e+01] [-5.59933770e-01 -4.43004682e-02 -8.27352188e-01 -7.13870458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:12.10, Z:-72.27 [[ 1.79573786e-01 1.46639324e-01 -9.72753907e-01 1.24524917e+02] [ 8.46914889e-01 -5.26118916e-01 7.70328347e-02 1.21020783e+01] [-5.00488188e-01 -8.37672845e-01 -2.18668192e-01 -7.22682595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:11.91, Z:-73.25 [[ 1.77657973e-01 -9.84036393e-01 -1.04890904e-02 1.23393147e+02] [ 8.75888621e-01 1.53256066e-01 4.57527815e-01 1.19149416e+01] [-4.48616504e-01 -9.04707390e-02 8.89133442e-01 -7.32542315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:12.07, Z:-73.29 [[ 1.88999740e-01 -9.67947408e-01 1.65399258e-01 1.23244553e+02] [ 8.52293173e-01 2.45353621e-01 4.61950158e-01 1.20678669e+01] [-4.87724765e-01 5.36601988e-02 8.71346737e-01 -7.32864969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.41, Y:12.06, Z:-73.32 [[ 1.93510339e-01 -9.81080648e-01 -5.87452667e-03 1.23407664e+02] [ 8.75153090e-01 1.69904291e-01 4.53033774e-01 1.20569965e+01] [-4.43464561e-01 -9.28078293e-02 8.91473998e-01 -7.33235323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:123.23, Y:12.22, Z:-73.34 [[ 2.11335230e-01 -9.56461775e-01 2.01291565e-01 1.23230142e+02] [ 8.66655343e-01 2.78594163e-01 4.13876562e-01 1.22203272e+01] [-4.51935766e-01 8.69837122e-02 8.87799469e-01 -7.33383107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:123.27, Y:12.33, Z:-73.41 [[ 2.34912824e-01 -9.56421636e-01 1.73417472e-01 1.23274872e+02] [ 8.54195056e-01 2.88266120e-01 4.32727918e-01 1.23346999e+01] [-4.63860725e-01 4.64790106e-02 8.84688041e-01 -7.34075961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.33, Y:12.39, Z:-73.45 [[ 2.42384297e-01 -9.60291378e-01 1.38167732e-01 1.23325512e+02] [ 8.52173048e-01 2.78804557e-01 4.42796923e-01 1.23938831e+01] [-4.63735861e-01 1.04157965e-02 8.85912277e-01 -7.34533048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.74, Y:13.27, Z:-72.72 [[ 2.91798668e-01 -7.80558772e-02 9.53289472e-01 1.22736989e+02] [ 8.03020015e-01 5.61450717e-01 -1.99829798e-01 1.32675273e+01] [-5.19627167e-01 8.23820595e-01 2.26511003e-01 -7.27198914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:13.73, Z:-72.20 [[ 0.27519821 0.62186753 0.73317577 123.16029573] [ 0.76406184 0.32139121 -0.55939002 13.73372232] [ -0.58350275 0.71413476 -0.38669896 -72.20036467] [ 0. 0. 0. 1. ]] SLAMing on 141.47592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:123.84, Y:13.92, Z:-72.03 [[ 2.48861827e-01 9.53703112e-01 1.68873223e-01 1.23838566e+02] [ 7.27136768e-01 -6.87949367e-02 -6.83036879e-01 1.39173182e+01] [-6.39796774e-01 2.92775735e-01 -7.10593032e-01 -7.20336081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.76, Y:12.72, Z:-73.63 [[ 1.30142808e-01 -9.90226114e-01 -5.01506947e-02 1.23759339e+02] [ 7.76893072e-01 7.04168796e-02 6.25682521e-01 1.27174062e+01] [-6.16035717e-01 -1.20389808e-01 7.78464058e-01 -7.36264672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.61, Y:12.81, Z:-73.66 [[ 1.37229784e-01 -9.84106952e-01 1.12700898e-01 1.23613468e+02] [ 7.81335890e-01 1.77477166e-01 5.98344452e-01 1.28072598e+01] [-6.08836771e-01 5.94657640e-03 7.93273235e-01 -7.36575611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:12.88, Z:-73.70 [[ 1.40199747e-01 -9.77203964e-01 1.59425352e-01 1.23589445e+02] [ 7.77257384e-01 2.08368580e-01 5.93677938e-01 1.28807967e+01] [-6.13363669e-01 4.06810354e-02 7.88752219e-01 -7.36986260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:12.91, Z:-73.74 [[ 1.46413723e-01 -9.85166184e-01 8.95020203e-02 1.23665485e+02] [ 7.82652823e-01 1.70698729e-01 5.98595442e-01 1.29050333e+01] [-6.04993868e-01 -1.75935785e-02 7.96035731e-01 -7.37385127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:13.82, Z:-73.18 [[ 2.11051772e-01 -1.30510688e-01 9.68722927e-01 1.22962696e+02] [ 7.44145922e-01 6.64053765e-01 -7.26597867e-02 1.38210187e+01] [-6.33801228e-01 7.36206192e-01 2.37268720e-01 -7.31805141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:14.32, Z:-72.89 [[ 0.21550044 0.39269881 0.89406219 123.16841665] [ 0.69362935 0.5828961 -0.42321445 14.31622104] [ -0.68734117 0.71135067 -0.14677305 -72.89475701] [ 0. 0. 0. 1. ]] SLAMing on 141.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:14.68, Z:-72.72 [[ 0.1780371 0.81718091 0.54819535 123.63917308] [ 0.65249595 0.31897017 -0.68739149 14.68170395] [ -0.73658118 0.48007643 -0.47641871 -72.7154474 ] [ 0. 0. 0. 1. ]] SLAMing on 141.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:14.85, Z:-72.75 [[ 1.11308436e-01 9.82948538e-01 1.46364627e-01 1.24134311e+02] [ 6.46194550e-01 4.03059692e-02 -7.62107625e-01 1.48549276e+01] [-7.55011944e-01 1.79409032e-01 -6.30689594e-01 -7.27477837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:13.38, Z:-74.04 [[ 2.01853544e-04 -9.97661738e-01 6.83448370e-02 1.23981219e+02] [ 6.22019807e-01 5.36393741e-02 7.81162068e-01 1.33776554e+01] [-7.83001481e-01 4.23541620e-02 6.20576189e-01 -7.40353625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:13.42, Z:-74.08 [[ 7.62607931e-03 -9.97304594e-01 7.29752695e-02 1.23985583e+02] [ 6.22004333e-01 6.18722001e-02 7.80565462e-01 1.34169940e+01] [-7.82976662e-01 3.94382797e-02 6.20799621e-01 -7.40825164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:13.45, Z:-74.13 [[ 1.11410281e-02 -9.96864782e-01 7.83357145e-02 1.23981824e+02] [ 6.21998430e-01 6.82485506e-02 7.80038517e-01 1.34538560e+01] [-7.82939225e-01 4.00342604e-02 6.20808689e-01 -7.41261100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:13.49, Z:-74.17 [[ 1.51551254e-02 -9.96723725e-01 7.94489694e-02 1.23985600e+02] [ 6.33334707e-01 7.10551583e-02 7.70609054e-01 1.34887541e+01] [-7.73729585e-01 3.86391129e-02 6.32336578e-01 -7.41689991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:124.00, Y:13.52, Z:-74.21 [[ 1.96222935e-02 -9.96872697e-01 7.65492703e-02 1.23996128e+02] [ 6.29136497e-01 7.18165363e-02 7.73970060e-01 1.35224566e+01] [-7.77047125e-01 3.29728721e-02 6.28578202e-01 -7.42141528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:13.56, Z:-74.26 [[ 2.43139440e-02 -9.95802127e-01 8.82437333e-02 1.23990240e+02] [ 6.26687333e-01 8.39551936e-02 7.74735124e-01 1.35612109e+01] [-7.78891404e-01 3.64643634e-02 6.26097861e-01 -7.42577714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:13.60, Z:-74.30 [[ 2.87920761e-02 -9.95637088e-01 8.87570038e-02 1.23994645e+02] [ 6.27241722e-01 8.71319188e-02 7.73935301e-01 1.35969065e+01] [-7.78292258e-01 3.33888918e-02 6.27013830e-01 -7.43017315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:13.64, Z:-74.35 [[ 3.50422224e-02 -9.95415547e-01 8.89939973e-02 1.24001654e+02] [ 6.17810829e-01 9.15714986e-02 7.80976594e-01 1.36362987e+01] [-7.85545557e-01 2.76142998e-02 6.18187373e-01 -7.43454989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:124.05, Y:13.66, Z:-74.39 [[ 3.82618581e-02 -9.98196080e-01 4.62667910e-02 1.24051074e+02] [ 6.53344553e-01 6.00229597e-02 7.54677507e-01 1.36634042e+01] [-7.56093199e-01 1.35279220e-03 6.54462562e-01 -7.43860842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:14.60, Z:-73.97 [[ 8.14603891e-02 -1.14855320e-01 9.90036595e-01 1.23206995e+02] [ 6.09309235e-01 7.91833991e-01 4.17275275e-02 1.45950798e+01] [-7.88737257e-01 5.99839300e-01 1.34485512e-01 -7.39670038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:13.82, Z:-74.48 [[ 5.30935046e-02 -9.95514114e-01 7.83117429e-02 1.24039541e+02] [ 5.94814013e-01 9.45200188e-02 7.98287076e-01 1.38212496e+01] [-8.02108079e-01 4.19706350e-03 5.97164144e-01 -7.44841705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:14.79, Z:-74.15 [[ 8.44072080e-02 -9.83655066e-02 9.91564244e-01 1.23228814e+02] [ 5.46885912e-01 8.36414579e-01 3.64204650e-02 1.47863169e+01] [-8.32941308e-01 5.39198367e-01 1.24394129e-01 -7.41457312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.24, Y:14.96, Z:-74.26 [[ 9.49080511e-02 -5.14540537e-02 9.94155391e-01 1.23243825e+02] [ 4.90346330e-01 8.71526002e-01 -1.70422935e-03 1.49627934e+01] [-8.66344584e-01 4.87642192e-01 1.07945141e-01 -7.42561858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:14.10, Z:-74.67 [[ 6.89313332e-02 -9.73504334e-01 2.18031612e-01 1.23956057e+02] [ 4.34777316e-01 2.26019352e-01 8.71713220e-01 1.40967773e+01] [-8.97895961e-01 3.47068446e-02 4.38837416e-01 -7.46661975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.94, Y:14.13, Z:-74.72 [[ 7.48077677e-02 -9.68727999e-01 2.36579505e-01 1.23944618e+02] [ 4.33892386e-01 2.45229606e-01 8.66948578e-01 1.41274014e+01] [-8.97853660e-01 3.77955578e-02 4.38668782e-01 -7.47163006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.94, Y:14.16, Z:-74.77 [[ 8.05580690e-02 -9.66457693e-01 2.43864562e-01 1.23943239e+02] [ 4.32034303e-01 2.54338851e-01 8.65250317e-01 1.41553925e+01] [-8.98252058e-01 3.56549614e-02 4.38031922e-01 -7.47668212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:14.18, Z:-74.82 [[ 8.96783427e-02 -9.63795039e-01 2.51111365e-01 1.23942759e+02] [ 4.29350542e-01 2.64907255e-01 8.63413144e-01 1.41828578e+01] [-8.98674528e-01 3.03853409e-02 4.37562366e-01 -7.48177386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.55, Y:15.73, Z:-74.32 [[ 9.13581587e-02 5.95459787e-01 7.98173746e-01 1.23546006e+02] [ 4.29087844e-01 6.99761512e-01 -5.71154487e-01 1.57266073e+01] [-8.98630797e-01 3.94666274e-01 -1.91575633e-01 -7.43176167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:14.28, Z:-74.95 [[ 5.98716170e-02 -9.75862891e-01 2.10016682e-01 1.24038957e+02] [ 3.76480319e-01 2.16931930e-01 9.00668145e-01 1.42824179e+01] [-9.24487944e-01 2.51426892e-02 3.80381238e-01 -7.49472894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.03, Y:14.31, Z:-75.00 [[ 6.46081213e-02 -9.73535322e-01 2.19213977e-01 1.24032765e+02] [ 3.73177731e-01 2.27305245e-01 8.99483578e-01 1.43087677e+01] [-9.25507521e-01 2.36918306e-02 3.77987468e-01 -7.49986598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:14.34, Z:-75.05 [[ 7.34499039e-02 -9.70832249e-01 2.28232021e-01 1.24027101e+02] [ 3.70722245e-01 2.39029984e-01 8.97457344e-01 1.43353584e+01] [-9.25834828e-01 1.86925315e-02 3.77465840e-01 -7.50499724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:124.02, Y:14.36, Z:-75.10 [[ 7.88163542e-02 -9.68273327e-01 2.37138664e-01 1.24020072e+02] [ 3.69059173e-01 2.49317947e-01 8.95341213e-01 1.43606371e+01] [-9.26057941e-01 1.69506691e-02 3.77000485e-01 -7.51018196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.01, Y:14.39, Z:-75.15 [[ 8.60333311e-02 -9.65383275e-01 2.46238497e-01 1.24009586e+02] [ 3.66248607e-01 2.60494612e-01 8.93310984e-01 1.43864826e+01] [-9.26531286e-01 1.33299869e-02 3.75981499e-01 -7.51539042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.00, Y:14.41, Z:-75.21 [[ 9.07482653e-02 -9.62557423e-01 2.55436801e-01 1.24003535e+02] [ 3.63859439e-01 2.70809164e-01 8.91217541e-01 1.44119579e+01] [-9.27022686e-01 1.20666454e-02 3.74811066e-01 -7.52058269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.00, Y:14.44, Z:-75.27 [[ 9.70972969e-02 -9.59435066e-01 2.64681825e-01 1.23998480e+02] [ 3.61081843e-01 2.81777656e-01 8.88943899e-01 1.44426592e+01] [-9.27465373e-01 9.25775141e-03 3.73794431e-01 -7.52662084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.99, Y:14.47, Z:-75.32 [[ 1.03815077e-01 -9.55207872e-01 2.77128761e-01 1.23987885e+02] [ 3.59580124e-01 2.95833490e-01 8.84977220e-01 1.44723624e+01] [-9.27321176e-01 7.77601628e-03 3.74185742e-01 -7.53176044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:14.51, Z:-75.38 [[ 1.11843764e-01 -9.51567702e-01 2.86373675e-01 1.23981741e+02] [ 3.56524948e-01 3.07420209e-01 8.82260039e-01 1.45056319e+01] [-9.27567213e-01 3.42407573e-03 3.73640658e-01 -7.53849446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:14.53, Z:-75.43 [[ 1.30197460e-01 -9.52871266e-01 2.74016372e-01 1.23989974e+02] [ 3.93558460e-01 3.03331290e-01 8.67814420e-01 1.45282221e+01] [-9.10033164e-01 -5.14577205e-03 4.14503511e-01 -7.54343946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.41, Y:15.72, Z:-75.22 [[ 9.65937090e-02 1.51053031e-01 9.83795018e-01 1.23414599e+02] [ 3.25720807e-01 9.29194899e-01 -1.74650495e-01 1.57207196e+01] [-9.40518799e-01 3.37312646e-01 4.05532667e-02 -7.52152572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:14.66, Z:-75.56 [[ 1.21716946e-01 -9.33724972e-01 3.36664019e-01 1.23963227e+02] [ 3.13641520e-01 3.57988212e-01 8.79473386e-01 1.46557260e+01] [-9.41708013e-01 -1.45500020e-03 3.36428152e-01 -7.55579762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:15.18, Z:-75.63 [[ 0.13671859 -0.52835679 0.8379422 123.50152598] [ 0.24451371 0.83771128 0.48831635 15.18207416] [ -0.95995889 0.13812643 0.24372118 -75.62772017] [ 0. 0. 0. 1. ]] SLAMing on 142.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:14.86, Z:-75.74 [[ 1.69730288e-01 -8.49748601e-01 4.99118167e-01 1.23807461e+02] [ 2.58918909e-01 5.27125189e-01 8.09382502e-01 1.48583279e+01] [-9.50869407e-01 -8.14559367e-03 3.09485090e-01 -7.57381853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:16.02, Z:-75.67 [[ 1.45092523e-01 2.20479909e-01 9.64539667e-01 1.23485301e+02] [ 1.92361541e-01 9.49967920e-01 -2.46085329e-01 1.60212026e+01] [-9.70538612e-01 2.21245478e-01 9.54213870e-02 -7.56691228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:15.02, Z:-75.88 [[ 1.49394446e-01 -7.81352383e-01 6.05945338e-01 1.23749780e+02] [ 1.77138599e-01 6.24057713e-01 7.61034748e-01 1.50190507e+01] [-9.72781176e-01 -6.35805631e-03 2.31638423e-01 -7.58770923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.74, Y:15.05, Z:-75.93 [[ 1.53006274e-01 -7.67082019e-01 6.23036321e-01 1.23740242e+02] [ 1.78274140e-01 6.41541630e-01 7.46084893e-01 1.50487387e+01] [-9.72012043e-01 -3.08440561e-03 2.34910782e-01 -7.59328085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:15.07, Z:-75.99 [[ 1.60835252e-01 -7.62557871e-01 6.26607944e-01 1.23744045e+02] [ 1.84233865e-01 6.46910144e-01 7.39976451e-01 1.50666785e+01] [-9.69633902e-01 -3.57189560e-03 2.44534940e-01 -7.59861669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:15.10, Z:-76.06 [[ 1.61645366e-01 -7.44519701e-01 6.47735433e-01 1.23734660e+02] [ 1.79601776e-01 6.67600333e-01 7.22532351e-01 1.50997757e+01] [-9.70367960e-01 -4.59572176e-04 2.41631560e-01 -7.60601934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:15.14, Z:-76.12 [[ 1.55557117e-01 -7.19505741e-01 6.76840803e-01 1.23719306e+02] [ 1.66620543e-01 6.94475587e-01 6.99958038e-01 1.51390443e+01] [-9.73673240e-01 3.89212774e-03 2.27915058e-01 -7.61218542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.71, Y:15.17, Z:-76.18 [[ 1.56803500e-01 -7.00260838e-01 6.96453459e-01 1.23711589e+02] [ 1.64350937e-01 7.13845338e-01 6.80744888e-01 1.51712846e+01] [-9.73859041e-01 7.71959751e-03 2.27021973e-01 -7.61787094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.78, Y:15.13, Z:-76.30 [[ 1.97266199e-01 -7.55904835e-01 6.24254697e-01 1.23784854e+02] [ 1.78014196e-01 6.53800690e-01 7.35428857e-01 1.51348560e+01] [-9.64052381e-01 -3.39490567e-02 2.63534568e-01 -7.62950586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.88, Y:16.60, Z:-76.24 [[ 1.38758465e-01 6.71052491e-01 7.28309442e-01 1.23882879e+02] [ 1.17785348e-01 7.19020856e-01 -6.84934756e-01 1.66011584e+01] [-9.83296853e-01 1.80824676e-01 2.07300795e-02 -7.62371770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:15.34, Z:-76.44 [[ 1.19868469e-01 -6.14129631e-01 7.80048939e-01 1.23723394e+02] [ 8.37391580e-02 7.89168455e-01 6.08441372e-01 1.53449705e+01] [-9.89251891e-01 -7.61229449e-03 1.46023113e-01 -7.64363027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.62, Y:14.90, Z:-76.52 [[ 2.03571290e-01 -9.58493639e-01 -1.99621326e-01 1.24624591e+02] [ 7.76132403e-02 -1.87450360e-01 9.79203017e-01 1.48971092e+01] [-9.75978952e-01 -2.14830879e-01 3.62322856e-02 -7.65216971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:15.14, Z:-76.55 [[ 2.66466473e-01 -6.13453275e-01 -7.43418253e-01 1.25193550e+02] [ 1.24253046e-01 -7.43006092e-01 6.57649700e-01 1.51383133e+01] [-9.55801653e-01 -2.67613578e-01 -1.21762775e-01 -7.65548949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:16.12, Z:-76.51 [[ 2.45184363e-01 4.28029126e-01 -8.69871079e-01 1.25476139e+02] [ 2.10310070e-01 -8.99374882e-01 -3.83268179e-01 1.61219154e+01] [-9.46390143e-01 -8.89712832e-02 -3.10531493e-01 -7.65076997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.19, Y:16.60, Z:-76.64 [[ 1.64475352e-01 8.67418881e-01 -4.69608714e-01 1.25192648e+02] [ 2.25756680e-01 -4.96559210e-01 -8.38130582e-01 1.65958293e+01] [-9.60198823e-01 3.18345184e-02 -2.77497357e-01 -7.66409925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:15.25, Z:-77.14 [[ 2.20298362e-01 -4.69670918e-01 -8.54913949e-01 1.25469663e+02] [ 2.98006965e-01 -8.02134534e-01 5.17466945e-01 1.52486690e+01] [-9.28795177e-01 -3.68767431e-01 -3.67437188e-02 -7.71389878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:16.67, Z:-76.89 [[ 1.38901659e-01 9.31914001e-01 -3.35026303e-01 1.25154089e+02] [ 3.20623386e-01 -3.62403554e-01 -8.75136737e-01 1.66666649e+01] [-9.36966901e-01 1.41406768e-02 -3.49131877e-01 -7.68941114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.64, Y:15.42, Z:-77.48 [[ 1.83435537e-01 -3.33886172e-01 -9.24592574e-01 1.25635885e+02] [ 4.00217589e-01 -8.33708569e-01 3.80468005e-01 1.54221248e+01] [-8.97873758e-01 -4.39829564e-01 -1.93046605e-02 -7.74839441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:16.68, Z:-77.15 [[ 9.87525252e-02 9.34522477e-01 -3.41929347e-01 1.25240763e+02] [ 4.21303083e-01 -3.50557905e-01 -8.36428639e-01 1.66817567e+01] [-9.01527399e-01 -6.14564477e-02 -4.28335679e-01 -7.71469786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:15.89, Z:-77.66 [[ 8.27805872e-02 1.01260755e-01 -9.91409922e-01 1.25820531e+02] [ 5.05344863e-01 -8.61700267e-01 -4.58172485e-02 1.58889260e+01] [-8.58937684e-01 -4.97211132e-01 -1.22503656e-01 -7.76582531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:15.14, Z:-78.34 [[ 1.09354406e-01 -9.92338808e-01 5.74917801e-02 1.24697485e+02] [ 4.92114829e-01 1.04301806e-01 8.64259295e-01 1.51440288e+01] [-8.63634534e-01 -6.62180047e-02 4.99750504e-01 -7.83375827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:15.58, Z:-78.15 [[ 1.64171854e-01 -3.65241006e-01 -9.16322329e-01 1.25713103e+02] [ 5.52530500e-01 -7.35477878e-01 3.92150912e-01 1.55755747e+01] [-8.17164395e-01 -5.70676177e-01 8.10620293e-02 -7.81450615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:16.64, Z:-77.64 [[ 1.00009645e-01 8.10511994e-01 -5.77120766e-01 1.25559602e+02] [ 6.15698376e-01 -5.06052543e-01 -6.04008554e-01 1.66402509e+01] [-7.81609609e-01 -2.94925637e-01 -5.49641054e-01 -7.76441150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:124.03, Y:16.55, Z:-78.07 [[ 8.65775841e-02 2.79036330e-01 9.56369724e-01 1.24028552e+02] [ 5.45825388e-01 7.89785729e-01 -2.79844864e-01 1.65469359e+01] [-8.33414044e-01 5.46239168e-01 -8.39273727e-02 -7.80693753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.35, Y:17.06, Z:-77.85 [[-1.91496209e-02 9.67780757e-01 -2.51065127e-01 1.25345698e+02] [ 5.76520695e-01 -1.94471453e-01 -7.93602383e-01 1.70595450e+01] [-8.16858115e-01 -1.59941426e-01 -5.54221580e-01 -7.78530253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.80, Y:16.84, Z:-78.13 [[-7.12409679e-02 6.79044821e-01 -7.30631820e-01 1.25795909e+02] [ 6.07212376e-01 -5.51602803e-01 -5.71863164e-01 1.68406623e+01] [-7.91339279e-01 -4.84388769e-01 -3.73027702e-01 -7.81334940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:15.56, Z:-79.07 [[-5.80719423e-02 -9.88140211e-01 -1.42149825e-01 1.25045681e+02] [ 6.02186234e-01 -1.48240794e-01 7.84472056e-01 1.55629425e+01] [-7.96240786e-01 -4.00448519e-02 6.03653063e-01 -7.90734575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:124.95, Y:15.85, Z:-79.47 [[ 5.16163215e-02 -9.97029126e-01 -5.71723483e-02 1.24945510e+02] [ 6.12880262e-01 -1.35752439e-02 7.90059173e-01 1.58524179e+01] [-7.88488135e-01 -7.58197521e-02 6.10358768e-01 -7.94665673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:15.92, Z:-79.54 [[ 7.11805595e-02 -9.89012807e-01 -1.29564637e-01 1.25000397e+02] [ 6.08047865e-01 -5.99452125e-02 7.91633985e-01 1.59219704e+01] [-7.90702929e-01 -1.35130451e-01 5.97100192e-01 -7.95362360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:124.87, Y:15.94, Z:-79.57 [[ 6.51503890e-02 -9.97738082e-01 1.65573611e-02 1.24866003e+02] [ 6.69795086e-01 5.60236905e-02 7.40429530e-01 1.59396167e+01] [-7.39682344e-01 -3.71492328e-02 6.71930030e-01 -7.95704577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:16.00, Z:-79.62 [[ 9.07524915e-02 -9.95812829e-01 1.09906564e-02 1.24851436e+02] [ 6.02813138e-01 6.37148257e-02 7.95334359e-01 1.60027225e+01] [-7.92704425e-01 -6.55532625e-02 6.06071335e-01 -7.96233755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:16.06, Z:-79.66 [[ 9.25448682e-02 -9.89434922e-01 1.11597413e-01 1.24753264e+02] [ 6.01996426e-01 1.44873748e-01 7.85246394e-01 1.60572011e+01] [-7.93117740e-01 -5.48928050e-03 6.09043609e-01 -7.96616991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:16.11, Z:-79.73 [[ 1.03302186e-01 -9.87821744e-01 1.16348016e-01 1.24746398e+02] [ 6.01058662e-01 1.55196541e-01 7.83991402e-01 1.61144856e+01] [-7.92500564e-01 -1.10560431e-02 6.09770957e-01 -7.97287142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:16.15, Z:-79.77 [[ 1.06698667e-01 -9.85943807e-01 1.28569838e-01 1.24738238e+02] [ 6.00444045e-01 1.66960540e-01 7.82042919e-01 1.61526362e+01] [-7.92516463e-01 -6.24394368e-03 6.09818555e-01 -7.97713193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.73, Y:16.19, Z:-79.82 [[ 1.10776083e-01 -9.83983168e-01 1.39663114e-01 1.24727023e+02] [ 6.06240365e-01 1.78257444e-01 7.75046388e-01 1.61884087e+01] [-7.87528590e-01 -1.18718640e-03 6.16276976e-01 -7.98167358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:16.50, Z:-79.65 [[ 0.16017091 -0.44127397 -0.88296238 125.79502903] [ 0.65585124 -0.62093814 0.4292959 16.49616593] [ -0.73770213 -0.64785269 0.18995385 -79.64742578] [ 0. 0. 0. 1. ]] SLAMing on 143.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:17.65, Z:-79.14 [[ 8.78793034e-02 4.77521400e-01 8.74214242e-01 1.24239833e+02] [ 6.28835868e-01 6.54041796e-01 -4.20469714e-01 1.76514363e+01] [-7.72555939e-01 5.86687857e-01 -2.42805846e-01 -7.91448284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:17.78, Z:-79.27 [[ 5.75488552e-02 4.45829820e-01 8.93265863e-01 1.24259999e+02] [ 5.81311888e-01 7.12457979e-01 -3.93039587e-01 1.77765791e+01] [-8.11643159e-01 5.41885044e-01 -2.18165033e-01 -7.92732935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:16.87, Z:-79.97 [[ 1.24209161e-01 -3.93128358e-01 -9.11055530e-01 1.25909263e+02] [ 6.13620724e-01 -6.91113276e-01 3.81879624e-01 1.68722593e+01] [-7.79770281e-01 -6.06475501e-01 1.55389107e-01 -7.99706614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.29, Y:17.97, Z:-79.54 [[ 5.74145311e-02 4.36175313e-01 8.98028211e-01 1.24288726e+02] [ 5.85341230e-01 7.13976779e-01 -3.84204118e-01 1.79718529e+01] [-8.08751641e-01 5.47711837e-01 -2.14318752e-01 -7.95377344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:17.07, Z:-80.24 [[ 1.17409504e-01 -3.86835293e-01 -9.14643900e-01 1.25943276e+02] [ 6.10019493e-01 -6.98676600e-01 3.73801053e-01 1.70719479e+01] [-7.83639730e-01 -6.01838405e-01 1.53945797e-01 -8.02427652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:17.13, Z:-80.43 [[ 0.14275403 -0.40547297 -0.90289144 125.92467196] [ 0.65424884 -0.64585504 0.39348409 17.12882947] [ -0.74268415 -0.64688711 0.17308181 -80.43469331] [ 0. 0. 0. 1. ]] SLAMing on 143.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:16.96, Z:-80.86 [[ 1.18968948e-01 -9.82691988e-01 1.41995939e-01 1.24810285e+02] [ 6.55922361e-01 1.85147199e-01 7.31769343e-01 1.69588449e+01] [-7.45394020e-01 6.08048261e-03 6.66596416e-01 -8.08632958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:17.06, Z:-80.97 [[ 1.38880087e-01 -9.79402179e-01 1.46573168e-01 1.24807693e+02] [ 6.52431047e-01 2.01835334e-01 7.30476712e-01 1.70581820e+01] [-7.45014128e-01 -5.81978406e-03 6.67023297e-01 -8.09680910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.79, Y:17.10, Z:-81.01 [[ 1.38385257e-01 -9.75603998e-01 1.70429923e-01 1.24788370e+02] [ 6.53400931e-01 2.19257494e-01 7.24564265e-01 1.71048893e+01] [-7.44255832e-01 1.10900585e-02 6.67802566e-01 -8.10071489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.79, Y:17.14, Z:-81.05 [[ 1.40491410e-01 -9.74552791e-01 1.74668321e-01 1.24790764e+02] [ 6.52576361e-01 2.23821434e-01 7.23911637e-01 1.71436818e+01] [-7.44584620e-01 1.22810505e-02 6.67415103e-01 -8.10481776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.79, Y:17.18, Z:-81.09 [[ 1.42173955e-01 -9.73577271e-01 1.78700485e-01 1.24792237e+02] [ 6.52903404e-01 2.27929671e-01 7.22333172e-01 1.71839698e+01] [-7.43978301e-01 1.39771908e-02 6.68057577e-01 -8.10887673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:17.22, Z:-81.13 [[ 1.44678159e-01 -9.72427077e-01 1.82903830e-01 1.24793496e+02] [ 6.52013122e-01 2.32733547e-01 7.21605144e-01 1.72238053e+01] [-7.44276238e-01 1.48551935e-02 6.67706676e-01 -8.11295148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:17.26, Z:-81.17 [[ 1.46708225e-01 -9.71323305e-01 1.87103539e-01 1.24795556e+02] [ 6.51204825e-01 2.37217887e-01 7.20874434e-01 1.72630202e+01] [-7.44586444e-01 1.60845190e-02 6.67332238e-01 -8.11706810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:124.80, Y:17.30, Z:-81.21 [[ 1.46626654e-01 -9.70570177e-01 1.91034437e-01 1.24798111e+02] [ 6.51900120e-01 2.40062498e-01 7.19302601e-01 1.73018612e+01] [-7.43993856e-01 1.90664388e-02 6.67914375e-01 -8.12127027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.80, Y:17.34, Z:-81.26 [[ 1.44646157e-01 -9.70104397e-01 1.94871620e-01 1.24801690e+02] [ 6.53467981e-01 2.41540152e-01 7.17382710e-01 1.73439201e+01] [-7.43005442e-01 2.35757123e-02 6.68870017e-01 -8.12564164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:17.38, Z:-81.30 [[ 1.45571651e-01 -9.69181270e-01 1.98737416e-01 1.24805683e+02] [ 6.55382715e-01 2.44947005e-01 7.14474955e-01 1.73828768e+01] [-7.41135879e-01 2.62417684e-02 6.70841992e-01 -8.12972906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:17.42, Z:-81.34 [[ 1.44408782e-01 -9.68527759e-01 2.02731558e-01 1.24812100e+02] [ 6.55526266e-01 2.47109682e-01 7.13598010e-01 1.74207972e+01] [-7.41236412e-01 2.98460423e-02 6.70580194e-01 -8.13386808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.82, Y:17.46, Z:-81.38 [[ 1.41370612e-01 -9.68144729e-01 2.06664302e-01 1.24822371e+02] [ 6.56414099e-01 2.47942624e-01 7.12492095e-01 1.74584768e+01] [-7.41036356e-01 3.49319185e-02 6.70555650e-01 -8.13792306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:17.50, Z:-81.42 [[ 1.41724639e-01 -9.67258038e-01 2.10537444e-01 1.24829270e+02] [ 6.56406111e-01 2.51028244e-01 7.11418188e-01 1.74972270e+01] [-7.40975805e-01 3.73725786e-02 6.70490974e-01 -8.14193858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:17.54, Z:-81.46 [[ 1.42461408e-01 -9.66313207e-01 2.14344428e-01 1.24835901e+02] [ 6.56284458e-01 2.54324074e-01 7.10359047e-01 1.75363611e+01] [-7.40942277e-01 3.94721672e-02 6.70407705e-01 -8.14607184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:17.58, Z:-81.51 [[ 1.46202797e-01 -9.65843954e-01 2.13939709e-01 1.24846522e+02] [ 6.65078962e-01 2.56061207e-01 7.01500272e-01 1.75776639e+01] [-7.32321457e-01 3.97254976e-02 6.79799359e-01 -8.15071638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.86, Y:17.62, Z:-81.55 [[ 1.51150419e-01 -9.65402002e-01 2.12491236e-01 1.24861469e+02] [ 6.54065587e-01 2.58850488e-01 7.10770451e-01 1.76159884e+01] [-7.41182676e-01 3.15499529e-02 6.70561587e-01 -8.15519532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:17.66, Z:-81.60 [[ 1.56950209e-01 -9.60904956e-01 2.28097122e-01 1.24862116e+02] [ 6.52452074e-01 2.74266207e-01 7.06459014e-01 1.76620471e+01] [-7.41399300e-01 3.79435510e-02 6.69990570e-01 -8.15967416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:17.70, Z:-81.64 [[ 1.60058392e-01 -9.59360522e-01 2.32397721e-01 1.24869324e+02] [ 6.52753857e-01 2.79475784e-01 7.04134709e-01 1.77007408e+01] [-7.40468577e-01 3.89958391e-02 6.70958726e-01 -8.16377899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:17.70, Z:-81.68 [[ 1.70525686e-01 -9.74887475e-01 1.43231984e-01 1.24961080e+02] [ 6.74791981e-01 2.21465509e-01 7.03994894e-01 1.77033914e+01] [-7.18036749e-01 -2.33974178e-02 6.95611808e-01 -8.16765460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:18.82, Z:-81.15 [[ 2.05033607e-01 5.09585077e-02 9.77427466e-01 1.24327395e+02] [ 6.31511956e-01 7.56073174e-01 -1.71889517e-01 1.88220257e+01] [-7.47765919e-01 6.52500258e-01 1.22839503e-01 -8.11461991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:19.01, Z:-81.22 [[ 2.36863569e-01 1.15705537e-01 9.64628363e-01 1.24391937e+02] [ 5.71638958e-01 7.86230107e-01 -2.34672367e-01 1.90096486e+01] [-7.85572754e-01 6.07004487e-01 1.20087477e-01 -8.12239652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:19.62, Z:-80.81 [[ 1.87707646e-01 9.64089921e-01 1.87873530e-01 1.25358543e+02] [ 5.19371644e-01 6.49244244e-02 -8.52078585e-01 1.96228677e+01] [-8.33677957e-01 2.57517849e-01 -4.88534156e-01 -8.08093882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:18.92, Z:-81.33 [[ 0.13784566 0.29879788 -0.94430843 126.43792811] [ 0.55964335 -0.81012255 -0.17464473 18.91983524] [ -0.81718902 -0.50440191 -0.27889212 -81.32679772] [ 0. 0. 0. 1. ]] SLAMing on 144.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:18.13, Z:-82.20 [[ 6.85323808e-02 -9.94530615e-01 7.88173108e-02 1.25267530e+02] [ 6.23586001e-01 1.04370881e-01 7.74756232e-01 1.81332810e+01] [-7.78745024e-01 -3.94651751e-03 6.27328154e-01 -8.22022254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.16, Y:18.26, Z:-82.31 [[ 1.01820151e-01 -9.76285557e-01 1.91047555e-01 1.25159714e+02] [ 6.12163991e-01 2.12868916e-01 7.61539279e-01 1.82581918e+01] [-7.84147885e-01 3.94123892e-02 6.19321208e-01 -8.23109472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:124.51, Y:19.27, Z:-81.93 [[ 1.52777082e-01 -7.90285388e-02 9.85095758e-01 1.24505912e+02] [ 5.56687618e-01 8.30488042e-01 -1.97106251e-02 1.92654698e+01] [-8.16552546e-01 5.51401943e-01 1.70873748e-01 -8.19348162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:19.59, Z:-81.95 [[ 1.31772505e-01 1.46780006e-01 9.80352812e-01 1.24574280e+02] [ 4.94202089e-01 8.47578042e-01 -1.93328111e-01 1.95904896e+01] [-8.59302218e-01 5.09967737e-01 3.91484962e-02 -8.19471666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:19.74, Z:-82.08 [[ 1.16128020e-01 1.71112528e-01 9.78383762e-01 1.24615447e+02] [ 4.30478008e-01 8.79051363e-01 -2.04835023e-01 1.97382891e+01] [-8.95099418e-01 4.44959778e-01 2.84223141e-02 -8.20773576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:19.88, Z:-82.22 [[ 1.03356395e-01 1.94179832e-01 9.75505842e-01 1.24655066e+02] [ 3.65853206e-01 9.04581237e-01 -2.18824626e-01 1.98780494e+01] [-9.24915611e-01 3.79508864e-01 2.24529417e-02 -8.22160273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:20.01, Z:-82.36 [[ 8.81781650e-02 2.16801671e-01 9.72225101e-01 1.24693297e+02] [ 3.00673228e-01 9.24707880e-01 -2.33475794e-01 2.00070105e+01] [-9.49642154e-01 3.12909527e-01 1.63525857e-02 -8.23618857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:19.29, Z:-82.56 [[ 1.27103275e-01 -2.36808854e-01 -9.63206273e-01 1.26555879e+02] [ 3.17977040e-01 -9.10102879e-01 2.65712911e-01 1.92860630e+01] [-9.39539972e-01 -3.40050461e-01 -4.03772778e-02 -8.25649895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:126.25, Y:20.43, Z:-82.37 [[ 5.49401974e-02 8.90196124e-01 -4.52252623e-01 1.26248445e+02] [ 3.41231263e-01 -4.42405542e-01 -8.29360333e-01 2.04336626e+01] [-9.38372421e-01 -1.08757513e-01 -3.28068595e-01 -8.23690692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:19.30, Z:-83.00 [[ 9.11747855e-02 -2.82813693e-01 -9.54831699e-01 1.26594751e+02] [ 4.24420980e-01 -8.56347248e-01 2.94170397e-01 1.93027362e+01] [-9.00862914e-01 -4.32071528e-01 4.19547881e-02 -8.29974721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.57, Y:19.29, Z:-83.21 [[ 1.15659064e-01 -3.26420927e-01 -9.38121719e-01 1.26565527e+02] [ 4.81894989e-01 -8.07424707e-01 3.40356522e-01 1.92895898e+01] [-8.68562145e-01 -4.91441472e-01 6.39146229e-02 -8.32091024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:18.95, Z:-83.61 [[ 9.72999778e-02 -9.80187457e-01 1.72526122e-01 1.25382381e+02] [ 4.77259387e-01 1.98069735e-01 8.56149437e-01 1.89479122e+01] [-8.73359143e-01 -9.63609866e-04 4.87075845e-01 -8.36089374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:18.98, Z:-83.66 [[ 1.06256625e-01 -9.77940890e-01 1.79836440e-01 1.25373157e+02] [ 4.77322464e-01 2.08825372e-01 8.53554468e-01 1.89806823e+01] [-8.72280227e-01 -4.85584455e-03 4.88982234e-01 -8.36626027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:19.01, Z:-83.71 [[ 1.12064073e-01 -9.75729008e-01 1.88134385e-01 1.25364695e+02] [ 4.76422659e-01 2.18904839e-01 8.51529284e-01 1.90129405e+01] [-8.72045351e-01 -5.79435570e-03 4.89390776e-01 -8.37112996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:19.05, Z:-83.76 [[ 1.17983261e-01 -9.73621970e-01 1.95295187e-01 1.25353579e+02] [ 4.74174687e-01 2.28036285e-01 8.50386864e-01 1.90465216e+01] [-8.72489722e-01 -7.72738146e-03 4.88571358e-01 -8.37598950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.35, Y:19.08, Z:-83.81 [[ 1.21950338e-01 -9.71673004e-01 2.02434405e-01 1.25348108e+02] [ 4.72585909e-01 2.36198187e-01 8.49042387e-01 1.90789354e+01] [-8.72806206e-01 -7.87335879e-03 4.88003418e-01 -8.38081806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:19.11, Z:-83.86 [[ 1.24258372e-01 -9.69918809e-01 2.09325966e-01 1.25339439e+02] [ 4.73615295e-01 2.43353751e-01 8.46444035e-01 1.91111424e+01] [-8.71922250e-01 -6.03777826e-03 4.89607124e-01 -8.38569773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:19.14, Z:-83.91 [[ 1.25974098e-01 -9.68168431e-01 2.16287808e-01 1.25334389e+02] [ 4.73617254e-01 2.50268619e-01 8.44424251e-01 1.91430683e+01] [-8.71674953e-01 -3.93794572e-03 4.90068637e-01 -8.39057284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.33, Y:19.18, Z:-83.96 [[ 1.25314166e-01 -9.66658426e-01 2.23311099e-01 1.25327624e+02] [ 4.74693333e-01 2.56068851e-01 8.42077777e-01 1.91755435e+01] [-8.71184595e-01 4.80015909e-04 4.90955365e-01 -8.39565350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.32, Y:19.21, Z:-84.01 [[ 1.26568753e-01 -9.64675798e-01 2.31043188e-01 1.25324141e+02] [ 4.71592151e-01 2.63428604e-01 8.41549888e-01 1.92095964e+01] [-8.72686194e-01 2.44423352e-03 4.88275365e-01 -8.40080196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.32, Y:19.24, Z:-84.06 [[ 1.28337752e-01 -9.62527317e-01 2.38894506e-01 1.25320650e+02] [ 4.72483090e-01 2.71133920e-01 8.38597715e-01 1.92420023e+01] [-8.71945613e-01 5.24986869e-03 4.89574599e-01 -8.40564142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.32, Y:19.28, Z:-84.10 [[ 1.27165311e-01 -9.60879899e-01 2.46046346e-01 1.25317377e+02] [ 4.71180613e-01 2.76804653e-01 8.37477172e-01 1.92752923e+01] [-8.72821754e-01 9.43422322e-03 4.87947929e-01 -8.41046332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.32, Y:19.31, Z:-84.15 [[ 1.29005387e-01 -9.58853993e-01 2.52896480e-01 1.25316248e+02] [ 4.70285946e-01 2.83681535e-01 8.35676921e-01 1.93068565e+01] [-8.73034214e-01 1.11268359e-02 4.87532003e-01 -8.41534184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.31, Y:19.34, Z:-84.20 [[ 1.30161128e-01 -9.56823292e-01 2.59898572e-01 1.25314041e+02] [ 4.67870333e-01 2.90381650e-01 8.34731004e-01 1.93392008e+01] [-8.74159844e-01 1.29493024e-02 4.85465635e-01 -8.42016298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:125.31, Y:19.37, Z:-84.25 [[ 1.34054047e-01 -9.54425799e-01 2.66647532e-01 1.25313796e+02] [ 4.65476311e-01 2.98190233e-01 8.33315300e-01 1.93723351e+01] [-8.74849311e-01 1.24088207e-02 4.84236207e-01 -8.42536821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:125.31, Y:19.41, Z:-84.31 [[ 1.38245507e-01 -9.51680817e-01 2.74211236e-01 1.25312771e+02] [ 4.64494629e-01 3.06833371e-01 8.30721386e-01 1.94070628e+01] [-8.74718766e-01 1.25261472e-02 4.84468964e-01 -8.43095159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:125.31, Y:19.44, Z:-84.36 [[ 1.40922307e-01 -9.48968338e-01 2.82134714e-01 1.25311742e+02] [ 4.64983054e-01 3.15033565e-01 8.27372112e-01 1.94392902e+01] [-8.74031843e-01 1.45926746e-02 4.85649453e-01 -8.43590246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.31, Y:19.47, Z:-84.41 [[ 1.43497980e-01 -9.46692467e-01 2.88412382e-01 1.25312562e+02] [ 4.65640543e-01 3.21741430e-01 8.24415755e-01 1.94701009e+01] [-8.73262397e-01 1.59945031e-02 4.86987640e-01 -8.44084787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.32, Y:19.51, Z:-84.47 [[ 1.44260113e-01 -9.44393174e-01 2.95483591e-01 1.25315812e+02] [ 4.62304736e-01 3.28337467e-01 8.23692199e-01 1.95073279e+01] [-8.74907624e-01 1.77775338e-02 4.83963437e-01 -8.44659782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:125.32, Y:19.54, Z:-84.52 [[ 1.47222695e-01 -9.41056676e-01 3.04528835e-01 1.25316578e+02] [ 4.61321009e-01 3.37675059e-01 8.20462358e-01 1.95428804e+01] [-8.74933371e-01 1.96948699e-02 4.83842648e-01 -8.45186414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:125.32, Y:19.57, Z:-84.57 [[ 1.48224921e-01 -9.38367799e-01 3.12242290e-01 1.25319935e+02] [ 4.60939522e-01 3.44890446e-01 8.17670677e-01 1.95730360e+01] [-8.74965216e-01 2.27256400e-02 4.83652164e-01 -8.45680702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.32, Y:19.61, Z:-84.62 [[ 1.52718872e-01 -9.35523435e-01 3.18548032e-01 1.25323844e+02] [ 4.59699648e-01 3.52581570e-01 8.15084333e-01 1.96071294e+01] [-8.74844661e-01 2.19576584e-02 4.83905653e-01 -8.46216963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.33, Y:19.64, Z:-84.68 [[ 1.57505806e-01 -9.32119102e-01 3.26107192e-01 1.25325399e+02] [ 4.58019341e-01 3.61516011e-01 8.12111111e-01 1.96415214e+01] [-8.74877251e-01 2.14511859e-02 4.83869447e-01 -8.46751306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.33, Y:19.67, Z:-84.72 [[ 1.61031193e-01 -9.28874778e-01 3.33557495e-01 1.25327435e+02] [ 4.56839626e-01 3.69734201e-01 8.09069945e-01 1.96735627e+01] [-8.74852280e-01 2.20967821e-02 4.83885545e-01 -8.47244545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:125.33, Y:19.71, Z:-84.77 [[ 1.65508791e-01 -9.25766770e-01 3.39945184e-01 1.25331038e+02] [ 4.54479124e-01 3.77513393e-01 8.06803795e-01 1.97051234e+01] [-8.75246003e-01 2.09648692e-02 4.83223456e-01 -8.47728369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:19.74, Z:-84.82 [[ 1.70422538e-01 -9.22549361e-01 3.46206347e-01 1.25335559e+02] [ 4.52299829e-01 3.85385176e-01 8.04302885e-01 1.97357549e+01] [-8.75431907e-01 1.95177330e-02 4.82947238e-01 -8.48220082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:125.34, Y:19.76, Z:-84.87 [[ 1.78296260e-01 -9.18929382e-01 3.51822733e-01 1.25340372e+02] [ 4.52193767e-01 3.94079734e-01 8.00138713e-01 1.97641443e+01] [-8.73917182e-01 1.64303062e-02 4.85797081e-01 -8.48716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.34, Y:19.80, Z:-84.92 [[ 1.84004200e-01 -9.15331144e-01 3.58205738e-01 1.25343686e+02] [ 4.49206263e-01 4.02453761e-01 7.97649487e-01 1.97950146e+01] [-8.74274664e-01 1.41374051e-02 4.85225665e-01 -8.49219209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.35, Y:19.83, Z:-84.97 [[ 1.89125149e-01 -9.11756658e-01 3.64597688e-01 1.25347667e+02] [ 4.46974486e-01 4.10535863e-01 7.94779287e-01 1.98261850e+01] [-8.74325733e-01 1.26531134e-02 4.85174620e-01 -8.49720227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:125.35, Y:19.86, Z:-85.02 [[ 1.91701488e-01 -9.08537741e-01 3.71227305e-01 1.25353288e+02] [ 4.44981667e-01 4.17590411e-01 7.92218129e-01 1.98574560e+01] [-8.74781033e-01 1.33199512e-02 4.84335342e-01 -8.50195277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:125.36, Y:19.89, Z:-85.07 [[ 1.93871699e-01 -9.05510239e-01 3.77445323e-01 1.25360533e+02] [ 4.43891525e-01 4.24076372e-01 7.89379215e-01 1.98891960e+01] [-8.74856604e-01 1.45064906e-02 4.84164728e-01 -8.50675127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:125.37, Y:19.92, Z:-85.12 [[ 1.95790394e-01 -9.02425768e-01 3.83788816e-01 1.25366278e+02] [ 4.42509933e-01 4.30555079e-01 7.86643047e-01 1.99197631e+01] [-8.75129180e-01 1.58132108e-02 4.83630915e-01 -8.51165024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:125.37, Y:19.95, Z:-85.17 [[ 1.99299787e-01 -8.99166689e-01 3.89588066e-01 1.25373258e+02] [ 4.42906838e-01 4.37292821e-01 7.82693121e-01 1.99496806e+01] [-8.74135646e-01 1.65606460e-02 4.85399442e-01 -8.51678275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:125.38, Y:19.98, Z:-85.22 [[ 1.99804954e-01 -8.96484542e-01 3.95466113e-01 1.25383948e+02] [ 4.44723765e-01 4.42610086e-01 7.78663653e-01 1.99762027e+01] [-8.73097218e-01 2.02923239e-02 4.87123669e-01 -8.52175126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:125.40, Y:20.02, Z:-85.29 [[ 2.04736411e-01 -8.92520200e-01 4.01859047e-01 1.25395041e+02] [ 4.41130798e-01 4.50632898e-01 7.76101546e-01 2.00164133e+01] [-8.73777215e-01 1.83761567e-02 4.85979110e-01 -8.52851058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:125.40, Y:20.06, Z:-85.35 [[ 2.09994196e-01 -8.86051470e-01 4.13297993e-01 1.25403793e+02] [ 4.38611350e-01 4.63174227e-01 7.70123185e-01 2.00578531e+01] [-8.73797758e-01 1.95557917e-02 4.85896130e-01 -8.53495184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:125.41, Y:20.09, Z:-85.40 [[ 2.12706912e-01 -8.80293887e-01 4.24073628e-01 1.25409464e+02] [ 4.37858935e-01 4.73862610e-01 7.64024724e-01 2.00899545e+01] [-8.73518931e-01 2.31710873e-02 4.86238397e-01 -8.53964918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.42, Y:20.12, Z:-85.44 [[ 2.14448124e-01 -8.76854686e-01 4.30276495e-01 1.25419906e+02] [ 4.35542910e-01 4.80150111e-01 7.61418573e-01 2.01174978e+01] [-8.74250751e-01 2.41190917e-02 4.84875132e-01 -8.54446019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:125.43, Y:20.15, Z:-85.49 [[ 2.17773724e-01 -8.73370257e-01 4.35659270e-01 1.25432290e+02] [ 4.35511197e-01 4.86425926e-01 7.57442946e-01 2.01458213e+01] [-8.73444104e-01 2.47833191e-02 4.86293311e-01 -8.54933867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:125.44, Y:20.17, Z:-85.54 [[ 2.22481226e-01 -8.69315969e-01 4.41352298e-01 1.25441804e+02] [ 4.33696389e-01 4.93687659e-01 7.53777114e-01 2.01747391e+01] [-8.73160665e-01 2.37116412e-02 4.86855432e-01 -8.55425987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:125.46, Y:20.20, Z:-85.59 [[ 2.27955915e-01 -8.64973000e-01 4.47054595e-01 1.25455467e+02] [ 4.31354796e-01 5.01342108e-01 7.50059418e-01 2.02000662e+01] [-8.72908438e-01 2.18586623e-02 4.87394151e-01 -8.55924789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:125.47, Y:20.23, Z:-85.64 [[ 2.32161699e-01 -8.60670989e-01 4.53151624e-01 1.25465688e+02] [ 4.28094078e-01 5.08745367e-01 7.46936150e-01 2.02293687e+01] [-8.73405064e-01 2.05815613e-02 4.86559342e-01 -8.56414246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:125.47, Y:20.26, Z:-85.69 [[ 2.36417644e-01 -8.56396977e-01 4.59010801e-01 1.25474714e+02] [ 4.25851800e-01 5.15940164e-01 7.43273833e-01 2.02585442e+01] [-8.73359572e-01 1.97475276e-02 4.86675552e-01 -8.56891595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:125.49, Y:20.29, Z:-85.74 [[ 2.40015457e-01 -8.52176871e-01 4.64959311e-01 1.25487490e+02] [ 4.22883176e-01 5.22909132e-01 7.40091791e-01 2.02865855e+01] [-8.73820577e-01 1.89900008e-02 4.85877536e-01 -8.57372621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:125.50, Y:20.31, Z:-85.79 [[ 2.43823605e-01 -8.48131614e-01 4.70343295e-01 1.25501416e+02] [ 4.21841022e-01 5.29446591e-01 7.36027486e-01 2.03111682e+01] [-8.73269833e-01 1.89492212e-02 4.86868283e-01 -8.57862993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:125.51, Y:20.34, Z:-85.84 [[ 2.47763165e-01 -8.43625249e-01 4.76350556e-01 1.25512096e+02] [ 4.18189140e-01 5.36643221e-01 7.32892828e-01 2.03382050e+01] [-8.73917191e-01 1.76207827e-02 4.85755340e-01 -8.58359578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:125.52, Y:20.37, Z:-85.88 [[ 2.52034212e-01 -8.39204312e-01 4.81886791e-01 1.25522623e+02] [ 4.16566242e-01 5.43548090e-01 7.28716708e-01 2.03662841e+01] [-8.73470848e-01 1.70762278e-02 4.86576901e-01 -8.58840247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:125.54, Y:20.40, Z:-85.94 [[ 2.59730046e-01 -8.33650921e-01 4.87407884e-01 1.25536656e+02] [ 4.12416937e-01 5.52143047e-01 7.24603564e-01 2.03959779e+01] [-8.73185303e-01 1.28139497e-02 4.87219898e-01 -8.59364909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:125.55, Y:20.43, Z:-85.99 [[ 2.65085907e-01 -8.27762197e-01 4.94509057e-01 1.25545566e+02] [ 4.07755737e-01 5.60977826e-01 7.20443709e-01 2.04251977e+01] [-8.73764683e-01 1.06594308e-02 4.86232100e-01 -8.59859943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:125.61, Y:20.41, Z:-86.03 [[ 3.03630148e-01 -8.53952811e-01 4.22579378e-01 1.25612281e+02] [ 4.45090210e-01 5.19275595e-01 7.29552987e-01 2.04112016e+01] [-8.42438982e-01 -3.34283370e-02 5.37753762e-01 -8.60340118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:125.45, Y:21.84, Z:-85.61 [[ 2.40088059e-01 5.10471562e-01 8.25697589e-01 1.25448008e+02] [ 3.70025290e-01 7.38236692e-01 -5.63992794e-01 2.18365699e+01] [-8.97462539e-01 4.40936925e-01 -1.16455727e-02 -8.56094084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45592000000002 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:126.97, Y:20.57, Z:-85.87 [[ 3.03198779e-01 -4.96364356e-01 -8.13445097e-01 1.26973069e+02] [ 3.94183453e-01 -7.11842120e-01 5.81291839e-01 2.05709592e+01] [-8.67577032e-01 -4.96893573e-01 -2.01710462e-02 -8.58729685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:125.65, Y:20.61, Z:-86.38 [[ 2.86643445e-01 -8.11965778e-01 5.08475280e-01 1.25652832e+02] [ 3.86229965e-01 5.83645271e-01 7.14272085e-01 2.06087304e+01] [-8.76733682e-01 -8.35302137e-03 4.80903605e-01 -8.63776633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51592 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:125.70, Y:20.61, Z:-86.42 [[ 3.21291091e-01 -8.25668135e-01 4.63728547e-01 1.25695139e+02] [ 4.19424884e-01 5.63114333e-01 7.12028802e-01 2.06127675e+01] [-8.49031684e-01 -3.42692187e-02 5.27229380e-01 -8.64237555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:125.68, Y:22.10, Z:-85.93 [[ 2.64600050e-01 6.41384961e-01 7.20147308e-01 1.25681614e+02] [ 3.27091785e-01 6.42806048e-01 -6.92684162e-01 2.20999388e+01] [-9.07192250e-01 4.18838532e-01 -3.97052394e-02 -8.59348005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:127.33, Y:21.47, Z:-85.92 [[ 0.23755126 0.32152119 -0.91662071 127.33084951] [ 0.43682457 -0.87819344 -0.19483475 21.4725468 ] [ -0.86761379 -0.3541192 -0.34906432 -85.91720709] [ 0. 0. 0. 1. ]] SLAMing on 146.60592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:126.12, Y:22.33, Z:-86.01 [[ 0.13879413 0.88025599 0.45374616 126.12323938] [ 0.40749982 0.36683012 -0.83628916 22.33272084] [ -0.9025963 0.30097351 -0.30779029 -86.01000137] [ 0. 0. 0. 1. ]] SLAMing on 146.63592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:126.06, Y:20.69, Z:-86.81 [[ 1.96884969e-01 -9.32501799e-01 3.02781612e-01 1.26058192e+02] [ 4.16137695e-01 3.59109994e-01 8.35385797e-01 2.06900771e+01] [-8.87730662e-01 -3.84760649e-02 4.58752510e-01 -8.68112914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:125.92, Y:22.33, Z:-86.31 [[ 9.09039061e-02 7.00243710e-01 7.08092668e-01 1.25919655e+02] [ 3.49598793e-01 6.43344188e-01 -6.81093929e-01 2.23315038e+01] [-9.32479042e-01 3.09462440e-01 -1.86321856e-01 -8.63112009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69592 meters Centerline goodness : 0.988769 Centerline is valid? [True, True] Translation: X:126.07, Y:20.80, Z:-86.99 [[ 1.38188450e-01 -9.29240952e-01 3.42659023e-01 1.26070692e+02] [ 3.36933198e-01 3.69450192e-01 8.66015344e-01 2.07960180e+01] [-9.31332364e-01 -4.22011729e-03 3.64145875e-01 -8.69919675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:126.93, Y:22.52, Z:-86.42 [[ 2.34195368e-02 9.78569493e-01 -2.04580722e-01 1.26932068e+02] [ 3.43162457e-01 -2.00072245e-01 -9.17720341e-01 2.25219085e+01] [-9.38984054e-01 -4.87118379e-02 -3.40493911e-01 -8.64197121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:127.52, Y:21.31, Z:-87.07 [[ 8.21450683e-02 -2.55860476e-01 -9.63217320e-01 1.27519571e+02] [ 4.54519552e-01 -8.50502928e-01 2.64682350e-01 2.13115462e+01] [-8.86940903e-01 -4.59543454e-01 4.64289677e-02 -8.70680788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:125.95, Y:22.44, Z:-86.83 [[-5.51484711e-04 6.08537357e-01 7.93525035e-01 1.25945229e+02] [ 3.93585069e-01 7.29610377e-01 -5.59249042e-01 2.24435140e+01] [-9.19288034e-01 3.12011188e-01 -2.39913587e-01 -8.68265263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:126.48, Y:20.93, Z:-87.55 [[ 5.20290073e-02 -9.98373423e-01 2.33128964e-02 1.26483911e+02] [ 4.21928635e-01 4.31349039e-02 9.05602345e-01 2.09257825e+01] [-9.05134912e-01 -3.72812125e-02 4.23486602e-01 -8.75505949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:125.71, Y:22.23, Z:-87.23 [[ 5.92333345e-03 1.70231687e-01 9.85386263e-01 1.25707271e+02] [ 3.15362303e-01 9.34799919e-01 -1.63388277e-01 2.22293018e+01] [-9.48952861e-01 3.11721484e-01 -4.81475253e-02 -8.72255129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.52, Y:21.03, Z:-87.68 [[ 3.94437563e-02 -9.99218535e-01 2.55134955e-03 1.26515261e+02] [ 3.39840372e-01 1.58161024e-02 9.40350133e-01 2.10340280e+01] [-9.39655635e-01 -3.62238899e-02 3.40198645e-01 -8.76765322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:125.71, Y:22.33, Z:-87.45 [[ 6.54730225e-03 1.41043621e-01 9.89981732e-01 1.25711672e+02] [ 2.55758778e-01 9.56838450e-01 -1.38013143e-01 2.23309372e+01] [-9.66718460e-01 2.54100131e-01 -2.98084337e-02 -8.74468960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:126.51, Y:21.13, Z:-87.81 [[ 2.69461509e-02 -9.99537174e-01 1.41188804e-02 1.26511238e+02] [ 2.78127736e-01 2.10627667e-02 9.60313138e-01 2.11297292e+01] [-9.60166062e-01 -2.19498905e-02 2.78566572e-01 -8.78070056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:125.68, Y:22.04, Z:-87.77 [[ 6.20309763e-02 -2.78913903e-01 9.58310593e-01 1.25676163e+02] [ 1.99266861e-01 9.44289645e-01 2.61934694e-01 2.20409206e+01] [-9.77979998e-01 1.74711479e-01 1.14153507e-01 -8.77733874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:23.16, Z:-87.70 [[-1.85500794e-02 9.07932185e-01 4.18706391e-01 1.26427034e+02] [ 1.81205771e-01 4.14896208e-01 -8.91642084e-01 2.31639764e+01] [-9.83270239e-01 5.93319832e-02 -1.72218910e-01 -8.77041165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.76, Y:21.96, Z:-88.01 [[ 1.65074291e-02 -4.29153755e-01 9.03080594e-01 1.25760091e+02] [ 1.17442484e-01 8.97783715e-01 4.24489886e-01 2.19604424e+01] [-9.92942480e-01 9.90527918e-02 6.52209841e-02 -8.80102090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.17, Y:23.09, Z:-87.96 [[-3.84608360e-02 7.49828213e-01 6.60513750e-01 1.26170149e+02] [ 7.36053757e-02 6.61333006e-01 -7.46472306e-01 2.30948361e+01] [-9.96545540e-01 1.99074138e-02 -8.06268076e-02 -8.79576424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:125.77, Y:21.96, Z:-88.10 [[-2.45432526e-02 -4.51943928e-01 8.91708649e-01 1.25767807e+02] [ 8.85347227e-03 8.91844097e-01 4.52256258e-01 2.19610241e+01] [-9.99659564e-01 1.89945574e-02 -1.78874819e-02 -8.80999357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:21.28, Z:-88.29 [[ 5.09760495e-02 -9.66273252e-01 -2.52423146e-01 1.26765874e+02] [ 5.07607006e-03 -2.52497807e-01 9.67584152e-01 2.12797145e+01] [-9.98686976e-01 -5.06049352e-02 -7.96647000e-03 -8.82883705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:21.58, Z:-88.43 [[ 8.57122930e-02 -5.29369862e-01 -8.44050325e-01 1.27383910e+02] [ 6.69751358e-02 -8.42190288e-01 5.35004532e-01 2.15774798e+01] [-9.94066262e-01 -1.02386850e-01 -3.67314424e-02 -8.84284655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:127.42, Y:21.60, Z:-88.61 [[ 1.18950322e-01 -4.60002670e-01 -8.79913839e-01 1.27421083e+02] [ 1.25797186e-01 -8.72082136e-01 4.72914175e-01 2.15963649e+01] [-9.84898923e-01 -1.66943978e-01 -4.58674098e-02 -8.86103726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:127.29, Y:21.44, Z:-88.84 [[ 1.63824323e-01 -6.05355634e-01 -7.78913440e-01 1.27294736e+02] [ 1.80132197e-01 -7.57949438e-01 6.26948994e-01 2.14431627e+01] [-9.69904110e-01 -2.43016884e-01 -1.51265132e-02 -8.88397723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:127.43, Y:21.58, Z:-88.98 [[ 1.83002756e-01 -4.18637405e-01 -8.89523870e-01 1.27432171e+02] [ 2.43771708e-01 -8.57224341e-01 4.53587679e-01 2.15837385e+01] [-9.52410282e-01 -2.99848548e-01 -5.48224615e-02 -8.89769466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:125.99, Y:21.51, Z:-89.46 [[ 2.16088383e-01 -8.13806825e-01 5.39466646e-01 1.25993755e+02] [ 2.74492097e-01 5.80871542e-01 7.66317389e-01 2.15146692e+01] [-9.36995144e-01 -1.75129548e-02 3.48903134e-01 -8.94564644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:21.57, Z:-89.51 [[ 2.25136929e-01 -7.77462586e-01 5.87252323e-01 1.25963416e+02] [ 2.76262882e-01 6.28927684e-01 7.26724699e-01 2.15744770e+01] [-9.34340507e-01 -1.37654756e-03 3.56378902e-01 -8.95085962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.94, Y:21.63, Z:-89.57 [[ 2.20694259e-01 -7.47125782e-01 6.26974569e-01 1.25944251e+02] [ 2.62304985e-01 6.64606663e-01 6.99638534e-01 2.16252479e+01] [-9.39409463e-01 1.00523472e-02 3.42649692e-01 -8.95668361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35592 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:125.96, Y:21.64, Z:-89.66 [[ 2.33116151e-01 -7.54055116e-01 6.14050277e-01 1.25960778e+02] [ 2.74852819e-01 6.56791501e-01 7.02197160e-01 2.16352866e+01] [-9.32798364e-01 5.07995030e-03 3.60362881e-01 -8.96609130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:127.32, Y:23.04, Z:-89.19 [[ 2.51162751e-01 8.32419154e-01 -4.93959132e-01 1.27318628e+02] [ 1.82907390e-01 -5.41939191e-01 -8.20272394e-01 2.30408789e+01] [-9.50506265e-01 1.15673095e-01 -2.88370553e-01 -8.91938054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:126.24, Y:21.54, Z:-89.94 [[ 2.39489368e-01 -8.90225755e-01 3.87482836e-01 1.26235887e+02] [ 2.27515570e-01 4.39442061e-01 8.68980633e-01 2.15382469e+01] [-9.43865196e-01 -1.19953244e-01 3.07781922e-01 -8.99374280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:125.98, Y:21.85, Z:-90.06 [[ 2.52968175e-01 -6.65386207e-01 7.02330619e-01 1.25979245e+02] [ 2.25523921e-01 7.46499293e-01 6.26001411e-01 2.18479099e+01] [-9.40822015e-01 3.39204639e-05 3.38901070e-01 -9.00589286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:125.97, Y:21.90, Z:-90.12 [[ 2.57762180e-01 -6.33518601e-01 7.29529191e-01 1.25971859e+02] [ 2.22328919e-01 7.73671975e-01 5.93297165e-01 2.18994257e+01] [-9.40281081e-01 9.26586576e-03 3.40272881e-01 -9.01192197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:125.99, Y:21.92, Z:-90.18 [[ 2.72547504e-01 -6.30225683e-01 7.27003058e-01 1.25988968e+02] [ 2.29994428e-01 7.76377917e-01 5.86804816e-01 2.19182258e+01] [-9.34248586e-01 7.27446442e-03 3.56548260e-01 -9.01764048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.00, Y:21.93, Z:-90.23 [[ 2.73054900e-01 -6.27275871e-01 7.29359996e-01 1.26002912e+02] [ 2.25295863e-01 7.78784336e-01 5.85437214e-01 2.19330847e+01] [-9.35244778e-01 4.46529007e-03 3.53973538e-01 -9.02301143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:126.02, Y:21.95, Z:-90.28 [[ 2.79806142e-01 -6.22862272e-01 7.30582722e-01 1.26018983e+02] [ 2.29439865e-01 7.82311526e-01 5.79090688e-01 2.19488150e+01] [-9.32237025e-01 5.59166975e-03 3.61805005e-01 -9.02803861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.01, Y:22.00, Z:-90.34 [[ 2.69556420e-01 -5.89562812e-01 7.61416461e-01 1.26012309e+02] [ 2.13337204e-01 8.07597039e-01 5.49794744e-01 2.19958232e+01] [-9.39056214e-01 1.42377556e-02 3.43468648e-01 -9.03391246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:126.03, Y:22.01, Z:-90.40 [[ 2.77583763e-01 -5.88691776e-01 7.59203034e-01 1.26030880e+02] [ 2.12934380e-01 8.08304187e-01 5.48911005e-01 2.20101796e+01] [-9.36806386e-01 9.29164459e-03 3.49724836e-01 -9.04017204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:126.03, Y:22.04, Z:-90.46 [[ 2.78162997e-01 -5.67551410e-01 7.74926283e-01 1.26034686e+02] [ 2.05795169e-01 8.23245952e-01 5.29069420e-01 2.20436246e+01] [-9.38229021e-01 1.23085501e-02 3.45795899e-01 -9.04566718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:126.04, Y:22.07, Z:-90.52 [[ 2.81630907e-01 -5.51457749e-01 7.85225053e-01 1.26044835e+02] [ 1.99915368e-01 8.34113681e-01 5.14089693e-01 2.20725241e+01] [-9.38465704e-01 1.21950094e-02 3.45157071e-01 -9.05177142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.06, Y:22.10, Z:-90.58 [[ 2.80439808e-01 -5.36300519e-01 7.96074913e-01 1.26057111e+02] [ 1.94526094e-01 8.43900133e-01 4.99992164e-01 2.20998571e+01] [-9.39953782e-01 1.46396367e-02 3.40987636e-01 -9.05754306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:22.12, Z:-90.64 [[ 2.84098516e-01 -5.27602556e-01 8.00577027e-01 1.26072134e+02] [ 1.90745432e-01 8.49393301e-01 4.92084545e-01 2.21221360e+01] [-9.39629828e-01 1.29059220e-02 3.41949154e-01 -9.06400980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.08, Y:22.15, Z:-90.71 [[ 2.90166192e-01 -5.09348774e-01 8.10165049e-01 1.26083430e+02] [ 1.86069285e-01 8.60460268e-01 4.74327259e-01 2.21535891e+01] [-9.38712843e-01 1.31130970e-02 3.44450641e-01 -9.07078653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:22.19, Z:-90.78 [[ 2.94690494e-01 -4.84906912e-01 8.23421399e-01 1.26096605e+02] [ 1.79452198e-01 8.74438156e-01 4.50726990e-01 2.21939025e+01] [-9.38591723e-01 1.49398203e-02 3.44706223e-01 -9.07847850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:21.61, Z:-90.67 [[ 3.40759237e-01 -8.47468366e-01 -4.07038710e-01 1.27256481e+02] [ 1.92065384e-01 -3.61067916e-01 9.12546354e-01 2.16123074e+01] [-9.20322786e-01 -3.89136645e-01 3.97321095e-02 -9.06731087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.17, Y:22.19, Z:-91.10 [[ 3.63586815e-01 -5.18486393e-01 7.73935714e-01 1.26172261e+02] [ 1.89514751e-01 8.54589981e-01 4.83487459e-01 2.21865999e+01] [-9.12079376e-01 -2.91174310e-02 4.08978469e-01 -9.10964492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:21.63, Z:-90.94 [[ 4.14338160e-01 -8.43802511e-01 -3.41058956e-01 1.27232071e+02] [ 2.00110381e-01 -2.81106332e-01 9.38581411e-01 2.16308617e+01] [-8.87851184e-01 -4.57139532e-01 5.23805615e-02 -9.09418193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.22, Y:22.28, Z:-91.40 [[ 4.36544081e-01 -4.63087438e-01 7.71349007e-01 1.26224709e+02] [ 1.92416203e-01 8.85575627e-01 4.22766855e-01 2.22837876e+01] [-8.78865900e-01 -3.61363214e-02 4.75698324e-01 -9.13963254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.22, Y:22.39, Z:-91.44 [[ 4.38381095e-01 -3.84532518e-01 8.12377226e-01 1.26217355e+02] [ 1.85535423e-01 9.23106352e-01 3.36825282e-01 2.23857100e+01] [-8.79430851e-01 3.06691659e-03 4.76016776e-01 -9.14441276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:22.41, Z:-91.50 [[ 4.42602778e-01 -3.70298838e-01 8.16689385e-01 1.26236222e+02] [ 1.76912710e-01 9.28912546e-01 3.25305048e-01 2.24132626e+01] [-8.79093098e-01 5.01814347e-04 4.76649844e-01 -9.14964078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:126.30, Y:22.39, Z:-91.60 [[ 4.77653876e-01 -4.07743029e-01 7.78198174e-01 1.26303656e+02] [ 1.72080674e-01 9.12041120e-01 3.72248892e-01 2.23908237e+01] [-8.61530624e-01 -4.38932598e-02 5.05804671e-01 -9.15982066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:23.58, Z:-91.34 [[ 4.12416045e-01 7.21811980e-01 5.55788154e-01 1.26782116e+02] [ 1.23507219e-01 5.60154323e-01 -8.19129477e-01 2.35810365e+01] [-9.02584607e-01 4.06465989e-01 1.41867641e-01 -9.13448741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.38, Y:22.59, Z:-91.71 [[ 3.98940528e-01 -2.72312828e-01 8.75609604e-01 1.26376181e+02] [ 1.11740898e-01 9.62207988e-01 2.48333967e-01 2.25939604e+01] [-9.10143080e-01 -1.22908051e-03 4.14292243e-01 -9.17099750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.41, Y:22.60, Z:-91.77 [[ 3.91915868e-01 -2.78567897e-01 8.76813480e-01 1.26407347e+02] [ 1.01751148e-01 9.60334754e-01 2.59622540e-01 2.25988631e+01] [-9.14356963e-01 -1.25334150e-02 4.04715032e-01 -9.17700925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:127.24, Y:23.74, Z:-91.47 [[ 3.61403592e-01 8.85603632e-01 2.91708160e-01 1.27243130e+02] [ 9.25254762e-02 2.77247207e-01 -9.56333113e-01 2.37373718e+01] [-9.27807351e-01 3.72612658e-01 1.82572386e-02 -9.14658866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:126.51, Y:22.65, Z:-91.89 [[ 3.71853226e-01 -2.65364457e-01 8.89554317e-01 1.26514570e+02] [ 9.16543168e-02 9.64083521e-01 2.49283874e-01 2.26513312e+01] [-9.23755739e-01 -1.11655197e-02 3.82819365e-01 -9.18921792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:23.73, Z:-91.76 [[ 3.02064306e-01 8.14488445e-01 4.95344049e-01 1.27156285e+02] [ 5.49074755e-02 5.03888871e-01 -8.62021563e-01 2.37255464e+01] [-9.51704956e-01 2.87584036e-01 1.07485338e-01 -9.17598457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:126.61, Y:22.74, Z:-92.07 [[ 3.30560171e-01 -2.21925807e-01 9.17321596e-01 1.26605457e+02] [ 5.15372524e-02 9.74754760e-01 2.17248863e-01 2.27448766e+01] [-9.42376721e-01 -2.45375868e-02 3.33652546e-01 -9.20729997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.56, Y:22.90, Z:-91.64 [[ 2.91501317e-01 2.79350742e-01 -9.14871655e-01 1.28562688e+02] [ 8.67654839e-02 -9.60187101e-01 -2.65541866e-01 2.29015166e+01] [-9.52627279e-01 -1.97347817e-03 -3.04133807e-01 -9.16426660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.22, Y:23.59, Z:-91.86 [[ 0.24032977 0.89112515 -0.38488644 128.22480832] [ 0.13512064 -0.42335908 -0.89582894 23.58762731] [ -0.96124087 0.16328826 -0.22215519 -91.85835525] [ 0. 0. 0. 1. ]] SLAMing on 148.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:23.69, Z:-92.23 [[ 1.69206372e-01 7.86058948e-01 5.94542289e-01 1.27330958e+02] [ 1.18500853e-01 5.82638522e-01 -8.04045956e-01 2.36903658e+01] [-9.78430760e-01 2.06503468e-01 5.43749457e-03 -9.22338306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:126.99, Y:22.32, Z:-92.47 [[ 1.63321059e-01 -6.32086975e-01 7.57490784e-01 1.26987702e+02] [ 1.24225374e-01 7.74864674e-01 6.19800608e-01 2.23248738e+01] [-9.78720741e-01 -7.12691589e-03 2.05072960e-01 -9.24703288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.33, Y:23.71, Z:-92.48 [[ 1.20171523e-01 7.39733674e-01 6.62082243e-01 1.27330448e+02] [ 6.97450411e-02 6.58976590e-01 -7.48922882e-01 2.37063462e+01] [-9.90300174e-01 1.36176156e-01 2.75974647e-02 -9.24845609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:127.01, Y:22.45, Z:-92.62 [[ 1.15421346e-01 -5.59894830e-01 8.20485035e-01 1.27010661e+02] [ 7.17069020e-02 8.28546988e-01 5.55308931e-01 2.24498722e+01] [-9.90725004e-01 -5.26006457e-03 1.35780333e-01 -9.26210293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43592 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:126.95, Y:22.67, Z:-92.73 [[ 1.23928237e-01 -3.59369215e-01 9.24930030e-01 1.26947649e+02] [ 5.55174592e-02 9.33166602e-01 3.55130829e-01 2.26700277e+01] [-9.90736899e-01 7.33902762e-03 1.35596958e-01 -9.27340497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:127.60, Y:23.85, Z:-92.81 [[ 7.97256404e-02 8.77168706e-01 4.73517564e-01 1.27596944e+02] [ 1.03300532e-02 4.74277118e-01 -8.80315004e-01 2.38489618e+01] [-9.96763318e-01 7.50751390e-02 2.87508476e-02 -9.28103958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49592 meters Centerline goodness : 0.850394 Centerline is valid? [True, False] Translation: X:127.55, Y:23.83, Z:-92.79 [[ 7.28651906e-02 8.51754870e-01 5.18849019e-01 1.27550738e+02] [ 9.36773886e-03 5.19624456e-01 -8.54343415e-01 2.38304293e+01] [-9.97297804e-01 6.71123379e-02 2.98835178e-02 -9.27864494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters Centerline goodness : 0.998304 Centerline is valid? [False, True] Translation: X:127.50, Y:23.81, Z:-92.76 [[ 6.60629714e-02 8.24366210e-01 5.62188612e-01 1.27504238e+02] [ 9.65755707e-03 5.62864779e-01 -8.26492572e-01 2.38097765e+01] [-9.97768718e-01 6.00299238e-02 2.92231561e-02 -9.27605360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55592000000001 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:127.69, Y:21.98, Z:-92.85 [[ 6.29492569e-02 -9.89731831e-01 1.28328851e-01 1.27685757e+02] [-2.24793533e-02 1.27145146e-01 9.91629361e-01 2.19781801e+01] [-9.97763534e-01 -6.53070810e-02 -1.42448390e-02 -9.28455844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:126.95, Y:22.96, Z:-93.04 [[ 8.95599231e-02 -8.34759867e-02 9.92477093e-01 1.26950788e+02] [-6.55962312e-03 9.96410469e-01 8.43987504e-02 2.29640673e+01] [-9.95959834e-01 -1.40690213e-02 8.86908740e-02 -9.30381443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61592000000002 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:127.07, Y:23.39, Z:-93.11 [[ 1.01479159e-01 3.54626148e-01 9.29484952e-01 1.27071086e+02] [-3.14938780e-03 9.34417998e-01 -3.56164409e-01 2.33855004e+01] [-9.94832680e-01 3.32159561e-02 9.59408078e-02 -9.31051595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:127.10, Y:23.42, Z:-93.16 [[ 1.39267969e-01 3.92983963e-01 9.08937862e-01 1.27099181e+02] [-2.53586261e-02 9.18997195e-01 -3.93447704e-01 2.34171746e+01] [-9.89929984e-01 3.17452473e-02 1.37952406e-01 -9.31643408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67592000000002 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:128.60, Y:23.69, Z:-93.19 [[ 9.84626182e-02 8.48496189e-01 -5.19960892e-01 1.28599818e+02] [-3.81381485e-02 -5.18898545e-01 -8.53984649e-01 2.36918481e+01] [-9.94409671e-01 1.03915910e-01 -1.87320357e-02 -9.31864970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:127.02, Y:22.98, Z:-93.28 [[ 5.34717293e-02 -3.29451693e-02 9.98025746e-01 1.27015175e+02] [ 1.37399606e-02 9.99385261e-01 3.22538945e-02 2.29763763e+01] [-9.98474831e-01 1.19881629e-02 5.38915234e-02 -9.32794238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73592000000002 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:127.10, Y:23.28, Z:-93.37 [[ 4.91713311e-02 2.82450432e-01 9.58020842e-01 1.27095112e+02] [-6.23384022e-03 9.59249213e-01 -2.82492631e-01 2.32821344e+01] [-9.98770904e-01 7.91838983e-03 4.89283115e-02 -9.33671732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters Centerline goodness : 0.832260 Centerline is valid? [True, False] Translation: X:127.11, Y:23.28, Z:-93.47 [[ 7.95546272e-02 2.88772596e-01 9.54086709e-01 1.27106488e+02] [-2.29308945e-02 9.57397170e-01 -2.87862523e-01 2.32831156e+01] [-9.96566724e-01 1.02273404e-03 8.27871889e-02 -9.34747536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79592 meters Centerline goodness : 0.998853 Centerline is valid? [False, True] Translation: X:127.12, Y:23.28, Z:-93.58 [[ 1.08835234e-01 2.92216645e-01 9.50139108e-01 1.27118294e+02] [-3.97365786e-02 9.56331792e-01 -2.89569523e-01 2.32789474e+01] [-9.93265270e-01 -6.23991057e-03 1.15694284e-01 -9.35757958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters Centerline goodness : 0.972221 Centerline is valid? [True, True] Translation: X:127.21, Y:23.46, Z:-93.72 [[ 1.35496709e-01 4.74169854e-01 8.69944591e-01 1.27206659e+02] [-6.64544492e-02 8.80414234e-01 -4.69525914e-01 2.34647709e+01] [-9.88546634e-01 5.80752739e-03 1.50803928e-01 -9.37170568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85592 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:128.16, Y:23.90, Z:-93.85 [[ 1.41327290e-01 9.89062378e-01 -4.22162178e-02 1.28161081e+02] [-1.72302029e-01 -1.74178687e-02 -9.84890161e-01 2.39048912e+01] [-9.74853121e-01 1.46465798e-01 1.67955834e-01 -9.38485548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:128.02, Y:21.91, Z:-93.77 [[ 9.88098611e-02 -9.87223341e-01 -1.25006745e-01 1.28024110e+02] [-1.34812269e-01 -1.37743604e-01 9.81250402e-01 2.19060724e+01] [-9.85932180e-01 -8.01047729e-02 -1.46700245e-01 -9.37680144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:128.90, Y:23.32, Z:-93.96 [[ 1.45639131e-01 5.44687119e-01 -8.25896595e-01 1.28900552e+02] [-8.70226740e-02 -8.24508769e-01 -5.59117468e-01 2.33205965e+01] [-9.85503068e-01 1.53301112e-01 -7.26806109e-02 -9.39626856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:127.11, Y:23.19, Z:-94.21 [[ 1.02135983e-01 2.57379118e-01 9.60897617e-01 1.27114428e+02] [-1.14705054e-02 9.66189593e-01 -2.57577363e-01 2.31876306e+01] [-9.94704312e-01 1.52859357e-02 1.01634992e-01 -9.42065687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97592 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:128.55, Y:21.99, Z:-94.10 [[ 1.23425021e-01 -7.81017234e-01 -6.12191428e-01 1.28545881e+02] [-4.35423096e-02 -6.20576511e-01 7.82936052e-01 2.19886666e+01] [-9.91398170e-01 -6.99776701e-02 -1.10601963e-01 -9.41029095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:127.08, Y:22.60, Z:-94.48 [[ 1.68900283e-01 -3.03943029e-01 9.37598704e-01 1.27081981e+02] [-1.47464021e-03 9.51186407e-01 3.08613422e-01 2.26008466e+01] [-9.85632041e-01 -5.35075152e-02 1.60207447e-01 -9.44773418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:127.10, Y:23.06, Z:-94.55 [[ 1.85678417e-01 1.52974506e-01 9.70629861e-01 1.27103826e+02] [-5.67044205e-03 9.87957636e-01 -1.54620683e-01 2.30610315e+01] [-9.82594205e-01 2.32058233e-02 1.84309843e-01 -9.45544892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:127.10, Y:22.98, Z:-94.60 [[ 2.20576792e-01 7.20792565e-02 9.72702657e-01 1.27098017e+02] [-1.55018543e-02 9.97398807e-01 -7.03939839e-02 2.29802112e+01] [-9.75246416e-01 4.48584225e-04 2.21120391e-01 -9.46047016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:128.24, Y:23.79, Z:-94.63 [[ 1.57121212e-01 9.87558190e-01 -6.46111280e-03 1.28236571e+02] [-4.98673248e-02 1.39955972e-03 -9.98754870e-01 2.37949020e+01] [-9.86319509e-01 1.57247775e-01 4.94667856e-02 -9.46303551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:128.56, Y:23.73, Z:-94.79 [[ 3.68138911e-02 9.73314267e-01 -2.26504030e-01 1.28558908e+02] [-3.76719089e-02 -2.25144892e-01 -9.73596736e-01 2.37324048e+01] [-9.98611819e-01 4.43747234e-02 2.83781468e-02 -9.47917854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15592 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:128.66, Y:23.67, Z:-94.98 [[-8.91974303e-03 9.56265068e-01 -2.92365454e-01 1.28660784e+02] [-3.80088193e-02 -2.92490025e-01 -9.55512907e-01 2.36673681e+01] [-9.99237593e-01 2.58953611e-03 3.89554420e-02 -9.49761689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:128.98, Y:23.46, Z:-94.99 [[-7.73700291e-03 7.74604532e-01 -6.32398575e-01 1.28981525e+02] [-4.03104025e-02 -6.32145047e-01 -7.73800821e-01 2.34605615e+01] [-9.99157250e-01 1.95053419e-02 3.61155285e-02 -9.49914798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:129.21, Y:23.08, Z:-95.48 [[-2.14535117e-02 4.20172353e-01 -9.07190686e-01 1.29212187e+02] [-8.96635281e-02 -9.04551553e-01 -4.16829629e-01 2.30777760e+01] [-9.95741030e-01 7.23994583e-02 5.70799429e-02 -9.54767809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:127.38, Y:22.36, Z:-94.97 [[-2.85703466e-02 -5.04285595e-01 8.63064177e-01 1.27378721e+02] [-3.63281268e-02 8.63370073e-01 5.03261745e-01 2.23615727e+01] [-9.98931430e-01 -1.69751424e-02 -4.29865333e-02 -9.49733342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27592 meters Centerline goodness : 0.951766 Centerline is valid? [True, True] Translation: X:127.61, Y:23.51, Z:-95.73 [[ 1.14359466e-01 7.01002113e-01 7.03930358e-01 1.27614549e+02] [ 2.84269280e-02 7.05979808e-01 -7.07661233e-01 2.35108893e+01] [-9.93032639e-01 1.00938339e-01 6.08081376e-02 -9.57309253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters Centerline goodness : 0.934268 Centerline is valid? [True, False] Translation: X:127.57, Y:23.47, Z:-95.70 [[ 1.06555780e-01 6.61718515e-01 7.42141815e-01 1.27571439e+02] [ 2.45864844e-02 7.44409503e-01 -6.67270558e-01 2.34749973e+01] [-9.94002701e-01 8.93481929e-02 6.30518033e-02 -9.57047194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33592000000002 meters Centerline goodness : 0.944710 Centerline is valid? [False, False] Translation: X:127.53, Y:23.44, Z:-95.67 [[ 9.83926009e-02 6.21091443e-01 7.77537340e-01 1.27533493e+02] [ 2.13469867e-02 7.79831531e-01 -6.25625358e-01 2.34393158e+01] [-9.94918691e-01 7.81549854e-02 6.34712218e-02 -9.56744417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters Centerline goodness : 0.891145 Centerline is valid? [False, False] Translation: X:127.51, Y:23.41, Z:-95.67 [[ 9.72674459e-02 5.83653406e-01 8.06156155e-01 1.27505089e+02] [ 1.22075198e-02 8.09236354e-01 -5.87356365e-01 2.34068187e+01] [-9.95183410e-01 6.69718207e-02 7.15873928e-02 -9.56700005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39592000000002 meters Centerline goodness : 0.894795 Centerline is valid? [False, False] Translation: X:127.48, Y:23.38, Z:-95.70 [[ 1.01751374e-01 5.49567920e-01 8.29229618e-01 1.27484449e+02] [-6.62396975e-03 8.33911694e-01 -5.51858143e-01 2.33758078e+01] [-9.94787807e-01 5.06595327e-02 8.84919823e-02 -9.56967263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters Centerline goodness : 0.894795 Centerline is valid? [False, False] Translation: X:127.47, Y:23.35, Z:-95.72 [[ 1.05821686e-01 5.15998281e-01 8.50027967e-01 1.27465622e+02] [-2.34029503e-02 8.55883305e-01 -5.16639207e-01 2.33454194e+01] [-9.94109688e-01 3.47784698e-02 1.02646897e-01 -9.57193181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45592000000002 meters Centerline goodness : 0.995464 Centerline is valid? [False, True] Translation: X:127.45, Y:23.32, Z:-95.74 [[ 1.11541510e-01 4.84114518e-01 8.67866133e-01 1.27449008e+02] [-3.83242229e-02 8.74761695e-01 -4.83035434e-01 2.33168008e+01] [-9.93020516e-01 2.06182063e-02 1.16125553e-01 -9.57413019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:127.38, Y:23.19, Z:-95.81 [[ 1.08862574e-01 3.52374071e-01 9.29506027e-01 1.27382382e+02] [-4.16858347e-02 9.35859008e-01 -3.49900283e-01 2.31933441e+01] [-9.93182376e-01 -6.56189265e-04 1.16569027e-01 -9.58053169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51592 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:128.73, Y:23.68, Z:-95.92 [[ 1.22792474e-02 9.49012454e-01 -3.14999336e-01 1.28728936e+02] [-7.48179156e-02 -3.13268014e-01 -9.46712961e-01 2.36751346e+01] [-9.97121607e-01 3.51925164e-02 6.71564383e-02 -9.59191690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters Centerline goodness : 0.867505 Centerline is valid? [True, False] Translation: X:128.67, Y:23.70, Z:-95.87 [[ 1.48421389e-03 9.69253105e-01 -2.46061407e-01 1.28668448e+02] [-6.72011526e-02 -2.45408767e-01 -9.67087660e-01 2.37034948e+01] [-9.97738344e-01 1.79709751e-02 6.47706867e-02 -9.58692689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57592 meters Centerline goodness : 0.987740 Centerline is valid? [False, True] Translation: X:128.61, Y:23.73, Z:-95.82 [[-9.43394471e-03 9.84520637e-01 -1.75014615e-01 1.28606855e+02] [-6.17907352e-02 -1.75261887e-01 -9.82580875e-01 2.37267661e+01] [-9.98044541e-01 1.54466811e-03 6.24876650e-02 -9.58195689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters Centerline goodness : 0.957377 Centerline is valid? [True, True] Translation: X:129.35, Y:22.70, Z:-96.05 [[-1.26784715e-01 4.77906863e-02 -9.90778323e-01 1.29353519e+02] [-1.33031164e-01 -9.90634395e-01 -3.07604421e-02 2.27042150e+01] [-9.82969148e-01 1.27904440e-01 1.31954950e-01 -9.60497745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63592 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:127.43, Y:22.58, Z:-95.37 [[-7.64711255e-02 -3.01675295e-01 9.50338983e-01 1.27430955e+02] [-2.31912578e-02 9.53410243e-01 3.00784099e-01 2.25840498e+01] [-9.96802053e-01 9.61742160e-04 -7.99045839e-02 -9.53703522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:127.98, Y:23.69, Z:-95.55 [[-1.22546076e-01 8.55578776e-01 5.02958664e-01 1.27981242e+02] [-7.91472017e-02 4.96739335e-01 -8.64283376e-01 2.36946839e+01] [-9.89301865e-01 -1.45722307e-01 6.84320954e-03 -9.55486893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69592 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:129.18, Y:23.26, Z:-96.18 [[-9.78551314e-02 5.89069887e-01 -8.02135301e-01 1.29181814e+02] [-1.53898377e-01 -8.05265012e-01 -5.72593705e-01 2.32607055e+01] [-9.83229202e-01 6.74160884e-02 1.69456213e-01 -9.61821892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:127.77, Y:22.02, Z:-95.54 [[-8.91198588e-02 -8.51750663e-01 5.16312366e-01 1.27767261e+02] [-8.37757947e-02 5.22948288e-01 8.48237410e-01 2.20201160e+01] [-9.92491444e-01 3.23403195e-02 -1.17961166e-01 -9.55429332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75592 meters Centerline goodness : 0.871204 Centerline is valid? [True, False] Translation: X:127.67, Y:22.14, Z:-95.49 [[-9.35381270e-02 -7.58456294e-01 6.44976487e-01 1.27671724e+02] [-6.86188251e-02 6.51187384e-01 7.55808473e-01 2.21435527e+01] [-9.93248245e-01 2.64393802e-02 -1.12955228e-01 -9.54888472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters Centerline goodness : 0.996116 Centerline is valid? [False, True] Translation: X:127.60, Y:22.27, Z:-95.44 [[-9.35671521e-02 -6.54635777e-01 7.50131447e-01 1.27599494e+02] [-5.42093320e-02 7.55668924e-01 6.52706539e-01 2.22699520e+01] [-9.94136075e-01 2.04077674e-02 -1.06193157e-01 -9.54426355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81592 meters Centerline goodness : 0.887800 Centerline is valid? [True, False] Translation: X:127.55, Y:22.39, Z:-95.39 [[-9.35226752e-02 -5.46338843e-01 8.32326485e-01 1.27547083e+02] [-4.25717787e-02 8.37420317e-01 5.44898941e-01 2.23933088e+01] [-9.94706566e-01 1.55267878e-02 -1.01576405e-01 -9.53945909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters Centerline goodness : 0.980490 Centerline is valid? [False, True] Translation: X:127.51, Y:22.51, Z:-95.38 [[-8.32397596e-02 -4.41510087e-01 8.93386806e-01 1.27511103e+02] [-2.58186277e-02 8.97152605e-01 4.40965533e-01 2.25076359e+01] [-9.96195032e-01 1.36398436e-02 -8.60779517e-02 -9.53813189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87592 meters Centerline goodness : 0.958597 Centerline is valid? [True, True] Translation: X:127.61, Y:22.28, Z:-95.54 [[-1.81805536e-01 -6.23338771e-01 7.60523191e-01 1.27611624e+02] [ 1.27244119e-01 7.51996897e-01 6.46768584e-01 2.22809152e+01] [-9.75067014e-01 2.14358213e-01 -5.74010060e-02 -9.55441304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:127.91, Y:23.84, Z:-96.20 [[-1.59648937e-01 8.68003377e-01 4.70193955e-01 1.27912700e+02] [ 1.92008463e-02 4.78943347e-01 -8.77635800e-01 2.38412943e+01] [-9.86987104e-01 -1.31085501e-01 -9.31291957e-02 -9.61965267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93592 meters Centerline goodness : 0.913657 Centerline is valid? [True, False] Translation: X:127.87, Y:23.82, Z:-96.15 [[-1.68605333e-01 8.37474124e-01 5.19816634e-01 1.27872751e+02] [ 1.83828300e-02 5.29946535e-01 -8.47831789e-01 2.38187714e+01] [-9.85512209e-01 -1.33393260e-01 -1.04746957e-01 -9.61494582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters Centerline goodness : 0.988553 Centerline is valid? [False, True] Translation: X:127.83, Y:23.79, Z:-96.10 [[-1.76707288e-01 8.02932133e-01 5.69275438e-01 1.27832477e+02] [ 1.71109412e-02 5.80795713e-01 -8.13869495e-01 2.37920344e+01] [-9.84114704e-01 -1.34075833e-01 -1.16369760e-01 -9.61019516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99592 meters Centerline goodness : 0.795579 Centerline is valid? [True, False] Translation: X:127.80, Y:23.77, Z:-96.06 [[-1.85738637e-01 7.68354074e-01 6.12481163e-01 1.27799468e+02] [ 1.57037567e-02 6.25569170e-01 -7.80010644e-01 2.37654167e+01] [-9.82473690e-01 -1.35259859e-01 -1.28258410e-01 -9.60581286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters Centerline goodness : 0.997460 Centerline is valid? [False, True] Translation: X:127.77, Y:23.74, Z:-96.02 [[-1.95228823e-01 7.30675002e-01 6.54216897e-01 1.27767618e+02] [ 1.34625472e-02 6.68986173e-01 -7.43152919e-01 2.37361791e+01] [-9.80665318e-01 -1.36277444e-01 -1.40442130e-01 -9.60157603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05592000000001 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:129.33, Y:23.08, Z:-96.45 [[-2.35696719e-01 2.50501323e-01 -9.38986765e-01 1.29332605e+02] [-2.63217388e-02 -9.67499120e-01 -2.51500735e-01 2.30775343e+01] [-9.71470135e-01 -3.45621338e-02 2.34629999e-01 -9.64487829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:127.36, Y:22.60, Z:-96.20 [[-2.02033487e-01 -4.03846805e-01 8.92238885e-01 1.27362264e+02] [-1.79095111e-02 9.12396587e-01 4.08915293e-01 2.25985895e+01] [-9.79214848e-01 6.66350205e-02 -1.91567363e-01 -9.62047701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11592000000002 meters Centerline goodness : 0.942738 Centerline is valid? [True, False] Translation: X:128.95, Y:23.46, Z:-98.04 [[ 7.60706405e-01 -4.15646945e-01 -4.98561313e-01 1.28952982e+02] [ 2.91101337e-01 9.04970427e-01 -3.10303945e-01 2.34605176e+01] [ 5.80160131e-01 9.09183333e-02 8.09412181e-01 -9.80357175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:128.95, Y:23.38, Z:-98.06 [[ 7.68097203e-01 -3.66259627e-01 -5.25243346e-01 1.28953696e+02] [ 2.81295565e-01 9.29878934e-01 -2.37061118e-01 2.33841303e+01] [ 5.75238639e-01 3.43373577e-02 8.17264617e-01 -9.80648217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17592000000002 meters Centerline goodness : 0.917835 Centerline is valid? [True, False] Translation: X:128.95, Y:23.31, Z:-98.09 [[ 7.75302416e-01 -3.21704899e-01 -5.43518281e-01 1.28946577e+02] [ 2.75105908e-01 9.46641983e-01 -1.67885960e-01 2.33078419e+01] [ 5.68526959e-01 -1.93627000e-02 8.22436735e-01 -9.80922741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters Centerline goodness : 0.894354 Centerline is valid? [False, False] Translation: X:128.93, Y:23.25, Z:-98.12 [[ 7.87408138e-01 -2.83265789e-01 -5.47493303e-01 1.28932377e+02] [ 2.64844030e-01 9.57471328e-01 -1.14482728e-01 2.32520046e+01] [ 5.56638180e-01 -5.48557005e-02 8.28941969e-01 -9.81171431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23592000000002 meters Centerline goodness : 0.999054 Centerline is valid? [False, True] Translation: X:128.93, Y:23.22, Z:-98.13 [[ 7.96972394e-01 -2.54657457e-01 -5.47708484e-01 1.28928292e+02] [ 2.55978276e-01 9.63721197e-01 -7.56080483e-02 2.32152122e+01] [ 5.47092429e-01 -7.99439464e-02 8.33245966e-01 -9.81263650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters Centerline goodness : 0.987455 Centerline is valid? [True, True] Translation: X:128.95, Y:23.26, Z:-98.11 [[ 7.81214153e-01 -3.02458748e-01 -5.46098117e-01 1.28948307e+02] [ 2.87925329e-01 9.50759826e-01 -1.14694196e-01 2.32596820e+01] [ 5.53898414e-01 -6.76347515e-02 8.29832566e-01 -9.81089713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29592 meters Centerline goodness : 0.763674 Centerline is valid? [True, False] Translation: X:128.95, Y:23.23, Z:-98.11 [[ 7.89839241e-01 -2.73937202e-01 -5.48737080e-01 1.28954353e+02] [ 2.76856679e-01 9.57612538e-01 -7.95525426e-02 2.32307277e+01] [ 5.47269909e-01 -8.90878056e-02 8.32201304e-01 -9.81094134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters Centerline goodness : 0.999353 Centerline is valid? [False, True] Translation: X:128.96, Y:23.22, Z:-98.11 [[ 7.94177711e-01 -2.50021948e-01 -5.53868927e-01 1.28958368e+02] [ 2.61021047e-01 9.63427248e-01 -6.06296158e-02 2.32180164e+01] [ 5.48771151e-01 -9.64207578e-02 8.30393437e-01 -9.81087541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35592 meters Centerline goodness : 0.934659 Centerline is valid? [True, False] Translation: X:128.94, Y:23.20, Z:-98.12 [[ 8.06323895e-01 -2.32266884e-01 -5.43961277e-01 1.28942183e+02] [ 2.51908038e-01 9.66945952e-01 -3.94698180e-02 2.31980568e+01] [ 5.35148686e-01 -1.05202761e-01 8.38181521e-01 -9.81229233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters Centerline goodness : 0.822874 Centerline is valid? [False, False] Translation: X:128.93, Y:23.19, Z:-98.13 [[ 8.16513726e-01 -2.20939385e-01 -5.33377094e-01 1.28932128e+02] [ 2.43706713e-01 9.69430453e-01 -2.84892097e-02 2.31889135e+01] [ 5.23366386e-01 -1.06725748e-01 8.45397682e-01 -9.81288888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41592 meters Centerline goodness : 0.946176 Centerline is valid? [False, False] Translation: X:128.91, Y:23.18, Z:-98.14 [[ 8.28345413e-01 -2.11167904e-01 -5.18894974e-01 1.28914843e+02] [ 2.34295993e-01 9.71927298e-01 -2.15107859e-02 2.31844437e+01] [ 5.08870578e-01 -1.03756653e-01 8.54567313e-01 -9.81417479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters Centerline goodness : 0.964684 Centerline is valid? [False, True] Translation: X:128.90, Y:23.18, Z:-98.15 [[ 8.39465573e-01 -2.03607521e-01 -5.03826884e-01 1.28896970e+02] [ 2.25927451e-01 9.73992689e-01 -1.71763771e-02 2.31815906e+01] [ 4.94220941e-01 -9.94093463e-02 8.63633859e-01 -9.81542616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47592 meters Centerline goodness : 0.938663 Centerline is valid? [True, False] Translation: X:128.88, Y:23.18, Z:-98.17 [[ 8.50790659e-01 -1.94872375e-01 -4.88036896e-01 1.28875650e+02] [ 2.16231807e-01 9.76257318e-01 -1.28629211e-02 2.31782558e+01] [ 4.78956219e-01 -9.45854470e-02 8.72728213e-01 -9.81662711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters Centerline goodness : 0.997161 Centerline is valid? [False, True] Translation: X:128.85, Y:23.17, Z:-98.18 [[ 8.62148327e-01 -1.86715015e-01 -4.70996566e-01 1.28848535e+02] [ 2.06241033e-01 9.78446357e-01 -1.03615721e-02 2.31731247e+01] [ 4.62779535e-01 -8.82056063e-02 8.82074188e-01 -9.81802144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53592 meters Centerline goodness : 0.883912 Centerline is valid? [True, False] Translation: X:128.82, Y:23.17, Z:-98.19 [[ 8.72696384e-01 -1.79228782e-01 -4.54178451e-01 1.28823322e+02] [ 1.96903819e-01 9.80385665e-01 -8.53426239e-03 2.31695761e+01] [ 4.46799629e-01 -8.19816515e-02 8.90869856e-01 -9.81930855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters Centerline goodness : 0.997960 Centerline is valid? [False, True] Translation: X:128.80, Y:23.17, Z:-98.21 [[ 8.82780700e-01 -1.71807018e-01 -4.37242020e-01 1.28799392e+02] [ 1.87644983e-01 9.82211305e-01 -7.09315701e-03 2.31681635e+01] [ 4.30682709e-01 -7.57845692e-02 8.99315909e-01 -9.82053087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59592 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:128.78, Y:23.36, Z:-98.17 [[ 8.97602566e-01 -2.50585041e-01 -3.62652410e-01 1.28783700e+02] [ 1.90566223e-01 9.62443625e-01 -1.93356620e-01 2.33611091e+01] [ 3.97484777e-01 1.04448098e-01 9.11644913e-01 -9.81690512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:128.84, Y:23.26, Z:-98.17 [[ 8.99607630e-01 -2.09136320e-01 -3.83364203e-01 1.28838781e+02] [ 1.92355019e-01 9.77886491e-01 -8.20826240e-02 2.32559181e+01] [ 3.92053133e-01 1.00126494e-04 9.19942569e-01 -9.81746296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:128.88, Y:23.16, Z:-98.17 [[ 8.81737606e-01 -1.68626827e-01 -4.40572113e-01 1.28881874e+02] [ 1.94534933e-01 9.80796577e-01 1.39367680e-02 2.31562209e+01] [ 4.29761508e-01 -9.79952390e-02 8.97609035e-01 -9.81674702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters Centerline goodness : 0.865316 Centerline is valid? [True, False] Translation: X:128.84, Y:23.16, Z:-98.18 [[ 8.92412506e-01 -1.64931788e-01 -4.19996934e-01 1.28843616e+02] [ 1.85292130e-01 9.82652328e-01 7.82483945e-03 2.31581222e+01] [ 4.11420400e-01 -8.48051110e-02 9.07491789e-01 -9.81847933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71592 meters Centerline goodness : 0.999054 Centerline is valid? [False, True] Translation: X:128.80, Y:23.16, Z:-98.20 [[ 9.03562659e-01 -1.60039186e-01 -3.97444311e-01 1.28802078e+02] [ 1.76430050e-01 9.84301709e-01 4.75226426e-03 2.31564938e+01] [ 3.90444566e-01 -7.44150880e-02 9.17613991e-01 -9.82031887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters Centerline goodness : 0.889293 Centerline is valid? [True, False] Translation: X:128.77, Y:23.15, Z:-98.22 [[ 9.13429434e-01 -1.53526488e-01 -3.76930082e-01 1.28765847e+02] [ 1.66918808e-01 9.85966352e-01 2.90929372e-03 2.31543487e+01] [ 3.71193725e-01 -6.55741545e-02 9.26237145e-01 -9.82182845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77592 meters Centerline goodness : 0.921913 Centerline is valid? [False, False] Translation: X:128.73, Y:23.15, Z:-98.23 [[ 9.22697676e-01 -1.47111378e-01 -3.56352691e-01 1.28730739e+02] [ 1.58490349e-01 9.87356639e-01 2.77051633e-03 2.31475272e+01] [ 3.51439621e-01 -5.90348114e-02 9.34347411e-01 -9.82317846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:128.70, Y:23.14, Z:-98.24 [[ 9.31166089e-01 -1.39424899e-01 -3.36883380e-01 1.28698361e+02] [ 1.49157242e-01 9.88808803e-01 3.04437442e-03 2.31436631e+01] [ 3.32688790e-01 -5.30834142e-02 9.41541460e-01 -9.82433235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.71, Y:23.24, Z:-98.23 [[ 9.44535400e-01 -1.71738868e-01 -2.79926131e-01 1.28713902e+02] [ 1.50204035e-01 9.83903132e-01 -9.68161927e-02 2.32444372e+01] [ 2.92047300e-01 4.94002869e-02 9.55127209e-01 -9.82259752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.75, Y:23.09, Z:-98.22 [[ 9.32849274e-01 -1.29742644e-01 -3.36093853e-01 1.28752149e+02] [ 1.55229487e-01 9.86613005e-01 4.99858422e-02 2.30947974e+01] [ 3.25109271e-01 -9.88009332e-02 9.40501110e-01 -9.82236701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:128.78, Y:23.18, Z:-98.21 [[ 9.28949284e-01 -1.63846570e-01 -3.31975195e-01 1.28781025e+02] [ 1.59044708e-01 9.86386733e-01 -4.17850958e-02 2.31811764e+01] [ 3.34302272e-01 -1.39826629e-02 9.42362179e-01 -9.82133076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.81, Y:23.19, Z:-98.20 [[ 9.29402690e-01 -1.71627613e-01 -3.26733227e-01 1.28808262e+02] [ 1.62471039e-01 9.85160504e-01 -5.53348212e-02 2.31879679e+01] [ 3.31381654e-01 -1.65635535e-03 9.43495340e-01 -9.82038359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95592000000002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:128.86, Y:23.15, Z:-98.20 [[ 9.25295761e-01 -1.72785339e-01 -3.37598847e-01 1.28858060e+02] [ 1.74848961e-01 9.84289469e-01 -2.45373667e-02 2.31547626e+01] [ 3.36534687e-01 -3.63244863e-02 9.40970210e-01 -9.81983850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:128.89, Y:23.13, Z:-98.19 [[ 9.26560956e-01 -1.65414901e-01 -3.37820522e-01 1.28885807e+02] [ 1.73015090e-01 9.84888957e-01 -7.71499113e-03 2.31326921e+01] [ 3.33991876e-01 -5.12996384e-02 9.41178928e-01 -9.81886099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:23.17, Z:-98.18 [[ 9.43163205e-01 -1.77122721e-01 -2.81195146e-01 1.28886953e+02] [ 1.70617782e-01 9.84184114e-01 -4.76571289e-02 2.31749918e+01] [ 2.85188956e-01 -3.02844186e-03 9.58466529e-01 -9.81817079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:23.09, Z:-98.17 [[ 9.32153120e-01 -1.51835645e-01 -3.28689060e-01 1.28917382e+02] [ 1.69092729e-01 9.85298305e-01 2.43905624e-02 2.30942628e+01] [ 3.20153416e-01 -7.83146690e-02 9.44123192e-01 -9.81711274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:23.15, Z:-98.16 [[ 9.30396868e-01 -1.70023300e-01 -3.24736426e-01 1.28937583e+02] [ 1.67359290e-01 9.85226012e-01 -3.63396839e-02 2.31529850e+01] [ 3.26117367e-01 -2.05373294e-02 9.45106175e-01 -9.81624536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:23.13, Z:-98.15 [[ 9.30798732e-01 -1.60018562e-01 -3.28645372e-01 1.28970152e+02] [ 1.65682736e-01 9.86118941e-01 -1.08933640e-02 2.31290949e+01] [ 3.25826566e-01 -4.43113351e-02 9.44390573e-01 -9.81538827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:23.17, Z:-98.14 [[ 9.33746570e-01 -1.68601115e-01 -3.15738829e-01 1.28991825e+02] [ 1.60987941e-01 9.85676591e-01 -5.02448015e-02 2.31675220e+01] [ 3.19687702e-01 -3.91423282e-03 9.47514882e-01 -9.81449898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:23.15, Z:-98.14 [[ 9.34119950e-01 -1.61780475e-01 -3.18193333e-01 1.29021700e+02] [ 1.61072977e-01 9.86524497e-01 -2.87212813e-02 2.31474653e+01] [ 3.18552061e-01 -2.44232257e-02 9.47590677e-01 -9.81355861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:23.23, Z:-98.13 [[ 9.36986259e-01 -1.90697053e-01 -2.92730909e-01 1.29035442e+02] [ 1.65216936e-01 9.80140678e-01 -1.09670482e-01 2.32265544e+01] [ 3.07831310e-01 5.43956308e-02 9.49884730e-01 -9.81254213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:23.10, Z:-98.12 [[ 9.34818029e-01 -1.47514846e-01 -3.23039663e-01 1.29079356e+02] [ 1.62418470e-01 9.86528973e-01 1.95147691e-02 2.31002234e+01] [ 3.15809268e-01 -7.07103658e-02 9.46184205e-01 -9.81170011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:23.23, Z:-98.11 [[ 9.44711948e-01 -1.88482187e-01 -2.68316606e-01 1.29095481e+02] [ 1.64732631e-01 9.80336459e-01 -1.08644318e-01 2.32321420e+01] [ 2.83518070e-01 5.84370850e-02 9.57184732e-01 -9.81077888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.13, Y:23.09, Z:-98.10 [[ 9.34161834e-01 -1.42564211e-01 -3.27134703e-01 1.29134902e+02] [ 1.62424106e-01 9.86132918e-01 3.40628483e-02 2.30865871e+01] [ 3.17742156e-01 -8.49547747e-02 9.44363600e-01 -9.80997438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.15, Y:23.16, Z:-98.09 [[ 9.33839542e-01 -1.64603900e-01 -3.17567734e-01 1.29153769e+02] [ 1.60526719e-01 9.86254465e-01 -3.91574198e-02 2.31616169e+01] [ 3.19648060e-01 -1.44113595e-02 9.47426742e-01 -9.80919955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.17, Y:23.23, Z:-98.08 [[ 9.39740048e-01 -1.84940779e-01 -2.87550953e-01 1.29173521e+02] [ 1.62580497e-01 9.81614084e-01 -1.00006863e-01 2.32253713e+01] [ 3.00759412e-01 4.72302774e-02 9.52529830e-01 -9.80817531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.21, Y:23.11, Z:-98.07 [[ 9.35656433e-01 -1.42414904e-01 -3.22900966e-01 1.29214425e+02] [ 1.57876297e-01 9.87212384e-01 2.20631616e-02 2.31050605e+01] [ 3.15629709e-01 -7.16219480e-02 9.46175556e-01 -9.80715332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:129.23, Y:23.17, Z:-98.07 [[ 9.36125804e-01 -1.60130785e-01 -3.13092015e-01 1.29231792e+02] [ 1.54696897e-01 9.87056217e-01 -4.22953263e-02 2.31696137e+01] [ 3.15812204e-01 -8.84061711e-03 9.48780531e-01 -9.80657765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:23.13, Z:-98.06 [[ 9.36532549e-01 -1.48194876e-01 -3.17718529e-01 1.29266530e+02] [ 1.54167405e-01 9.88023934e-01 -6.41225429e-03 2.31329239e+01] [ 3.14863775e-01 -4.29765562e-02 9.48163393e-01 -9.80591069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:129.27, Y:23.26, Z:-98.04 [[ 9.46728011e-01 -1.84604449e-01 -2.63869797e-01 1.29269491e+02] [ 1.55640907e-01 9.79624545e-01 -1.26931706e-01 2.32563749e+01] [ 2.81925487e-01 7.91008669e-02 9.56170002e-01 -9.80435031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:23.06, Z:-98.04 [[ 9.40330026e-01 -1.26205853e-01 -3.15992918e-01 1.29319777e+02] [ 1.54753942e-01 9.85689632e-01 6.68368692e-02 2.30636075e+01] [ 3.03035739e-01 -1.11749865e-01 9.46404411e-01 -9.80354716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:23.20, Z:-98.03 [[ 9.42018737e-01 -1.63374901e-01 -2.93102953e-01 1.29332075e+02] [ 1.48920581e-01 9.86287519e-01 -7.11308010e-02 2.32023256e+01] [ 3.00704772e-01 2.33574851e-02 9.53431208e-01 -9.80313069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:23.19, Z:-98.02 [[ 9.39695264e-01 -1.59654424e-01 -3.02462024e-01 1.29362008e+02] [ 1.50218753e-01 9.87156778e-01 -5.43674718e-02 2.31854394e+01] [ 3.07257445e-01 5.65338751e-03 9.51609637e-01 -9.80199927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.39, Y:23.15, Z:-98.01 [[ 9.41453531e-01 -1.45976920e-01 -3.03901279e-01 1.29392984e+02] [ 1.48114713e-01 9.88838502e-01 -1.61383972e-02 2.31460484e+01] [ 3.02865119e-01 -2.98186996e-02 9.52566830e-01 -9.80141788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:23.15, Z:-98.01 [[ 9.40300017e-01 -1.49020994e-01 -3.05987943e-01 1.29416452e+02] [ 1.49093731e-01 9.88549116e-01 -2.32745572e-02 2.31526273e+01] [ 3.05952508e-01 -2.37358174e-02 9.51750846e-01 -9.80071891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.44, Y:23.25, Z:-98.00 [[ 9.52825337e-01 -1.74395876e-01 -2.48414885e-01 1.29436891e+02] [ 1.48926543e-01 9.81780326e-01 -1.18018115e-01 2.32512441e+01] [ 2.64470719e-01 7.54550800e-02 9.61437346e-01 -9.79969558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:129.48, Y:23.08, Z:-97.99 [[ 9.45329288e-01 -1.22865466e-01 -3.02087098e-01 1.29480955e+02] [ 1.45460451e-01 9.87922807e-01 5.33833743e-02 2.30804226e+01] [ 2.91879760e-01 -9.44065926e-02 9.51784430e-01 -9.79863428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters Centerline goodness : 0.892405 Centerline is valid? [True, False] Translation: X:129.45, Y:23.10, Z:-98.00 [[ 9.49576158e-01 -1.20599624e-01 -2.89414670e-01 1.29446139e+02] [ 1.35599532e-01 9.90238021e-01 3.22711679e-02 2.30992088e+01] [ 2.82697519e-01 -6.98884254e-02 9.56659668e-01 -9.79968288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73592000000002 meters Centerline goodness : 0.998404 Centerline is valid? [False, True] Translation: X:129.42, Y:23.11, Z:-98.00 [[ 9.53617337e-01 -1.12701513e-01 -2.79127826e-01 1.29422923e+02] [ 1.22897380e-01 9.92232828e-01 1.92418333e-02 2.31107726e+01] [ 2.74791208e-01 -5.26534243e-02 9.60061148e-01 -9.80036471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:129.44, Y:23.21, Z:-98.00 [[ 9.57495139e-01 -1.38155582e-01 -2.53211559e-01 1.29442388e+02] [ 1.21258287e-01 9.89290613e-01 -8.12435254e-02 2.32123695e+01] [ 2.61724065e-01 4.70862808e-02 9.63993463e-01 -9.79979289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79592 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:129.48, Y:23.18, Z:-97.99 [[ 9.66350495e-01 -1.23984849e-01 -2.25376302e-01 1.29475262e+02] [ 1.18095146e-01 9.92217020e-01 -3.94831898e-02 2.31774662e+01] [ 2.28517520e-01 1.15387528e-02 9.73471417e-01 -9.79923099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:129.51, Y:23.06, Z:-97.98 [[ 9.53237709e-01 -8.86756393e-02 -2.88919542e-01 1.29510616e+02] [ 1.15822118e-01 9.90184874e-01 7.82250085e-02 2.30595964e+01] [ 2.79147108e-01 -1.08030301e-01 9.54152161e-01 -9.79768646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85592 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:129.52, Y:23.27, Z:-97.97 [[ 9.67735325e-01 -1.38385439e-01 -2.10565454e-01 1.29519133e+02] [ 1.14189412e-01 9.85805534e-01 -1.23078138e-01 2.32665043e+01] [ 2.24608812e-01 9.50627162e-02 9.69800991e-01 -9.79717852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:129.56, Y:23.16, Z:-97.97 [[ 9.63026319e-01 -1.11083558e-01 -2.45439916e-01 1.29557634e+02] [ 1.09826555e-01 9.93772060e-01 -1.88472728e-02 2.31637376e+01] [ 2.46004954e-01 -8.80540078e-03 9.69228574e-01 -9.79671963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91592 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:129.58, Y:23.18, Z:-97.96 [[ 9.69276001e-01 -1.10935688e-01 -2.19538851e-01 1.29583563e+02] [ 1.07754704e-01 9.93825614e-01 -2.64494381e-02 2.31780938e+01] [ 2.21117520e-01 1.98046153e-03 9.75245159e-01 -9.79596162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters Centerline goodness : 0.971601 Centerline is valid? [True, True] Translation: X:129.62, Y:23.05, Z:-97.95 [[ 9.53978839e-01 -1.46420072e-01 -2.61697416e-01 1.29622676e+02] [ 1.71772917e-01 9.82149448e-01 7.66585130e-02 2.30522586e+01] [ 2.45801628e-01 -1.18083128e-01 9.62100792e-01 -9.79510905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97592 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:129.63, Y:23.28, Z:-97.94 [[ 9.70214867e-01 -1.25261156e-01 -2.07346942e-01 1.29627487e+02] [ 1.02048019e-01 9.87620096e-01 -1.19133320e-01 2.32823750e+01] [ 2.19702784e-01 9.44255732e-02 9.70986353e-01 -9.79398119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:129.66, Y:23.19, Z:-97.94 [[ 9.70410726e-01 -9.96145034e-02 -2.19954481e-01 1.29664855e+02] [ 9.71669875e-02 9.95026103e-01 -2.19461055e-02 2.31926624e+01] [ 2.21046600e-01 -7.55780613e-05 9.75263244e-01 -9.79371627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03592 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:129.71, Y:23.13, Z:-97.93 [[ 9.63988121e-01 -1.76134327e-02 -2.65361393e-01 1.29711311e+02] [ 3.74053112e-02 9.96865316e-01 6.97164546e-02 2.31287542e+01] [ 2.63301623e-01 -7.71317596e-02 9.61625159e-01 -9.79311683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:129.71, Y:23.20, Z:-97.92 [[ 9.61347628e-01 -9.57243101e-02 -2.58161954e-01 1.29711585e+02] [ 9.48638034e-02 9.95364588e-01 -1.58175753e-02 2.31965741e+01] [ 2.58479393e-01 -9.28403626e-03 9.65972158e-01 -9.79209993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09592 meters Centerline goodness : 0.960355 Centerline is valid? [True, True] Translation: X:129.80, Y:23.10, Z:-97.92 [[ 9.52101601e-01 -1.19247353e-01 -2.81571677e-01 1.29803994e+02] [ 1.45670356e-01 9.86503192e-01 7.47769997e-02 2.30974013e+01] [ 2.68854399e-01 -1.12211948e-01 9.56622073e-01 -9.79163545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:129.72, Y:23.25, Z:-97.94 [[ 9.53868951e-01 -1.42557431e-01 -2.64218475e-01 1.29715516e+02] [ 1.25136373e-01 9.88768100e-01 -8.17222930e-02 2.32481514e+01] [ 2.72900920e-01 4.48890163e-02 9.60994310e-01 -9.79420812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15592 meters Centerline goodness : 0.977017 Centerline is valid? [True, True] Translation: X:129.74, Y:23.27, Z:-97.93 [[ 9.56341002e-01 -9.44535678e-02 -2.76569001e-01 1.29742902e+02] [ 6.87599947e-02 9.92488101e-01 -1.01190082e-01 2.32726903e+01] [ 2.84049207e-01 7.77553415e-02 9.55651691e-01 -9.79299644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters Centerline goodness : 0.972857 Centerline is valid? [True, True] Translation: X:129.77, Y:23.23, Z:-97.92 [[ 9.59938876e-01 -4.42893406e-02 -2.76687203e-01 1.29765939e+02] [ 3.78402880e-02 9.98874250e-01 -2.86067383e-02 2.32311362e+01] [ 2.77642696e-01 1.69907967e-02 9.60534146e-01 -9.79238754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21592 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:129.82, Y:23.15, Z:-97.89 [[ 9.62147804e-01 -4.53248445e-02 -2.68732696e-01 1.29818079e+02] [ 6.38210704e-02 9.96126325e-01 6.04914554e-02 2.31497451e+01] [ 2.64949947e-01 -7.53525293e-02 9.61313436e-01 -9.78945767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters Centerline goodness : 0.985776 Centerline is valid? [True, True] Translation: X:129.80, Y:23.34, Z:-97.92 [[ 9.65230769e-01 -1.17396861e-01 -2.33554147e-01 1.29799480e+02] [ 8.64008303e-02 9.86542434e-01 -1.38812543e-01 2.33438652e+01] [ 2.46707233e-01 1.13806865e-01 9.62384299e-01 -9.79241473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27592 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:129.90, Y:23.21, Z:-97.91 [[ 9.51429784e-01 -1.05249445e-01 -2.89316297e-01 1.29895808e+02] [ 1.06196125e-01 9.94267002e-01 -1.24704123e-02 2.32088656e+01] [ 2.88970151e-01 -1.88595480e-02 9.57152323e-01 -9.79083954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters Centerline goodness : 0.964786 Centerline is valid? [True, True] Translation: X:129.99, Y:23.08, Z:-97.89 [[ 9.44821942e-01 -1.20384460e-01 -3.04662239e-01 1.29986113e+02] [ 1.54191696e-01 9.83991177e-01 8.93660185e-02 2.30811652e+01] [ 2.89026675e-01 -1.31411362e-01 9.48258738e-01 -9.78945551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33592000000002 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:130.01, Y:23.16, Z:-97.91 [[ 9.54738071e-01 -9.59150032e-02 -2.81559102e-01 1.30012296e+02] [ 1.10575275e-01 9.93193188e-01 3.66114844e-02 2.31628227e+01] [ 2.76130991e-01 -6.60878530e-02 9.58845176e-01 -9.79096365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:129.98, Y:23.21, Z:-97.87 [[ 9.65254749e-01 -1.28144559e-01 -2.27732831e-01 1.29978308e+02] [ 1.25776281e-01 9.91744989e-01 -2.49440168e-02 2.32122867e+01] [ 2.29049334e-01 -4.56605784e-03 9.73404106e-01 -9.78675819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39592000000002 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:130.01, Y:23.14, Z:-97.86 [[ 9.54907641e-01 -1.10359839e-01 -2.75630375e-01 1.30008359e+02] [ 1.28921295e-01 9.90388503e-01 5.00990277e-02 2.31381512e+01] [ 2.67452233e-01 -8.33745691e-02 9.59957282e-01 -9.78618074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters Centerline goodness : 0.843896 Centerline is valid? [True, False] Translation: X:129.96, Y:23.17, Z:-97.87 [[ 9.58523552e-01 -1.15042347e-01 -2.60763991e-01 1.29957942e+02] [ 1.23346274e-01 9.92240299e-01 1.56488493e-02 2.31719387e+01] [ 2.56940260e-01 -4.71640573e-02 9.65275740e-01 -9.78743185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45592000000002 meters Centerline goodness : 0.899761 Centerline is valid? [False, False] Translation: X:129.93, Y:23.19, Z:-97.88 [[ 9.63809154e-01 -1.06647528e-01 -2.44332191e-01 1.29928898e+02] [ 1.11469689e-01 9.93750004e-01 5.95306336e-03 2.31852072e+01] [ 2.42170236e-01 -3.29732502e-02 9.69673317e-01 -9.78803770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters Centerline goodness : 0.995667 Centerline is valid? [False, True] Translation: X:129.89, Y:23.19, Z:-97.89 [[ 9.70164473e-01 -9.79795718e-02 -2.21767668e-01 1.29888373e+02] [ 1.01395919e-01 9.94837932e-01 4.04442865e-03 2.31881753e+01] [ 2.20226617e-01 -2.64100974e-02 9.75091146e-01 -9.78900801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51592 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:129.91, Y:23.18, Z:-97.88 [[ 9.64247138e-01 -9.69896942e-02 -2.46618037e-01 1.29910725e+02] [ 1.04681077e-01 9.94338597e-01 1.82380501e-02 2.31754285e+01] [ 2.43452930e-01 -4.34022293e-02 9.68941132e-01 -9.78839584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:129.93, Y:23.27, Z:-97.87 [[ 9.70185457e-01 -1.15814532e-01 -2.12901792e-01 1.29932738e+02] [ 1.03076582e-01 9.92205493e-01 -7.00248365e-02 2.32700483e+01] [ 2.19352221e-01 4.59918889e-02 9.74561106e-01 -9.78722015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57592 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:129.97, Y:23.16, Z:-97.87 [[ 9.57973910e-01 -9.38804357e-02 -2.71058022e-01 1.29967261e+02] [ 1.09430938e-01 9.93072420e-01 4.28023211e-02 2.31590069e+01] [ 2.65161945e-01 -7.06656407e-02 9.61610893e-01 -9.78701281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters Centerline goodness : 0.926771 Centerline is valid? [True, False] Translation: X:129.94, Y:23.19, Z:-97.88 [[ 9.60344564e-01 -9.75574862e-02 -2.61191224e-01 1.29936794e+02] [ 1.04911503e-01 9.94378352e-01 1.43272013e-02 2.31875277e+01] [ 2.58325173e-01 -4.11610138e-02 9.65180748e-01 -9.78769654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63592 meters Centerline goodness : 0.995565 Centerline is valid? [False, True] Translation: X:129.93, Y:23.21, Z:-97.88 [[ 9.62038491e-01 -9.77327362e-02 -2.54814157e-01 1.29925605e+02] [ 1.00014765e-01 9.94977840e-01 -4.01804048e-03 2.32054191e+01] [ 2.53927134e-01 -2.16196684e-02 9.66981696e-01 -9.78767938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters Centerline goodness : 0.914127 Centerline is valid? [True, False] Translation: X:129.92, Y:23.22, Z:-97.88 [[ 9.64376042e-01 -9.17497535e-02 -2.48114556e-01 1.29919577e+02] [ 9.08884662e-02 9.95748872e-01 -1.49489587e-02 2.32171955e+01] [ 2.48431352e-01 -8.13433381e-03 9.68615350e-01 -9.78769107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69592 meters Centerline goodness : 0.996067 Centerline is valid? [False, True] Translation: X:129.90, Y:23.22, Z:-97.88 [[ 9.69163192e-01 -8.61080157e-02 -2.30885507e-01 1.29900106e+02] [ 8.45644194e-02 9.96279855e-01 -1.65924612e-02 2.32178936e+01] [ 2.31455324e-01 -3.44389622e-03 9.72839438e-01 -9.78813713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:129.93, Y:23.17, Z:-97.87 [[ 9.56654092e-01 -7.74331248e-02 -2.80743762e-01 1.29926545e+02] [ 8.81902329e-02 9.95767721e-01 2.58675059e-02 2.31739470e+01] [ 2.77552574e-01 -4.95051131e-02 9.59434110e-01 -9.78740598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75592 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:129.95, Y:23.21, Z:-97.87 [[ 9.55751393e-01 -8.78576003e-02 -2.80749563e-01 1.29949479e+02] [ 8.84118647e-02 9.96026352e-01 -1.07167478e-02 2.32117375e+01] [ 2.80575510e-01 -1.45790457e-02 9.59721227e-01 -9.78662271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:129.97, Y:23.28, Z:-97.86 [[ 9.69258786e-01 -1.03431399e-01 -2.23247288e-01 1.29973487e+02] [ 8.83528139e-02 9.93144801e-01 -7.65322397e-02 2.32826733e+01] [ 2.29632720e-01 5.44550197e-02 9.71752780e-01 -9.78551571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81592 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:130.01, Y:23.17, Z:-97.85 [[ 9.58129517e-01 -7.57189205e-02 -2.76142126e-01 1.30006066e+02] [ 8.82784263e-02 9.95538393e-01 3.33200648e-02 2.31724433e+01] [ 2.72387129e-01 -5.63023299e-02 9.60539067e-01 -9.78513346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:130.03, Y:23.22, Z:-97.84 [[ 9.58330311e-01 -8.71365203e-02 -2.72048236e-01 1.30029131e+02] [ 8.65339178e-02 9.96147195e-01 -1.42354311e-02 2.32196826e+01] [ 2.72240513e-01 -9.89915455e-03 9.62178315e-01 -9.78413951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:130.05, Y:23.29, Z:-97.83 [[ 9.70379322e-01 -1.02047215e-01 -2.18975654e-01 1.30052291e+02] [ 8.71949613e-02 9.93251467e-01 -7.64758940e-02 2.32866101e+01] [ 2.25302041e-01 5.51170526e-02 9.72728688e-01 -9.78310176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:130.09, Y:23.11, Z:-97.83 [[ 9.59166966e-01 -5.80108127e-02 -2.76827521e-01 1.30088514e+02] [ 8.77441942e-02 9.91482171e-01 9.62499897e-02 2.31135327e+01] [ 2.68886012e-01 -1.16609818e-01 9.56087058e-01 -9.78270528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.10, Y:23.34, Z:-97.81 [[ 9.70681328e-01 -1.13298662e-01 -2.11993330e-01 1.30099945e+02] [ 8.61641818e-02 9.87343428e-01 -1.33149126e-01 2.33401142e+01] [ 2.24395839e-01 1.10979139e-01 9.68158116e-01 -9.78079468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:23.17, Z:-97.81 [[ 9.58977374e-01 -7.13849703e-02 -2.74347557e-01 1.30140312e+02] [ 8.51676030e-02 9.95616979e-01 3.86433758e-02 2.31698708e+01] [ 2.70386529e-01 -6.04236468e-02 9.60853843e-01 -9.78086939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.16, Y:23.23, Z:-97.80 [[ 9.57251086e-01 -8.56282418e-02 -2.76293616e-01 1.30162144e+02] [ 8.41599161e-02 9.96303970e-01 -1.71903579e-02 2.32268073e+01] [ 2.76744407e-01 -6.79735880e-03 9.60919523e-01 -9.78008808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:23.30, Z:-97.79 [[ 9.71575874e-01 -9.62375609e-02 -2.16283732e-01 1.30186132e+02] [ 8.06027755e-02 9.93530470e-01 -8.00024896e-02 2.32982500e+01] [ 2.22583722e-01 6.02954197e-02 9.73047249e-01 -9.77929522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.22, Y:23.18, Z:-97.79 [[ 9.59702123e-01 -6.73384050e-02 -2.72832135e-01 1.30220542e+02] [ 7.99099843e-02 9.96179743e-01 3.52180899e-02 2.31837663e+01] [ 2.69418316e-01 -5.56008873e-02 9.61416826e-01 -9.77887864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.24, Y:23.27, Z:-97.78 [[ 9.60071844e-01 -8.49782106e-02 -2.66534721e-01 1.30239861e+02] [ 7.52434091e-02 9.96078304e-01 -4.65450552e-02 2.32662623e+01] [ 2.69444768e-01 2.46316160e-02 9.62700785e-01 -9.77764363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:23.23, Z:-97.77 [[ 9.59723289e-01 -7.27789342e-02 -2.71356657e-01 1.30271545e+02] [ 7.51302971e-02 9.97172229e-01 -1.72774872e-03 2.32268768e+01] [ 2.70715066e-01 -1.87289455e-02 9.62477314e-01 -9.77709246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.30, Y:23.26, Z:-97.76 [[ 9.62874530e-01 -7.87915436e-02 -2.58194755e-01 1.30298084e+02] [ 7.37207950e-02 9.96849060e-01 -2.92779004e-02 2.32583928e+01] [ 2.59688050e-01 9.15662195e-03 9.65649146e-01 -9.77639173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:23.29, Z:-97.76 [[ 9.69624593e-01 -8.30971871e-02 -2.30050008e-01 1.30325376e+02] [ 7.33494427e-02 9.96020826e-01 -5.06198873e-02 2.32858878e+01] [ 2.33340969e-01 3.22082477e-02 9.71861421e-01 -9.77603636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:23.25, Z:-97.75 [[ 9.67744251e-01 -7.47189957e-02 -2.40599536e-01 1.30354964e+02] [ 7.40852091e-02 9.97183377e-01 -1.16916490e-02 2.32503764e+01] [ 2.40795446e-01 -6.51034081e-03 9.70554052e-01 -9.77548904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:23.26, Z:-97.75 [[ 9.67780356e-01 -7.66764631e-02 -2.39837243e-01 1.30380731e+02] [ 7.45314926e-02 9.97055929e-01 -1.80147490e-02 2.32584474e+01] [ 2.40512453e-01 -4.41107508e-04 9.70645953e-01 -9.77480326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:23.27, Z:-97.74 [[ 9.69120444e-01 -7.69715866e-02 -2.34266814e-01 1.30407492e+02] [ 7.41082856e-02 9.97028759e-01 -2.10146320e-02 2.32671453e+01] [ 2.35188280e-01 3.00459758e-03 9.71945186e-01 -9.77399661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.43, Y:23.25, Z:-97.73 [[ 9.63845731e-01 -7.39652994e-02 -2.55989339e-01 1.30433966e+02] [ 7.62379419e-02 9.97089102e-01 -1.04839965e-03 2.32482094e+01] [ 2.55321725e-01 -1.85056048e-02 9.66679036e-01 -9.77315081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.46, Y:23.29, Z:-97.73 [[ 9.68882156e-01 -8.26897060e-02 -2.33301907e-01 1.30460153e+02] [ 7.55503507e-02 9.96363696e-01 -3.93894526e-02 2.32901106e+01] [ 2.35710653e-01 2.05376969e-02 9.71606243e-01 -9.77263594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:23.28, Z:-97.72 [[ 9.69748909e-01 -7.97015255e-02 -2.30726507e-01 1.30489106e+02] [ 7.65340892e-02 9.96809427e-01 -2.26605196e-02 2.32767811e+01] [ 2.31796436e-01 4.31657104e-03 9.72754738e-01 -9.77217526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:130.51, Y:23.24, Z:-97.71 [[ 9.62461287e-01 -7.39816619e-02 -2.61141694e-01 1.30514249e+02] [ 7.97639878e-02 9.96746299e-01 1.15983112e-02 2.32429869e+01] [ 2.59433955e-01 -3.19926284e-02 9.65230799e-01 -9.77130488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:130.54, Y:23.27, Z:-97.70 [[ 9.63263962e-01 -7.93880782e-02 -2.56554231e-01 1.30537816e+02] [ 7.79772674e-02 9.96831756e-01 -1.56842703e-02 2.32720664e+01] [ 2.56986548e-01 -4.89730552e-03 9.66402572e-01 -9.77034894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:130.56, Y:23.28, Z:-97.70 [[ 9.63897105e-01 -7.85660840e-02 -2.54420405e-01 1.30564585e+02] [ 7.50666207e-02 9.96902745e-01 -2.34503460e-02 2.32841940e+01] [ 2.55474802e-01 3.50524059e-03 9.66809360e-01 -9.76969845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.60, Y:23.26, Z:-97.69 [[ 9.64330838e-01 -7.01101306e-02 -2.55246163e-01 1.30595074e+02] [ 7.27130692e-02 9.97352609e-01 7.63707123e-04 2.32646836e+01] [ 2.54516883e-01 -1.92961982e-02 9.66875800e-01 -9.76924728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.62, Y:23.27, Z:-97.69 [[ 9.64404845e-01 -6.96482121e-02 -2.55092966e-01 1.30618431e+02] [ 7.05140347e-02 9.97494151e-01 -5.76106647e-03 2.32749658e+01] [ 2.54854990e-01 -1.24316339e-02 9.66899368e-01 -9.76858165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:23.40, Z:-97.67 [[ 9.75523044e-01 -8.98830261e-02 -2.00688397e-01 1.30639197e+02] [ 6.58903348e-02 9.90192540e-01 -1.23195772e-01 2.33998240e+01] [ 2.09793362e-01 1.06956889e-01 9.71878063e-01 -9.76688707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:130.68, Y:23.28, Z:-97.67 [[ 9.72703101e-01 -6.21620493e-02 -2.23572264e-01 1.30678667e+02] [ 6.38079677e-02 9.97962186e-01 1.37912781e-04 2.32848141e+01] [ 2.23108092e-01 -1.43998400e-02 9.74687347e-01 -9.76747039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.70, Y:23.33, Z:-97.67 [[ 9.75049095e-01 -7.02164884e-02 -2.10591803e-01 1.30704317e+02] [ 6.34612797e-02 9.97234666e-01 -3.86741212e-02 2.33294403e+01] [ 2.12725007e-01 2.43447416e-02 9.76808786e-01 -9.76658891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:130.73, Y:23.30, Z:-97.66 [[ 9.73304588e-01 -6.36975140e-02 -2.20501261e-01 1.30734604e+02] [ 6.52493168e-02 9.97868962e-01 -2.46315075e-04 2.32972776e+01] [ 2.20047054e-01 -1.41478170e-02 9.75386658e-01 -9.76611743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:130.76, Y:23.33, Z:-97.65 [[ 9.74005358e-01 -7.03586880e-02 -2.15321194e-01 1.30760383e+02] [ 6.71909905e-02 9.97497435e-01 -2.20053864e-02 2.33273252e+01] [ 2.16330609e-01 6.96571999e-03 9.76295317e-01 -9.76540867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:130.79, Y:23.26, Z:-97.64 [[ 9.64976024e-01 -5.75443351e-02 -2.55949063e-01 1.30788486e+02] [ 7.10698788e-02 9.96504587e-01 4.39053576e-02 2.32635012e+01] [ 2.52527911e-01 -6.05578863e-02 9.65692703e-01 -9.76448105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:130.81, Y:23.26, Z:-97.64 [[ 9.62898458e-01 -5.65764498e-02 -2.63866756e-01 1.30814725e+02] [ 7.29299034e-02 9.95949548e-01 5.25901865e-02 2.32614730e+01] [ 2.59822610e-01 -6.98827865e-02 9.63124399e-01 -9.76382540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters Centerline goodness : 0.813505 Centerline is valid? [True, False] Translation: X:130.76, Y:23.30, Z:-97.65 [[ 9.66937191e-01 -5.99693374e-02 -2.47863161e-01 1.30762983e+02] [ 6.67059923e-02 9.97594356e-01 1.88629578e-02 2.32966247e+01] [ 2.46135692e-01 -3.47732535e-02 9.68611399e-01 -9.76492581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:130.70, Y:23.32, Z:-97.66 [[ 9.73640620e-01 -5.75647558e-02 -2.20703969e-01 1.30700925e+02] [ 5.84954820e-02 9.98284973e-01 -2.32190316e-03 2.33237595e+01] [ 2.20459115e-01 -1.06494858e-02 9.75338078e-01 -9.76639645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters Centerline goodness : 0.884675 Centerline is valid? [True, False] Translation: X:130.66, Y:23.33, Z:-97.67 [[ 9.78965324e-01 -5.17119285e-02 -1.97364563e-01 1.30655296e+02] [ 5.11511651e-02 9.98659346e-01 -7.94156640e-03 2.33320114e+01] [ 1.97510639e-01 -2.32090923e-03 9.80297996e-01 -9.76729661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83592000000002 meters Centerline goodness : 0.998210 Centerline is valid? [False, True] Translation: X:130.63, Y:23.34, Z:-97.68 [[ 9.80790315e-01 -4.63341594e-02 -1.89482197e-01 1.30630918e+02] [ 4.52403093e-02 9.98925110e-01 -1.00964527e-02 2.33379267e+01] [ 1.89746335e-01 1.33026979e-03 9.81832246e-01 -9.76786474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:130.66, Y:23.30, Z:-97.68 [[ 9.81636977e-01 -4.30932215e-02 -1.85827394e-01 1.30661391e+02] [ 5.00029223e-02 9.98215047e-01 3.26561935e-02 2.33021331e+01] [ 1.84088440e-01 -4.13484398e-02 9.82039588e-01 -9.76801417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:130.68, Y:23.34, Z:-97.67 [[ 9.84492003e-01 -4.96920435e-02 -1.68244457e-01 1.30678974e+02] [ 4.97948270e-02 9.98752942e-01 -3.61061300e-03 2.33411046e+01] [ 1.68214065e-01 -4.82308400e-03 9.85738691e-01 -9.76740747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:130.70, Y:23.42, Z:-97.66 [[ 9.91301613e-01 -5.82760902e-02 -1.18004279e-01 1.30704097e+02] [ 4.96038421e-02 9.95938354e-01 -7.51415526e-02 2.34199828e+01] [ 1.21903943e-01 6.86344767e-02 9.90166015e-01 -9.76554410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95592000000002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:130.73, Y:23.40, Z:-97.66 [[ 9.90707114e-01 -5.56245634e-02 -1.24118181e-01 1.30727905e+02] [ 4.92548514e-02 9.97335490e-01 -5.38133853e-02 2.34030907e+01] [ 1.26780813e-01 4.71998811e-02 9.90807144e-01 -9.76600501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:130.76, Y:23.29, Z:-97.66 [[ 9.85921537e-01 -3.99810329e-02 -1.62358371e-01 1.30758553e+02] [ 5.13348899e-02 9.96475159e-01 6.63474715e-02 2.32862659e+01] [ 1.59133443e-01 -7.37480501e-02 9.84498742e-01 -9.76635406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:130.78, Y:23.39, Z:-97.65 [[ 9.92523501e-01 -5.53842564e-02 -1.08764349e-01 1.30784582e+02] [ 5.16356324e-02 9.97980830e-01 -3.69868205e-02 2.33924848e+01] [ 1.10593223e-01 3.10941726e-02 9.93379228e-01 -9.76487804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:130.81, Y:23.28, Z:-97.66 [[ 9.86457421e-01 -4.74457966e-02 -1.57005267e-01 1.30814232e+02] [ 5.93708872e-02 9.95624841e-01 7.21545129e-02 2.32833981e+01] [ 1.52894915e-01 -8.04988967e-02 9.84958412e-01 -9.76574502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:130.84, Y:23.42, Z:-97.64 [[ 9.85539158e-01 -6.78496699e-02 -1.55270701e-01 1.30835749e+02] [ 5.87999173e-02 9.96332787e-01 -6.21574428e-02 2.34176229e+01] [ 1.58918653e-01 5.21286894e-02 9.85914531e-01 -9.76369579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:130.87, Y:23.37, Z:-97.64 [[ 9.85977236e-01 -6.29822683e-02 -1.54538424e-01 1.30865383e+02] [ 6.11843120e-02 9.97992270e-01 -1.63679559e-02 2.33743961e+01] [ 1.55259044e-01 6.68310471e-03 9.87851186e-01 -9.76381632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13592 meters Centerline goodness : 0.896937 Centerline is valid? [True, False] Translation: X:130.85, Y:23.37, Z:-97.64 [[ 9.88916411e-01 -5.61908472e-02 -1.37429691e-01 1.30849162e+02] [ 5.46892642e-02 9.98395492e-01 -1.46807990e-02 2.33713663e+01] [ 1.38034110e-01 7.00215442e-03 9.90402723e-01 -9.76409926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters Centerline goodness : 0.998356 Centerline is valid? [False, True] Translation: X:130.83, Y:23.37, Z:-97.64 [[ 9.91533641e-01 -4.93215278e-02 -1.20118384e-01 1.30832181e+02] [ 4.81349997e-02 9.98759316e-01 -1.27612763e-02 2.33690794e+01] [ 1.20598761e-01 6.87133642e-03 9.92677553e-01 -9.76443674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:130.86, Y:23.31, Z:-97.65 [[ 9.90238823e-01 -3.97571514e-02 -1.33590576e-01 1.30863188e+02] [ 4.69527253e-02 9.97586628e-01 5.11503807e-02 2.33067861e+01] [ 1.31234579e-01 -5.69235344e-02 9.89715715e-01 -9.76481351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:130.89, Y:23.40, Z:-97.63 [[ 9.91075088e-01 -4.88123598e-02 -1.24046459e-01 1.30887525e+02] [ 4.37132401e-02 9.98096527e-01 -4.35026000e-02 2.34015186e+01] [ 1.25933804e-01 3.76918705e-02 9.91322349e-01 -9.76323659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25592 meters Centerline goodness : 0.925020 Centerline is valid? [True, False] Translation: X:130.88, Y:23.39, Z:-97.64 [[ 9.92993995e-01 -3.85763893e-02 -1.11690593e-01 1.30879526e+02] [ 3.51996261e-02 9.98866263e-01 -3.20495795e-02 2.33927243e+01] [ 1.12800322e-01 2.78935729e-02 9.93226075e-01 -9.76364344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters Centerline goodness : 0.998955 Centerline is valid? [False, True] Translation: X:130.89, Y:23.39, Z:-97.64 [[ 9.93066345e-01 -3.22377872e-02 -1.13048486e-01 1.30885064e+02] [ 2.95187777e-02 9.99235218e-01 -2.56441088e-02 2.33883467e+01] [ 1.13788738e-01 2.21292483e-02 9.93258486e-01 -9.76395990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:130.92, Y:23.35, Z:-97.64 [[ 9.92627699e-01 -2.71969667e-02 -1.18112558e-01 1.30916376e+02] [ 2.94182183e-02 9.99420854e-01 1.71033690e-02 2.33481219e+01] [ 1.17578994e-01 -2.04519388e-02 9.92852909e-01 -9.76416497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:130.94, Y:23.37, Z:-97.64 [[ 9.92476087e-01 -2.97496078e-02 -1.18769427e-01 1.30942367e+02] [ 2.96635611e-02 9.99556832e-01 -2.49263306e-03 2.33698428e+01] [ 1.18790947e-01 -1.04924546e-03 9.92918733e-01 -9.76361596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37592 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:130.97, Y:23.38, Z:-97.63 [[ 9.93261652e-01 -3.25880083e-02 -1.11217407e-01 1.30972486e+02] [ 3.14652434e-02 9.99434764e-01 -1.18359950e-02 2.33801258e+01] [ 1.11540254e-01 8.25675719e-03 9.93725615e-01 -9.76335827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:131.00, Y:23.41, Z:-97.63 [[ 9.95673641e-01 -3.53649749e-02 -8.59262480e-02 1.30996503e+02] [ 3.19087365e-02 9.98638403e-01 -4.12695113e-02 2.34116124e+01] [ 8.72687464e-02 3.83491666e-02 9.95446386e-01 -9.76284357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:131.03, Y:23.28, Z:-97.63 [[ 9.91775807e-01 -1.98707486e-02 -1.26435365e-01 1.31028980e+02] [ 3.13822775e-02 9.95472763e-01 8.97169443e-02 2.32836089e+01] [ 1.24080219e-01 -9.29469245e-02 9.87909393e-01 -9.76337729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:131.05, Y:23.38, Z:-97.62 [[ 9.92678189e-01 -2.86588311e-02 -1.17340035e-01 1.31051778e+02] [ 2.78610362e-02 9.99576226e-01 -8.43397732e-03 2.33816321e+01] [ 1.17532017e-01 5.10301037e-03 9.93055982e-01 -9.76232893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49592 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:131.08, Y:23.29, Z:-97.63 [[ 9.91155075e-01 -1.74142991e-02 -1.31561238e-01 1.31083729e+02] [ 2.86843505e-02 9.96030781e-01 8.42608497e-02 2.32923040e+01] [ 1.29571699e-01 -8.72893175e-02 9.87720482e-01 -9.76300100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:131.10, Y:23.55, Z:-97.58 [[ 9.96972642e-01 -4.29270770e-02 -6.48291422e-02 1.31096030e+02] [ 3.11486366e-02 9.84456131e-01 -1.72846428e-01 2.35452775e+01] [ 7.12412385e-02 1.70303820e-01 9.82812950e-01 -9.75824659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55592000000001 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:131.14, Y:23.30, Z:-97.62 [[ 9.94108578e-01 -1.87162892e-02 -1.06760649e-01 1.31136253e+02] [ 2.76112052e-02 9.96212074e-01 8.24568105e-02 2.32963687e+01] [ 1.04812962e-01 -8.49188128e-02 9.90859747e-01 -9.76200172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters Centerline goodness : 0.930731 Centerline is valid? [True, False] Translation: X:131.11, Y:23.34, Z:-97.62 [[ 9.94461114e-01 -2.24590576e-02 -1.02677568e-01 1.31110103e+02] [ 2.60236013e-02 9.99099553e-01 3.35090245e-02 2.33440088e+01] [ 1.01832531e-01 -3.59954619e-02 9.94150121e-01 -9.76170718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61592000000002 meters Centerline goodness : 0.998657 Centerline is valid? [False, True] Translation: X:131.10, Y:23.36, Z:-97.61 [[ 9.94985089e-01 -2.43778917e-02 -9.70071656e-02 1.31102626e+02] [ 2.55236860e-02 9.99618146e-01 1.05879202e-02 2.33644911e+01] [ 9.67120119e-02 -1.30108031e-02 9.95227364e-01 -9.76148638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:131.13, Y:23.34, Z:-97.61 [[ 9.93842098e-01 -2.35841846e-02 -1.08266667e-01 1.31131280e+02] [ 2.72408538e-02 9.99103016e-01 3.24206654e-02 2.33435233e+01] [ 1.07404939e-01 -3.51702985e-02 9.93593090e-01 -9.76128551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67592000000002 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:131.16, Y:23.38, Z:-97.61 [[ 9.94666194e-01 -2.74403268e-02 -9.94293290e-02 1.31155934e+02] [ 2.68335165e-02 9.99612264e-01 -7.43538673e-03 2.33839039e+01] [ 9.95948061e-02 4.72768928e-03 9.95016846e-01 -9.76069899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:131.18, Y:23.40, Z:-97.60 [[ 9.95534490e-01 -2.94710522e-02 -8.96801915e-02 1.31180198e+02] [ 2.78964116e-02 9.99434735e-01 -1.87617052e-02 2.33957938e+01] [ 9.01824256e-02 1.61761691e-02 9.95793885e-01 -9.76032177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73592000000002 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:131.21, Y:23.38, Z:-97.60 [[ 9.95692172e-01 -2.96012751e-02 -8.78684432e-02 1.31205660e+02] [ 2.97926241e-02 9.99555725e-01 8.66734285e-04 2.33767612e+01] [ 8.78037491e-02 -3.48083205e-03 9.96131711e-01 -9.76041705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:131.23, Y:23.43, Z:-97.60 [[ 9.98055375e-01 -3.26853071e-02 -5.30767269e-02 1.31225995e+02] [ 3.00677744e-02 9.98327008e-01 -4.93873886e-02 2.34287208e+01] [ 5.46021719e-02 4.76954496e-02 9.97368411e-01 -9.75954816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:131.25, Y:23.42, Z:-97.60 [[ 9.98487726e-01 -3.39080347e-02 -4.32724707e-02 1.31253856e+02] [ 3.25068353e-02 9.98936969e-01 -3.26839076e-02 2.34152434e+01] [ 4.43347178e-02 3.12278295e-02 9.98528545e-01 -9.75972635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:131.28, Y:23.37, Z:-97.60 [[ 9.97641906e-01 -3.37511289e-02 -5.97619356e-02 1.31280304e+02] [ 3.46025326e-02 9.99313061e-01 1.32691936e-02 2.33716878e+01] [ 5.92730325e-02 -1.53058179e-02 9.98124461e-01 -9.76023281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:131.31, Y:23.38, Z:-97.60 [[ 9.98272232e-01 -2.96035776e-02 -5.07560798e-02 1.31312417e+02] [ 3.01368355e-02 9.99498002e-01 9.77320272e-03 2.33783619e+01] [ 5.04412786e-02 -1.12859445e-02 9.98663259e-01 -9.76006514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:131.34, Y:23.47, Z:-97.58 [[ 9.98036180e-01 -4.14031808e-02 -4.70059639e-02 1.31338249e+02] [ 3.73113238e-02 9.95697553e-01 -8.48189120e-02 2.34728563e+01] [ 5.03154959e-02 8.28984881e-02 9.95286990e-01 -9.75824192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:131.37, Y:23.41, Z:-97.59 [[ 9.98038224e-01 -3.87148451e-02 -4.92022719e-02 1.31374504e+02] [ 3.81532520e-02 9.99196163e-01 -1.23027010e-02 2.34053567e+01] [ 4.96390185e-02 1.04013392e-02 9.98713062e-01 -9.75945801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:131.41, Y:23.40, Z:-97.60 [[ 9.98029999e-01 -4.27084610e-02 -4.59576754e-02 1.31405336e+02] [ 4.26070461e-02 9.99086832e-01 -3.18446901e-03 2.33988030e+01] [ 4.60517121e-02 1.22007481e-03 9.98938312e-01 -9.75961059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:131.44, Y:23.47, Z:-97.58 [[ 9.97445352e-01 -4.88448314e-02 -5.21243911e-02 1.31442723e+02] [ 4.46315322e-02 9.95863655e-01 -7.91429486e-02 2.34744143e+01] [ 5.57745106e-02 7.66143748e-02 9.95499594e-01 -9.75779234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:131.48, Y:23.35, Z:-97.60 [[ 9.98018747e-01 -4.23500819e-02 -4.65301134e-02 1.31479941e+02] [ 4.48436083e-02 9.97537750e-01 5.39211307e-02 2.33503694e+01] [ 4.41319804e-02 -5.59008775e-02 9.97460506e-01 -9.76036404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:131.51, Y:23.36, Z:-97.60 [[ 9.98346852e-01 -3.87068937e-02 -4.24892782e-02 1.31510034e+02] [ 4.06185312e-02 9.98156824e-01 4.50897903e-02 2.33626293e+01] [ 4.06656773e-02 -4.67411023e-02 9.98078941e-01 -9.76027571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:131.54, Y:23.40, Z:-97.60 [[ 9.98026413e-01 -4.54399258e-02 -4.33415680e-02 1.31535326e+02] [ 4.57232757e-02 9.98938625e-01 5.56832323e-03 2.34022619e+01] [ 4.30425421e-02 -7.53905213e-03 9.99044795e-01 -9.75956342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:131.56, Y:23.45, Z:-97.58 [[ 9.97408404e-01 -5.98124511e-02 -3.99868356e-02 1.31560280e+02] [ 5.77890468e-02 9.97077182e-01 -4.99751790e-02 2.34544766e+01] [ 4.28590993e-02 4.75348624e-02 9.97949665e-01 -9.75804854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:131.59, Y:23.42, Z:-97.59 [[ 9.97513204e-01 -5.52965532e-02 -4.37001121e-02 1.31593838e+02] [ 5.49788365e-02 9.98451848e-01 -8.44003209e-03 2.34157669e+01] [ 4.40991624e-02 6.01646213e-03 9.99009042e-01 -9.75864803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:131.62, Y:23.41, Z:-97.59 [[ 9.97448355e-01 -5.54390733e-02 -4.49809855e-02 1.31624679e+02] [ 5.55340772e-02 9.98456418e-01 8.64262352e-04 2.34085533e+01] [ 4.48636398e-02 -3.36003459e-03 9.98987469e-01 -9.75874859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:131.66, Y:23.41, Z:-97.58 [[ 9.97069537e-01 -6.17763365e-02 -4.51223128e-02 1.31656237e+02] [ 6.15859817e-02 9.98086083e-01 -5.59801809e-03 2.34136842e+01] [ 4.53817775e-02 2.80271137e-03 9.98965785e-01 -9.75842046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:131.69, Y:23.38, Z:-97.59 [[ 9.97698839e-01 -5.10747126e-02 -4.45914899e-02 1.31692742e+02] [ 5.24999317e-02 9.98127224e-01 3.13974661e-02 2.33791767e+01] [ 4.29043635e-02 -3.36662657e-02 9.98511792e-01 -9.75902266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.72, Y:23.42, Z:-97.58 [[ 9.97378682e-01 -5.92643340e-02 -4.15150998e-02 1.31721103e+02] [ 5.89875704e-02 9.98227764e-01 -7.86119768e-03 2.34162278e+01] [ 4.19074138e-02 5.39171611e-03 9.99106950e-01 -9.75827148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:23.41, Z:-97.58 [[ 9.97181939e-01 -6.03240480e-02 -4.46003294e-02 1.31751032e+02] [ 6.03392529e-02 9.98177420e-01 -1.00648024e-03 2.34081427e+01] [ 4.45797567e-02 -1.68750664e-03 9.99004403e-01 -9.75823306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:23.40, Z:-97.58 [[ 9.96927331e-01 -6.21635899e-02 -4.76611531e-02 1.31779987e+02] [ 6.21460837e-02 9.98065349e-01 -1.85047150e-03 2.34034745e+01] [ 4.76839773e-02 -1.11716840e-03 9.98861847e-01 -9.75829573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.81, Y:23.41, Z:-97.58 [[ 9.96715929e-01 -6.48247833e-02 -4.85294127e-02 1.31810182e+02] [ 6.46103414e-02 9.97892674e-01 -5.97616790e-03 2.34057670e+01] [ 4.88145492e-02 2.82103982e-03 9.98803875e-01 -9.75813382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:23.35, Z:-97.58 [[ 9.94358405e-01 -6.51398812e-02 -8.37147384e-02 1.31827353e+02] [ 6.94708095e-02 9.96334957e-01 4.99045050e-02 2.33488719e+01] [ 8.01571467e-02 -5.54386947e-02 9.95239360e-01 -9.75789513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:23.41, Z:-97.57 [[ 9.97108031e-01 -5.84175181e-02 -4.86103603e-02 1.31862849e+02] [ 5.81367101e-02 9.98282869e-01 -7.17186743e-03 2.34082317e+01] [ 4.89458526e-02 4.32508019e-03 9.98792069e-01 -9.75684786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:23.44, Z:-97.56 [[ 9.96755942e-01 -6.90618029e-02 -4.13286779e-02 1.31885044e+02] [ 6.74210423e-02 9.96928106e-01 -3.98591959e-02 2.34370481e+01] [ 4.39544685e-02 3.69434678e-02 9.98350232e-01 -9.75645585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:23.36, Z:-97.57 [[ 9.97214148e-01 -5.30831783e-02 -5.24034242e-02 1.31921797e+02] [ 5.49422374e-02 9.97886537e-01 3.46959678e-02 2.33602305e+01] [ 5.04508993e-02 -3.74784713e-02 9.98023081e-01 -9.75679838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.95, Y:23.40, Z:-97.56 [[ 9.97030487e-01 -5.66823525e-02 -5.21279106e-02 1.31948027e+02] [ 5.66652159e-02 9.98391599e-01 -1.80779891e-03 2.33957527e+01] [ 5.21465383e-02 -1.15140868e-03 9.98638780e-01 -9.75619414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:23.43, Z:-97.56 [[ 9.96763168e-01 -6.82456137e-02 -4.24937926e-02 1.31969578e+02] [ 6.64668962e-02 9.96906278e-01 -4.19526386e-02 2.34310586e+01] [ 4.52254122e-02 3.89924145e-02 9.98215535e-01 -9.75581745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:23.35, Z:-97.56 [[ 9.97192128e-01 -5.27081975e-02 -5.31949810e-02 1.32006874e+02] [ 5.47278760e-02 9.97806151e-01 3.72524517e-02 2.33531148e+01] [ 5.11147697e-02 -4.00590999e-02 9.97889046e-01 -9.75612906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.03, Y:23.39, Z:-97.56 [[ 9.97101249e-01 -5.63089575e-02 -5.11703132e-02 1.32032810e+02] [ 5.62915353e-02 9.98412783e-01 -1.78272946e-03 2.33896999e+01] [ 5.11894784e-02 -1.10289372e-03 9.98688350e-01 -9.75557412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:23.39, Z:-97.55 [[ 9.97096036e-01 -5.59405507e-02 -5.16735003e-02 1.32060298e+02] [ 5.59209655e-02 9.98433529e-01 -1.82585750e-03 2.33887400e+01] [ 5.16946948e-02 -1.06907675e-03 9.98662363e-01 -9.75531481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.09, Y:23.39, Z:-97.55 [[ 9.97083472e-01 -5.54625712e-02 -5.24256977e-02 1.32087786e+02] [ 5.54403484e-02 9.98460233e-01 -1.87916931e-03 2.33881596e+01] [ 5.24491979e-02 -1.03281029e-03 9.98623059e-01 -9.75513973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:23.39, Z:-97.55 [[ 9.97168797e-01 -5.56089384e-02 -5.06165616e-02 1.32116020e+02] [ 5.55873513e-02 9.98452141e-01 -1.83519777e-03 2.33872090e+01] [ 5.06402677e-02 -9.83638639e-04 9.98716474e-01 -9.75494851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:23.39, Z:-97.55 [[ 9.97143153e-01 -5.49209935e-02 -5.18576545e-02 1.32143796e+02] [ 5.48959773e-02 9.98490257e-01 -1.90770355e-03 2.33868085e+01] [ 5.18841357e-02 -9.44523092e-04 9.98652665e-01 -9.75465842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:23.39, Z:-97.54 [[ 9.97136047e-01 -5.45090145e-02 -5.24258564e-02 1.32171676e+02] [ 5.44815098e-02 9.98512866e-01 -1.95466440e-03 2.33882128e+01] [ 5.24544390e-02 -9.07173473e-04 9.98622906e-01 -9.75448840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:23.39, Z:-97.54 [[ 9.97048228e-01 -5.49129964e-02 -5.36599878e-02 1.32199718e+02] [ 5.48832811e-02 9.98490717e-01 -2.02830789e-03 2.33898758e+01] [ 5.36903802e-02 -9.22715409e-04 9.98557205e-01 -9.75420315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:23.39, Z:-97.54 [[ 9.96943770e-01 -5.59127075e-02 -5.45608793e-02 1.32227528e+02] [ 5.58819723e-02 9.98435194e-01 -2.08997569e-03 2.33904860e+01] [ 5.45923584e-02 -9.65381302e-04 9.98508259e-01 -9.75397767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:23.39, Z:-97.54 [[ 9.96971741e-01 -5.76830468e-02 -5.21537416e-02 1.32254986e+02] [ 5.76561111e-02 9.98334455e-01 -2.02209083e-03 2.33889873e+01] [ 5.21835176e-02 -9.91014505e-04 9.98637020e-01 -9.75375580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.28, Y:23.39, Z:-97.53 [[ 9.96903782e-01 -6.07393226e-02 -4.99357945e-02 1.32282455e+02] [ 6.07173043e-02 9.98153080e-01 -1.95914799e-03 2.33894001e+01] [ 4.99625644e-02 -1.07888479e-03 9.98750508e-01 -9.75346300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:23.39, Z:-97.53 [[ 9.96780587e-01 -6.22925029e-02 -5.04787573e-02 1.32310666e+02] [ 6.22707171e-02 9.98057280e-01 -2.00567700e-03 2.33900804e+01] [ 5.05056299e-02 -1.14412852e-03 9.98723121e-01 -9.75328285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:132.34, Y:23.31, Z:-97.53 [[ 9.93221983e-01 -5.65982446e-02 -1.01522077e-01 1.32337859e+02] [ 6.47908440e-02 9.94742779e-01 7.93029031e-02 2.33079924e+01] [ 9.64999479e-02 -8.53430877e-02 9.91667443e-01 -9.75317242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:23.47, Z:-97.51 [[ 9.96574619e-01 -6.88631350e-02 -4.57918907e-02 1.32362105e+02] [ 6.48858494e-02 9.94409642e-01 -8.33024085e-02 2.34721380e+01] [ 5.12723626e-02 8.00458203e-02 9.95471653e-01 -9.75141000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.39, Y:23.39, Z:-97.52 [[ 9.96835945e-01 -6.17954423e-02 -4.99942150e-02 1.32394085e+02] [ 6.17718473e-02 9.98088255e-01 -2.01838038e-03 2.33942480e+01] [ 5.00233655e-02 -1.07624091e-03 9.98747468e-01 -9.75236601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99592 meters Centerline goodness : 0.938859 Centerline is valid? [True, False] Translation: X:132.39, Y:23.40, Z:-97.52 [[ 9.97906036e-01 -4.90381785e-02 -4.21758271e-02 1.32391349e+02] [ 4.87738645e-02 9.98783360e-01 -7.27390540e-03 2.34027692e+01] [ 4.24812134e-02 5.20159603e-03 9.99083725e-01 -9.75246519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:132.39, Y:23.41, Z:-97.53 [[ 9.98778418e-01 -3.54443887e-02 -3.44291652e-02 1.32388199e+02] [ 3.50698190e-02 9.99319577e-01 -1.14232585e-02 2.34091884e+01] [ 3.48106292e-02 1.02018795e-02 9.99341854e-01 -9.75257490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:23.40, Z:-97.52 [[ 9.98941531e-01 -3.39803816e-02 -3.10024304e-02 1.32416611e+02] [ 3.38663956e-02 9.99417567e-01 -4.19454820e-03 2.34034435e+01] [ 3.11269059e-02 3.14016783e-03 9.99510508e-01 -9.75247822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:23.41, Z:-97.52 [[ 9.99241501e-01 -3.04417710e-02 -2.42841760e-02 1.32447025e+02] [ 3.02100582e-02 9.99495015e-01 -9.85227688e-03 2.34135991e+01] [ 2.45718336e-02 9.11117757e-03 9.99656547e-01 -9.75246701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.48, Y:23.41, Z:-97.52 [[ 9.99346356e-01 -2.96531533e-02 -2.06773190e-02 1.32476126e+02] [ 2.95616953e-02 9.99551838e-01 -4.71489436e-03 2.34113443e+01] [ 2.08078637e-02 4.10055589e-03 9.99775084e-01 -9.75245601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:23.40, Z:-97.52 [[ 9.99273870e-01 -2.96561254e-02 -2.39216737e-02 1.32504599e+02] [ 2.97909039e-02 9.99542114e-01 5.29751904e-03 2.34020568e+01] [ 2.37536164e-02 -6.00632063e-03 9.99699800e-01 -9.75249952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.53, Y:23.41, Z:-97.52 [[ 9.99311136e-01 -2.98024265e-02 -2.21148916e-02 1.32533011e+02] [ 2.97085178e-02 9.99548190e-01 -4.56293291e-03 2.34129214e+01] [ 2.22408863e-02 3.90278902e-03 9.99745023e-01 -9.75239441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.56, Y:23.41, Z:-97.52 [[ 9.99264713e-01 -3.18520179e-02 -2.13420450e-02 1.32560887e+02] [ 3.18125134e-02 9.99491459e-01 -2.18806507e-03 2.34132871e+01] [ 2.14008860e-02 1.50751212e-03 9.99769838e-01 -9.75222507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:23.42, Z:-97.52 [[ 9.99336097e-01 -3.26555051e-02 -1.61549671e-02 1.32591561e+02] [ 3.24676408e-02 9.99403627e-01 -1.17576711e-02 2.34238495e+01] [ 1.65292854e-02 1.12253515e-02 9.99800367e-01 -9.75211693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:132.62, Y:23.42, Z:-97.52 [[ 9.99363974e-01 -3.30372084e-02 -1.34235306e-02 1.32621007e+02] [ 3.29685702e-02 9.99442321e-01 -5.30284632e-03 2.34194192e+01] [ 1.35912359e-02 4.85691896e-03 9.99895839e-01 -9.75208223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:23.31, Z:-97.52 [[ 9.97842477e-01 -3.16339025e-02 -5.75298883e-02 1.32645403e+02] [ 3.75906913e-02 9.93698150e-01 1.05597946e-01 2.33101357e+01] [ 5.38268685e-02 -1.07532705e-01 9.92743363e-01 -9.75225861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:132.67, Y:23.49, Z:-97.50 [[ 9.98503859e-01 -3.78514333e-02 -3.94628065e-02 1.32669093e+02] [ 3.48938719e-02 9.96712864e-01 -7.31155504e-02 2.34921185e+01] [ 4.21006153e-02 7.16291491e-02 9.96542424e-01 -9.74990699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:23.45, Z:-97.51 [[ 9.99286574e-01 -3.56350699e-02 -1.25093981e-02 1.32703221e+02] [ 3.52667997e-02 9.98970922e-01 -2.85192919e-02 2.34507545e+01] [ 1.35128120e-02 2.80577791e-02 9.99514965e-01 -9.75115163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:132.73, Y:23.43, Z:-97.51 [[ 9.99345480e-01 -3.39431095e-02 -1.25090806e-02 1.32733588e+02] [ 3.38923168e-02 9.99416452e-01 -4.25038777e-03 2.34285920e+01] [ 1.26460523e-02 3.82364408e-03 9.99912725e-01 -9.75147328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:132.76, Y:23.39, Z:-97.51 [[ 9.98194834e-01 -3.51838752e-02 -4.86741094e-02 1.32758533e+02] [ 3.70082036e-02 9.98626005e-01 3.71011384e-02 2.33903457e+01] [ 4.73018696e-02 -3.88355060e-02 9.98125411e-01 -9.75140663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:132.78, Y:23.44, Z:-97.51 [[ 9.98509672e-01 -3.93319236e-02 -3.78342981e-02 1.32784633e+02] [ 3.89087868e-02 9.99172425e-01 -1.18562664e-02 2.34405373e+01] [ 3.82693171e-02 1.03665100e-02 9.99213688e-01 -9.75088044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:132.82, Y:23.47, Z:-97.51 [[ 9.99276704e-01 -3.75640127e-02 -5.91727017e-03 1.32816841e+02] [ 3.72879109e-02 9.98448029e-01 -4.13659912e-02 2.34705864e+01] [ 7.46195935e-03 4.11154287e-02 9.99126539e-01 -9.75054313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:132.84, Y:23.38, Z:-97.51 [[ 9.98352464e-01 -3.97132067e-02 -4.14152007e-02 1.32844121e+02] [ 4.15625311e-02 9.98131384e-01 4.47917046e-02 2.33843928e+01] [ 3.95589893e-02 -4.64392293e-02 9.98137508e-01 -9.75113891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:132.87, Y:23.47, Z:-97.50 [[ 9.99187018e-01 -3.97746408e-02 -6.57882717e-03 1.32874587e+02] [ 3.94826948e-02 9.98428991e-01 -3.97576058e-02 2.34700518e+01] [ 8.14983627e-03 3.94655338e-02 9.99187696e-01 -9.75039129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:23.41, Z:-97.51 [[ 9.98644061e-01 -4.18734321e-02 -3.09298376e-02 1.32903743e+02] [ 4.26922086e-02 9.98741956e-01 2.63036349e-02 2.34050743e+01] [ 2.97895031e-02 -2.75884319e-02 9.99175392e-01 -9.75103613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.93, Y:23.44, Z:-97.51 [[ 9.98902775e-01 -4.17267630e-02 -2.12631854e-02 1.32930792e+02] [ 4.15093742e-02 9.99082258e-01 -1.05647163e-02 2.34431989e+01] [ 2.16845027e-02 9.67050294e-03 9.99718092e-01 -9.75053468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:132.96, Y:23.44, Z:-97.51 [[ 9.98954883e-01 -4.10012470e-02 -2.02000030e-02 1.32959466e+02] [ 4.09575464e-02 9.99157576e-01 -2.57255390e-03 2.34361040e+01] [ 2.02884639e-02 1.74252272e-03 9.99792649e-01 -9.75055571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:132.99, Y:23.43, Z:-97.51 [[ 9.99028612e-01 -3.89453977e-02 -2.06176929e-02 1.32988746e+02] [ 3.90090165e-02 9.99235231e-01 2.69235483e-03 2.34313930e+01] [ 2.04970703e-02 -3.49401543e-03 9.99783808e-01 -9.75062423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:133.02, Y:23.44, Z:-97.51 [[ 9.99069821e-01 -3.87545500e-02 -1.89097013e-02 1.33017065e+02] [ 3.87050401e-02 9.99246244e-01 -2.97736195e-03 2.34370639e+01] [ 1.90108343e-02 2.24269173e-03 9.99816762e-01 -9.75051260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:133.05, Y:23.42, Z:-97.50 [[ 9.99249862e-01 -3.67421719e-02 -1.22363012e-02 1.33046812e+02] [ 3.68897355e-02 9.99246564e-01 1.20603469e-02 2.34216724e+01] [ 1.17839585e-02 -1.25026939e-02 9.99852400e-01 -9.75047062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:133.07, Y:23.42, Z:-97.50 [[ 9.97874801e-01 -4.24577243e-02 -4.94289781e-02 1.33071695e+02] [ 4.33904669e-02 9.98896882e-01 1.79523245e-02 2.34153482e+01] [ 4.86122373e-02 -2.00589187e-02 9.98616288e-01 -9.75011231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:133.10, Y:23.47, Z:-97.50 [[ 9.98886904e-01 -4.26435953e-02 -2.01612567e-02 1.33101523e+02] [ 4.20015214e-02 9.98628264e-01 -3.12644110e-02 2.34663103e+01] [ 2.14668277e-02 3.03828073e-02 9.99307791e-01 -9.74965912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:133.13, Y:23.35, Z:-97.51 [[ 9.97202986e-01 -4.09180262e-02 -6.25453422e-02 1.33128130e+02] [ 4.64596581e-02 9.94868247e-01 8.98814290e-02 2.33455303e+01] [ 5.85466043e-02 -9.25358646e-02 9.93986624e-01 -9.75063287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:133.15, Y:23.43, Z:-97.50 [[ 9.97518743e-01 -4.37977458e-02 -5.51190970e-02 1.33152230e+02] [ 4.42817040e-02 9.98990258e-01 7.58917317e-03 2.34285759e+01] [ 5.47310522e-02 -1.00111100e-02 9.98450945e-01 -9.74982123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:133.18, Y:23.55, Z:-97.48 [[ 9.98947702e-01 -4.55761265e-02 -5.12879431e-03 1.33181089e+02] [ 4.47427756e-02 9.92991724e-01 -1.09387024e-01 2.35459002e+01] [ 1.00782871e-02 1.09042440e-01 9.93986003e-01 -9.74755219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89592000000002 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:133.21, Y:23.32, Z:-97.50 [[ 9.97810130e-01 -4.06480424e-02 -5.21793119e-02 1.33211842e+02] [ 4.67255076e-02 9.91539685e-01 1.21102357e-01 2.33167393e+01] [ 4.68152847e-02 -1.23275264e-01 9.91267642e-01 -9.75012120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:133.24, Y:23.52, Z:-97.48 [[ 9.98157020e-01 -4.70399617e-02 -3.83380408e-02 1.33238743e+02] [ 4.39206158e-02 9.95946033e-01 -7.85014628e-02 2.35158546e+01] [ 4.18753254e-02 7.66729558e-02 9.96176548e-01 -9.74756362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95592000000002 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:133.27, Y:23.38, Z:-97.50 [[ 9.97880723e-01 -4.20528518e-02 -4.96550040e-02 1.33270826e+02] [ 4.49495766e-02 9.97260923e-01 5.87382939e-02 2.33814468e+01] [ 4.70488824e-02 -6.08457826e-02 9.97037709e-01 -9.74964371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:133.30, Y:23.45, Z:-97.49 [[ 9.98170253e-01 -4.48060116e-02 -4.06025534e-02 1.33296490e+02] [ 4.43476947e-02 9.98942640e-01 -1.21195785e-02 2.34535665e+01] [ 4.11026519e-02 1.02967731e-02 9.99101871e-01 -9.74875754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:133.32, Y:23.44, Z:-97.49 [[ 9.98237471e-01 -4.45451265e-02 -3.92132927e-02 1.33322582e+02] [ 4.45419074e-02 9.99007059e-01 -9.56176026e-04 2.34432175e+01] [ 3.92169492e-02 -7.92144116e-04 9.99230406e-01 -9.74876116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:133.35, Y:23.45, Z:-97.48 [[ 9.98356300e-01 -4.38142796e-02 -3.69459931e-02 1.33350354e+02] [ 4.37676461e-02 9.99039592e-01 -2.07044653e-03 2.34475584e+01] [ 3.70012250e-02 4.50004185e-04 9.99315119e-01 -9.74829710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:133.38, Y:23.51, Z:-97.47 [[ 9.99033819e-01 -4.35126519e-02 6.17076488e-03 1.33379656e+02] [ 4.38253804e-02 9.96859002e-01 -6.59656380e-02 2.35128612e+01] [-3.28104269e-03 6.61723393e-02 9.97802814e-01 -9.74716105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:133.41, Y:23.39, Z:-97.48 [[ 9.98339209e-01 -4.06042653e-02 -4.08670815e-02 1.33411636e+02] [ 4.28785704e-02 9.97486747e-01 5.64058270e-02 2.33918954e+01] [ 3.84740550e-02 -5.80644707e-02 9.97571183e-01 -9.74845548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:133.44, Y:23.46, Z:-97.48 [[ 9.98348337e-01 -4.20092562e-02 -3.91895569e-02 1.33437641e+02] [ 4.16963794e-02 9.99091859e-01 -8.76750893e-03 2.34580730e+01] [ 3.95222838e-02 7.11896532e-03 9.99193329e-01 -9.74761065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:133.47, Y:23.49, Z:-97.47 [[ 9.98747548e-01 -4.17206261e-02 -2.76174871e-02 1.33465705e+02] [ 4.07639009e-02 9.98578417e-01 -3.43431191e-02 2.34860691e+01] [ 2.90110430e-02 3.31743095e-02 9.99028440e-01 -9.74733487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:133.49, Y:23.47, Z:-97.48 [[ 9.98968022e-01 -4.17381381e-02 -1.79114151e-02 1.33494847e+02] [ 4.14988625e-02 9.99046952e-01 -1.35289726e-02 2.34670532e+01] [ 1.84590187e-02 1.27717076e-02 9.99748042e-01 -9.74770028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:133.52, Y:23.46, Z:-97.48 [[ 9.99132987e-01 -4.05961037e-02 -9.23209578e-03 1.33524072e+02] [ 4.05007420e-02 9.99126502e-01 -1.02918872e-02 2.34647065e+01] [ 9.64184209e-03 9.90905722e-03 9.99904418e-01 -9.74786110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:133.55, Y:23.35, Z:-97.49 [[ 9.98494833e-01 -4.03979064e-02 -3.70955270e-02 1.33551428e+02] [ 4.41423653e-02 9.93343159e-01 1.06399341e-01 2.33504674e+01] [ 3.25502773e-02 -1.07876676e-01 9.93631271e-01 -9.74854264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:133.58, Y:23.56, Z:-97.46 [[ 9.98961435e-01 -4.48939773e-02 -7.78345782e-03 1.33577573e+02] [ 4.38867378e-02 9.93970218e-01 -1.00484626e-01 2.35575723e+01] [ 1.22476798e-02 1.00038676e-01 9.94908165e-01 -9.74561250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:133.61, Y:23.48, Z:-97.48 [[ 9.98961779e-01 -4.54907996e-02 2.43957828e-03 1.33610189e+02] [ 4.55269916e-02 9.98805776e-01 -1.77289402e-02 2.34768785e+01] [-1.63016121e-03 1.78216003e-02 9.99839854e-01 -9.74752704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:133.64, Y:23.44, Z:-97.48 [[ 9.98771390e-01 -4.66326984e-02 -1.67660960e-02 1.33642032e+02] [ 4.69977696e-02 9.98650869e-01 2.20828353e-02 2.34368047e+01] [ 1.57136941e-02 -2.28436732e-02 9.99615549e-01 -9.74782519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:133.70, Y:23.47, Z:-97.49 [[ 9.98616964e-01 -5.01046730e-02 -1.59273365e-02 1.33703336e+02] [ 5.01080371e-02 9.98743786e-01 -1.88033785e-04 2.34682589e+01] [ 1.59167497e-02 -6.10313842e-04 9.99873134e-01 -9.74871200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:133.70, Y:23.46, Z:-97.47 [[ 9.98853130e-01 -4.67786029e-02 1.02071969e-02 1.33698062e+02] [ 4.67790209e-02 9.98905243e-01 1.97920837e-04 2.34614960e+01] [-1.02052809e-02 2.79788828e-04 9.99947886e-01 -9.74726132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43592 meters Centerline goodness : 0.887815 Centerline is valid? [True, False] Translation: X:133.70, Y:23.47, Z:-97.47 [[ 9.99357910e-01 -3.49236450e-02 8.00666098e-03 1.33700304e+02] [ 3.49927442e-02 9.99350054e-01 -8.65894555e-03 2.34701505e+01] [-7.69905514e-03 8.93356076e-03 9.99930456e-01 -9.74726439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters Centerline goodness : 0.998606 Centerline is valid? [False, True] Translation: X:133.70, Y:23.48, Z:-97.47 [[ 9.99761576e-01 -2.05837822e-02 7.28688214e-03 1.33701557e+02] [ 2.06880054e-02 9.99680410e-01 -1.45287124e-02 2.34773952e+01] [-6.98549748e-03 1.46759995e-02 9.99867900e-01 -9.74736072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49592 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:133.73, Y:23.45, Z:-97.48 [[ 9.99763552e-01 -2.16602478e-02 1.91677762e-03 1.33733655e+02] [ 2.16218124e-02 9.99600468e-01 1.82044273e-02 2.34458275e+01] [-2.31032422e-03 -1.81586787e-02 9.99832448e-01 -9.74766134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:133.77, Y:23.45, Z:-97.47 [[ 9.99275547e-01 -2.97940601e-02 -2.36789957e-02 1.33765466e+02] [ 3.00273147e-02 9.99503390e-01 9.55687491e-03 2.34502231e+01] [ 2.33824984e-02 -1.02609681e-02 9.99673932e-01 -9.74679375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55592000000001 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:133.79, Y:23.48, Z:-97.47 [[ 9.99678535e-01 -2.52550383e-02 2.23822823e-03 1.33793945e+02] [ 2.52811740e-02 9.99601728e-01 -1.25398445e-02 2.34776051e+01] [-1.92064255e-03 1.25923984e-02 9.99918868e-01 -9.74709857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:133.83, Y:23.47, Z:-97.47 [[ 9.99694875e-01 -2.43704163e-02 4.02985818e-03 1.33827921e+02] [ 2.43924085e-02 9.99687324e-01 -5.50132176e-03 2.34718497e+01] [-3.89452864e-03 5.59794112e-03 9.99976748e-01 -9.74721936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61592000000002 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:133.86, Y:23.43, Z:-97.48 [[ 9.99292677e-01 -2.55164820e-02 -2.76234461e-02 1.33857126e+02] [ 2.65517794e-02 9.98933095e-01 3.77845828e-02 2.34295155e+01] [ 2.66298449e-02 -3.84913086e-02 9.98904035e-01 -9.74753388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:133.88, Y:23.40, Z:-97.48 [[ 9.99115166e-01 -2.83866368e-02 -3.10336046e-02 1.33880121e+02] [ 3.03860183e-02 9.97358424e-01 6.59762341e-02 2.34006864e+01] [ 2.90787836e-02 -6.68608437e-02 9.97338484e-01 -9.74762575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67592000000002 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:133.91, Y:23.48, Z:-97.47 [[ 9.99177946e-01 -2.84487000e-02 -2.88808676e-02 1.33912204e+02] [ 2.81501023e-02 9.99546508e-01 -1.06934935e-02 2.34765216e+01] [ 2.91719864e-02 9.87170347e-03 9.99525660e-01 -9.74699019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:133.94, Y:23.48, Z:-97.47 [[ 9.99130856e-01 -2.57321881e-02 -3.27930978e-02 1.33938899e+02] [ 2.52568203e-02 9.99571009e-01 -1.48287532e-02 2.34837238e+01] [ 3.31606061e-02 1.39876155e-02 9.99352151e-01 -9.74654536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73592000000002 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:133.97, Y:23.50, Z:-97.46 [[ 9.99297002e-01 -2.63247653e-02 -2.66928683e-02 1.33968350e+02] [ 2.55499128e-02 9.99253824e-01 -2.89654572e-02 2.34984511e+01] [ 2.74354596e-02 2.82630941e-02 9.99223945e-01 -9.74619949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:134.00, Y:23.42, Z:-97.47 [[ 9.99152204e-01 -2.24530702e-02 -3.45069838e-02 1.33995468e+02] [ 2.41563273e-02 9.98468909e-01 4.97625389e-02 2.34220314e+01] [ 3.33368286e-02 -5.05539124e-02 9.98164795e-01 -9.74727834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:134.02, Y:23.51, Z:-97.46 [[ 9.99534108e-01 -1.95710484e-02 -2.34209487e-02 1.34022598e+02] [ 1.88592237e-02 9.99364824e-01 -3.02370326e-02 2.35060937e+01] [ 2.39978427e-02 2.97812445e-02 9.99268323e-01 -9.74593050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters Centerline goodness : 0.968916 Centerline is valid? [True, True] Translation: X:134.08, Y:23.49, Z:-97.48 [[ 9.97255756e-01 7.04486577e-02 -2.27583895e-02 1.34082134e+02] [-6.96371653e-02 9.96969623e-01 3.46732677e-02 2.34891345e+01] [ 2.51321082e-02 -3.29932861e-02 9.99139540e-01 -9.74785704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:134.08, Y:23.51, Z:-97.46 [[ 9.99475683e-01 -1.95299977e-02 -2.58251359e-02 1.34077681e+02] [ 1.86543089e-02 9.99257036e-01 -3.37252613e-02 2.35145445e+01] [ 2.64646030e-02 3.32258285e-02 9.99097427e-01 -9.74563437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters Centerline goodness : 0.867725 Centerline is valid? [True, False] Translation: X:134.07, Y:23.51, Z:-97.46 [[ 9.99836571e-01 -1.30082997e-02 -1.25544920e-02 1.34072138e+02] [ 1.26611532e-02 9.99545858e-01 -2.73454345e-02 2.35105190e+01] [ 1.29045081e-02 2.71820111e-02 9.99547203e-01 -9.74598186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91592 meters Centerline goodness : 0.945441 Centerline is valid? [False, False] Translation: X:134.07, Y:23.51, Z:-97.46 [[ 9.99974019e-01 -7.12253862e-03 1.10946130e-03 1.34066541e+02] [ 7.14554234e-03 9.99725079e-01 -2.23317455e-02 2.35088136e+01] [-9.50097563e-04 2.23390930e-02 9.99750000e-01 -9.74627585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters Centerline goodness : 0.998559 Centerline is valid? [False, True] Translation: X:134.09, Y:23.50, Z:-97.46 [[ 9.99962148e-01 -5.88565471e-03 -6.40795938e-03 1.34092160e+02] [ 5.81569832e-03 9.99923882e-01 -1.08815487e-02 2.34999151e+01] [ 6.47151665e-03 1.08438700e-02 9.99920262e-01 -9.74619059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:134.12, Y:23.48, Z:-97.46 [[ 9.99080509e-01 -1.10351632e-02 -4.14290064e-02 1.34116739e+02] [ 1.16498827e-02 9.99825166e-01 1.46259078e-02 2.34785896e+01] [ 4.12603639e-02 -1.50951025e-02 9.99034394e-01 -9.74608410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:134.14, Y:23.44, Z:-97.47 [[ 9.99255904e-01 -1.08744802e-02 -3.70052008e-02 1.34141985e+02] [ 1.30816163e-02 9.98116598e-01 5.99343620e-02 2.34355430e+01] [ 3.62837501e-02 -6.03738529e-02 9.97516159e-01 -9.74722525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:134.18, Y:23.57, Z:-97.44 [[ 9.99961116e-01 -8.73256694e-03 -1.22822007e-03 1.34179089e+02] [ 8.62225432e-03 9.97397353e-01 -7.15833509e-02 2.35674177e+01] [ 1.85012985e-03 7.15699774e-02 9.97433865e-01 -9.74445469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:134.20, Y:23.47, Z:-97.46 [[ 9.99378250e-01 -1.01805179e-02 -3.37560489e-02 1.34204699e+02] [ 1.10647426e-02 9.99597785e-01 2.61120582e-02 2.34723220e+01] [ 3.34766375e-02 -2.64693250e-02 9.99088930e-01 -9.74622043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:134.23, Y:23.52, Z:-97.45 [[ 9.99618151e-01 -1.33496988e-02 -2.41937361e-02 1.34233472e+02] [ 1.28901554e-02 9.99735402e-01 -1.90517571e-02 2.35172954e+01] [ 2.44416697e-02 1.87326212e-02 9.99525734e-01 -9.74538893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:134.26, Y:23.47, Z:-97.46 [[ 9.99338073e-01 -1.41576171e-02 -3.35108594e-02 1.34260953e+02] [ 1.51554076e-02 9.99443635e-01 2.97108323e-02 2.34694581e+01] [ 3.30715806e-02 -3.01990366e-02 9.98996641e-01 -9.74623719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:134.29, Y:23.47, Z:-97.46 [[ 9.99363505e-01 -1.49555952e-02 -3.23869510e-02 1.34288143e+02] [ 1.59518183e-02 9.99400630e-01 3.07232919e-02 2.34683705e+01] [ 3.19080542e-02 -3.12203675e-02 9.99003085e-01 -9.74580654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:134.32, Y:23.53, Z:-97.45 [[ 9.99141672e-01 -2.07367224e-02 -3.58595432e-02 1.34317705e+02] [ 1.95590986e-02 9.99267754e-01 -3.28846204e-02 2.35304742e+01] [ 3.65152044e-02 3.21550143e-02 9.98815646e-01 -9.74479629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:134.34, Y:23.49, Z:-97.45 [[ 9.99152331e-01 -2.19131598e-02 -3.48487114e-02 1.34344994e+02] [ 2.20671973e-02 9.99748320e-01 4.04166751e-03 2.34930582e+01] [ 3.47513749e-02 -4.80725490e-03 9.99384427e-01 -9.74537391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:134.38, Y:23.53, Z:-97.45 [[ 9.99624625e-01 -2.37105764e-02 -1.37265560e-02 1.34376152e+02] [ 2.31669067e-02 9.98990154e-01 -3.84963250e-02 2.35336752e+01] [ 1.46254644e-02 3.81638726e-02 9.99164458e-01 -9.74459121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27592 meters Centerline goodness : 0.863442 Centerline is valid? [True, False] Translation: X:134.37, Y:23.53, Z:-97.45 [[ 9.99887931e-01 -1.49487782e-02 8.12015206e-04 1.34369067e+02] [ 1.49660012e-02 9.99470460e-01 -2.88932384e-02 2.35267084e+01] [-3.79666600e-04 2.89021529e-02 9.99582173e-01 -9.74500819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:134.37, Y:23.52, Z:-97.45 [[ 9.99996332e-01 -2.67103388e-03 4.47977190e-04 1.34369831e+02] [ 2.67712634e-03 9.99895583e-01 -1.42005952e-02 2.35167620e+01] [-4.10000142e-04 1.42017424e-02 9.99899066e-01 -9.74523319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33592000000002 meters Centerline goodness : 0.919362 Centerline is valid? [True, False] Translation: X:134.37, Y:23.51, Z:-97.45 [[ 9.99998962e-01 1.42505179e-03 2.12035060e-04 1.34370475e+02] [-1.42320558e-03 9.99963147e-01 -8.46640582e-03 2.35097845e+01] [-2.24092312e-04 8.46609527e-03 9.99964137e-01 -9.74533754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:134.37, Y:23.51, Z:-97.45 [[ 9.99998997e-01 1.41456408e-03 7.12871636e-05 1.34370899e+02] [-1.41395010e-03 9.99967152e-01 -7.98095248e-03 2.35075735e+01] [-8.25743907e-05 7.98084368e-03 9.99968149e-01 -9.74538107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39592000000002 meters Centerline goodness : 0.753056 Centerline is valid? [True, False] Translation: X:134.37, Y:23.51, Z:-97.45 [[ 9.99998789e-01 1.55121169e-03 -1.23068493e-04 1.34371442e+02] [-1.55214113e-03 9.99967190e-01 -7.95047716e-03 2.35078589e+01] [ 1.10731582e-04 7.95065855e-03 9.99968387e-01 -9.74540145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:134.37, Y:23.51, Z:-97.45 [[ 9.99998688e-01 1.59456101e-03 -2.85540587e-04 1.34371891e+02] [-1.59674956e-03 9.99968025e-01 -7.83579240e-03 2.35074169e+01] [ 2.73036808e-04 7.83623806e-03 9.99969259e-01 -9.74539433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:134.40, Y:23.49, Z:-97.45 [[ 9.99986139e-01 3.25302271e-03 -4.14006457e-03 1.34401507e+02] [-3.23002695e-03 9.99979387e-01 5.54906428e-03 2.34904805e+01] [ 4.15803046e-03 -5.53561484e-03 9.99976034e-01 -9.74546951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters Centerline goodness : 0.770743 Centerline is valid? [True, False] Translation: X:134.42, Y:23.50, Z:-97.45 [[ 9.99974255e-01 2.55912083e-03 -6.70375731e-03 1.34422485e+02] [-2.60093858e-03 9.99977169e-01 -6.23668416e-03 2.34999333e+01] [ 6.68764383e-03 6.25395965e-03 9.99958081e-01 -9.74495634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51592 meters Centerline goodness : 0.866112 Centerline is valid? [False, False] Translation: X:134.42, Y:23.50, Z:-97.45 [[ 9.99973783e-01 2.62937143e-03 -6.74688666e-03 1.34422630e+02] [-2.67308772e-03 9.99975440e-01 -6.47865979e-03 2.35011046e+01] [ 6.72968616e-03 6.49652495e-03 9.99956252e-01 -9.74494730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters Centerline goodness : 0.961665 Centerline is valid? [False, True] Translation: X:134.42, Y:23.50, Z:-97.45 [[ 9.99972498e-01 2.64416815e-03 -6.92897569e-03 1.34423122e+02] [-2.68960978e-03 9.99974885e-01 -6.55711252e-03 2.35012757e+01] [ 6.91146356e-03 6.57556843e-03 9.99954496e-01 -9.74492600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:134.42, Y:23.56, Z:-97.43 [[ 9.98539725e-01 5.10014404e-02 -1.78120998e-02 1.34420386e+02] [-5.18062735e-02 9.97498060e-01 -4.81012505e-02 2.35647924e+01] [ 1.53143019e-02 4.89537880e-02 9.98683633e-01 -9.74313048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:134.45, Y:23.53, Z:-97.44 [[ 9.98327912e-01 5.76997681e-02 3.48091890e-03 1.34450876e+02] [-5.76208831e-02 9.98145959e-01 -1.96081444e-02 2.35334464e+01] [-4.60585052e-03 1.93747843e-02 9.99801682e-01 -9.74366961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:134.47, Y:23.45, Z:-97.45 [[ 9.97996006e-01 5.47462437e-02 -3.17304421e-02 1.34466650e+02] [-5.23854636e-02 9.96101023e-01 7.09824931e-02 2.34458601e+01] [ 3.54927507e-02 -6.91780307e-02 9.96972750e-01 -9.74475652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:134.50, Y:23.53, Z:-97.43 [[ 9.98088927e-01 5.54292189e-02 -2.73147507e-02 1.34501843e+02] [-5.58964857e-02 9.98297725e-01 -1.66503552e-02 2.35301984e+01] [ 2.63453373e-02 1.81453337e-02 9.99488204e-01 -9.74311073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:134.52, Y:23.46, Z:-97.44 [[ 9.98145791e-01 5.72749491e-02 -2.06048332e-02 1.34520534e+02] [-5.61230398e-02 9.97031808e-01 5.27046292e-02 2.34606249e+01] [ 2.35623290e-02 -5.14504979e-02 9.98397548e-01 -9.74393306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:134.56, Y:23.57, Z:-97.42 [[ 9.98041906e-01 5.73682250e-02 -2.49246957e-02 1.34561110e+02] [-5.87237481e-02 9.96613045e-01 -5.75670041e-02 2.35669815e+01] [ 2.15377600e-02 5.89179540e-02 9.98030460e-01 -9.74204280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:134.58, Y:23.49, Z:-97.44 [[ 9.97862224e-01 6.08831070e-02 -2.37535040e-02 1.34581739e+02] [-6.02523949e-02 9.97833422e-01 2.64217952e-02 2.34867684e+01] [ 2.53106812e-02 -2.49341059e-02 9.99368631e-01 -9.74374188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters Centerline goodness : 0.930462 Centerline is valid? [True, False] Translation: X:134.61, Y:23.49, Z:-97.43 [[ 9.98614258e-01 4.52475395e-02 -2.68742198e-02 1.34608590e+02] [-4.46350887e-02 9.98739285e-01 2.29684556e-02 2.34872293e+01] [ 2.78796052e-02 -2.17370941e-02 9.99374918e-01 -9.74347637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:134.64, Y:23.49, Z:-97.43 [[ 9.99134152e-01 2.92611841e-02 -2.95758154e-02 1.34635499e+02] [-2.86932517e-02 9.99399055e-01 1.94480535e-02 2.34876490e+01] [ 3.01271150e-02 -1.85825881e-02 9.99373326e-01 -9.74319099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:134.66, Y:23.51, Z:-97.43 [[ 9.99262702e-01 2.63695214e-02 -2.79052191e-02 1.34664433e+02] [-2.63443772e-02 9.99652122e-01 1.26838237e-03 2.35052711e+01] [ 2.79289582e-02 -5.32301578e-04 9.99609769e-01 -9.74266089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:134.68, Y:23.44, Z:-97.44 [[ 9.97109164e-01 2.30288391e-02 -7.24084712e-02 1.34683284e+02] [-1.80251516e-02 9.97452894e-01 6.90131732e-02 2.34424301e+01] [ 7.38133324e-02 -6.75084938e-02 9.94984520e-01 -9.74353578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:134.71, Y:23.53, Z:-97.42 [[ 9.97369863e-01 1.77283773e-02 -7.02784506e-02 1.34714755e+02] [-1.93767737e-02 9.99551263e-01 -2.28432496e-02 2.35324463e+01] [ 6.98419403e-02 2.41449384e-02 9.97265825e-01 -9.74179595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:134.74, Y:23.51, Z:-97.42 [[ 9.97486980e-01 1.91539425e-02 -6.82118088e-02 1.34741364e+02] [-1.91020222e-02 9.99816541e-01 1.41339357e-03 2.35074049e+01] [ 6.82263668e-02 -1.06858196e-04 9.97669861e-01 -9.74210501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:134.78, Y:23.55, Z:-97.41 [[ 9.99396776e-01 2.24325824e-02 -2.65115522e-02 1.34777285e+02] [-2.34970974e-02 9.98901273e-01 -4.05479195e-02 2.35464155e+01] [ 2.55728287e-02 4.11464045e-02 9.98825813e-01 -9.74116774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:134.79, Y:23.41, Z:-97.43 [[ 9.98007916e-01 2.30456218e-02 -5.87290282e-02 1.34792956e+02] [-1.69470879e-02 9.94609087e-01 1.02301319e-01 2.34065449e+01] [ 6.07700227e-02 -1.01102240e-01 9.93018299e-01 -9.74299671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:134.87, Y:23.56, Z:-97.42 [[ 9.97732099e-01 4.22237237e-03 -6.71775956e-02 1.34869201e+02] [-7.36170026e-03 9.98888690e-01 -4.65530899e-02 2.35560578e+01] [ 6.69063760e-02 4.69420534e-02 9.96654394e-01 -9.74177975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:23.50, Z:-97.42 [[ 9.99635252e-01 1.01738201e-02 -2.50171362e-02 1.34859419e+02] [-1.01777513e-02 9.99948205e-01 -2.98140799e-05 2.35040285e+01] [ 2.50155371e-02 2.84421395e-04 9.99687022e-01 -9.74152824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:134.88, Y:23.41, Z:-97.43 [[ 9.98338071e-01 9.08092806e-03 -5.69089782e-02 1.34877393e+02] [-3.76300947e-03 9.95671575e-01 9.28652472e-02 2.34138739e+01] [ 5.75059546e-02 -9.24967628e-02 9.94051012e-01 -9.74267655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:134.91, Y:23.53, Z:-97.40 [[ 9.98087366e-01 5.34290571e-03 -6.15878436e-02 1.34911884e+02] [-6.82809215e-03 9.99690324e-01 -2.39297446e-02 2.35331985e+01] [ 6.14409170e-02 2.43045033e-02 9.97814765e-01 -9.74041270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:134.94, Y:23.50, Z:-97.41 [[ 9.97981248e-01 6.40776439e-03 -6.31851974e-02 1.34937859e+02] [-5.64087008e-03 9.99908341e-01 1.23081754e-02 2.34987183e+01] [ 6.32582738e-02 -1.19269088e-02 9.97925919e-01 -9.74095884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17592000000002 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:134.97, Y:23.51, Z:-97.41 [[ 9.98211026e-01 6.81155042e-03 -5.93999183e-02 1.34966905e+02] [-6.95245881e-03 9.99973486e-01 -2.16584851e-03 2.35132830e+01] [ 5.93835906e-02 2.57494935e-03 9.98231916e-01 -9.74074790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:134.99, Y:23.50, Z:-97.41 [[ 9.98791990e-01 3.27801360e-03 -4.90287296e-02 1.34989422e+02] [-2.57352500e-03 9.99892641e-01 1.44251244e-02 2.34998208e+01] [ 4.90707516e-02 -1.42815221e-02 9.98693196e-01 -9.74083601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23592000000002 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:135.02, Y:23.55, Z:-97.40 [[ 9.98307071e-01 9.69472738e-04 -5.81554213e-02 1.35020693e+02] [-3.30116728e-03 9.99193765e-01 -4.00115323e-02 2.35548273e+01] [ 5.80697443e-02 4.01357763e-02 9.97505401e-01 -9.73954423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:135.05, Y:23.51, Z:-97.41 [[ 9.98620622e-01 1.96000236e-03 -5.24691511e-02 1.35046383e+02] [-1.38707243e-03 9.99939046e-01 1.09535554e-02 2.35058289e+01] [ 5.24874218e-02 -1.08656678e-02 9.98562471e-01 -9.74053314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29592 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:135.07, Y:23.52, Z:-97.40 [[ 9.98790458e-01 -3.84401957e-03 -4.90188129e-02 1.35074677e+02] [ 3.78956911e-03 9.99992095e-01 -1.20369523e-03 2.35163692e+01] [ 4.90230524e-02 1.01647913e-03 9.98797130e-01 -9.74011491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:135.08, Y:23.52, Z:-97.40 [[ 9.99354718e-01 -2.04830060e-02 -2.95058155e-02 1.35078927e+02] [ 2.00907389e-02 9.99706604e-01 -1.35302692e-02 2.35185933e+01] [ 2.97742992e-02 1.29287447e-02 9.99473030e-01 -9.73967236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35592 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:135.13, Y:23.47, Z:-97.41 [[ 9.98804086e-01 -6.96211117e-03 -4.83934565e-02 1.35127945e+02] [ 8.55440844e-03 9.99426169e-01 3.27743071e-02 2.34748401e+01] [ 4.81375084e-02 -3.31490893e-02 9.98290498e-01 -9.74066638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:135.17, Y:23.57, Z:-97.38 [[ 9.99924886e-01 -8.79593519e-03 -8.53550479e-03 1.35166250e+02] [ 8.24841118e-03 9.98030280e-01 -6.21894162e-02 2.35656988e+01] [ 9.06570631e-03 6.21143405e-02 9.98027866e-01 -9.73835526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41592 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:135.21, Y:23.46, Z:-97.41 [[ 9.97804257e-01 -2.34005908e-02 -6.19602908e-02 1.35211904e+02] [ 2.54468814e-02 9.99149519e-01 3.24452557e-02 2.34604943e+01] [ 6.11483567e-02 -3.39507104e-02 9.97551115e-01 -9.74110951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:135.20, Y:23.44, Z:-97.43 [[ 9.97460799e-01 5.34267306e-02 -4.70907424e-02 1.35195982e+02] [-4.95333167e-02 9.95540050e-01 8.02898454e-02 2.34420976e+01] [ 5.11703440e-02 -7.77534127e-02 9.95658577e-01 -9.74325979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47592 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:135.29, Y:23.32, Z:-97.44 [[ 9.99396458e-01 9.37547342e-03 -3.34487676e-02 1.35286740e+02] [-4.14870429e-03 9.88212401e-01 1.53032805e-01 2.33217690e+01] [ 3.44892419e-02 -1.52801674e-01 9.87654869e-01 -9.74402245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters Centerline goodness : 0.828860 Centerline is valid? [True, False] Translation: X:135.26, Y:23.39, Z:-97.43 [[ 9.99286920e-01 6.42178858e-03 -3.72076774e-02 1.35263055e+02] [-3.22428143e-03 9.96344306e-01 8.53676028e-02 2.33887549e+01] [ 3.76198702e-02 -8.51867609e-02 9.95654539e-01 -9.74323397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53592 meters Centerline goodness : 0.933767 Centerline is valid? [False, False] Translation: X:135.24, Y:23.44, Z:-97.43 [[ 9.99375611e-01 5.93057396e-03 -3.48312551e-02 1.35236942e+02] [-4.64168499e-03 9.99305641e-01 3.69687867e-02 2.34371906e+01] [ 3.50263158e-02 -3.67840281e-02 9.98709213e-01 -9.74261081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters Centerline goodness : 0.999503 Centerline is valid? [False, True] Translation: X:135.23, Y:23.45, Z:-97.42 [[ 9.99518202e-01 7.86822959e-03 -3.00242415e-02 1.35231444e+02] [-7.35340429e-03 9.99824701e-01 1.72190480e-02 2.34541340e+01] [ 3.01544617e-02 -1.69899715e-02 9.99400845e-01 -9.74229998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59592 meters Centerline goodness : 0.669844 Centerline is valid? [True, False] Translation: X:135.22, Y:23.46, Z:-97.42 [[ 9.99877477e-01 5.45801150e-03 -1.46711143e-02 1.35222259e+02] [-5.27209259e-03 9.99905689e-01 1.26813895e-02 2.34559330e+01] [ 1.47389458e-02 -1.26024883e-02 9.99811953e-01 -9.74224585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters Centerline goodness : 0.995924 Centerline is valid? [False, True] Translation: X:135.25, Y:23.47, Z:-97.42 [[ 9.99825143e-01 7.52458715e-04 -1.86846830e-02 1.35246521e+02] [-8.21188186e-04 9.99992925e-01 -3.67098568e-03 2.34684851e+01] [ 1.86817886e-02 3.68568742e-03 9.99818687e-01 -9.74173485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65592 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:135.26, Y:23.40, Z:-97.43 [[ 9.98130355e-01 -5.65291168e-04 -6.11185319e-02 1.35264250e+02] [ 4.41265397e-03 9.98014326e-01 6.28325823e-02 2.34011410e+01] [ 6.09616517e-02 -6.29848026e-02 9.96150888e-01 -9.74269842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:135.31, Y:23.52, Z:-97.40 [[ 9.99812609e-01 -1.61688237e-03 -1.92907335e-02 1.35306018e+02] [ 4.54906918e-04 9.98192988e-01 -6.00878641e-02 2.35184063e+01] [ 1.93530299e-02 6.00678287e-02 9.98006671e-01 -9.74018227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:135.36, Y:23.42, Z:-97.45 [[ 9.97938683e-01 4.11656058e-02 -4.92318878e-02 1.35357524e+02] [-3.86792619e-02 9.97978236e-01 5.04316827e-02 2.34155370e+01] [ 5.12084033e-02 -4.84234739e-02 9.97513342e-01 -9.74453982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters Centerline goodness : 0.923798 Centerline is valid? [True, False] Translation: X:135.38, Y:23.42, Z:-97.44 [[ 9.98404662e-01 2.28067729e-02 -5.16525030e-02 1.35381358e+02] [-2.05571494e-02 9.98834345e-01 4.36732811e-02 2.34196023e+01] [ 5.25883406e-02 -4.25417793e-02 9.97709709e-01 -9.74405957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77592 meters Centerline goodness : 0.938075 Centerline is valid? [False, False] Translation: X:135.41, Y:23.42, Z:-97.44 [[ 9.98537955e-01 3.66070649e-03 -5.39309880e-02 1.35405851e+02] [-1.70863027e-03 9.99343193e-01 3.61975556e-02 2.34245320e+01] [ 5.40280744e-02 -3.60524850e-02 9.97888363e-01 -9.74357426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters Centerline goodness : 0.995577 Centerline is valid? [False, True] Translation: X:135.40, Y:23.44, Z:-97.43 [[ 9.98894742e-01 4.24795323e-03 -4.68107795e-02 1.35398587e+02] [-3.49313582e-03 9.99862752e-01 1.61948855e-02 2.34412746e+01] [ 4.68731500e-02 -1.60134695e-02 9.98772485e-01 -9.74327337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83592000000002 meters Centerline goodness : 0.985648 Centerline is valid? [True, True] Translation: X:135.49, Y:23.41, Z:-97.48 [[ 9.93486107e-01 8.87871800e-02 -7.14296301e-02 1.35490990e+02] [-8.50993032e-02 9.94955483e-01 5.31196380e-02 2.34107636e+01] [ 7.57856449e-02 -4.66950107e-02 9.96030176e-01 -9.74791107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:135.44, Y:23.49, Z:-97.45 [[ 9.95564828e-01 6.65272576e-02 -6.65191551e-02 1.35435830e+02] [-6.75760402e-02 9.97620879e-01 -1.36403956e-02 2.34855117e+01] [ 6.54534399e-02 1.80749992e-02 9.97691907e-01 -9.74487567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89592000000002 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:135.48, Y:23.44, Z:-97.46 [[ 9.96382881e-01 5.47886157e-02 -6.49566152e-02 1.35483252e+02] [-5.37447704e-02 9.98397624e-01 1.77111224e-02 2.34359303e+01] [ 6.58228981e-02 -1.41559808e-02 9.97730903e-01 -9.74626650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:135.50, Y:23.54, Z:-97.45 [[ 9.96263601e-01 4.43404576e-02 -7.41131664e-02 1.35499619e+02] [-5.15150694e-02 9.93864018e-01 -9.78800874e-02 2.35447228e+01] [ 6.93183615e-02 1.01332313e-01 9.92434747e-01 -9.74475610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95592000000002 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:135.57, Y:23.32, Z:-97.46 [[ 9.97456772e-01 7.14135233e-03 -7.09153688e-02 1.35571436e+02] [-6.39495089e-04 9.95824403e-01 9.12871825e-02 2.33234862e+01] [ 7.12711688e-02 -9.10096683e-02 9.93296361e-01 -9.74647130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:135.62, Y:23.39, Z:-97.47 [[ 9.97658111e-01 1.57433463e-04 -6.83978651e-02 1.35621224e+02] [ 8.71789829e-04 9.99886851e-01 1.50174840e-02 2.33870623e+01] [ 6.83924902e-02 -1.50419433e-02 9.97545090e-01 -9.74732953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01592 meters Centerline goodness : 0.956225 Centerline is valid? [True, True] Translation: X:135.67, Y:23.35, Z:-97.47 [[ 9.96000458e-01 -4.56250936e-02 -7.68208204e-02 1.35672245e+02] [ 4.80761737e-02 9.98382034e-01 3.03643898e-02 2.33495548e+01] [ 7.53111488e-02 -3.39361973e-02 9.96582443e-01 -9.74709115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:135.63, Y:23.38, Z:-97.44 [[ 9.97951583e-01 -3.82961667e-02 -5.12449273e-02 1.35630299e+02] [ 3.80083023e-02 9.99255756e-01 -6.58054536e-03 2.33768628e+01] [ 5.14587982e-02 4.61933296e-03 9.98664435e-01 -9.74384111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07592 meters Centerline goodness : 0.921644 Centerline is valid? [True, False] Translation: X:135.63, Y:23.37, Z:-97.44 [[ 9.98696007e-01 -2.32947912e-02 -4.54272756e-02 1.35627161e+02] [ 2.29298548e-02 9.99700616e-01 -8.53810235e-03 2.33716071e+01] [ 4.56125687e-02 7.48532789e-03 9.98931161e-01 -9.74398939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters Centerline goodness : 0.795256 Centerline is valid? [False, False] Translation: X:135.62, Y:23.36, Z:-97.44 [[ 9.99333259e-01 -1.90967601e-02 -3.11183369e-02 1.35620415e+02] [ 1.89702681e-02 9.99810563e-01 -4.35507351e-03 2.33627302e+01] [ 3.11956097e-02 3.76184661e-03 9.99506219e-01 -9.74423600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13592 meters Centerline goodness : 0.942701 Centerline is valid? [False, False] Translation: X:135.61, Y:23.35, Z:-97.44 [[ 9.99744491e-01 -1.52363822e-02 -1.66974574e-02 1.35614698e+02] [ 1.52265850e-02 9.99883814e-01 -7.13728586e-04 2.33517636e+01] [ 1.67063920e-02 4.59300968e-04 9.99860333e-01 -9.74444283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters Centerline goodness : 0.823357 Centerline is valid? [False, False] Translation: X:135.61, Y:23.36, Z:-97.44 [[ 9.99951090e-01 -2.92480783e-03 -9.44791928e-03 1.35610149e+02] [ 2.86010201e-03 9.99972414e-01 -6.85495059e-03 2.33563646e+01] [ 9.46770806e-03 6.82759330e-03 9.99931871e-01 -9.74448794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19592 meters Centerline goodness : 0.994827 Centerline is valid? [False, True] Translation: X:135.61, Y:23.35, Z:-97.45 [[ 9.99950028e-01 -2.96442688e-03 -9.54744015e-03 1.35610425e+02] [ 2.90763980e-03 9.99978034e-01 -5.95628391e-03 2.33521869e+01] [ 9.56488740e-03 5.92822574e-03 9.99936683e-01 -9.74451506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:135.64, Y:23.34, Z:-97.47 [[ 9.99068603e-01 -1.96845642e-02 -3.83985071e-02 1.35637401e+02] [ 1.97584840e-02 9.99803586e-01 1.54649603e-03 2.33366070e+01] [ 3.83605230e-02 -2.30375192e-03 9.99261309e-01 -9.74728224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25592 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:135.69, Y:23.28, Z:-97.46 [[ 9.98423103e-01 -2.40434786e-03 -5.60849934e-02 1.35685185e+02] [ 5.20667764e-03 9.98741981e-01 4.98733071e-02 2.32829619e+01] [ 5.58945246e-02 -5.00866785e-02 9.97179586e-01 -9.74576172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:135.69, Y:23.33, Z:-97.47 [[ 9.96876291e-01 -5.04993770e-03 -7.88172458e-02 1.35690503e+02] [ 5.43509295e-03 9.99974311e-01 4.67292818e-03 2.33329137e+01] [ 7.87916231e-02 -5.08671037e-03 9.96878130e-01 -9.74749472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31592 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:135.75, Y:23.29, Z:-97.48 [[ 9.96186844e-01 1.39728422e-02 -8.61192870e-02 1.35754669e+02] [-1.05711582e-02 9.99150553e-01 3.98299195e-02 2.32907342e+01] [ 8.66026704e-02 -3.87676611e-02 9.95488345e-01 -9.74815477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:135.74, Y:23.37, Z:-97.43 [[ 9.99955605e-01 -9.41436711e-03 -3.96779481e-04 1.35742325e+02] [ 9.38103010e-03 9.98604825e-01 -5.19653653e-02 2.33651058e+01] [ 8.85446931e-04 5.19593361e-02 9.98648809e-01 -9.74254459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37592 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:135.77, Y:23.31, Z:-97.43 [[ 9.99973222e-01 -7.22925883e-03 1.13718997e-03 1.35772240e+02] [ 7.22928680e-03 9.99973868e-01 -2.04911466e-05 2.33146564e+01] [-1.13701211e-03 2.87116703e-05 9.99999353e-01 -9.74323924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:135.80, Y:23.31, Z:-97.43 [[ 9.99974335e-01 -6.91712809e-03 1.86642900e-03 1.35804594e+02] [ 6.91722023e-03 9.99976075e-01 -4.29180264e-05 2.33142379e+01] [-1.86608748e-03 5.58274253e-05 9.99998257e-01 -9.74329014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43592 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:135.84, Y:23.31, Z:-97.43 [[ 9.99949092e-01 -9.66827285e-03 2.88757519e-03 1.35837836e+02] [ 9.66849864e-03 9.99953257e-01 -6.42451990e-05 2.33113882e+01] [-2.88681907e-03 9.21604451e-05 9.99995829e-01 -9.74328505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:135.86, Y:23.23, Z:-97.43 [[ 9.99284206e-01 -1.07791435e-02 -3.62613544e-02 1.35862819e+02] [ 1.35512497e-02 9.96931848e-01 7.70924969e-02 2.32347676e+01] [ 3.53191080e-02 -7.75287012e-02 9.96364321e-01 -9.74349077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49592 meters Centerline goodness : 0.947436 Centerline is valid? [True, False] Translation: X:135.85, Y:23.28, Z:-97.43 [[ 9.99224714e-01 -1.45950021e-02 -3.65644155e-02 1.35845092e+02] [ 1.58573893e-02 9.99279704e-01 3.44763048e-02 2.32761040e+01] [ 3.60348965e-02 -3.50293920e-02 9.98736416e-01 -9.74314463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters Centerline goodness : 0.998409 Centerline is valid? [False, True] Translation: X:135.84, Y:23.29, Z:-97.43 [[ 9.99418443e-01 -1.38437282e-02 -3.11629166e-02 1.35840239e+02] [ 1.42806497e-02 9.99802213e-01 1.38419200e-02 2.32944166e+01] [ 3.09651292e-02 -1.42788969e-02 9.99418468e-01 -9.74297835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55592000000001 meters Centerline goodness : 0.868383 Centerline is valid? [True, False] Translation: X:135.83, Y:23.30, Z:-97.43 [[ 9.99746181e-01 -6.46612984e-03 -2.15815145e-02 1.35833292e+02] [ 6.52234336e-03 9.99975515e-01 2.53533434e-03 2.33048663e+01] [ 2.15645923e-02 -2.67545288e-03 9.99763877e-01 -9.74287534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [False, True] Translation: X:135.81, Y:23.31, Z:-97.43 [[ 9.99997030e-01 -1.40622748e-03 -1.99081882e-03 1.35809250e+02] [ 1.40238394e-03 9.99997153e-01 -1.93071499e-03 2.33091359e+01] [ 1.99352817e-03 1.92791736e-03 9.99996154e-01 -9.74294701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61592000000002 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:135.84, Y:23.30, Z:-97.43 [[ 9.99943707e-01 1.84152521e-03 1.04494758e-02 1.35840121e+02] [-1.87693624e-03 9.99992526e-01 3.37999159e-03 2.33029807e+01] [-1.04431734e-02 -3.39941432e-03 9.99939690e-01 -9.74259427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:135.87, Y:23.33, Z:-97.43 [[ 9.99307667e-01 -2.32406931e-03 3.71320028e-02 1.35869697e+02] [ 3.63152074e-03 9.99374311e-01 -3.51823564e-02 2.33348995e+01] [-3.70270035e-02 3.52928441e-02 9.98690851e-01 -9.74254166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:135.90, Y:23.30, Z:-97.43 [[ 9.99761655e-01 2.45127597e-03 2.16938613e-02 1.35901887e+02] [-2.43648263e-03 9.99996781e-01 -7.08319085e-04 2.32978043e+01] [-2.16955277e-02 6.55293545e-04 9.99764410e-01 -9.74333111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:135.93, Y:23.28, Z:-97.43 [[ 9.99889665e-01 1.88026055e-03 1.47350861e-02 1.35934490e+02] [-2.16969156e-03 9.99804546e-01 1.96509963e-02 2.32757670e+01] [-1.46952571e-02 -1.96807987e-02 9.99698312e-01 -9.74300320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:135.97, Y:23.31, Z:-97.43 [[ 9.99805762e-01 2.74348589e-03 1.95169583e-02 1.35969995e+02] [-2.46241400e-03 9.99893125e-01 -1.44109025e-02 2.33065615e+01] [-1.95544086e-02 1.43600445e-02 9.99705664e-01 -9.74261114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:136.00, Y:23.31, Z:-97.43 [[ 9.99522746e-01 1.54904051e-03 3.08525792e-02 1.36002983e+02] [-1.01616954e-03 9.99850178e-01 -1.72797178e-02 2.33062004e+01] [-3.08747238e-02 1.72401195e-02 9.99374569e-01 -9.74269149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.03, Y:23.29, Z:-97.43 [[ 9.99078551e-01 -3.39788929e-03 4.27843717e-02 1.36032496e+02] [ 3.73847483e-03 9.99961940e-01 -7.88301985e-03 2.32927660e+01] [-4.27559577e-02 8.03570435e-03 9.99053230e-01 -9.74301966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.07, Y:23.29, Z:-97.43 [[ 9.99091736e-01 -3.42173657e-03 4.24734595e-02 1.36066286e+02] [ 3.48353527e-03 9.99992979e-01 -1.38106839e-03 2.32853222e+01] [-4.24684356e-02 1.52777181e-03 9.99096641e-01 -9.74316288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.09, Y:23.27, Z:-97.43 [[ 9.99106167e-01 -6.98442446e-03 4.16903403e-02 1.36094634e+02] [ 6.57615376e-03 9.99929151e-01 9.92205490e-03 2.32683880e+01] [-4.17566865e-02 -9.63902416e-03 9.99081312e-01 -9.74342626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.13, Y:23.27, Z:-97.44 [[ 9.99224180e-01 -5.13990089e-03 3.90463890e-02 1.36129134e+02] [ 4.87661260e-03 9.99964749e-01 6.83521539e-03 2.32668491e+01] [-3.90801449e-02 -6.63949838e-03 9.99214021e-01 -9.74350265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:23.27, Z:-97.43 [[ 9.99590510e-01 -3.76717741e-03 2.83658404e-02 1.36161669e+02] [ 3.72632560e-03 9.99991943e-01 1.49289956e-03 2.32682730e+01] [-2.83712359e-02 -1.38658787e-03 9.99596494e-01 -9.74343650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.19, Y:23.26, Z:-97.43 [[ 9.99713039e-01 -2.70011114e-03 2.38023087e-02 1.36193430e+02] [ 2.46673280e-03 9.99948654e-01 9.82877557e-03 2.32565891e+01] [-2.38276253e-02 -9.76724116e-03 9.99668368e-01 -9.74349427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.23, Y:23.28, Z:-97.43 [[ 9.99119766e-01 -3.23586927e-03 4.18237133e-02 1.36227242e+02] [ 3.84217641e-03 9.99888580e-01 -1.44244882e-02 2.32756924e+01] [-4.17723775e-02 1.45724853e-02 9.99020876e-01 -9.74324553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:23.23, Z:-97.44 [[ 9.99568146e-01 -1.02829391e-02 2.75278618e-02 1.36247601e+02] [ 9.49441472e-03 9.99545168e-01 2.86236387e-02 2.32303109e+01] [-2.78096764e-02 -2.83499166e-02 9.99211141e-01 -9.74359040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:23.28, Z:-97.43 [[ 9.99142909e-01 6.75514647e-04 4.13882923e-02 1.36289286e+02] [ 5.72259163e-04 9.99545863e-01 -3.01287269e-02 2.32813886e+01] [-4.13898487e-02 3.01265887e-02 9.98688775e-01 -9.74327763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:23.21, Z:-97.44 [[ 9.99881563e-01 -4.45599016e-03 1.47310870e-02 1.36309681e+02] [ 3.82721716e-03 9.99091711e-01 4.24394312e-02 2.32065931e+01] [-1.49068166e-02 -4.23780257e-02 9.98990435e-01 -9.74372109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.34, Y:23.28, Z:-97.43 [[ 9.99738569e-01 4.78190363e-04 2.28596941e-02 1.36340377e+02] [ 2.54631858e-04 9.99486435e-01 -3.20437390e-02 2.32774207e+01] [-2.28632771e-02 3.20411826e-02 9.99225016e-01 -9.74315485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.38, Y:23.26, Z:-97.43 [[ 9.98946232e-01 9.91003323e-03 4.48131283e-02 1.36377863e+02] [-9.31512116e-03 9.99865955e-01 -1.34647964e-02 2.32560724e+01] [-4.49405579e-02 1.30331679e-02 9.98904641e-01 -9.74341895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.40, Y:23.16, Z:-97.44 [[ 9.99935230e-01 1.13486095e-02 -8.62778349e-04 1.36399171e+02] [-1.12327922e-02 9.96251375e-01 8.57730836e-02 2.31564529e+01] [ 1.83294935e-03 -8.57578367e-02 9.96314325e-01 -9.74390198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.44, Y:23.32, Z:-97.43 [[ 9.99047648e-01 1.62028723e-02 4.05125084e-02 1.36442116e+02] [-1.26749763e-02 9.96225714e-01 -8.58700896e-02 2.33205124e+01] [-4.17509447e-02 8.52748160e-02 9.95482328e-01 -9.74262599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21592 meters Centerline goodness : 0.940506 Centerline is valid? [True, False] Translation: X:136.42, Y:23.29, Z:-97.43 [[ 9.98831043e-01 1.20123551e-02 4.68214714e-02 1.36420268e+02] [-9.32664411e-03 9.98321303e-01 -5.71628406e-02 2.32922551e+01] [-4.74295326e-02 5.66593325e-02 9.97266343e-01 -9.74285388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:136.44, Y:23.27, Z:-97.43 [[ 9.99303898e-01 7.93365422e-03 3.64523809e-02 1.36436582e+02] [-6.70643173e-03 9.99410630e-01 -3.36662507e-02 2.32671102e+01] [-3.66979934e-02 3.33983502e-02 9.98768145e-01 -9.74300454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:23.23, Z:-97.43 [[ 9.99226047e-01 9.49991745e-03 3.81714391e-02 1.36468822e+02] [-9.46288720e-03 9.99954564e-01 -1.15066237e-03 2.32336930e+01] [-3.81806360e-02 7.88559790e-04 9.99270543e-01 -9.74331460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.49, Y:23.23, Z:-97.43 [[ 9.99936751e-01 6.09658180e-03 9.45120500e-03 1.36493367e+02] [-6.13167566e-03 9.99974398e-01 3.68864299e-03 2.32271454e+01] [-9.42847492e-03 -3.74636141e-03 9.99948533e-01 -9.74330734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.52, Y:23.21, Z:-97.44 [[ 9.99879825e-01 1.21883391e-02 9.58022308e-03 1.36523189e+02] [-1.24193664e-02 9.99624218e-01 2.44373238e-02 2.32085012e+01] [-9.27877261e-03 -2.45533673e-02 9.99655459e-01 -9.74369658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.56, Y:23.25, Z:-97.43 [[ 9.99921549e-01 9.99470936e-03 7.54993008e-03 1.36557648e+02] [-9.83303120e-03 9.99727822e-01 -2.11563852e-02 2.32507126e+01] [-7.75932708e-03 2.10804868e-02 9.99747671e-01 -9.74309001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.59, Y:23.22, Z:-97.43 [[ 9.99894991e-01 1.11268880e-02 9.28435965e-03 1.36589457e+02] [-1.11510504e-02 9.99934561e-01 2.55478274e-03 2.32241507e+01] [-9.25532531e-03 -2.65804482e-03 9.99953636e-01 -9.74342558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:23.08, Z:-97.43 [[ 9.99887981e-01 1.12713771e-02 -9.84790404e-03 1.36615850e+02] [-9.73750253e-03 9.89544298e-01 1.43900182e-01 2.30826386e+01] [ 1.13668905e-02 -1.43788168e-01 9.89543206e-01 -9.74340833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:136.66, Y:23.37, Z:-97.42 [[ 9.99331991e-01 1.50444330e-02 3.33052044e-02 1.36656413e+02] [-9.75701836e-03 9.88089307e-01 -1.53571877e-01 2.33728306e+01] [-3.52189181e-02 1.53144331e-01 9.87576044e-01 -9.74152671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.68, Y:23.21, Z:-97.43 [[ 9.99524223e-01 1.42573692e-02 2.73505940e-02 1.36683432e+02] [-1.44814588e-02 9.99863033e-01 8.01271172e-03 2.32137008e+01] [-2.72326077e-02 -8.40497596e-03 9.99593788e-01 -9.74341849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.71, Y:23.16, Z:-97.43 [[ 9.99820550e-01 1.80665271e-02 -5.69810519e-03 1.36713894e+02] [-1.76985431e-02 9.98095265e-01 5.90982591e-02 2.31639752e+01] [ 6.75495211e-03 -5.89868058e-02 9.98235908e-01 -9.74307969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.74, Y:23.16, Z:-97.43 [[ 9.99639117e-01 2.02978296e-02 -1.75964091e-02 1.36742245e+02] [-1.90438838e-02 9.97454499e-01 6.87157363e-02 2.31553092e+01] [ 1.89463977e-02 -6.83558340e-02 9.97481085e-01 -9.74318316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:23.33, Z:-97.42 [[ 9.99275095e-01 2.50446654e-02 2.86714071e-02 1.36775569e+02] [-2.15990316e-02 9.93159818e-01 -1.14747803e-01 2.33336502e+01] [-3.13491098e-02 1.14045347e-01 9.92980812e-01 -9.74180009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.81, Y:23.25, Z:-97.43 [[ 9.98491507e-01 2.88605834e-02 4.67094931e-02 1.36806123e+02] [-2.75820735e-02 9.99233220e-01 -2.77885181e-02 2.32466486e+01] [-4.74756700e-02 2.64582547e-02 9.98521918e-01 -9.74321036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.84, Y:23.20, Z:-97.44 [[ 9.98865163e-01 3.10125988e-02 3.61469789e-02 1.36835663e+02] [-3.16871695e-02 9.99331376e-01 1.82407130e-02 2.32006348e+01] [-3.55571182e-02 -1.93654083e-02 9.99180000e-01 -9.74358705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.87, Y:23.21, Z:-97.43 [[ 9.99073536e-01 3.46841433e-02 2.54770317e-02 1.36869368e+02] [-3.49552873e-02 9.99336051e-01 1.02754405e-02 2.32113435e+01] [-2.51037214e-02 -1.11564777e-02 9.99622597e-01 -9.74347720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.90, Y:23.18, Z:-97.43 [[ 9.99386895e-01 3.49543351e-02 -2.00701141e-03 1.36899746e+02] [-3.48293941e-02 9.98387925e-01 4.48158973e-02 2.31793903e+01] [ 3.57028585e-03 -4.47185175e-02 9.98993247e-01 -9.74322200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:136.93, Y:23.27, Z:-97.43 [[ 9.98879605e-01 3.69381713e-02 2.95822099e-02 1.36932525e+02] [-3.53391228e-02 9.97976134e-01 -5.28657052e-02 2.32747948e+01] [-3.14751019e-02 5.17610653e-02 9.98163368e-01 -9.74300603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:136.96, Y:23.19, Z:-97.43 [[ 9.99326482e-01 3.61564112e-02 6.26869389e-03 1.36960549e+02] [-3.63689496e-02 9.98616589e-01 3.79764103e-02 2.31871217e+01] [-4.88693101e-03 -3.81788183e-02 9.99258973e-01 -9.74329438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.99, Y:23.22, Z:-97.43 [[ 9.99389601e-01 3.48712540e-02 -2.10285882e-03 1.36991685e+02] [-3.48604806e-02 9.99379885e-01 4.95899588e-03 2.32185468e+01] [ 2.27448121e-03 -4.88266224e-03 9.99985493e-01 -9.74327764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.02, Y:23.22, Z:-97.43 [[ 9.99444519e-01 3.31903309e-02 3.00918786e-03 1.37019910e+02] [-3.32008414e-02 9.99442527e-01 3.51284537e-03 2.32189639e+01] [-2.89091782e-03 -3.61080162e-03 9.99989302e-01 -9.74310726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:137.05, Y:23.23, Z:-97.43 [[ 9.99513276e-01 3.03136699e-02 7.36832449e-03 1.37050428e+02] [-3.02645393e-02 9.99519533e-01 -6.69031512e-03 2.32278224e+01] [-7.56759226e-03 6.46405984e-03 9.99950473e-01 -9.74296983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.08, Y:23.26, Z:-97.43 [[ 9.98148356e-01 2.87779159e-02 5.35881688e-02 1.37084370e+02] [-2.66639438e-02 9.98853662e-01 -3.97542046e-02 2.32593049e+01] [-5.46707817e-02 3.82517221e-02 9.97771473e-01 -9.74306464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.12, Y:23.22, Z:-97.44 [[ 9.98157977e-01 2.71435096e-02 5.42575605e-02 1.37115904e+02] [-2.70608728e-02 9.99631239e-01 -2.25727306e-03 2.32225202e+01] [-5.42988227e-02 7.84858169e-04 9.98524422e-01 -9.74352966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.13, Y:23.07, Z:-97.43 [[ 9.99770161e-01 1.71543845e-02 -1.28589085e-02 1.37133149e+02] [-1.50028438e-02 9.88274997e-01 1.51945535e-01 2.30700264e+01] [ 1.53146699e-02 -1.51717692e-01 9.88305217e-01 -9.74348776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.18, Y:23.36, Z:-97.42 [[ 9.98255223e-01 2.89290106e-02 5.14744824e-02 1.37182057e+02] [-2.09846882e-02 9.88663403e-01 -1.48675210e-01 2.33642282e+01] [-5.51919636e-02 1.47335629e-01 9.87545472e-01 -9.74150126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:137.20, Y:23.18, Z:-97.43 [[ 9.99705267e-01 2.13302595e-02 1.15930430e-02 1.37202244e+02] [-2.17772757e-02 9.98966025e-01 3.99077874e-02 2.31792011e+01] [-1.07298127e-02 -4.01484902e-02 9.99136112e-01 -9.74336334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.24, Y:23.26, Z:-97.43 [[ 9.97961840e-01 2.28300735e-02 5.95898763e-02 1.37239895e+02] [-2.03346367e-02 9.98904232e-01 -4.21525566e-02 2.32556450e+01] [-6.04869255e-02 4.08549045e-02 9.97332547e-01 -9.74317229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.27, Y:23.21, Z:-97.44 [[ 9.97835210e-01 2.01113391e-02 6.26133142e-02 1.37270648e+02] [-1.99786682e-02 9.99796640e-01 -2.74431542e-03 2.32148682e+01] [-6.26557730e-02 1.48744392e-03 9.98034088e-01 -9.74363524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.29, Y:23.10, Z:-97.44 [[ 9.99943253e-01 1.03740524e-02 -2.42265130e-03 1.37291470e+02] [-1.00434300e-02 9.93842982e-01 1.10341550e-01 2.31035931e+01] [ 3.55242401e-03 -1.10310957e-01 9.93890775e-01 -9.74358142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.32, Y:23.18, Z:-97.43 [[ 9.99852503e-01 1.61281106e-02 5.90400618e-03 1.37320045e+02] [-1.63465882e-02 9.99103739e-01 3.90449331e-02 2.31750296e+01] [-5.26899366e-03 -3.91356844e-02 9.99220014e-01 -9.74344206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.35, Y:23.20, Z:-97.43 [[ 9.99823441e-01 1.75935937e-02 6.59942915e-03 1.37348375e+02] [-1.76561342e-02 9.99798593e-01 9.54122422e-03 2.32037735e+01] [-6.43023555e-03 -9.65606004e-03 9.99932704e-01 -9.74331749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:137.38, Y:23.28, Z:-97.43 [[ 9.99739294e-01 2.14942168e-02 7.70337775e-03 1.37381347e+02] [-2.09457143e-02 9.97643441e-01 -6.53363711e-02 2.32759410e+01] [-9.08957841e-03 6.51579848e-02 9.97833562e-01 -9.74256979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.42, Y:23.29, Z:-97.43 [[ 9.97244551e-01 2.41055101e-02 7.01586049e-02 1.37416227e+02] [-1.79362219e-02 9.96023083e-01 -8.72714749e-02 2.32942097e+01] [-7.19833134e-02 8.57726225e-02 9.93710954e-01 -9.74272724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.43, Y:23.05, Z:-97.43 [[ 9.99669253e-01 1.19840405e-02 2.27545172e-02 1.37429499e+02] [-1.55695210e-02 9.86238577e-01 1.64593618e-01 2.30466770e+01] [-2.04688860e-02 -1.64893456e-01 9.86098967e-01 -9.74310061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.48, Y:23.37, Z:-97.41 [[ 9.97080897e-01 2.95240018e-02 7.04131983e-02 1.37483069e+02] [-1.76587979e-02 9.86380363e-01 -1.63529648e-01 2.33666285e+01] [-7.42822457e-02 1.61808876e-01 9.84022376e-01 -9.74118395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:137.51, Y:23.22, Z:-97.44 [[ 9.97854895e-01 2.07175845e-02 6.20998446e-02 1.37507338e+02] [-2.00451750e-02 9.99733721e-01 -1.14314598e-02 2.32155785e+01] [-6.23201409e-02 1.01621358e-02 9.98004474e-01 -9.74391641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:137.53, Y:23.10, Z:-97.44 [[ 9.99624648e-01 1.55922047e-02 2.25265715e-02 1.37528720e+02] [-1.78337193e-02 9.94521441e-01 1.03000296e-01 2.31036997e+01] [-2.07971567e-02 -1.03363367e-01 9.94426213e-01 -9.74363539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.57, Y:23.20, Z:-97.44 [[ 9.99539070e-01 2.31013922e-02 1.96970374e-02 1.37567387e+02] [-2.31137269e-02 9.99732763e-01 3.98761382e-04 2.32037085e+01] [-1.96825617e-02 -8.53849523e-04 9.99805915e-01 -9.74382218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.60, Y:23.21, Z:-97.43 [[ 9.99331422e-01 2.58918657e-02 2.58131882e-02 1.37595050e+02] [-2.58754487e-02 9.99664704e-01 -9.69866797e-04 2.32053001e+01] [-2.58296448e-02 3.01290539e-04 9.99666314e-01 -9.74348730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:137.63, Y:23.22, Z:-97.43 [[ 9.99074754e-01 2.88742815e-02 3.18733661e-02 1.37626064e+02] [-2.84070132e-02 9.99483632e-01 -1.50169900e-02 2.32181235e+01] [-3.22905126e-02 1.40976685e-02 9.99379097e-01 -9.74340452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:137.65, Y:23.18, Z:-97.43 [[ 9.99420462e-01 2.75916746e-02 1.99358826e-02 1.37651033e+02] [-2.80954586e-02 9.99281258e-01 2.54482266e-02 2.31768284e+01] [-1.92193946e-02 -2.59935862e-02 9.99477338e-01 -9.74341513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:137.68, Y:23.23, Z:-97.44 [[ 9.98771007e-01 3.38532023e-02 3.61999465e-02 1.37682926e+02] [-3.28462008e-02 9.99066450e-01 -2.80598643e-02 2.32282585e+01] [-3.71160683e-02 2.68363482e-02 9.98950553e-01 -9.74372287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:137.71, Y:23.17, Z:-97.44 [[ 9.98855017e-01 3.22037235e-02 3.53776084e-02 1.37709939e+02] [-3.32370838e-02 9.99026086e-01 2.90202803e-02 2.31728755e+01] [-3.44085925e-02 -3.01629011e-02 9.98952576e-01 -9.74393382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:137.75, Y:23.30, Z:-97.43 [[ 9.94982477e-01 4.39474826e-02 8.98804126e-02 1.37750023e+02] [-3.39798995e-02 9.93398396e-01 -1.09567300e-01 2.33048050e+01] [-9.41022648e-02 1.05963416e-01 9.89907328e-01 -9.74278766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:137.78, Y:23.20, Z:-97.44 [[ 9.94480119e-01 3.77459608e-02 9.79006443e-02 1.37776800e+02] [-3.74421556e-02 9.99286590e-01 -4.93922252e-03 2.32008916e+01] [-9.80172367e-02 1.24634744e-03 9.95183937e-01 -9.74416618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59592 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:137.80, Y:23.12, Z:-97.44 [[ 9.98700939e-01 3.97649956e-02 3.18618767e-02 1.37804737e+02] [-4.23278785e-02 9.95543209e-01 8.42737784e-02 2.31201046e+01] [-2.83687286e-02 -8.55129473e-02 9.95933106e-01 -9.74385560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:137.84, Y:23.23, Z:-97.44 [[ 9.97901289e-01 4.50588293e-02 4.65050534e-02 1.37838096e+02] [-4.36593967e-02 9.98575225e-01 -3.06818772e-02 2.32309352e+01] [-4.78212836e-02 2.85871023e-02 9.98446745e-01 -9.74374650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:137.87, Y:23.26, Z:-97.44 [[ 9.93674460e-01 5.17333656e-02 9.96730970e-02 1.37872232e+02] [-4.55812533e-02 9.96969395e-01 -6.30426383e-02 2.32620967e+01] [-1.02632435e-01 5.81006348e-02 9.93021097e-01 -9.74383082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:137.89, Y:23.13, Z:-97.45 [[ 9.98161857e-01 4.11623397e-02 4.44811032e-02 1.37892585e+02] [-4.43645068e-02 9.96302200e-01 7.35779601e-02 2.31311794e+01] [-4.12879800e-02 -7.54160955e-02 9.96297002e-01 -9.74478330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:137.93, Y:23.23, Z:-97.44 [[ 9.97279746e-01 5.16739386e-02 5.25634061e-02 1.37931198e+02] [-5.05095118e-02 9.98453011e-01 -2.32459534e-02 2.32278024e+01] [-5.36833010e-02 2.05277665e-02 9.98346991e-01 -9.74424598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:137.96, Y:23.21, Z:-97.45 [[ 9.97194134e-01 5.04487944e-02 5.53062258e-02 1.37960966e+02] [-5.03422566e-02 9.98726511e-01 -3.31871200e-03 2.32067555e+01] [-5.54032190e-02 5.25159933e-04 9.98463924e-01 -9.74461789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:137.99, Y:23.16, Z:-97.45 [[ 9.97452367e-01 4.75235716e-02 5.32004223e-02 1.37987901e+02] [-5.02259501e-02 9.97451846e-01 5.06672421e-02 2.31582083e+01] [-5.06569711e-02 -5.32102024e-02 9.97297621e-01 -9.74512560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:138.02, Y:23.26, Z:-97.45 [[ 9.96893516e-01 5.63405156e-02 5.50369297e-02 1.38024135e+02] [-5.36613150e-02 9.97356119e-01 -4.90023903e-02 2.32563382e+01] [-5.76522385e-02 4.58968111e-02 9.97281155e-01 -9.74453828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:138.04, Y:23.13, Z:-97.46 [[ 9.97752178e-01 4.37031192e-02 5.07998828e-02 1.38043778e+02] [-4.80515891e-02 9.94979088e-01 8.77932729e-02 2.31259491e+01] [-4.67079812e-02 -9.00369444e-02 9.94842557e-01 -9.74570622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters Centerline goodness : 0.853876 Centerline is valid? [True, False] Translation: X:138.07, Y:23.15, Z:-97.46 [[ 9.98640396e-01 3.08573960e-02 4.20140441e-02 1.38071373e+02] [-3.33836838e-02 9.97590384e-01 6.08190355e-02 2.31521124e+01] [-4.00360894e-02 -6.21389292e-02 9.97264190e-01 -9.74567121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [False, True] Translation: X:138.10, Y:23.18, Z:-97.46 [[ 9.99247973e-01 1.97870401e-02 3.33460736e-02 1.38098180e+02] [-2.10166981e-02 9.99096542e-01 3.69377715e-02 2.31751478e+01] [-3.25850576e-02 -3.76108177e-02 9.98761053e-01 -9.74553034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:138.13, Y:23.28, Z:-97.44 [[ 9.95339175e-01 2.67854943e-02 9.26415915e-02 1.38133790e+02] [-2.02779564e-02 9.97306658e-01 -7.04857001e-02 2.32838968e+01] [-9.42800704e-02 6.82785964e-02 9.93201541e-01 -9.74433680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95592000000002 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:138.16, Y:23.16, Z:-97.46 [[ 9.99108794e-01 1.58403948e-02 3.91241569e-02 1.38157839e+02] [-1.81915699e-02 9.98003058e-01 6.04893549e-02 2.31609635e+01] [-3.80878530e-02 -6.11471762e-02 9.97401794e-01 -9.74579534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:138.19, Y:23.20, Z:-97.46 [[ 9.99191339e-01 1.93444367e-02 3.52485473e-02 1.38189062e+02] [-2.01356506e-02 9.99550052e-01 2.22316966e-02 2.32020265e+01] [-3.48026277e-02 -2.29234712e-02 9.99131268e-01 -9.74563907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:138.22, Y:23.25, Z:-97.45 [[ 9.98702802e-01 2.22123620e-02 4.58183730e-02 1.38220624e+02] [-2.12403732e-02 9.99541192e-01 -2.15928774e-02 2.32475687e+01] [-4.62769800e-02 2.05916678e-02 9.98716388e-01 -9.74539283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:138.25, Y:23.26, Z:-97.46 [[ 9.98285253e-01 2.41750754e-02 5.33115250e-02 1.38251495e+02] [-2.28565497e-02 9.99420974e-01 -2.52050726e-02 2.32556095e+01] [-5.38899907e-02 2.39433347e-02 9.98259779e-01 -9.74554474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:138.28, Y:23.21, Z:-97.46 [[ 9.98752622e-01 2.06026169e-02 4.54833079e-02 1.38279714e+02] [-2.18592342e-02 9.99388097e-01 2.73057839e-02 2.32059054e+01] [-4.48929059e-02 -2.82659536e-02 9.98591840e-01 -9.74626219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:138.31, Y:23.26, Z:-97.46 [[ 9.98383144e-01 2.36061302e-02 5.17092603e-02 1.38311749e+02] [-2.26284689e-02 9.99555474e-01 -1.94115070e-02 2.32557712e+01] [-5.21445048e-02 1.82100200e-02 9.98473508e-01 -9.74569782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:138.34, Y:23.22, Z:-97.46 [[ 9.98596729e-01 2.08452104e-02 4.86831651e-02 1.38341547e+02] [-2.19822952e-02 9.99495155e-01 2.29393726e-02 2.32160891e+01] [-4.81804115e-02 -2.39773501e-02 9.98550817e-01 -9.74631556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:138.37, Y:23.27, Z:-97.46 [[ 9.98135389e-01 2.42138383e-02 5.60306631e-02 1.38373121e+02] [-2.27732628e-02 9.99397083e-01 -2.62077898e-02 2.32667541e+01] [-5.66314724e-02 2.48829215e-02 9.98085025e-01 -9.74582239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19592 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:138.40, Y:23.26, Z:-97.46 [[ 9.97878847e-01 2.36686332e-02 6.06432326e-02 1.38404491e+02] [-2.29098930e-02 9.99650697e-01 -1.31765404e-02 2.32594238e+01] [-6.09339205e-02 1.17592609e-02 9.98072531e-01 -9.74638405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:138.43, Y:23.24, Z:-97.47 [[ 9.97942600e-01 2.13986891e-02 6.04372671e-02 1.38433714e+02] [-2.18242736e-02 9.99741399e-01 6.39037799e-03 2.32419889e+01] [-6.02848922e-02 -7.69622988e-03 9.98151542e-01 -9.74691355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25592 meters Centerline goodness : 0.870289 Centerline is valid? [True, False] Translation: X:138.46, Y:23.24, Z:-97.47 [[ 9.99094190e-01 1.64777592e-02 3.92337050e-02 1.38464423e+02] [-1.69332934e-02 9.99792687e-01 1.13069065e-02 2.32404906e+01] [-3.90392588e-02 -1.19610205e-02 9.99166087e-01 -9.74677312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters Centerline goodness : 0.997912 Centerline is valid? [False, True] Translation: X:138.46, Y:23.25, Z:-97.47 [[ 9.99139683e-01 1.27421485e-02 3.94655618e-02 1.38463718e+02] [-1.29664452e-02 9.99901174e-01 5.43260034e-03 2.32473300e+01] [-3.93924386e-02 -5.93965463e-03 9.99206163e-01 -9.74676799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31592 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:138.50, Y:23.25, Z:-97.47 [[ 9.99007669e-01 1.33806231e-02 4.24810044e-02 1.38495625e+02] [-1.36125079e-02 9.99893959e-01 5.17397320e-03 2.32498812e+01] [-4.24072687e-02 -5.74711191e-03 9.99083877e-01 -9.74705722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters Centerline goodness : 0.896041 Centerline is valid? [True, False] Translation: X:138.50, Y:23.26, Z:-97.47 [[ 9.99096064e-01 5.79672727e-03 4.21123937e-02 1.38496575e+02] [-5.56924845e-03 9.99969273e-01 -5.51702083e-03 2.32602887e+01] [-4.21430804e-02 5.27749941e-03 9.99097647e-01 -9.74694069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37592 meters Centerline goodness : 0.997666 Centerline is valid? [False, True] Translation: X:138.50, Y:23.27, Z:-97.47 [[ 9.99119371e-01 2.00455963e-03 4.19101963e-02 1.38497156e+02] [-1.55073384e-03 9.99939845e-01 -1.08582364e-02 2.32655323e+01] [-4.19294412e-02 1.07836828e-02 9.99062378e-01 -9.74691981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:138.53, Y:23.27, Z:-97.47 [[ 9.97372044e-01 1.69183277e-03 7.24302731e-02 1.38532220e+02] [-7.66505252e-04 9.99917766e-01 -1.28013148e-02 2.32720667e+01] [-7.24459745e-02 1.27121554e-02 9.97291322e-01 -9.74704879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43592 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:138.56, Y:23.24, Z:-97.48 [[ 9.99190832e-01 -3.27806624e-03 4.00865951e-02 1.38560195e+02] [ 2.50246546e-03 9.99809000e-01 1.93830277e-02 2.32409520e+01] [-4.01424774e-02 -1.92670282e-02 9.99008190e-01 -9.74766573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters Centerline goodness : 0.979792 Centerline is valid? [True, True] Translation: X:138.60, Y:23.13, Z:-97.49 [[ 9.97551656e-01 -5.99095361e-02 3.60768662e-02 1.38604396e+02] [ 5.57445309e-02 9.92685894e-01 1.07085308e-01 2.31268816e+01] [-4.22284273e-02 -1.04812039e-01 9.93595087e-01 -9.74910975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49592 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:138.63, Y:23.38, Z:-97.45 [[ 9.97205812e-01 -1.25038772e-03 7.46927318e-02 1.38630053e+02] [ 1.04166029e-02 9.92419253e-01 -1.22456200e-01 2.33763732e+01] [-7.39733873e-02 1.22892079e-01 9.89659272e-01 -9.74474984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:138.65, Y:23.20, Z:-97.48 [[ 9.99464930e-01 -1.42905121e-02 2.94216885e-02 1.38652980e+02] [ 1.24465896e-02 9.98002972e-01 6.19285911e-02 2.31951410e+01] [-3.02479238e-02 -6.15292553e-02 9.97646838e-01 -9.74839188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55592000000001 meters Centerline goodness : 0.786346 Centerline is valid? [True, False] Translation: X:138.65, Y:23.24, Z:-97.48 [[ 9.99665416e-01 -1.02757438e-02 2.37374184e-02 1.38647444e+02] [ 9.72348516e-03 9.99682052e-01 2.32647393e-02 2.32353720e+01] [-2.39689336e-02 -2.30261449e-02 9.99447491e-01 -9.74796324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters Centerline goodness : 0.996719 Centerline is valid? [False, True] Translation: X:138.65, Y:23.25, Z:-97.48 [[ 9.99827970e-01 -6.35103265e-03 1.74268368e-02 1.38650077e+02] [ 6.26150086e-03 9.99966942e-01 5.18734424e-03 2.32528756e+01] [-1.74592057e-02 -5.07733370e-03 9.99834685e-01 -9.74771069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61592000000002 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:138.68, Y:23.19, Z:-97.48 [[ 9.99513642e-01 -7.90492424e-03 -3.01660548e-02 1.38675569e+02] [ 9.95511847e-03 9.97606223e-01 6.84303973e-02 2.31881171e+01] [ 2.95529069e-02 -6.86974223e-02 9.97199724e-01 -9.74832271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:138.75, Y:23.30, Z:-97.50 [[ 9.99718669e-01 -9.85288910e-03 -2.15755468e-02 1.38748588e+02] [ 8.98681728e-03 9.99164188e-01 -3.98768541e-02 2.33011208e+01] [ 2.19504159e-02 3.96717400e-02 9.98971637e-01 -9.74964696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67592000000002 meters Centerline goodness : 0.813205 Centerline is valid? [True, False] Translation: X:138.77, Y:23.29, Z:-97.50 [[ 9.99742394e-01 -7.66636421e-03 -2.13628752e-02 1.38769246e+02] [ 7.14600537e-03 9.99678469e-01 -2.43288748e-02 2.32870878e+01] [ 2.15425204e-02 2.41699483e-02 9.99475729e-01 -9.74967555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters Centerline goodness : 0.996474 Centerline is valid? [False, True] Translation: X:138.76, Y:23.28, Z:-97.50 [[ 9.99976903e-01 -1.18219020e-03 -6.69291910e-03 1.38763919e+02] [ 1.06066688e-03 9.99835048e-01 -1.81315221e-02 2.32806075e+01] [ 6.71324999e-03 1.81240044e-02 9.99813209e-01 -9.74998729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73592000000002 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:138.79, Y:23.18, Z:-97.51 [[ 9.98758450e-01 7.57912842e-04 -4.98094756e-02 1.38786628e+02] [ 3.13601827e-03 9.96944369e-01 7.80518494e-02 2.31839980e+01] [ 4.97164327e-02 -7.81111476e-02 9.95704236e-01 -9.75113906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:138.82, Y:23.27, Z:-97.50 [[ 9.98625777e-01 -2.15665244e-07 -5.24076111e-02 1.38815018e+02] [-7.96368583e-04 9.99884477e-01 -1.51788990e-02 2.32749868e+01] [ 5.24015601e-02 1.51997756e-02 9.98510412e-01 -9.74952318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79592 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:138.84, Y:23.21, Z:-97.50 [[ 9.98677854e-01 5.60701261e-03 -5.10989688e-02 1.38837822e+02] [-2.76385055e-03 9.98452526e-01 5.55420126e-02 2.32054228e+01] [ 5.13313192e-02 -5.53273480e-02 9.97147923e-01 -9.75018394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters Centerline goodness : 0.726466 Centerline is valid? [True, False] Translation: X:138.83, Y:23.24, Z:-97.50 [[ 9.98594327e-01 7.26584487e-03 -5.25031275e-02 1.38828630e+02] [-6.21695608e-03 9.99778375e-01 2.01134209e-02 2.32396939e+01] [ 5.26376325e-02 -1.97587384e-02 9.98418185e-01 -9.74979501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85592 meters Centerline goodness : 0.993444 Centerline is valid? [False, True] Translation: X:138.82, Y:23.25, Z:-97.50 [[ 9.98922744e-01 1.23911038e-02 -4.47192540e-02 1.38823601e+02] [-1.21424233e-02 9.99909292e-01 5.82829586e-03 2.32513296e+01] [ 4.47874166e-02 -5.27901719e-03 9.98982592e-01 -9.74975893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters Centerline goodness : 0.932504 Centerline is valid? [True, False] Translation: X:138.82, Y:23.25, Z:-97.50 [[ 9.99481052e-01 1.10476372e-02 -3.02585057e-02 1.38816726e+02] [-1.09745944e-02 9.99936452e-01 2.57897506e-03 2.32515273e+01] [ 3.02850744e-02 -2.24556188e-03 9.99538779e-01 -9.74986446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91592 meters Centerline goodness : 0.982212 Centerline is valid? [False, True] Translation: X:138.81, Y:23.25, Z:-97.50 [[ 9.99820698e-01 9.81057917e-03 -1.61964241e-02 1.38809049e+02] [-9.80696933e-03 9.99951865e-01 3.02290069e-04 2.32513154e+01] [ 1.61986101e-02 -1.43398033e-04 9.99868784e-01 -9.75002382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:138.83, Y:23.28, Z:-97.46 [[ 9.96459146e-01 8.31858914e-02 -1.22179690e-02 1.38829463e+02] [-8.32924613e-02 9.96488994e-01 -8.48828458e-03 2.32804824e+01] [ 1.14689661e-02 9.47589351e-03 9.99889329e-01 -9.74594943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97592 meters Centerline goodness : 0.955388 Centerline is valid? [True, True] Translation: X:138.93, Y:23.20, Z:-97.50 [[ 9.89167182e-01 1.45649764e-01 -1.82874913e-02 1.38934563e+02] [-1.43662349e-01 9.86120387e-01 8.32328792e-02 2.32002863e+01] [ 3.01565172e-02 -7.97040086e-02 9.96362311e-01 -9.74991355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:138.87, Y:23.28, Z:-97.45 [[ 9.95172184e-01 9.19191061e-02 -3.43977115e-02 1.38869956e+02] [-9.25416828e-02 9.95564289e-01 -1.69641850e-02 2.32775659e+01] [ 3.26858005e-02 2.00655071e-02 9.99264236e-01 -9.74549945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03592 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:138.91, Y:23.36, Z:-97.44 [[ 9.94791981e-01 9.81846246e-02 2.73622879e-02 1.38910401e+02] [-9.47426419e-02 9.89735447e-01 -1.06993352e-01 2.33567443e+01] [-3.75865283e-02 1.03843753e-01 9.93883156e-01 -9.74356894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters Centerline goodness : 0.986824 Centerline is valid? [True, True] Translation: X:138.96, Y:23.11, Z:-97.50 [[ 9.93701204e-01 1.10941557e-01 1.58078633e-02 1.38963877e+02] [-1.12059414e-01 9.84720544e-01 1.33297183e-01 2.31125664e+01] [-7.78130658e-04 -1.34228991e-01 9.90950035e-01 -9.75036790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09592 meters Centerline goodness : 0.807522 Centerline is valid? [True, False] Translation: X:138.96, Y:23.15, Z:-97.50 [[ 9.95005684e-01 9.72152974e-02 2.26467429e-02 1.38957682e+02] [-9.89165787e-02 9.90731423e-01 9.30954236e-02 2.31508940e+01] [-1.33865405e-02 -9.48706140e-02 9.95399602e-01 -9.75035854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters Centerline goodness : 0.986590 Centerline is valid? [False, True] Translation: X:138.96, Y:23.18, Z:-97.50 [[ 9.95587823e-01 8.94295194e-02 2.84121143e-02 1.38956316e+02] [-9.10451133e-02 9.93924358e-01 6.18478598e-02 2.31805336e+01] [-2.27084681e-02 -6.41617603e-02 9.97681108e-01 -9.75025846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15592 meters Centerline goodness : 0.863593 Centerline is valid? [True, False] Translation: X:138.98, Y:23.19, Z:-97.50 [[ 9.97272207e-01 6.81967319e-02 2.82374119e-02 1.38976661e+02] [-6.95207149e-02 9.96380651e-01 4.89128623e-02 2.31901915e+01] [-2.47995135e-02 -5.07425231e-02 9.98403816e-01 -9.75011021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters Centerline goodness : 0.803831 Centerline is valid? [False, False] Translation: X:139.00, Y:23.20, Z:-97.50 [[ 9.98422534e-01 4.94497122e-02 2.65926643e-02 1.38999622e+02] [-5.04832738e-02 9.97935085e-01 3.97115324e-02 2.31974768e+01] [-2.45740289e-02 -4.09913735e-02 9.98857259e-01 -9.74980649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21592 meters Centerline goodness : 0.992933 Centerline is valid? [False, True] Translation: X:139.02, Y:23.20, Z:-97.50 [[ 9.99230569e-01 3.15444227e-02 2.33070603e-02 1.39024023e+02] [-3.22854663e-02 9.98961994e-01 3.21338471e-02 2.32017063e+01] [-2.22692238e-02 -3.28616017e-02 9.99211788e-01 -9.74950912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:139.06, Y:23.36, Z:-97.46 [[ 9.96415153e-01 4.25548926e-02 7.31158321e-02 1.39063272e+02] [-3.27875855e-02 9.90979081e-01 -1.29943968e-01 2.33593896e+01] [-7.79860117e-02 1.27080847e-01 9.88821845e-01 -9.74614703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27592 meters Centerline goodness : 0.904603 Centerline is valid? [True, False] Translation: X:139.06, Y:23.33, Z:-97.47 [[ 9.96853535e-01 3.83873344e-02 6.93501449e-02 1.39059324e+02] [-3.20167930e-02 9.95359416e-01 -9.07444608e-02 2.33259968e+01] [-7.25117577e-02 8.82385672e-02 9.93456592e-01 -9.74692334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters Centerline goodness : 0.995032 Centerline is valid? [False, True] Translation: X:139.06, Y:23.31, Z:-97.47 [[ 9.97276459e-01 4.15519784e-02 6.09351863e-02 1.39063211e+02] [-3.75027608e-02 9.97104472e-01 -6.61529605e-02 2.33070566e+01] [-6.35075332e-02 6.36875525e-02 9.95947132e-01 -9.74741388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33592000000002 meters Centerline goodness : 0.972526 Centerline is valid? [True, True] Translation: X:139.08, Y:23.27, Z:-97.47 [[ 9.91140721e-01 1.24702880e-01 4.57084547e-02 1.39080961e+02] [-1.24364548e-01 9.92184335e-01 -1.01835902e-02 2.32735084e+01] [-4.66211357e-02 4.40885968e-03 9.98902914e-01 -9.74747331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters Centerline goodness : 0.968975 Centerline is valid? [True, True] Translation: X:139.15, Y:22.80, Z:-97.47 [[ 9.92793973e-01 5.90840785e-02 1.04255453e-01 1.39148828e+02] [-9.86736098e-02 8.96727933e-01 4.31442386e-01 2.27951389e+01] [-6.79974012e-02 -4.38620663e-01 8.96096126e-01 -9.74681518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39592000000002 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:139.51, Y:23.61, Z:-95.68 [[ 9.91007505e-01 6.49650918e-02 -1.16977188e-01 1.39510382e+02] [-3.93770076e-02 -6.93920792e-01 -7.18973842e-01 2.36093707e+01] [-1.27881104e-01 7.17114685e-01 -6.85122582e-01 -9.56760467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:139.26, Y:23.14, Z:-97.46 [[ 9.90871158e-01 5.15816575e-02 1.24553926e-01 1.39258442e+02] [-6.26557875e-02 9.94262733e-01 8.66941193e-02 2.31409170e+01] [-1.19367501e-01 -9.37067268e-02 9.88418155e-01 -9.74598857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45592000000002 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:139.31, Y:23.32, Z:-97.43 [[ 9.84120046e-01 7.70302532e-02 1.59918965e-01 1.39307247e+02] [-6.15049816e-02 9.93098233e-01 -9.98650976e-02 2.33199257e+01] [-1.66507875e-01 8.84434314e-02 9.82065622e-01 -9.74311563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:139.33, Y:23.24, Z:-97.46 [[ 9.84192890e-01 6.09836296e-02 1.66268913e-01 1.39332394e+02] [-6.01171446e-02 9.98138763e-01 -1.02439974e-02 2.32368750e+01] [-1.66584164e-01 8.64571363e-05 9.86027235e-01 -9.74561897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51592 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:139.35, Y:23.16, Z:-97.47 [[ 9.91846276e-01 4.65403677e-02 1.18637929e-01 1.39352892e+02] [-5.51475397e-02 9.95998241e-01 7.03295957e-02 2.31625875e+01] [-1.14890004e-01 -7.62987375e-02 9.90443734e-01 -9.74689477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:139.40, Y:23.31, Z:-97.45 [[ 9.84048062e-01 6.76920664e-02 1.64521113e-01 1.39400666e+02] [-5.43066606e-02 9.94938830e-01 -8.45429562e-02 2.33110024e+01] [-1.69411331e-01 7.42597399e-02 9.82743757e-01 -9.74467198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57592 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:139.42, Y:23.18, Z:-97.48 [[ 9.91256326e-01 4.53338114e-02 1.23918289e-01 1.39415046e+02] [-5.16394036e-02 9.97504144e-01 4.81544799e-02 2.31831686e+01] [-1.21425980e-01 -5.41324994e-02 9.91123304e-01 -9.74789805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:139.46, Y:23.29, Z:-97.46 [[ 9.84075594e-01 6.27752831e-02 1.66296387e-01 1.39461524e+02] [-5.29393455e-02 9.96612400e-01 -6.29376732e-02 2.32896943e+01] [-1.69683972e-01 5.31318063e-02 9.84065222e-01 -9.74601928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63592 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:139.49, Y:23.24, Z:-97.48 [[ 9.83913971e-01 5.54941078e-02 1.69804895e-01 1.39489689e+02] [-5.44541073e-02 9.98458089e-01 -1.07793352e-02 2.32369756e+01] [-1.70141261e-01 1.35936454e-03 9.85418745e-01 -9.74769763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:139.50, Y:23.12, Z:-97.50 [[ 9.90794200e-01 3.19530607e-02 1.31551723e-01 1.39503882e+02] [-4.65370266e-02 9.92916070e-01 1.09325125e-01 2.31235575e+01] [-1.27126548e-01 -1.14440726e-01 9.85262483e-01 -9.74957761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69592 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:139.55, Y:23.29, Z:-97.47 [[ 9.90902112e-01 6.02386589e-02 1.20350769e-01 1.39553158e+02] [-5.31989780e-02 9.96726622e-01 -6.08761818e-02 2.32913263e+01] [-1.23623915e-01 5.39197993e-02 9.90863150e-01 -9.74713070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:139.57, Y:23.20, Z:-97.49 [[ 9.92707268e-01 4.46786049e-02 1.11964736e-01 1.39572838e+02] [-4.80905378e-02 9.98451604e-01 2.79588185e-02 2.32044117e+01] [-1.10542209e-01 -3.31393667e-02 9.93318782e-01 -9.74914500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75592 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:139.62, Y:23.33, Z:-97.47 [[ 9.82807547e-01 6.37261479e-02 1.73286770e-01 1.39621425e+02] [-4.70298199e-02 9.93994520e-01 -9.88083504e-02 2.33259308e+01] [-1.78542775e-01 8.89599469e-02 9.79902345e-01 -9.74664160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:139.65, Y:23.24, Z:-97.49 [[ 9.82685920e-01 4.99626937e-02 1.78415561e-01 1.39645428e+02] [-4.86547435e-02 9.98747108e-01 -1.17016948e-02 2.32419237e+01] [-1.78776674e-01 2.81832738e-03 9.83885643e-01 -9.74941849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81592 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:139.66, Y:23.13, Z:-97.52 [[ 9.90800961e-01 2.56821475e-02 1.32867916e-01 1.39659708e+02] [-4.02716555e-02 9.93300993e-01 1.08311267e-01 2.31277778e+01] [-1.29196167e-01 -1.12665719e-01 9.85197841e-01 -9.75153604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:139.70, Y:23.27, Z:-97.49 [[ 9.91379342e-01 4.67174087e-02 1.22411127e-01 1.39703733e+02] [-4.19748595e-02 9.98275401e-01 -4.10406427e-02 2.32747749e+01] [-1.24117329e-01 3.55486555e-02 9.91630567e-01 -9.74937538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87592 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:139.73, Y:23.22, Z:-97.51 [[ 9.91372547e-01 3.95503547e-02 1.24964966e-01 1.39730968e+02] [-4.12155849e-02 9.99092257e-01 1.07673879e-02 2.32249205e+01] [-1.24425676e-01 -1.58249969e-02 9.92102727e-01 -9.75055180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:139.76, Y:23.24, Z:-97.51 [[ 9.89301526e-01 3.86999575e-02 1.40658465e-01 1.39758633e+02] [-3.85327848e-02 9.99249676e-01 -3.91286156e-03 2.32374760e+01] [-1.40704353e-01 -1.54896246e-03 9.90050446e-01 -9.75071339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93592 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:139.80, Y:23.34, Z:-97.49 [[ 9.81638072e-01 5.55978952e-02 1.82470735e-01 1.39804270e+02] [-3.56549561e-02 9.93201775e-01 -1.10810459e-01 2.33378813e+01] [-1.87391086e-01 1.02269779e-01 9.76947017e-01 -9.74861752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:139.79, Y:23.16, Z:-97.52 [[ 9.85454916e-01 -2.89648962e-02 1.67450421e-01 1.39785248e+02] [ 2.31424380e-02 9.99061295e-01 3.66190622e-02 2.31637745e+01] [-1.68353902e-01 -3.22112239e-02 9.85200183e-01 -9.75168282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:139.84, Y:23.12, Z:-97.54 [[ 9.91012851e-01 1.63806760e-02 1.32759943e-01 1.39837490e+02] [-3.09751031e-02 9.93600234e-01 1.08623742e-01 2.31244022e+01] [-1.30130980e-01 -1.11759777e-01 9.85177994e-01 -9.75424480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:139.88, Y:23.20, Z:-97.53 [[ 9.89387205e-01 2.77455962e-02 1.42629385e-01 1.39875585e+02] [-3.29537984e-02 9.98868699e-01 3.42836715e-02 2.31957000e+01] [-1.41516807e-01 -3.86200059e-02 9.89182232e-01 -9.75330102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05592000000001 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:139.91, Y:23.30, Z:-97.51 [[ 9.88146066e-01 4.33523277e-02 1.47268218e-01 1.39914785e+02] [-3.33188912e-02 9.96995463e-01 -6.99278023e-02 2.32955467e+01] [-1.49857278e-01 6.41920690e-02 9.86621596e-01 -9.75114207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:139.94, Y:23.24, Z:-97.53 [[ 9.87918890e-01 3.21617309e-02 1.51597787e-01 1.39937049e+02] [-3.05706884e-02 9.99450456e-01 -1.28148048e-02 2.32417607e+01] [-1.51926623e-01 8.02553909e-03 9.88359192e-01 -9.75323880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11592000000002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:139.97, Y:23.23, Z:-97.54 [[ 9.87761563e-01 3.03133060e-02 1.52997380e-01 1.39965786e+02] [-3.07848356e-02 9.99525780e-01 7.13387608e-04 2.32273611e+01] [-1.52903200e-01 -5.41465604e-03 9.88226337e-01 -9.75379368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:140.00, Y:23.24, Z:-97.54 [[ 9.87441568e-01 3.16701579e-02 1.54777749e-01 1.39996221e+02] [-3.00204175e-02 9.99464938e-01 -1.29850985e-02 2.32378234e+01] [-1.55106173e-01 8.17553336e-03 9.87863976e-01 -9.75394638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:140.02, Y:23.20, Z:-97.55 [[ 9.86012307e-01 2.43382453e-02 1.64885963e-01 1.40021450e+02] [-2.85617635e-02 9.99320621e-01 2.32920977e-02 2.31998845e+01] [-1.64207055e-01 -2.76757289e-02 9.86037574e-01 -9.75508209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:140.06, Y:23.26, Z:-97.54 [[ 9.86386833e-01 3.55081585e-02 1.60562097e-01 1.40059234e+02] [-3.00061618e-02 9.98880739e-01 -3.65636279e-02 2.32569207e+01] [-1.61680694e-01 3.12480288e-02 9.86348272e-01 -9.75391667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.10, Y:23.31, Z:-97.53 [[ 9.77156371e-01 4.48950092e-02 2.07725457e-01 1.40098921e+02] [-2.51953506e-02 9.95011362e-01 -9.65276342e-02 2.33076940e+01] [-2.11022799e-01 8.90888770e-02 9.73412837e-01 -9.75336270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:140.11, Y:23.15, Z:-97.57 [[ 9.85272743e-01 1.28893412e-02 1.70503628e-01 1.40106254e+02] [-2.48264904e-02 9.97371920e-01 6.80653981e-02 2.31471034e+01] [-1.69178213e-01 -7.12959881e-02 9.83003364e-01 -9.75712054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:140.16, Y:23.29, Z:-97.55 [[ 9.76691278e-01 4.26977215e-02 2.10359342e-01 1.40159056e+02] [-2.40315707e-02 9.95605964e-01 -9.05055156e-02 2.32946758e+01] [-2.13299394e-01 8.33406823e-02 9.73425754e-01 -9.75460813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:140.18, Y:23.22, Z:-97.57 [[ 9.75950041e-01 2.81784021e-02 2.16165434e-01 1.40182282e+02] [-2.53820727e-02 9.99554501e-01 -1.57019264e-02 2.32189858e+01] [-2.16511588e-01 9.83756890e-03 9.76230482e-01 -9.75726991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.22, Y:23.22, Z:-97.58 [[ 9.75977936e-01 2.85616964e-02 2.15989116e-01 1.40215326e+02] [-2.57574017e-02 9.99543546e-01 -1.57878489e-02 2.32162066e+01] [-2.16341455e-01 9.84527379e-03 9.76268122e-01 -9.75781915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:140.23, Y:23.14, Z:-97.60 [[ 9.86829198e-01 1.01973640e-02 1.61443948e-01 1.40232538e+02] [-1.99723247e-02 9.98055771e-01 5.90405233e-02 2.31407734e+01] [-1.60528006e-01 -6.14873232e-02 9.85114241e-01 -9.75960765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:140.27, Y:23.20, Z:-97.59 [[ 9.85715543e-01 2.31537760e-02 1.66819577e-01 1.40271216e+02] [-2.26336075e-02 9.99731229e-01 -5.01892070e-03 2.32000429e+01] [-1.66890948e-01 1.17149930e-03 9.85974665e-01 -9.75902526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:140.30, Y:23.20, Z:-97.60 [[ 9.85198354e-01 2.62815899e-02 1.69391501e-01 1.40300805e+02] [-2.55837448e-02 9.99652822e-01 -6.30139215e-03 2.31997892e+01] [-1.69498302e-01 1.87445226e-03 9.85528697e-01 -9.75971614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:140.35, Y:23.28, Z:-97.58 [[ 9.75791740e-01 4.50863936e-02 2.14003965e-01 1.40346317e+02] [-2.62036753e-02 9.95572834e-01 -9.02668264e-02 2.32753472e+01] [-2.17126339e-01 8.24739332e-02 9.72653177e-01 -9.75829402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:140.36, Y:23.13, Z:-97.62 [[ 9.84438929e-01 1.38323624e-02 1.75181792e-01 1.40355217e+02] [-2.44882836e-02 9.97968618e-01 5.88129389e-02 2.31285417e+01] [-1.74012409e-01 -6.21876480e-02 9.82777888e-01 -9.76173466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.40, Y:23.25, Z:-97.59 [[ 9.80215602e-01 3.91053529e-02 1.94031297e-01 1.40397106e+02] [-2.63349255e-02 9.97340045e-01 -6.79654768e-02 2.32461969e+01] [-1.96172996e-01 6.15110211e-02 9.78638110e-01 -9.75938037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters Centerline goodness : 0.801004 Centerline is valid? [True, False] Translation: X:140.45, Y:23.23, Z:-97.61 [[ 9.85241374e-01 3.86735133e-02 1.66744699e-01 1.40454340e+02] [-3.05954885e-02 9.98242839e-01 -5.07459404e-02 2.32262706e+01] [-1.68414226e-01 4.48953645e-02 9.84693381e-01 -9.76052260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:140.48, Y:23.22, Z:-97.61 [[ 9.87341711e-01 5.28073154e-02 1.49558458e-01 1.40475184e+02] [-4.68486182e-02 9.97972127e-01 -4.30910699e-02 2.32191329e+01] [-1.51530696e-01 3.55390036e-02 9.87813458e-01 -9.76091547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:140.48, Y:23.08, Z:-97.64 [[ 9.92248562e-01 3.03901696e-02 1.20495764e-01 1.40481665e+02] [-4.24946955e-02 9.94160203e-01 9.91952156e-02 2.30795292e+01] [-1.16777534e-01 -1.03546741e-01 9.87745453e-01 -9.76390446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.55, Y:23.29, Z:-97.60 [[ 9.86773443e-01 7.01920414e-02 1.46120667e-01 1.40546301e+02] [-5.34060666e-02 9.91836872e-01 -1.15790374e-01 2.32851060e+01] [-1.53055428e-01 1.06455136e-01 9.82466966e-01 -9.75959205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:140.55, Y:23.08, Z:-97.65 [[ 9.90249183e-01 4.42473112e-02 1.32093644e-01 1.40548739e+02] [-5.63038171e-02 9.94440917e-01 8.89783329e-02 2.30836207e+01] [-1.27422272e-01 -9.55480978e-02 9.87235598e-01 -9.76460813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.61, Y:23.28, Z:-97.61 [[ 9.82571096e-01 7.89851813e-02 1.68271751e-01 1.40612985e+02] [-5.95198421e-02 9.91259146e-01 -1.17739946e-01 2.32799800e+01] [-1.76100623e-01 1.05672359e-01 9.78683771e-01 -9.76067878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.63, Y:23.18, Z:-97.64 [[ 9.84670368e-01 6.45175988e-02 1.62054760e-01 1.40628940e+02] [-6.23116419e-02 9.97882221e-01 -1.86636754e-02 2.31849658e+01] [-1.62915699e-01 8.27966997e-03 9.86605251e-01 -9.76365951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:140.65, Y:23.10, Z:-97.66 [[ 9.89360573e-01 5.50656070e-02 1.34660445e-01 1.40649139e+02] [-6.49302236e-02 9.95432067e-01 6.99933247e-02 2.30980618e+01] [-1.30191100e-01 -7.79921686e-02 9.88416663e-01 -9.76561003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.70, Y:23.26, Z:-97.63 [[ 9.84464054e-01 7.95567541e-02 1.56528752e-01 1.40703582e+02] [-6.40801915e-02 9.92763878e-01 -1.01555954e-01 2.32586630e+01] [-1.63475552e-01 8.99477934e-02 9.82438364e-01 -9.76256259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:140.71, Y:23.09, Z:-97.67 [[ 9.89395889e-01 5.84335143e-02 1.32971044e-01 1.40712379e+02] [-6.78447544e-02 9.95418037e-01 6.73796845e-02 2.30943026e+01] [-1.28424544e-01 -7.56865707e-02 9.88826921e-01 -9.76658000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:140.75, Y:23.17, Z:-97.65 [[ 9.88857681e-01 7.11351839e-02 1.30768010e-01 1.40754999e+02] [-7.03945044e-02 9.97466218e-01 -1.02838345e-02 2.31692756e+01] [-1.31168215e-01 9.63899418e-04 9.91359657e-01 -9.76531452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89592000000002 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:140.78, Y:23.13, Z:-97.66 [[ 9.87441598e-01 6.68345462e-02 1.43151086e-01 1.40776275e+02] [-7.19098514e-02 9.96942453e-01 3.05731674e-02 2.31298812e+01] [-1.40670052e-01 -4.04831906e-02 9.89228511e-01 -9.76647170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.84, Y:23.30, Z:-97.62 [[ 9.82620478e-01 9.35776029e-02 1.60312910e-01 1.40835987e+02] [-6.90419771e-02 9.85917801e-01 -1.52313148e-01 2.33013956e+01] [-1.72308451e-01 1.38597698e-01 9.75243803e-01 -9.76234445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.83, Y:23.10, Z:-97.68 [[ 9.87597444e-01 6.45532669e-02 1.43122896e-01 1.40834972e+02] [-7.38056118e-02 9.95447740e-01 6.03036290e-02 2.30971567e+01] [-1.38578567e-01 -7.01189828e-02 9.87866038e-01 -9.76783844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:140.87, Y:23.15, Z:-97.67 [[ 9.88079286e-01 7.39828207e-02 1.35003213e-01 1.40873067e+02] [-7.49938612e-02 9.97181079e-01 2.41188190e-03 2.31546947e+01] [-1.34444212e-01 -1.25075428e-02 9.90842225e-01 -9.76697434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:140.91, Y:23.20, Z:-97.67 [[ 9.86947080e-01 8.16599643e-02 1.38806019e-01 1.40911956e+02] [-7.62119229e-02 9.96114583e-01 -4.41302657e-02 2.31972522e+01] [-1.41870375e-01 3.29755633e-02 9.89335842e-01 -9.76650147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:140.94, Y:23.16, Z:-97.68 [[ 9.87316756e-01 7.39139128e-02 1.40507498e-01 1.40936495e+02] [-7.35716674e-02 9.97260700e-01 -7.63589384e-03 2.31596190e+01] [-1.40687005e-01 -2.79832499e-03 9.90050168e-01 -9.76772974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:140.97, Y:23.15, Z:-97.68 [[ 9.86936453e-01 7.41413786e-02 1.43036685e-01 1.40966612e+02] [-7.49107861e-02 9.97190240e-01 -6.10736211e-06 2.31498464e+01] [-1.42635239e-01 -1.07089630e-02 9.89717387e-01 -9.76842352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:140.99, Y:23.12, Z:-97.69 [[ 9.87596301e-01 6.94808169e-02 1.40804692e-01 1.40993788e+02] [-7.39241677e-02 9.96909863e-01 2.65695907e-02 2.31230288e+01] [-1.38523510e-01 -3.66488992e-02 9.89680805e-01 -9.76911391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13592 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:141.05, Y:23.20, Z:-97.69 [[ 9.88744525e-01 6.25784714e-02 1.35897753e-01 1.41053746e+02] [-5.36010975e-02 9.96193195e-01 -6.87462113e-02 2.32034965e+01] [-1.39682449e-01 6.06881714e-02 9.88334842e-01 -9.76866628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:141.06, Y:23.14, Z:-97.70 [[ 9.87056522e-01 6.81110728e-02 1.45190576e-01 1.41055553e+02] [-6.90757271e-02 9.97610125e-01 1.60720626e-03 2.31402454e+01] [-1.44734120e-01 -1.16155480e-02 9.89402402e-01 -9.76971054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:141.10, Y:23.20, Z:-97.68 [[ 9.84716908e-01 8.00055308e-02 1.54698824e-01 1.41095980e+02] [-7.06417913e-02 9.95374163e-01 -6.51153753e-02 2.32023177e+01] [-1.59192803e-01 5.31920089e-02 9.85813502e-01 -9.76841948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:141.12, Y:23.15, Z:-97.70 [[ 9.83988636e-01 7.27319341e-02 1.62715798e-01 1.41120679e+02] [-7.21193790e-02 9.97349069e-01 -9.67624179e-03 2.31475233e+01] [-1.62988221e-01 -2.21365032e-03 9.86625532e-01 -9.77028737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25592 meters Centerline goodness : 0.961945 Centerline is valid? [True, True] Translation: X:141.16, Y:23.05, Z:-97.73 [[ 9.84558958e-01 5.23243369e-03 1.74975084e-01 1.41160053e+02] [-1.46593390e-02 9.98506651e-01 5.26267139e-02 2.30497689e+01] [-1.74438419e-01 -5.43791217e-02 9.83165372e-01 -9.77296440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:141.19, Y:23.23, Z:-97.69 [[ 9.84298046e-01 8.70606221e-02 1.53550656e-01 1.41194298e+02] [-7.24662791e-02 9.92523093e-01 -9.82168453e-02 2.32293624e+01] [-1.60953391e-01 8.55474043e-02 9.83247501e-01 -9.76891093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:141.22, Y:23.15, Z:-97.72 [[ 9.83269045e-01 7.58260568e-02 1.65627277e-01 1.41215857e+02] [-7.34343424e-02 9.97088811e-01 -2.05255870e-02 2.31511869e+01] [-1.66701479e-01 8.01944416e-03 9.85974800e-01 -9.77172253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:141.25, Y:23.15, Z:-97.72 [[ 9.81963657e-01 7.75057882e-02 1.72453555e-01 1.41250268e+02] [-7.39220282e-02 9.96895284e-01 -2.71169218e-02 2.31544375e+01] [-1.74019854e-01 1.38797151e-02 9.84644324e-01 -9.77220754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37592 meters Centerline goodness : 0.791161 Centerline is valid? [True, False] Translation: X:141.27, Y:23.15, Z:-97.72 [[ 9.83684077e-01 8.91548697e-02 1.56259546e-01 1.41269213e+02] [-8.62885747e-02 9.95955327e-01 -2.50453209e-02 2.31532015e+01] [-1.57860440e-01 1.11532698e-02 9.87398443e-01 -9.77240479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters Centerline goodness : 0.999802 Centerline is valid? [False, True] Translation: X:141.29, Y:23.15, Z:-97.73 [[ 9.85149909e-01 1.00335589e-01 1.39328487e-01 1.41289372e+02] [-9.80909026e-02 9.94913882e-01 -2.29029028e-02 2.31510462e+01] [-1.40917822e-01 8.89593558e-03 9.89981328e-01 -9.77250739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:141.32, Y:23.13, Z:-97.73 [[ 9.83495543e-01 9.94959973e-02 1.51119366e-01 1.41321264e+02] [-9.92626024e-02 9.95019603e-01 -9.10631600e-03 2.31325199e+01] [-1.51272774e-01 -6.04448037e-03 9.88473577e-01 -9.77290754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:141.35, Y:23.15, Z:-97.73 [[ 9.84974012e-01 1.00999245e-01 1.40090502e-01 1.41354603e+02] [-9.81341070e-02 9.94800614e-01 -2.72292950e-02 2.31459662e+01] [-1.42112256e-01 1.30724916e-02 9.89764223e-01 -9.77318947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:141.38, Y:23.13, Z:-97.74 [[ 9.84727661e-01 9.95150710e-02 1.42857216e-01 1.41384926e+02] [-9.85171212e-02 9.95036029e-01 -1.40598199e-02 2.31284643e+01] [-1.43547241e-01 -2.28788053e-04 9.89643440e-01 -9.77403488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:141.42, Y:23.12, Z:-97.74 [[ 9.83310993e-01 1.01260617e-01 1.51148201e-01 1.41418520e+02] [-1.00386956e-01 9.94857968e-01 -1.34195089e-02 2.31232462e+01] [-1.51729860e-01 -1.97775722e-03 9.88420021e-01 -9.77409565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55592000000001 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:141.45, Y:23.13, Z:-97.74 [[ 9.83326999e-01 1.02353851e-01 1.50305360e-01 1.41452607e+02] [-1.00510501e-01 9.94738355e-01 -1.98303737e-02 2.31253077e+01] [-1.51544222e-01 4.39247479e-03 9.88440719e-01 -9.77435042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:141.46, Y:23.03, Z:-97.76 [[ 9.89275831e-01 8.69218277e-02 1.17379414e-01 1.41463774e+02] [-9.67970526e-02 9.91984472e-01 8.12227714e-02 2.30257358e+01] [-1.09378524e-01 -9.17137060e-02 9.89760039e-01 -9.77649370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:141.53, Y:23.20, Z:-97.73 [[ 9.83859076e-01 1.11339865e-01 1.40088378e-01 1.41526092e+02] [-9.61841516e-02 9.89191042e-01 -1.10678322e-01 2.32022277e+01] [-1.50897078e-01 9.54175894e-02 9.83933715e-01 -9.77269429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters Centerline goodness : 0.910039 Centerline is valid? [True, False] Translation: X:141.53, Y:23.18, Z:-97.73 [[ 9.84902005e-01 1.10848832e-01 1.32968332e-01 1.41530514e+02] [-1.00016714e-01 9.91299599e-01 -8.55672948e-02 2.31793514e+01] [-1.41296489e-01 7.09763445e-02 9.87419698e-01 -9.77337351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [False, True] Translation: X:141.53, Y:23.16, Z:-97.74 [[ 9.85957835e-01 1.09763661e-01 1.25853434e-01 1.41533695e+02] [-1.02638729e-01 9.92798097e-01 -6.17837329e-02 2.31573662e+01] [-1.31728658e-01 4.79987191e-02 9.90123065e-01 -9.77385605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:141.56, Y:23.10, Z:-97.76 [[ 9.85570677e-01 1.03579831e-01 1.33871802e-01 1.41556284e+02] [-1.03367244e-01 9.94606456e-01 -8.55627830e-03 2.30999279e+01] [-1.34036017e-01 -5.40514222e-03 9.90961720e-01 -9.77562983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73592000000002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:141.60, Y:23.17, Z:-97.74 [[ 9.79178857e-01 1.14190835e-01 1.67836880e-01 1.41602081e+02] [-9.95151733e-02 9.90641111e-01 -9.34179803e-02 2.31720335e+01] [-1.76933590e-01 7.47705950e-02 9.81378552e-01 -9.77394659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:141.60, Y:22.98, Z:-97.78 [[ 9.84659598e-01 8.55294196e-02 1.52086144e-01 1.41595838e+02] [-1.01314577e-01 9.89890611e-01 9.92569144e-02 2.29849290e+01] [-1.42059259e-01 -1.13142817e-01 9.83370668e-01 -9.77806495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:141.67, Y:23.21, Z:-97.73 [[ 9.79001286e-01 1.20695105e-01 1.64283822e-01 1.41670247e+02] [-9.81208950e-02 9.85388705e-01 -1.39217063e-01 2.32062883e+01] [-1.78686241e-01 1.20174008e-01 9.76539521e-01 -9.77320096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:141.66, Y:22.97, Z:-97.79 [[ 9.83985261e-01 8.74651674e-02 1.55315325e-01 1.41655291e+02] [-1.04539902e-01 9.88920134e-01 1.05396283e-01 2.29694399e+01] [-1.44375948e-01 -1.19945038e-01 9.82226437e-01 -9.77876253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:141.73, Y:23.20, Z:-97.74 [[ 9.77873333e-01 1.24394883e-01 1.68195294e-01 1.41731974e+02] [-1.00016564e-01 9.84158988e-01 -1.46382285e-01 2.32043228e+01] [-1.83740118e-01 1.26321017e-01 9.74824379e-01 -9.77351023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:141.74, Y:23.09, Z:-97.78 [[ 9.76427325e-01 1.07912853e-01 1.86934467e-01 1.41742846e+02] [-1.04747037e-01 9.94138787e-01 -2.67606275e-02 2.30853869e+01] [-1.88726620e-01 6.54897639e-03 9.82007828e-01 -9.77751855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:23.00, Z:-97.78 [[ 9.84376704e-01 5.35636097e-02 1.67730273e-01 1.41732513e+02] [-6.05355978e-02 9.97490039e-01 3.67295958e-02 2.29992835e+01] [-1.65341906e-01 -4.63094108e-02 9.85148462e-01 -9.77826268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:141.79, Y:22.99, Z:-97.80 [[ 9.85745541e-01 9.34566418e-02 1.39898482e-01 1.41785202e+02] [-1.03171185e-01 9.92611278e-01 6.38635874e-02 2.29922220e+01] [-1.32896335e-01 -7.73867387e-02 9.88104173e-01 -9.77969333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:141.85, Y:23.15, Z:-97.77 [[ 9.77721318e-01 1.20124654e-01 1.72136839e-01 1.41847943e+02] [-1.01158725e-01 9.88197246e-01 -1.15035282e-01 2.31539314e+01] [-1.83923724e-01 9.50593043e-02 9.78333170e-01 -9.77654921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:141.84, Y:22.94, Z:-97.81 [[ 9.85673215e-01 8.87779192e-02 1.43411278e-01 1.41838476e+02] [-1.04187343e-01 9.89129273e-01 1.03770320e-01 2.29442703e+01] [-1.32639780e-01 -1.17225265e-01 9.84207766e-01 -9.78086571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:141.89, Y:23.08, Z:-97.79 [[ 9.85101796e-01 1.09101624e-01 1.32933391e-01 1.41891523e+02] [-1.04974335e-01 9.93760401e-01 -3.76915689e-02 2.30778903e+01] [-1.36216151e-01 2.31754381e-02 9.90408027e-01 -9.77869074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:141.94, Y:23.15, Z:-97.77 [[ 9.76182557e-01 1.23710866e-01 1.78222436e-01 1.41938484e+02] [-1.02165701e-01 9.86831576e-01 -1.25401796e-01 2.31487265e+01] [-1.91389092e-01 1.04206826e-01 9.75966779e-01 -9.77717876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:141.92, Y:22.89, Z:-97.83 [[ 9.84306807e-01 8.10911869e-02 1.56730118e-01 1.41917443e+02] [-1.04267402e-01 9.83802120e-01 1.45813916e-01 2.28858797e+01] [-1.42367198e-01 -1.59867472e-01 9.76818290e-01 -9.78262248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:142.01, Y:23.20, Z:-97.76 [[ 9.77264232e-01 1.31150852e-01 1.66595542e-01 1.42014717e+02] [-9.88981461e-02 9.76988111e-01 -1.88979860e-01 2.31973630e+01] [-1.87546734e-01 1.68207268e-01 9.67746112e-01 -9.77600233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:142.00, Y:22.97, Z:-97.82 [[ 9.83876385e-01 9.43048764e-02 1.51966609e-01 1.41998542e+02] [-1.02586921e-01 9.93584706e-01 4.75957565e-02 2.29714346e+01] [-1.46503186e-01 -6.24181272e-02 9.87238975e-01 -9.78244469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:142.03, Y:22.95, Z:-97.83 [[ 9.84105715e-01 9.28440098e-02 1.51380091e-01 1.42025303e+02] [-1.03850711e-01 9.92368208e-01 6.64858540e-02 2.29483441e+01] [-1.44051976e-01 -8.11500390e-02 9.86237141e-01 -9.78323251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:142.10, Y:23.17, Z:-97.78 [[ 9.76558655e-01 1.32804130e-01 1.69399693e-01 1.42104108e+02] [-1.03177660e-01 9.79487216e-01 -1.73087156e-01 2.31666544e+01] [-1.88911523e-01 1.51551496e-01 9.70229138e-01 -9.77807133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:142.08, Y:22.91, Z:-97.84 [[ 9.83923979e-01 9.16126475e-02 1.53299463e-01 1.42082972e+02] [-1.07240679e-01 9.89492141e-01 9.69780397e-02 2.29085320e+01] [-1.42804199e-01 -1.11858957e-01 9.83409647e-01 -9.78424769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:142.13, Y:22.99, Z:-97.83 [[ 9.82466130e-01 1.09668178e-01 1.50775312e-01 1.42128485e+02] [-1.11410634e-01 9.93769520e-01 3.13235770e-03 2.29927701e+01] [-1.49492389e-01 -1.98754084e-02 9.88563095e-01 -9.78339612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:142.19, Y:23.14, Z:-97.80 [[ 9.74227594e-01 1.36982289e-01 1.79210622e-01 1.42189691e+02] [-1.08525146e-01 9.81136423e-01 -1.59980034e-01 2.31365981e+01] [-1.97744500e-01 1.36408105e-01 9.70716200e-01 -9.77976370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:142.18, Y:22.92, Z:-97.85 [[ 9.82386628e-01 1.02257420e-01 1.56396717e-01 1.42177576e+02] [-1.14222824e-01 9.91020133e-01 6.95143273e-02 2.29176098e+01] [-1.47883939e-01 -8.61540202e-02 9.85245058e-01 -9.78504450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:142.22, Y:22.99, Z:-97.84 [[ 9.80256185e-01 1.18506099e-01 1.58284921e-01 1.42222067e+02] [-1.17864253e-01 9.92938356e-01 -1.34699382e-02 2.29937804e+01] [-1.58763439e-01 -5.45214374e-03 9.87301598e-01 -9.78443160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39592000000002 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:142.26, Y:23.03, Z:-97.84 [[ 9.81309539e-01 1.23137242e-01 1.47881064e-01 1.42255778e+02] [-1.16602483e-01 9.91810801e-01 -5.21075366e-02 2.30272230e+01] [-1.53086415e-01 3.38903235e-02 9.87631508e-01 -9.78375572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:142.29, Y:23.06, Z:-97.84 [[ 9.72728678e-01 1.29415678e-01 1.92485067e-01 1.42294928e+02] [-1.11977261e-01 9.88775515e-01 -9.89144813e-02 2.30592204e+01] [-2.03125606e-01 7.46630020e-02 9.76301912e-01 -9.78358881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:142.30, Y:22.91, Z:-97.87 [[ 9.80337333e-01 1.04238952e-01 1.67549856e-01 1.42295863e+02] [-1.15644853e-01 9.91488999e-01 5.97982749e-02 2.29062718e+01] [-1.59890530e-01 -7.79987598e-02 9.84048379e-01 -9.78692324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:142.33, Y:22.96, Z:-97.86 [[ 9.80797056e-01 1.13058244e-01 1.58918121e-01 1.42333812e+02] [-1.15025171e-01 9.93357412e-01 3.20356229e-03 2.29571277e+01] [-1.57500304e-01 -2.14216285e-02 9.87286568e-01 -9.78648838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51592 meters Centerline goodness : 0.941361 Centerline is valid? [True, False] Translation: X:142.33, Y:22.96, Z:-97.86 [[ 9.81196435e-01 1.09965378e-01 1.58622734e-01 1.42333425e+02] [-1.11124488e-01 9.93805252e-01 -1.57114712e-03 2.29597062e+01] [-1.57812878e-01 -1.60852661e-02 9.87338017e-01 -9.78647092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters Centerline goodness : 0.999055 Centerline is valid? [False, True] Translation: X:142.35, Y:22.96, Z:-97.87 [[ 9.82908892e-01 1.16669302e-01 1.42402191e-01 1.42350150e+02] [-1.16775567e-01 9.93128945e-01 -7.63975818e-03 2.29605951e+01] [-1.42315063e-01 -9.11991032e-03 9.89779395e-01 -9.78652321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:142.41, Y:23.07, Z:-97.84 [[ 9.75792968e-01 1.36168648e-01 1.71132063e-01 1.42406395e+02] [-1.13506722e-01 9.84198054e-01 -1.35905900e-01 2.30705881e+01] [-1.86933966e-01 1.13191382e-01 9.75829597e-01 -9.78404809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:142.40, Y:22.88, Z:-97.88 [[ 9.80482960e-01 1.10004657e-01 1.62948276e-01 1.42402001e+02] [-1.21053647e-01 9.90862552e-01 5.94761923e-02 2.28802727e+01] [-1.54916687e-01 -7.80408762e-02 9.84840313e-01 -9.78844364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:142.44, Y:22.95, Z:-97.88 [[ 9.80785370e-01 1.21444322e-01 1.52680498e-01 1.42443778e+02] [-1.20606636e-01 9.92590477e-01 -1.47710668e-02 2.29462171e+01] [-1.53343071e-01 -3.92703507e-03 9.88165209e-01 -9.78755886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:142.47, Y:22.95, Z:-97.88 [[ 9.79496642e-01 1.24994751e-01 1.57995697e-01 1.42474150e+02] [-1.21654375e-01 9.92098311e-01 -3.06782378e-02 2.29537854e+01] [-1.60581883e-01 1.08283631e-02 9.86963123e-01 -9.78751107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:142.50, Y:22.92, Z:-97.88 [[ 9.78858798e-01 1.19773684e-01 1.65800238e-01 1.42496062e+02] [-1.20937991e-01 9.92655246e-01 -3.09263525e-03 2.29189446e+01] [-1.64952893e-01 -1.70242945e-02 9.86154509e-01 -9.78829220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:142.53, Y:22.94, Z:-97.88 [[ 9.78890201e-01 1.24682460e-01 1.61951407e-01 1.42529488e+02] [-1.21311551e-01 9.92143376e-01 -3.05782340e-02 2.29398329e+01] [-1.64491585e-01 1.02861573e-02 9.86324852e-01 -9.78818621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:142.56, Y:22.97, Z:-97.88 [[ 9.78434197e-01 1.34953518e-01 1.56377971e-01 1.42563599e+02] [-1.25076545e-01 9.89573728e-01 -7.14121486e-02 2.29696219e+01] [-1.64384853e-01 5.03128720e-02 9.85112296e-01 -9.78770747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:142.60, Y:22.97, Z:-97.88 [[ 9.70887571e-01 1.37765896e-01 1.95953777e-01 1.42597640e+02] [-1.22557317e-01 9.88571335e-01 -8.77862160e-02 2.29719396e+01] [-2.05808234e-01 6.12149769e-02 9.76675841e-01 -9.78822215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:142.62, Y:22.91, Z:-97.90 [[ 9.70044477e-01 1.29501675e-01 2.05531091e-01 1.42619404e+02] [-1.25608488e-01 9.91565768e-01 -3.19348649e-02 2.29116632e+01] [-2.07933213e-01 5.16178971e-03 9.78129406e-01 -9.78986549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:142.65, Y:22.91, Z:-97.90 [[ 9.69256858e-01 1.34312738e-01 2.06158268e-01 1.42651454e+02] [-1.30481197e-01 9.90929895e-01 -3.21341121e-02 2.29066103e+01] [-2.08604411e-01 4.24643106e-03 9.77990883e-01 -9.79027590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:142.67, Y:22.83, Z:-97.92 [[ 9.75696024e-01 1.24330244e-01 1.80441844e-01 1.42667389e+02] [-1.34573534e-01 9.89852261e-01 4.56340371e-02 2.28306507e+01] [-1.72937076e-01 -6.88076453e-02 9.82526476e-01 -9.79169975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:142.73, Y:22.96, Z:-97.90 [[ 9.68594891e-01 1.53438425e-01 1.95654255e-01 1.42725776e+02] [-1.35627053e-01 9.85549900e-01 -1.01472641e-01 2.29618127e+01] [-2.08396834e-01 7.17498714e-02 9.75408999e-01 -9.78997398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:142.72, Y:22.80, Z:-97.93 [[ 9.74911014e-01 1.23283967e-01 1.85336394e-01 1.42722296e+02] [-1.36804456e-01 9.88657377e-01 6.19768604e-02 2.28029644e+01] [-1.75593440e-01 -8.57767684e-02 9.80718762e-01 -9.79302023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:142.79, Y:22.97, Z:-97.90 [[ 9.67325092e-01 1.58019165e-01 1.98272815e-01 1.42789408e+02] [-1.36715073e-01 9.83680090e-01 -1.16972088e-01 2.29664240e+01] [-2.13520852e-01 8.60431533e-02 9.73142036e-01 -9.79049098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99592 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:142.79, Y:22.81, Z:-97.94 [[ 9.75388266e-01 1.29736519e-01 1.78286751e-01 1.42788236e+02] [-1.39312187e-01 9.89347658e-01 4.22294529e-02 2.28139331e+01] [-1.70908877e-01 -6.60276301e-02 9.83071975e-01 -9.79366825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:142.82, Y:22.85, Z:-97.94 [[ 9.75883369e-01 1.36252069e-01 1.70549181e-01 1.42823087e+02] [-1.38329720e-01 9.90386186e-01 3.01999910e-04 2.28516981e+01] [-1.68868405e-01 -2.38867372e-02 9.85349119e-01 -9.79352840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05592000000001 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:142.85, Y:22.85, Z:-97.94 [[ 9.73681229e-01 1.37009897e-01 1.82134983e-01 1.42852395e+02] [-1.39734182e-01 9.90186723e-01 2.14769013e-03 2.28451538e+01] [-1.80053387e-01 -2.75416485e-02 9.83271191e-01 -9.79417177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:142.92, Y:22.98, Z:-97.92 [[ 9.65840907e-01 1.64751699e-01 2.00020550e-01 1.42915842e+02] [-1.35461158e-01 9.79009878e-01 -1.52282416e-01 2.29827297e+01] [-2.20910881e-01 1.19985571e-01 9.67885244e-01 -9.79154577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11592000000002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:142.91, Y:22.82, Z:-97.95 [[ 9.73265430e-01 1.33264835e-01 1.87069204e-01 1.42911787e+02] [-1.39569091e-01 9.89992098e-01 2.08833834e-02 2.28166149e+01] [-1.82414013e-01 -4.64341539e-02 9.82124736e-01 -9.79544259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters Centerline goodness : 0.897920 Centerline is valid? [True, False] Translation: X:142.95, Y:22.83, Z:-97.96 [[ 9.76096111e-01 1.28514444e-01 1.75272414e-01 1.42945227e+02] [-1.31290076e-01 9.91334737e-01 4.28419034e-03 2.28280307e+01] [-1.73203052e-01 -2.71933102e-02 9.84510653e-01 -9.79550554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17592000000002 meters Centerline goodness : 0.998609 Centerline is valid? [False, True] Translation: X:142.94, Y:22.84, Z:-97.95 [[ 9.76905545e-01 1.22775483e-01 1.74876346e-01 1.42943664e+02] [-1.23608906e-01 9.92311889e-01 -6.16061062e-03 2.28361941e+01] [-1.74288249e-01 -1.55979392e-02 9.84571130e-01 -9.79549488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:142.98, Y:22.89, Z:-97.95 [[ 9.77169004e-01 1.31028680e-01 1.67248986e-01 1.42983862e+02] [-1.20641921e-01 9.90163393e-01 -7.08659417e-02 2.28917189e+01] [-1.74889295e-01 4.90707627e-02 9.83364528e-01 -9.79497314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:143.02, Y:22.88, Z:-97.96 [[ 9.69085312e-01 1.31696640e-01 2.08637613e-01 1.43017043e+02] [-1.19138317e-01 9.90284486e-01 -7.17126026e-02 2.28820540e+01] [-2.16054900e-01 4.46388957e-02 9.75360266e-01 -9.79587241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:143.04, Y:22.84, Z:-97.97 [[ 9.68818053e-01 1.21556168e-01 2.15906640e-01 1.43042478e+02] [-1.17636256e-01 9.92573895e-01 -3.09640830e-02 2.28366117e+01] [-2.18067170e-01 4.60011385e-03 9.75922921e-01 -9.79714998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:143.06, Y:22.77, Z:-97.98 [[ 9.77464421e-01 1.06074816e-01 1.82514217e-01 1.43056905e+02] [-1.14409737e-01 9.92790884e-01 3.57305676e-02 2.27709961e+01] [-1.77408338e-01 -5.58067622e-02 9.82553758e-01 -9.79843770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:143.10, Y:22.82, Z:-97.98 [[ 9.76817134e-01 1.17806446e-01 1.78745427e-01 1.43098261e+02] [-1.15961364e-01 9.93036480e-01 -2.07728448e-02 2.28195884e+01] [-1.79947905e-01 -4.36292797e-04 9.83676045e-01 -9.79791957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:143.12, Y:22.77, Z:-97.99 [[ 9.76752791e-01 1.06845137e-01 1.85844293e-01 1.43118908e+02] [-1.13237241e-01 9.93275747e-01 2.40960217e-02 2.27678411e+01] [-1.82020086e-01 -4.45803514e-02 9.82283707e-01 -9.79932103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:143.18, Y:22.91, Z:-97.97 [[ 9.69154866e-01 1.35845140e-01 2.05633033e-01 1.43180143e+02] [-1.08747835e-01 9.84468231e-01 -1.37826742e-01 2.29132324e+01] [-2.21162281e-01 1.11213311e-01 9.68875041e-01 -9.79706712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:143.17, Y:22.71, Z:-98.01 [[ 9.76181571e-01 9.63351194e-02 1.94394148e-01 1.43172785e+02] [-1.10388645e-01 9.91903690e-01 6.27807011e-02 2.27136003e+01] [-1.86772287e-01 -8.27442702e-02 9.78912406e-01 -9.80071932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:143.22, Y:22.79, Z:-98.00 [[ 9.76042058e-01 1.14393788e-01 1.85083663e-01 1.43218718e+02] [-1.11856447e-01 9.93431403e-01 -2.41284642e-02 2.27944951e+01] [-1.86628070e-01 2.84759484e-03 9.82426514e-01 -9.80024624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:143.27, Y:22.87, Z:-97.99 [[ 9.67931671e-01 1.30493475e-01 2.14661904e-01 1.43266528e+02] [-1.06265223e-01 9.86970096e-01 -1.20821077e-01 2.28742689e+01] [-2.27631242e-01 9.41354522e-02 9.69186532e-01 -9.79915272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:143.27, Y:22.71, Z:-98.02 [[ 9.74264350e-01 9.99387535e-02 2.02042626e-01 1.43266681e+02] [-1.11450859e-01 9.92686125e-01 4.64000345e-02 2.27087990e+01] [-1.95927750e-01 -6.77237237e-02 9.78276962e-01 -9.80201504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:143.31, Y:22.77, Z:-98.02 [[ 9.75756514e-01 1.12998101e-01 1.87431736e-01 1.43308457e+02] [-1.09170219e-01 9.93550264e-01 -3.06551111e-02 2.27744260e+01] [-1.89686820e-01 9.44996069e-03 9.81799169e-01 -9.80156013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:143.35, Y:22.83, Z:-98.01 [[ 9.67432568e-01 1.22518577e-01 2.21502652e-01 1.43350077e+02] [-1.01471183e-01 9.89380513e-01 -1.04066320e-01 2.28315364e+01] [-2.31900465e-01 7.82010106e-02 9.69591036e-01 -9.80131283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:143.37, Y:22.75, Z:-98.03 [[ 9.66750020e-01 1.07967614e-01 2.31813272e-01 1.43367993e+02] [-1.02852009e-01 9.94112737e-01 -3.40782835e-02 2.27510361e+01] [-2.34127877e-01 9.10272037e-03 9.72163195e-01 -9.80323724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:143.38, Y:22.68, Z:-98.04 [[ 9.75872508e-01 8.91700268e-02 1.99302668e-01 1.43382252e+02] [-9.76258970e-02 9.94676230e-01 3.29906420e-02 2.26792927e+01] [-1.95299850e-01 -5.16517623e-02 9.79382491e-01 -9.80418222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:143.42, Y:22.72, Z:-98.05 [[ 9.76302224e-01 1.04292835e-01 1.89623235e-01 1.43420973e+02] [-1.04216776e-01 9.94500223e-01 -1.04005071e-02 2.27177751e+01] [-1.89665048e-01 -9.60788398e-03 9.81801843e-01 -9.80451761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:143.47, Y:22.79, Z:-98.04 [[ 9.67090544e-01 1.26451935e-01 2.20784483e-01 1.43471076e+02] [-1.05516891e-01 9.88941506e-01 -1.04215565e-01 2.27933788e+01] [-2.31521199e-01 7.74893953e-02 9.69738794e-01 -9.80392764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:143.47, Y:22.62, Z:-98.06 [[ 9.75796227e-01 9.42522362e-02 1.97327747e-01 1.43469379e+02] [-1.09795136e-01 9.91532353e-01 6.93442169e-02 2.26227809e+01] [-1.89120998e-01 -8.93314521e-02 9.77881966e-01 -9.80610326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:143.54, Y:22.80, Z:-98.05 [[ 9.66860656e-01 1.37486960e-01 2.15122774e-01 1.43537491e+02] [-1.11499599e-01 9.85402070e-01 -1.28649135e-01 2.28015478e+01] [-2.29670006e-01 1.00399684e-01 9.68076233e-01 -9.80465582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:143.53, Y:22.58, Z:-98.07 [[ 9.74493807e-01 9.17156763e-02 2.04817125e-01 1.43525935e+02] [-1.13317427e-01 9.88877259e-01 9.63375709e-02 2.25816988e+01] [-1.93703332e-01 -1.17089716e-01 9.74047749e-01 -9.80738675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:143.59, Y:22.77, Z:-98.07 [[ 9.74837521e-01 1.35537827e-01 1.76978262e-01 1.43591063e+02] [-1.19443004e-01 9.87925193e-01 -9.86771567e-02 2.27664211e+01] [-1.88215771e-01 7.50553796e-02 9.79255592e-01 -9.80662644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83592000000002 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:143.62, Y:22.74, Z:-98.07 [[ 9.66020622e-01 1.30091226e-01 2.23339272e-01 1.43620130e+02] [-1.13793829e-01 9.89912212e-01 -8.44083887e-02 2.27369132e+01] [-2.32067063e-01 5.61256133e-02 9.71079190e-01 -9.80745729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:143.63, Y:22.65, Z:-98.09 [[ 9.74279809e-01 1.12154961e-01 1.95448505e-01 1.43633409e+02] [-1.15573643e-01 9.93279945e-01 6.13866680e-03 2.26487785e+01] [-1.93446598e-01 -2.85694747e-02 9.80694753e-01 -9.80892780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89592000000002 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:143.66, Y:22.65, Z:-98.09 [[ 9.74970282e-01 1.15721906e-01 1.89845698e-01 1.43664885e+02] [-1.16928864e-01 9.93128352e-01 -4.86994545e-03 2.26548623e+01] [-1.89104705e-01 -1.74503898e-02 9.81801861e-01 -9.80942078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:143.71, Y:22.72, Z:-98.10 [[ 9.65441871e-01 1.34083447e-01 2.23480700e-01 1.43711477e+02] [-1.17181388e-01 9.89265064e-01 -8.73106785e-02 2.27223282e+01] [-2.32788565e-01 5.81056062e-02 9.70789999e-01 -9.80959072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95592000000002 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:143.72, Y:22.61, Z:-98.11 [[ 9.74477832e-01 1.11551607e-01 1.94805527e-01 1.43720403e+02] [-1.18894042e-01 9.92556535e-01 2.63767260e-02 2.26116212e+01] [-1.90413132e-01 -4.88647513e-02 9.80487162e-01 -9.81131557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:143.77, Y:22.68, Z:-98.11 [[ 9.72538310e-01 1.32116264e-01 1.91610356e-01 1.43765170e+02] [-1.23924394e-01 9.90811522e-01 -5.41781571e-02 2.26848904e+01] [-1.97007564e-01 2.89451360e-02 9.79974591e-01 -9.81112397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:143.79, Y:22.65, Z:-98.12 [[ 9.72428556e-01 1.28123590e-01 1.94851354e-01 1.43790139e+02] [-1.25706267e-01 9.91758127e-01 -2.47740010e-02 2.26504108e+01] [-1.96419548e-01 -4.03090340e-04 9.80519861e-01 -9.81219698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters Centerline goodness : 0.975299 Centerline is valid? [True, True] Translation: X:143.86, Y:22.65, Z:-98.15 [[ 9.56270339e-01 2.04405056e-01 2.09202324e-01 1.43857744e+02] [-2.10343201e-01 9.77607335e-01 6.29573485e-03 2.26452792e+01] [-2.03230846e-01 -5.00247109e-02 9.77852111e-01 -9.81480711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:143.87, Y:22.72, Z:-98.12 [[ 9.64421900e-01 1.46248229e-01 2.20231364e-01 1.43867613e+02] [-1.22835585e-01 9.85557983e-01 -1.16562782e-01 2.27198966e+01] [-2.34097879e-01 8.53634509e-02 9.68458189e-01 -9.81235755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:143.87, Y:22.62, Z:-98.13 [[ 9.73785581e-01 1.14639911e-01 1.96467127e-01 1.43870760e+02] [-1.12193046e-01 9.93406689e-01 -2.35768909e-02 2.26241073e+01] [-1.97874611e-01 9.16590941e-04 9.80226912e-01 -9.81323162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:143.90, Y:22.59, Z:-98.14 [[ 9.74243107e-01 1.16349676e-01 1.93166046e-01 1.43901938e+02] [-1.21360900e-01 9.92505808e-01 1.42742056e-02 2.25895494e+01] [-1.90057623e-01 -3.73493517e-02 9.81062244e-01 -9.81431214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:143.95, Y:22.66, Z:-98.15 [[ 9.63331392e-01 1.37538899e-01 2.30381597e-01 1.43949919e+02] [-1.26676444e-01 9.90043935e-01 -6.13684355e-02 2.26562198e+01] [-2.36528450e-01 2.99342190e-02 9.71163341e-01 -9.81506537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:143.98, Y:22.63, Z:-98.16 [[ 9.62914017e-01 1.30980694e-01 2.35882710e-01 1.43977262e+02] [-1.26033660e-01 9.91372646e-01 -3.59971253e-02 2.26268861e+01] [-2.38562595e-01 4.93297534e-03 9.71114594e-01 -9.81602943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:144.00, Y:22.57, Z:-98.17 [[ 9.73308378e-01 1.17858895e-01 1.96926589e-01 1.43995953e+02] [-1.25204603e-01 9.91810013e-01 2.52330435e-02 2.25690535e+01] [-1.92339824e-01 -4.92156480e-02 9.80093471e-01 -9.81684905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:144.01, Y:22.54, Z:-98.17 [[ 9.73019408e-01 1.08065938e-01 2.03850399e-01 1.44013638e+02] [-1.21924513e-01 9.90920823e-01 5.66598300e-02 2.25362254e+01] [-1.95876607e-01 -7.99854748e-02 9.77361079e-01 -9.81716167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:144.08, Y:22.70, Z:-98.16 [[ 9.70329378e-01 1.52024699e-01 1.88014330e-01 1.44076985e+02] [-1.32081602e-01 9.84607101e-01 -1.14469676e-01 2.26995493e+01] [-2.02522463e-01 8.62400553e-02 9.75472862e-01 -9.81617538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:144.10, Y:22.66, Z:-98.17 [[ 9.61496826e-01 1.40361323e-01 2.36267970e-01 1.44103781e+02] [-1.22790912e-01 9.88560546e-01 -8.75810388e-02 2.26610843e+01] [-2.45858184e-01 5.51973314e-02 9.67732922e-01 -9.81735344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:144.11, Y:22.56, Z:-98.19 [[ 9.71814299e-01 1.19063463e-01 2.03472013e-01 1.44113521e+02] [-1.26553941e-01 9.91665475e-01 2.41596072e-02 2.25553354e+01] [-1.98899644e-01 -4.92288368e-02 9.78782638e-01 -9.81911912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:144.17, Y:22.66, Z:-98.19 [[ 9.61407236e-01 1.43557003e-01 2.34707291e-01 1.44166514e+02] [-1.25318101e-01 9.87940039e-01 -9.09387263e-02 2.26571483e+01] [-2.44931621e-01 5.80160774e-02 9.67802994e-01 -9.81876159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:144.17, Y:22.52, Z:-98.21 [[ 9.73947707e-01 1.13649971e-01 1.96238500e-01 1.44169363e+02] [-1.26394374e-01 9.90528266e-01 5.36490117e-02 2.25223967e+01] [-1.88282572e-01 -7.70547743e-02 9.79087450e-01 -9.82050023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:144.23, Y:22.67, Z:-98.20 [[ 9.60277693e-01 1.51933970e-01 2.34057304e-01 1.44233687e+02] [-1.27374583e-01 9.84955874e-01 -1.16780314e-01 2.26748746e+01] [-2.48279013e-01 8.23285786e-02 9.65183680e-01 -9.81960459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:144.25, Y:22.60, Z:-98.21 [[ 9.59628532e-01 1.36722776e-01 2.45804726e-01 1.44251668e+02] [-1.31260424e-01 9.90598055e-01 -3.85512052e-02 2.25964129e+01] [-2.48764511e-01 4.73040396e-03 9.68552446e-01 -9.82145617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49592 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:144.27, Y:22.53, Z:-98.23 [[ 9.67494774e-01 1.39476115e-01 2.10950885e-01 1.44265262e+02] [-1.51811302e-01 9.87457323e-01 4.33746940e-02 2.25293078e+01] [-2.02255263e-01 -7.39895183e-02 9.76533850e-01 -9.82322775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:144.30, Y:22.55, Z:-98.23 [[ 9.73662369e-01 1.28202469e-01 1.88535722e-01 1.44303252e+02] [-1.33645773e-01 9.90893558e-01 1.63940272e-02 2.25482200e+01] [-1.84717078e-01 -4.11592498e-02 9.81929487e-01 -9.82285219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55592000000001 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:144.35, Y:22.64, Z:-98.22 [[ 9.69972927e-01 1.51642884e-01 1.90149828e-01 1.44350982e+02] [-1.38085920e-01 9.86961207e-01 -8.27034107e-02 2.26428933e+01] [-2.00211887e-01 5.39630553e-02 9.78265398e-01 -9.82247985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:144.39, Y:22.65, Z:-98.23 [[ 9.58244236e-01 1.55205628e-01 2.40164937e-01 1.44385277e+02] [-1.35082344e-01 9.85956196e-01 -9.81994871e-02 2.26477658e+01] [-2.52033220e-01 6.16570499e-02 9.65752382e-01 -9.82309901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61592000000002 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:144.39, Y:22.52, Z:-98.25 [[ 9.71958160e-01 1.24797620e-01 1.99306018e-01 1.44386903e+02] [-1.36540393e-01 9.89554363e-01 4.62480757e-02 2.25153273e+01] [-1.91452489e-01 -7.21645165e-02 9.78845354e-01 -9.82516562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:144.43, Y:22.60, Z:-98.25 [[ 9.68699942e-01 1.47257472e-01 1.99839083e-01 1.44434930e+02] [-1.41543628e-01 9.89012184e-01 -4.26649767e-02 2.25972659e+01] [-2.03926024e-01 1.30436117e-02 9.78899403e-01 -9.82486621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67592000000002 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:144.48, Y:22.64, Z:-98.25 [[ 9.56502604e-01 1.60568454e-01 2.43558084e-01 1.44477368e+02] [-1.40606144e-01 9.85267004e-01 -9.73593509e-02 2.26419895e+01] [-2.55602584e-01 5.88787096e-02 9.64987366e-01 -9.82500684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:144.49, Y:22.54, Z:-98.27 [[ 9.67812989e-01 1.36394863e-01 2.11505222e-01 1.44486798e+02] [-1.43336634e-01 9.89514452e-01 1.77696236e-02 2.25355019e+01] [-2.06863788e-01 -4.75141192e-02 9.77215320e-01 -9.82673522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73592 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:144.53, Y:22.59, Z:-98.27 [[ 9.67220900e-01 1.50145467e-01 2.04792748e-01 1.44525908e+02] [-1.46095823e-01 9.88656688e-01 -3.48419909e-02 2.25851141e+01] [-2.07701087e-01 3.78053665e-03 9.78185037e-01 -9.82704889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:144.55, Y:22.55, Z:-98.28 [[ 9.67955092e-01 1.43306822e-01 2.06218561e-01 1.44550443e+02] [-1.46351570e-01 9.89232517e-01 -4.94720496e-04 2.25505255e+01] [-2.04069003e-01 -2.97015431e-02 9.78505830e-01 -9.82798927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79592 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:144.60, Y:22.65, Z:-98.27 [[ 9.54731260e-01 1.68335404e-01 2.45257849e-01 1.44603179e+02] [-1.44056161e-01 9.82991508e-01 -1.13910128e-01 2.26487619e+01] [-2.60261491e-01 7.34226557e-02 9.62742473e-01 -9.82732372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:144.59, Y:22.44, Z:-98.30 [[ 9.67625349e-01 1.16773763e-01 2.23752257e-01 1.44590608e+02] [-1.43240482e-01 9.84004903e-01 1.05908053e-01 2.24385924e+01] [-2.07806036e-01 -1.34529698e-01 9.68874817e-01 -9.83000861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85592 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:144.66, Y:22.61, Z:-98.29 [[ 9.65591279e-01 1.59613629e-01 2.05321631e-01 1.44657273e+02] [-1.47476221e-01 9.86351740e-01 -7.32189173e-02 2.26130644e+01] [-2.14206085e-01 4.04194897e-02 9.75951852e-01 -9.82861721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:144.67, Y:22.54, Z:-98.30 [[ 9.64186227e-01 1.42650984e-01 2.23596995e-01 1.44671711e+02] [-1.45809571e-01 9.89309744e-01 -2.40803380e-03 2.25402393e+01] [-2.21550194e-01 -3.02807888e-02 9.74678709e-01 -9.83032664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91592 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:144.72, Y:22.61, Z:-98.30 [[ 9.65507121e-01 1.57326448e-01 2.07471415e-01 1.44715400e+02] [-1.45048964e-01 9.86711877e-01 -7.32152271e-02 2.26058317e+01] [-2.16233201e-01 4.05963093e-02 9.75497382e-01 -9.82981887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:144.72, Y:22.51, Z:-98.32 [[ 9.64345331e-01 1.33916495e-01 2.28264002e-01 1.44723310e+02] [-1.41297023e-01 9.89834250e-01 1.62267864e-02 2.25145618e+01] [-2.23770493e-01 -4.79012497e-02 9.73464040e-01 -9.83180301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97592 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:144.78, Y:22.63, Z:-98.30 [[ 9.63583204e-01 1.62537373e-01 2.12341731e-01 1.44777458e+02] [-1.43133760e-01 9.84238486e-01 -1.03862070e-01 2.26263913e+01] [-2.25876372e-01 6.96864756e-02 9.71660259e-01 -9.83048350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:144.79, Y:22.54, Z:-98.33 [[ 9.62631123e-01 1.41676229e-01 2.30801140e-01 1.44789465e+02] [-1.40132028e-01 9.89862014e-01 -2.31561503e-02 2.25434889e+01] [-2.31741958e-01 -1.00518009e-02 9.72725360e-01 -9.83261915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:144.83, Y:22.59, Z:-98.32 [[ 9.62426527e-01 1.51806668e-01 2.25144211e-01 1.44827302e+02] [-1.38917065e-01 9.87674203e-01 -7.21229390e-02 2.25867179e+01] [-2.33317872e-01 3.81366568e-02 9.71652389e-01 -9.83238937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:144.85, Y:22.54, Z:-98.34 [[ 9.61723222e-01 1.41079499e-01 2.34914917e-01 1.44847599e+02] [-1.38119662e-01 9.89988188e-01 -2.90920299e-02 2.25412991e+01] [-2.36667282e-01 -4.46788818e-03 9.71580483e-01 -9.83395538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:144.88, Y:22.54, Z:-98.35 [[ 9.63373672e-01 1.43017422e-01 2.26841760e-01 1.44879991e+02] [-1.39010607e-01 9.89719796e-01 -3.36270301e-02 2.25408345e+01] [-2.29319032e-01 8.61984637e-04 9.73350933e-01 -9.83456571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:144.92, Y:22.58, Z:-98.35 [[ 9.59748582e-01 1.51483891e-01 2.36506427e-01 1.44916020e+02] [-1.36447069e-01 9.87508351e-01 -7.88000844e-02 2.25767747e+01] [-2.45489015e-01 4.33576607e-02 9.68429273e-01 -9.83459192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:144.95, Y:22.56, Z:-98.36 [[ 9.48460944e-01 1.49778903e-01 2.79263529e-01 1.44946292e+02] [-1.35281104e-01 9.88288765e-01 -7.05998520e-02 2.25593058e+01] [-2.86567376e-01 2.91821239e-02 9.57615550e-01 -9.83608542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:144.97, Y:22.51, Z:-98.37 [[ 9.58857163e-01 1.35729402e-01 2.49340070e-01 1.44965206e+02] [-1.36373867e-01 9.90547297e-01 -1.47723286e-02 2.25063705e+01] [-2.48988172e-01 -1.98389164e-02 9.68303314e-01 -9.83728898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21592 meters Centerline goodness : 0.985299 Centerline is valid? [True, True] Translation: X:145.00, Y:22.49, Z:-98.40 [[ 9.50800613e-01 1.84906729e-01 2.48571308e-01 1.44997671e+02] [-1.96496331e-01 9.80248072e-01 2.24256285e-02 2.24908644e+01] [-2.39514896e-01 -7.01656515e-02 9.68353962e-01 -9.83991099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:145.05, Y:22.60, Z:-98.37 [[ 9.48875365e-01 1.66932161e-01 2.67897732e-01 1.45053632e+02] [-1.34697399e-01 9.81698734e-01 -1.34626175e-01 2.26046922e+01] [-2.85468302e-01 9.16583336e-02 9.53995072e-01 -9.83746587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:145.04, Y:22.41, Z:-98.41 [[ 9.59983260e-01 1.19182335e-01 2.53431867e-01 1.45043109e+02] [-1.39652479e-01 9.88109865e-01 6.43123577e-02 2.24124801e+01] [-2.42753631e-01 -9.71311753e-02 9.65213038e-01 -9.84051762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:145.12, Y:22.61, Z:-98.38 [[ 9.47251855e-01 1.72194216e-01 2.70301823e-01 1.45117913e+02] [-1.35611682e-01 9.79529972e-01 -1.48763255e-01 2.26054935e+01] [-2.90384909e-01 1.04260184e-01 9.51213130e-01 -9.83827190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33592000000002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:145.11, Y:22.44, Z:-98.42 [[ 9.59574290e-01 1.31415936e-01 2.48891609e-01 1.45112401e+02] [-1.41511636e-01 9.89668602e-01 2.30329259e-02 2.24389283e+01] [-2.43293317e-01 -5.73228624e-02 9.68257430e-01 -9.84167896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:145.15, Y:22.50, Z:-98.42 [[ 9.59167374e-01 1.48582267e-01 2.40668359e-01 1.45154346e+02] [-1.43216470e-01 9.88893326e-01 -3.97370359e-02 2.24953515e+01] [-2.43899553e-01 3.64679558e-03 9.69793642e-01 -9.84169900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39592000000002 meters Centerline goodness : 0.810534 Centerline is valid? [True, False] Translation: X:145.19, Y:22.48, Z:-98.43 [[ 9.62245355e-01 1.49297215e-01 2.27583433e-01 1.45191663e+02] [-1.44855789e-01 9.88790617e-01 -3.61927723e-02 2.24843974e+01] [-2.30435843e-01 1.85954931e-03 9.73085743e-01 -9.84266746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters Centerline goodness : 0.987032 Centerline is valid? [False, True] Translation: X:145.19, Y:22.48, Z:-98.43 [[ 9.62272481e-01 1.49260203e-01 2.27492996e-01 1.45191814e+02] [-1.44858858e-01 9.88796480e-01 -3.60198820e-02 2.24836684e+01] [-2.30320609e-01 1.70656567e-03 9.73113305e-01 -9.84271126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45592000000002 meters Centerline goodness : 0.985058 Centerline is valid? [True, True] Translation: X:145.22, Y:22.46, Z:-98.44 [[ 9.59847273e-01 1.59491184e-01 2.30772127e-01 1.45222145e+02] [-1.61117548e-01 9.86863396e-01 -1.19068637e-02 2.24589053e+01] [-2.29639604e-01 -2.57526686e-02 9.72934968e-01 -9.84402861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters Centerline goodness : 0.737808 Centerline is valid? [True, False] Translation: X:145.26, Y:22.46, Z:-98.44 [[ 9.63168800e-01 1.56626851e-01 2.18572395e-01 1.45255243e+02] [-1.55887119e-01 9.87557196e-01 -2.07362177e-02 2.24597706e+01] [-2.19100590e-01 -1.41001430e-02 9.75600388e-01 -9.84445552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51592 meters Centerline goodness : 0.971194 Centerline is valid? [False, True] Translation: X:145.25, Y:22.46, Z:-98.44 [[ 9.63619987e-01 1.53929489e-01 2.18499961e-01 1.45253772e+02] [-1.52114288e-01 9.88041351e-01 -2.52097635e-02 2.24611461e+01] [-2.19767522e-01 -8.94433391e-03 9.75511269e-01 -9.84439276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:145.30, Y:22.37, Z:-98.45 [[ 9.73461612e-01 9.26702556e-02 2.09247970e-01 1.45299032e+02] [-1.02395166e-01 9.94088277e-01 3.61071563e-02 2.23708528e+01] [-2.04664894e-01 -5.65749112e-02 9.77195764e-01 -9.84491949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:145.34, Y:22.44, Z:-98.45 [[ 9.72106716e-01 1.11247873e-01 2.06476253e-01 1.45339889e+02] [-1.05735081e-01 9.93683960e-01 -3.75803227e-02 2.24400101e+01] [-2.09352871e-01 1.47003008e-02 9.77729654e-01 -9.84474272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:145.37, Y:22.44, Z:-98.45 [[ 9.71065243e-01 1.16408064e-01 2.08522076e-01 1.45369743e+02] [-1.09590148e-01 9.93002653e-01 -4.39969390e-02 2.24432580e+01] [-2.12184573e-01 1.98719331e-02 9.77027540e-01 -9.84534294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:145.40, Y:22.42, Z:-98.46 [[ 9.71002269e-01 1.12282664e-01 2.11062069e-01 1.45396514e+02] [-1.10805022e-01 9.93663322e-01 -1.88533948e-02 2.24160959e+01] [-2.11841546e-01 -5.08004802e-03 9.77290823e-01 -9.84643382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:145.43, Y:22.43, Z:-98.47 [[ 9.70159684e-01 1.19985433e-01 2.10698085e-01 1.45430486e+02] [-1.14279220e-01 9.92678995e-01 -3.90982520e-02 2.24346721e+01] [-2.13846784e-01 1.38531349e-02 9.76768982e-01 -9.84685946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:145.46, Y:22.41, Z:-98.48 [[ 9.69770552e-01 1.15909688e-01 2.14732438e-01 1.45457524e+02] [-1.14825686e-01 9.93230460e-01 -1.75588931e-02 2.24107653e+01] [-2.15314044e-01 -7.62870198e-03 9.76515062e-01 -9.84785379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:145.49, Y:22.42, Z:-98.48 [[ 9.69470812e-01 1.19784146e-01 2.13958181e-01 1.45490658e+02] [-1.16076806e-01 9.92791462e-01 -2.98544444e-02 2.24205641e+01] [-2.15991944e-01 4.10743024e-03 9.76386506e-01 -9.84833719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:145.51, Y:22.35, Z:-98.49 [[ 9.70379506e-01 1.02443782e-01 2.18789591e-01 1.45509187e+02] [-1.14322014e-01 9.92542570e-01 4.23051387e-02 2.23493471e+01] [-2.12824085e-01 -6.60645062e-02 9.74854548e-01 -9.84946766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:145.55, Y:22.42, Z:-98.50 [[ 9.70386221e-01 1.20048547e-01 2.09616144e-01 1.45549951e+02] [-1.16032620e-01 9.92748996e-01 -3.13984351e-02 2.24196274e+01] [-2.11865553e-01 6.14629830e-03 9.77279494e-01 -9.84955511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:145.59, Y:22.45, Z:-98.50 [[ 9.69363098e-01 1.25157803e-01 2.11354463e-01 1.45585563e+02] [-1.13378166e-01 9.91289543e-01 -6.70107008e-02 2.24513731e+01] [-2.17900381e-01 4.09947191e-02 9.75109664e-01 -9.84958554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:145.61, Y:22.42, Z:-98.51 [[ 9.68939009e-01 1.16322069e-01 2.18234676e-01 1.45611501e+02] [-1.10252446e-01 9.93105239e-01 -3.98294186e-02 2.24204646e+01] [-2.21363041e-01 1.45313705e-02 9.75083198e-01 -9.85074003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:145.64, Y:22.40, Z:-98.52 [[ 9.70096853e-01 1.06204172e-01 2.18249330e-01 1.45638807e+02] [-1.04354485e-01 9.94338681e-01 -2.00182032e-02 2.23957766e+01] [-2.19139767e-01 -3.35570039e-03 9.75687707e-01 -9.85179673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:145.66, Y:22.37, Z:-98.53 [[ 9.71400442e-01 9.95370534e-02 2.15577265e-01 1.45664599e+02] [-1.02860127e-01 9.94686870e-01 4.22202598e-03 2.23682118e+01] [-2.14011626e-01 -2.62755827e-02 9.76477658e-01 -9.85282553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:145.69, Y:22.38, Z:-98.53 [[ 9.72900775e-01 1.01165364e-01 2.07917415e-01 1.45694730e+02] [-1.01610846e-01 9.94787355e-01 -8.56471745e-03 2.23773836e+01] [-2.07700068e-01 -1.27940443e-02 9.78108887e-01 -9.85293314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:145.74, Y:22.46, Z:-98.52 [[ 9.59063776e-01 1.19200819e-01 2.56880981e-01 1.45739152e+02] [-9.40961904e-02 9.89694169e-01 -1.07941457e-01 2.24592759e+01] [-2.67100319e-01 7.93512198e-02 9.60396170e-01 -9.85238800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:145.75, Y:22.31, Z:-98.55 [[ 9.69605110e-01 8.16502454e-02 2.30649450e-01 1.45745252e+02] [-9.48577978e-02 9.94392630e-01 4.67471445e-02 2.23069328e+01] [-2.25539197e-01 -6.72051690e-02 9.71913338e-01 -9.85476657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:145.78, Y:22.38, Z:-98.55 [[ 9.68075071e-01 9.49002280e-02 2.32001300e-01 1.45783786e+02] [-8.84074938e-02 9.95349751e-01 -3.82490416e-02 2.23803473e+01] [-2.34552279e-01 1.65172902e-02 9.71963172e-01 -9.85460589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05592000000001 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:145.83, Y:22.43, Z:-98.55 [[ 9.57381912e-01 1.10427339e-01 2.66881391e-01 1.45826056e+02] [-8.89921145e-02 9.91852192e-01 -9.11571876e-02 2.24257310e+01] [-2.74773138e-01 6.35219033e-02 9.59408511e-01 -9.85480598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:145.85, Y:22.28, Z:-98.58 [[ 9.71099312e-01 7.21860914e-02 2.27497899e-01 1.45854082e+02] [-8.62099619e-02 9.94902791e-01 5.23094540e-02 2.22829674e+01] [-2.22562280e-01 -7.04102601e-02 9.72372576e-01 -9.85791389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:145.87, Y:22.35, Z:-98.57 [[ 9.68352699e-01 9.33068103e-02 2.31488421e-01 1.45872335e+02] [-9.00479057e-02 9.95632872e-01 -2.46284240e-02 2.23510008e+01] [-2.32775481e-01 3.00395332e-03 9.72525862e-01 -9.85672536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.91, Y:22.40, Z:-98.56 [[ 9.67776003e-01 1.06100028e-01 2.28368981e-01 1.45910986e+02] [-8.89007818e-02 9.92461982e-01 -8.43555913e-02 2.24029814e+01] [-2.35597662e-01 6.13351360e-02 9.69913265e-01 -9.85648530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:145.92, Y:22.29, Z:-98.58 [[ 9.66723457e-01 7.58124707e-02 2.44332205e-01 1.45922743e+02] [-8.27147841e-02 9.96408902e-01 1.80987250e-02 2.22929157e+01] [-2.42082676e-01 -3.77063476e-02 9.69522671e-01 -9.85823262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.95, Y:22.30, Z:-98.59 [[ 9.66678358e-01 7.90293458e-02 2.43489867e-01 1.45952683e+02] [-8.20423095e-02 9.96626327e-01 2.24156532e-03 2.23009650e+01] [-2.42491263e-01 -2.21433437e-02 9.69900851e-01 -9.85866365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.01, Y:22.45, Z:-98.57 [[ 9.53976999e-01 1.20882332e-01 2.74436417e-01 1.46011444e+02] [-7.73985989e-02 9.83400038e-01 -1.64115272e-01 2.24494314e+01] [-2.89719420e-01 1.35321200e-01 9.47497140e-01 -9.85726052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.02, Y:22.32, Z:-98.60 [[ 9.52580557e-01 8.63116557e-02 2.91788588e-01 1.46021867e+02] [-7.94783359e-02 9.96214376e-01 -3.52152044e-02 2.23153200e+01] [-2.93723469e-01 1.03544476e-02 9.55834352e-01 -9.86028741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.04, Y:22.23, Z:-98.61 [[ 9.64688954e-01 6.51560176e-02 2.55205632e-01 1.46038328e+02] [-8.10785150e-02 9.95331215e-01 5.23645563e-02 2.22291233e+01] [-2.50602266e-01 -7.12072027e-02 9.65467782e-01 -9.86120746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.09, Y:22.38, Z:-98.61 [[ 9.52743924e-01 1.09268812e-01 2.83441955e-01 1.46093319e+02] [-7.96177187e-02 9.90269905e-01 -1.14133839e-01 2.23750772e+01] [-2.93155307e-01 8.61733196e-02 9.52173369e-01 -9.86105219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.10, Y:22.19, Z:-98.63 [[ 9.66618018e-01 6.08922169e-02 2.48880986e-01 1.46095829e+02] [-8.16970999e-02 9.93896605e-01 7.41290906e-02 2.21889453e+01] [-2.42848082e-01 -9.19873694e-02 9.65693084e-01 -9.86268014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:22.38, Z:-98.62 [[ 9.51563133e-01 1.17987360e-01 2.83912990e-01 1.46159316e+02] [-8.22330767e-02 9.87461139e-01 -1.34752444e-01 2.23808218e+01] [-2.96252129e-01 1.04878419e-01 9.49334079e-01 -9.86238581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.16, Y:22.23, Z:-98.64 [[ 9.62292525e-01 7.98718277e-02 2.60026130e-01 1.46164321e+02] [-8.77620606e-02 9.95962963e-01 1.88573074e-02 2.22291538e+01] [-2.57470227e-01 -4.09666749e-02 9.65417430e-01 -9.86432102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.19, Y:22.21, Z:-98.65 [[ 9.63937128e-01 7.70305533e-02 2.54738115e-01 1.46190851e+02] [-8.81438010e-02 9.95577921e-01 3.24849869e-02 2.22098472e+01] [-2.51109306e-01 -5.37670707e-02 9.66464287e-01 -9.86540372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:22.26, Z:-98.66 [[ 9.64267121e-01 9.43197485e-02 2.47573634e-01 1.46229687e+02] [-9.10147261e-02 9.95541015e-01 -2.47872525e-02 2.22582942e+01] [-2.48807634e-01 1.36868608e-03 9.68551954e-01 -9.86576078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:22.28, Z:-98.66 [[ 9.61986097e-01 1.01670510e-01 2.53467663e-01 1.46260736e+02] [-9.26063621e-02 9.94570525e-01 -4.74713796e-02 2.22759463e+01] [-2.56917906e-01 2.21940890e-02 9.66178354e-01 -9.86616278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.29, Y:22.25, Z:-98.67 [[ 9.60832201e-01 9.82025054e-02 2.59148124e-01 1.46287418e+02] [-9.38170373e-02 9.95159163e-01 -2.92677896e-02 2.22537727e+01] [-2.60767801e-01 3.80892545e-03 9.65394037e-01 -9.86712658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:146.31, Y:22.27, Z:-98.68 [[ 9.60838662e-01 1.05427613e-01 2.56269554e-01 1.46314761e+02] [-9.61234868e-02 9.94182160e-01 -4.86015196e-02 2.22658788e+01] [-2.59902561e-01 2.20646960e-02 9.65382726e-01 -9.86786617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.35, Y:22.24, Z:-98.69 [[ 9.63701263e-01 1.03713735e-01 2.46014914e-01 1.46345867e+02] [-1.00338095e-01 9.94606999e-01 -2.62523027e-02 2.22399578e+01] [-2.47410880e-01 6.14709501e-04 9.68910460e-01 -9.86857113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:146.39, Y:22.32, Z:-98.69 [[ 9.43836246e-01 1.28493361e-01 3.04405318e-01 1.46390409e+02] [-9.58985808e-02 9.88158931e-01 -1.19772235e-01 2.23177985e+01] [-3.16190771e-01 8.38533387e-02 9.44982547e-01 -9.86876711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.40, Y:22.15, Z:-98.70 [[ 9.61901618e-01 8.19572326e-02 2.60822334e-01 1.46397965e+02] [-1.00635082e-01 9.93169032e-01 5.90580651e-02 2.21475154e+01] [-2.54200430e-01 -8.30559252e-02 9.63578671e-01 -9.87009659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:22.32, Z:-98.70 [[ 9.43031626e-01 1.34967169e-01 3.04097379e-01 1.46456314e+02] [-9.92475698e-02 9.86524680e-01 -1.30072959e-01 2.23167827e+01] [-3.17555148e-01 9.24819887e-02 9.43719137e-01 -9.87038658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.46, Y:22.16, Z:-98.72 [[ 9.57160656e-01 8.78020242e-02 2.75924415e-01 1.46460500e+02] [-1.01792762e-01 9.94125844e-01 3.67700903e-02 2.21553356e+01] [-2.71075103e-01 -6.32819922e-02 9.60475756e-01 -9.87228270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.50, Y:22.20, Z:-98.73 [[ 9.56952361e-01 1.02430797e-01 2.71569716e-01 1.46498290e+02] [-1.04223863e-01 9.94522863e-01 -7.85248697e-03 2.21956745e+01] [-2.70886628e-01 -2.07895890e-02 9.62386735e-01 -9.87278859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.53, Y:22.24, Z:-98.73 [[ 9.54641420e-01 1.16728105e-01 2.73923909e-01 1.46534511e+02] [-1.04038691e-01 9.92734118e-01 -6.04559445e-02 2.22416652e+01] [-2.78990518e-01 2.92150638e-02 9.59849348e-01 -9.87348041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.56, Y:22.20, Z:-98.74 [[ 9.54625229e-01 1.04641013e-01 2.78820608e-01 1.46557510e+02] [-1.03196002e-01 9.94461990e-01 -1.98981099e-02 2.21973212e+01] [-2.79358655e-01 -9.77793433e-03 9.60137039e-01 -9.87431911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:146.59, Y:22.23, Z:-98.75 [[ 9.53502879e-01 1.14986792e-01 2.78586248e-01 1.46593412e+02] [-1.04432915e-01 9.93146058e-01 -5.24849809e-02 2.22253898e+01] [-2.82711914e-01 2.09510064e-02 9.58976032e-01 -9.87498112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.63, Y:22.27, Z:-98.76 [[ 9.38871517e-01 1.30245793e-01 3.18679005e-01 1.46633827e+02] [-9.97779858e-02 9.88887948e-01 -1.10204267e-01 2.22731454e+01] [-3.29491469e-01 7.16704981e-02 9.41434390e-01 -9.87568637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:146.66, Y:22.20, Z:-98.77 [[ 9.37977809e-01 1.10167659e-01 3.28725900e-01 1.46656136e+02] [-1.01662887e-01 9.93888937e-01 -4.30050859e-02 2.22039100e+01] [-3.31454805e-01 6.91859218e-03 9.43445730e-01 -9.87739878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:146.68, Y:22.13, Z:-98.78 [[ 9.54491833e-01 8.64975881e-02 2.85418129e-01 1.46675919e+02] [-1.00989523e-01 9.94220512e-01 3.64237493e-02 2.21267298e+01] [-2.80617992e-01 -6.35904119e-02 9.57710709e-01 -9.87843361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:22.16, Z:-98.79 [[ 9.57580213e-01 9.92808046e-02 2.70524412e-01 1.46711197e+02] [-1.01176997e-01 9.94844070e-01 -6.96362114e-03 2.21647862e+01] [-2.69820961e-01 -2.07026218e-02 9.62687930e-01 -9.87904142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.74, Y:22.16, Z:-98.80 [[ 9.50958359e-01 9.82430730e-02 2.93302741e-01 1.46738598e+02] [-1.00284516e-01 9.94925762e-01 -8.10822711e-03 2.21583694e+01] [-2.92611030e-01 -2.17031372e-02 9.55985229e-01 -9.87989856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.79, Y:22.27, Z:-98.80 [[ 9.50879816e-01 1.31363928e-01 2.80305360e-01 1.46786953e+02] [-9.88109041e-02 9.86927173e-01 -1.27323057e-01 2.22679742e+01] [-2.93366634e-01 9.33716992e-02 9.51429316e-01 -9.87974512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:146.80, Y:22.18, Z:-98.82 [[ 9.48995421e-01 1.06867274e-01 2.96626158e-01 1.46803944e+02] [-9.61498443e-02 9.94083342e-01 -5.05323419e-02 2.21829616e+01] [-3.00271376e-01 1.94344022e-02 9.53655810e-01 -9.88167445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:146.83, Y:22.12, Z:-98.84 [[ 9.44098471e-01 1.24402541e-01 3.05290166e-01 1.46834589e+02] [-1.38976670e-01 9.89944008e-01 2.63883745e-02 2.21166334e+01] [-2.98937390e-01 -6.73414347e-02 9.51893675e-01 -9.88406445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:22.20, Z:-98.84 [[ 9.47744258e-01 1.24332044e-01 2.93806679e-01 1.46870110e+02] [-1.06132443e-01 9.91353612e-01 -7.71616453e-02 2.21950062e+01] [-3.00859978e-01 4.19470855e-02 9.52745357e-01 -9.88369599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:22.23, Z:-98.84 [[ 9.34317497e-01 1.34594588e-01 3.30053196e-01 1.46910456e+02] [-9.69715385e-02 9.87022490e-01 -1.27996579e-01 2.22310514e+01] [-3.42997574e-01 8.75836768e-02 9.35244227e-01 -9.88425906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.92, Y:22.09, Z:-98.86 [[ 9.48284040e-01 9.31069001e-02 3.03460844e-01 1.46919820e+02] [-1.03166665e-01 9.94514468e-01 1.72514595e-02 2.20876491e+01] [-3.00189970e-01 -4.76663269e-02 9.52687726e-01 -9.88553062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.97, Y:22.18, Z:-98.87 [[ 9.35952665e-01 1.32711115e-01 3.26160035e-01 1.46965277e+02] [-1.07437077e-01 9.89719743e-01 -9.44039412e-02 2.21836343e+01] [-3.35335478e-01 5.33159398e-02 9.40588926e-01 -9.88675909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.99, Y:22.09, Z:-98.88 [[ 9.45230737e-01 1.10378927e-01 3.07173152e-01 1.46985834e+02] [-1.14809502e-01 9.93380753e-01 -3.66839321e-03 2.20926204e+01] [-3.05544811e-01 -3.17989185e-02 9.51646572e-01 -9.88753312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:147.02, Y:22.13, Z:-98.89 [[ 9.44823401e-01 1.23108594e-01 3.03567151e-01 1.47023036e+02] [-1.15987137e-01 9.92385320e-01 -4.14531033e-02 2.21253867e+01] [-3.06358818e-01 3.95597725e-03 9.51907887e-01 -9.88853055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:22.17, Z:-98.90 [[ 9.32540376e-01 1.39243472e-01 3.33136163e-01 1.47060325e+02] [-1.13948638e-01 9.88991344e-01 -9.44024873e-02 2.21679794e+01] [-3.42613712e-01 5.00737188e-02 9.38140963e-01 -9.88993383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:22.11, Z:-98.91 [[ 9.32943624e-01 1.24154578e-01 3.37937622e-01 1.47085788e+02] [-1.17618487e-01 9.92259528e-01 -3.98361845e-02 2.21091405e+01] [-3.40267670e-01 -2.58279740e-03 9.40325073e-01 -9.89128632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:22.13, Z:-98.93 [[ 9.30590156e-01 1.33423020e-01 3.40881592e-01 1.47122988e+02] [-1.19202404e-01 9.90905328e-01 -6.24292960e-02 2.21250611e+01] [-3.46110891e-01 1.74621832e-02 9.38031089e-01 -9.89253883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:147.15, Y:22.09, Z:-98.93 [[ 9.28991319e-01 1.26557947e-01 3.47790475e-01 1.47153845e+02] [-1.22148723e-01 9.91906025e-01 -3.46717016e-02 2.20935774e+01] [-3.49363447e-01 -1.02724525e-02 9.36930979e-01 -9.89347001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.19, Y:22.11, Z:-98.95 [[ 9.30704791e-01 1.35459922e-01 3.39763450e-01 1.47190424e+02] [-1.24105261e-01 9.90741411e-01 -5.50394488e-02 2.21095185e+01] [-3.44073359e-01 9.05904692e-03 9.38899067e-01 -9.89478914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:22.10, Z:-98.96 [[ 9.30058760e-01 1.35246889e-01 3.41612326e-01 1.47223775e+02] [-1.25424623e-01 9.90802197e-01 -5.07904561e-02 2.20989049e+01] [-3.45339495e-01 4.39151139e-03 9.38467553e-01 -9.89598533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:147.24, Y:21.99, Z:-98.96 [[ 9.45778855e-01 1.02270412e-01 3.08290643e-01 1.47240772e+02] [-1.26609470e-01 9.90139290e-01 5.99518890e-02 2.19904271e+01] [-2.99119374e-01 -9.57337440e-02 9.49401206e-01 -9.89634653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:147.30, Y:22.13, Z:-98.97 [[ 9.43319077e-01 1.51028079e-01 2.95532804e-01 1.47295220e+02] [-1.30201963e-01 9.87480964e-01 -8.90437765e-02 2.21319792e+01] [-3.05281129e-01 4.55177417e-02 9.51173784e-01 -9.89724148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.33, Y:22.13, Z:-98.99 [[ 9.26928485e-01 1.50362098e-01 3.43794740e-01 1.47326606e+02] [-1.22525804e-01 9.87267496e-01 -1.01441208e-01 2.21313367e+01] [-3.54670285e-01 5.19050182e-02 9.33549601e-01 -9.89871959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55592000000001 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:147.35, Y:22.03, Z:-99.00 [[ 9.41276192e-01 1.20782772e-01 3.15294550e-01 1.47345700e+02] [-1.26127663e-01 9.92007922e-01 -3.47770439e-03 2.20332977e+01] [-3.13194738e-01 -3.64938843e-02 9.48987488e-01 -9.89974899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:147.39, Y:22.11, Z:-99.01 [[ 9.26611356e-01 1.47632753e-01 3.45826497e-01 1.47389600e+02] [-1.22080545e-01 9.87994959e-01 -9.46694286e-02 2.21104641e+01] [-3.55651144e-01 4.55030803e-02 9.33510436e-01 -9.90110168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61592000000002 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:147.41, Y:22.02, Z:-99.02 [[ 9.41772718e-01 1.19711514e-01 3.14218555e-01 1.47409382e+02] [-1.25811458e-01 9.92053786e-01 -8.73472631e-04 2.20181531e+01] [-3.11826272e-01 -3.87096819e-02 9.49350271e-01 -9.90191327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:147.45, Y:22.04, Z:-99.03 [[ 9.46061481e-01 1.31868446e-01 2.95936459e-01 1.47445060e+02] [-1.28591703e-01 9.91225406e-01 -3.06001390e-02 2.20430138e+01] [-2.97374930e-01 -9.10536039e-03 9.54717363e-01 -9.90277410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67592000000002 meters Centerline goodness : 0.779647 Centerline is valid? [True, False] Translation: X:147.49, Y:22.03, Z:-99.04 [[ 9.53853727e-01 1.21620455e-01 2.74538762e-01 1.47487494e+02] [-1.19371193e-01 9.92536126e-01 -2.49510788e-02 2.20274187e+01] [-2.75524200e-01 -8.97233997e-03 9.61252262e-01 -9.90374616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [False, True] Translation: X:147.52, Y:22.02, Z:-99.04 [[ 9.56757470e-01 1.12234852e-01 2.68362595e-01 1.47516171e+02] [-1.10626611e-01 9.93636814e-01 -2.11573616e-02 2.20168355e+01] [-2.69029547e-01 -9.44558077e-03 9.63085606e-01 -9.90430321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:147.54, Y:21.95, Z:-99.04 [[ 9.69379285e-01 9.77818971e-02 2.25260966e-01 1.47537520e+02] [-1.12286393e-01 9.92289439e-01 5.24731832e-02 2.19456760e+01] [-2.18393150e-01 -7.61601582e-02 9.72884403e-01 -9.90443713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:147.59, Y:22.08, Z:-99.05 [[ 9.61201967e-01 1.34703272e-01 2.40719352e-01 1.47587360e+02] [-1.14142606e-01 9.88671264e-01 -9.74710054e-02 2.20839955e+01] [-2.51121970e-01 6.62129881e-02 9.65688147e-01 -9.90543372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79592 meters Centerline goodness : 0.977732 Centerline is valid? [True, True] Translation: X:147.61, Y:21.99, Z:-99.07 [[ 9.52941503e-01 1.78559356e-01 2.44987853e-01 1.47606369e+02] [-1.91317042e-01 9.81096728e-01 2.91032764e-02 2.19868520e+01] [-2.35160119e-01 -7.46040713e-02 9.69089238e-01 -9.90742256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:147.65, Y:22.08, Z:-99.07 [[ 9.59908904e-01 1.40238483e-01 2.42709835e-01 1.47649196e+02] [-1.16661601e-01 9.87172406e-01 -1.08998677e-01 2.20846130e+01] [-2.54882261e-01 7.63138826e-02 9.63956028e-01 -9.90683821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85592 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:147.66, Y:21.98, Z:-99.08 [[ 9.65481233e-01 1.15826387e-01 2.33302884e-01 1.47664643e+02] [-1.18505579e-01 9.92950112e-01 -2.54995196e-03 2.19796713e+01] [-2.31953477e-01 -2.51857627e-02 9.72400772e-01 -9.90754164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:147.69, Y:21.97, Z:-99.08 [[ 9.66828434e-01 1.15300422e-01 2.27922339e-01 1.47693393e+02] [-1.20518601e-01 9.92669701e-01 9.06262666e-03 2.19667737e+01] [-2.25206676e-01 -3.62308867e-02 9.73637138e-01 -9.90823591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:147.74, Y:22.07, Z:-99.09 [[ 9.58014224e-01 1.46137709e-01 2.46683028e-01 1.47739215e+02] [-1.24252511e-01 9.86978392e-01 -1.02151691e-01 2.20701804e+01] [-2.58399032e-01 6.72117875e-02 9.63697315e-01 -9.90902229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters Centerline goodness : 0.941706 Centerline is valid? [True, False] Translation: X:147.79, Y:22.03, Z:-99.10 [[ 9.66337723e-01 1.27103994e-01 2.23687236e-01 1.47788093e+02] [-1.15782973e-01 9.91269863e-01 -6.30742504e-02 2.20270471e+01] [-2.29751405e-01 3.50518544e-02 9.72617941e-01 -9.91048236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97592 meters Centerline goodness : 0.990299 Centerline is valid? [False, True] Translation: X:147.83, Y:22.01, Z:-99.11 [[ 9.71828157e-01 1.16877660e-01 2.04669602e-01 1.47829512e+02] [-1.10078110e-01 9.92933487e-01 -4.43384633e-02 2.20097372e+01] [-2.08405478e-01 2.05597241e-02 9.77826393e-01 -9.91141417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:147.88, Y:21.97, Z:-99.11 [[ 9.69297009e-01 9.63230118e-02 2.26241432e-01 1.47884113e+02] [-9.67499884e-02 9.95265945e-01 -9.22704103e-03 2.19740450e+01] [-2.26059169e-01 -1.29451126e-02 9.74027554e-01 -9.91144149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:147.92, Y:22.04, Z:-99.12 [[ 9.60610739e-01 1.14789803e-01 2.53081624e-01 1.47921614e+02] [-9.90445313e-02 9.92316870e-01 -7.41445283e-02 2.20372406e+01] [-2.59648201e-01 4.61576793e-02 9.64599544e-01 -9.91241192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:147.94, Y:21.94, Z:-99.13 [[ 9.68835509e-01 9.19941584e-02 2.29988761e-01 1.47942281e+02] [-1.01027613e-01 9.94495421e-01 2.77899235e-02 2.19394109e+01] [-2.26166259e-01 -5.01590804e-02 9.72796428e-01 -9.91311341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:147.98, Y:21.97, Z:-99.14 [[ 9.68587829e-01 1.00873891e-01 2.27292930e-01 1.47975609e+02] [-1.02447074e-01 9.94726405e-01 -4.89647442e-03 2.19719272e+01] [-2.26588206e-01 -1.85428302e-02 9.73814124e-01 -9.91389291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:148.02, Y:22.06, Z:-99.14 [[ 9.58701793e-01 1.23689615e-01 2.56108866e-01 1.48016852e+02] [-1.03220435e-01 9.90400920e-01 -9.19323617e-02 2.20586078e+01] [-2.65021535e-01 6.17000515e-02 9.62266434e-01 -9.91449435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:148.04, Y:21.95, Z:-99.15 [[ 9.67116693e-01 9.72961580e-02 2.34986723e-01 1.48036166e+02] [-1.04159121e-01 9.94416335e-01 1.69419588e-02 2.19536219e+01] [-2.32026248e-01 -4.08608615e-02 9.71850920e-01 -9.91525264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:148.06, Y:21.93, Z:-99.16 [[ 9.68443563e-01 8.98393594e-02 2.32477857e-01 1.48060188e+02] [-1.01800857e-01 9.94002241e-01 3.99515904e-02 2.19321668e+01] [-2.27494286e-01 -6.23573057e-02 9.71780796e-01 -9.91589281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:148.11, Y:22.11, Z:-99.16 [[ 9.54780077e-01 1.37627391e-01 2.63540710e-01 1.48113861e+02] [-1.00922293e-01 9.83804094e-01 -1.48135732e-01 2.21129923e+01] [-2.79659964e-01 1.14839913e-01 9.53206221e-01 -9.91571562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:148.13, Y:21.94, Z:-99.17 [[ 9.65283115e-01 9.14250834e-02 2.44683393e-01 1.48125684e+02] [-1.02327332e-01 9.94229687e-01 3.21939047e-02 2.19380551e+01] [-2.40328163e-01 -5.61140314e-02 9.69068413e-01 -9.91730414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:148.16, Y:22.01, Z:-99.18 [[ 9.60074741e-01 1.07901771e-01 2.58096297e-01 1.48164521e+02] [-9.92998788e-02 9.93985632e-01 -4.61746442e-02 2.20134133e+01] [-2.61526337e-01 1.87021786e-02 9.65015131e-01 -9.91815928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:148.19, Y:21.97, Z:-99.19 [[ 9.66089363e-01 9.18163740e-02 2.41331922e-01 1.48189995e+02] [-9.44942300e-02 9.95525294e-01 -4.79224881e-04 2.19676579e+01] [-2.40296033e-01 -2.23415001e-02 9.70442514e-01 -9.91895767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:148.23, Y:22.02, Z:-99.20 [[ 9.59077913e-01 1.02880588e-01 2.63789955e-01 1.48226624e+02] [-9.16823751e-02 9.94298494e-01 -5.44504140e-02 2.20159704e+01] [-2.67887846e-01 2.80372998e-02 9.63042061e-01 -9.91978022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:148.26, Y:21.98, Z:-99.21 [[ 9.59444248e-01 9.44785536e-02 2.65594686e-01 1.48255356e+02] [-9.10412951e-02 9.95526896e-01 -2.52523661e-02 2.19844933e+01] [-2.66792460e-01 4.81532971e-05 9.63754004e-01 -9.92078298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39592000000002 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:148.29, Y:21.99, Z:-99.22 [[ 9.58794686e-01 9.22271775e-02 2.68713413e-01 1.48286940e+02] [-8.77979389e-02 9.95731061e-01 -2.84811539e-02 2.19867341e+01] [-2.70193028e-01 3.71509521e-03 9.62799006e-01 -9.92163370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:148.32, Y:21.98, Z:-99.23 [[ 9.58030624e-01 9.13708921e-02 2.71714344e-01 1.48319680e+02] [-8.75403379e-02 9.95816048e-01 -2.62123672e-02 2.19833714e+01] [-2.72972551e-01 1.32628502e-03 9.62020908e-01 -9.92261311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:148.35, Y:21.98, Z:-99.23 [[ 9.57293948e-01 9.35683085e-02 2.73556701e-01 1.48352753e+02] [-8.90271108e-02 9.95607043e-01 -2.89963744e-02 2.19832687e+01] [-2.75068119e-01 3.40409104e-03 9.61418713e-01 -9.92343425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:148.38, Y:21.98, Z:-99.24 [[ 9.57547077e-01 9.29403331e-02 2.72884023e-01 1.48384225e+02] [-8.88452587e-02 9.95669775e-01 -2.73536087e-02 2.19791060e+01] [-2.74244627e-01 1.94791642e-03 9.61657990e-01 -9.92446021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:148.42, Y:21.98, Z:-99.25 [[ 9.57456817e-01 9.29616938e-02 2.73193277e-01 1.48416589e+02] [-8.79552092e-02 9.95656022e-01 -3.05445127e-02 2.19809905e+01] [-2.74846001e-01 5.21628007e-03 9.61474111e-01 -9.92545872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:148.45, Y:21.97, Z:-99.26 [[ 9.57983125e-01 9.20087515e-02 2.71666563e-01 1.48449582e+02] [-8.84863107e-02 9.95758192e-01 -2.52150116e-02 2.19740740e+01] [-2.72834208e-01 1.16783684e-04 9.62061059e-01 -9.92632801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:148.48, Y:21.98, Z:-99.27 [[ 9.57117016e-01 9.24222939e-02 2.74563540e-01 1.48483524e+02] [-8.68461735e-02 9.95693952e-01 -3.24237100e-02 2.19791509e+01] [-2.76377929e-01 7.18849177e-03 9.61022146e-01 -9.92712329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:148.51, Y:21.96, Z:-99.28 [[ 9.59072300e-01 8.83912241e-02 2.69011738e-01 1.48513430e+02] [-8.64874713e-02 9.96072796e-01 -1.89447335e-02 2.19628878e+01] [-2.69629822e-01 -5.09677581e-03 9.62950560e-01 -9.92801693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:148.54, Y:21.92, Z:-99.28 [[ 9.68608593e-01 7.49468835e-02 2.37023960e-01 1.48538059e+02] [-8.45190227e-02 9.95955887e-01 3.04697545e-02 2.19150254e+01] [-2.33781795e-01 -4.95462995e-02 9.71025868e-01 -9.92821902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:22.03, Z:-99.29 [[ 9.56296551e-01 1.05703819e-01 2.72623568e-01 1.48584857e+02] [-8.20886323e-02 9.91927402e-01 -9.66513607e-02 2.20338542e+01] [-2.80639206e-01 7.00480670e-02 9.57253835e-01 -9.92896787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:148.60, Y:21.91, Z:-99.30 [[ 9.67400641e-01 7.36294997e-02 2.42311155e-01 1.48600393e+02] [-8.36996597e-02 9.95992525e-01 3.15159786e-02 2.19085190e+01] [-2.39019594e-01 -5.07699391e-02 9.69686572e-01 -9.92980481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:148.64, Y:22.00, Z:-99.31 [[ 9.56821061e-01 9.97271106e-02 2.73034725e-01 1.48643494e+02] [-8.26155320e-02 9.93867621e-01 -7.34971171e-02 2.20040746e+01] [-2.78690027e-01 4.77666805e-02 9.59192480e-01 -9.93081431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:148.66, Y:21.87, Z:-99.31 [[ 9.70504227e-01 6.63862015e-02 2.31763712e-01 1.48658291e+02] [-8.25072034e-02 9.94748632e-01 6.05617092e-02 2.18740820e+01] [-2.26526173e-01 -7.78975705e-02 9.70885092e-01 -9.93117286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:148.70, Y:21.96, Z:-99.32 [[ 9.67986999e-01 9.38487830e-02 2.32795137e-01 1.48700518e+02] [-8.94115643e-02 9.95555881e-01 -2.95645179e-02 2.19611800e+01] [-2.34535162e-01 7.80349152e-03 9.72076316e-01 -9.93182226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:148.74, Y:22.01, Z:-99.32 [[ 9.54355170e-01 1.10198644e-01 2.77601275e-01 1.48737201e+02] [-8.83375523e-02 9.92007107e-01 -9.01020300e-02 2.20142972e+01] [-2.85311560e-01 6.14667210e-02 9.56461790e-01 -9.93238225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:148.76, Y:21.92, Z:-99.33 [[ 9.65925310e-01 8.73754272e-02 2.43626414e-01 1.48757475e+02] [-9.28307436e-02 9.95621373e-01 1.09787852e-02 2.19172881e+01] [-2.41600389e-01 -3.32207076e-02 9.69807010e-01 -9.93344840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:148.80, Y:21.98, Z:-99.34 [[ 9.57726273e-01 1.05813146e-01 2.67514419e-01 1.48796470e+02] [-9.43093702e-02 9.93993061e-01 -5.55296087e-02 2.19774070e+01] [-2.71783238e-01 2.79530488e-02 9.61952441e-01 -9.93434673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:148.82, Y:21.92, Z:-99.35 [[ 9.64558558e-01 9.09653331e-02 2.47693552e-01 1.48819721e+02] [-9.41836308e-02 9.95554179e-01 1.14944341e-03 2.19211527e+01] [-2.46487791e-01 -2.44373835e-02 9.68837749e-01 -9.93498761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:148.86, Y:21.97, Z:-99.36 [[ 9.57566113e-01 1.04130379e-01 2.68745238e-01 1.48856178e+02] [-9.23791461e-02 9.94145435e-01 -5.60441587e-02 2.19717635e+01] [-2.73007751e-01 2.88395316e-02 9.61579456e-01 -9.93600854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:148.88, Y:21.93, Z:-99.37 [[ 9.63302241e-01 9.12667364e-02 2.52426575e-01 1.48882240e+02] [-9.02996372e-02 9.95794971e-01 -1.54386052e-02 2.19317747e+01] [-2.52774145e-01 -7.92198515e-03 9.67492880e-01 -9.93684299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:148.92, Y:21.96, Z:-99.38 [[ 9.55607551e-01 1.01460032e-01 2.76622613e-01 1.48917634e+02] [-9.13074328e-02 9.94598006e-01 -4.93736682e-02 2.19598754e+01] [-2.80137753e-01 2.19241495e-02 9.59709420e-01 -9.93794908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:148.94, Y:21.90, Z:-99.38 [[ 9.64994544e-01 8.59624251e-02 2.47782146e-01 1.48942146e+02] [-9.18722822e-02 9.95694017e-01 1.23656153e-02 2.18989767e+01] [-2.45652222e-01 -3.46970625e-02 9.68736858e-01 -9.93843601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05592000000001 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:148.98, Y:21.96, Z:-99.39 [[ 9.52977964e-01 1.05961396e-01 2.83910518e-01 1.48980885e+02] [-9.22105351e-02 9.93844162e-01 -6.14084562e-02 2.19628106e+01] [-2.88669736e-01 3.23413648e-02 9.56882344e-01 -9.93937027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.01, Y:21.92, Z:-99.40 [[ 9.58951279e-01 9.62977330e-02 2.66719313e-01 1.49008302e+02] [-9.32668896e-02 9.95350903e-01 -2.40388758e-02 2.19240179e+01] [-2.67794198e-01 -1.82396999e-03 9.63474411e-01 -9.94045832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:149.04, Y:21.93, Z:-99.41 [[ 9.57123130e-01 9.88302817e-02 2.72301099e-01 1.49040653e+02] [-9.37383678e-02 9.95092750e-01 -3.16786700e-02 2.19274559e+01] [-2.74095662e-01 4.79532718e-03 9.61690477e-01 -9.94143191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:149.07, Y:21.92, Z:-99.42 [[ 9.56656026e-01 1.00440358e-01 2.73351388e-01 1.49072430e+02] [-9.54966909e-02 9.94935425e-01 -3.13668994e-02 2.19236383e+01] [-2.75117482e-01 3.90318034e-03 9.61402692e-01 -9.94237701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:149.10, Y:21.92, Z:-99.43 [[ 9.56622863e-01 1.00288675e-01 2.73523089e-01 1.49103443e+02] [-9.60052290e-02 9.94957225e-01 -2.90364704e-02 2.19183056e+01] [-2.75055803e-01 1.51730465e-03 9.61427066e-01 -9.94326166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:149.14, Y:21.92, Z:-99.44 [[ 9.55624826e-01 1.03034768e-01 2.75980124e-01 1.49135865e+02] [-9.65557532e-02 9.94639610e-01 -3.70004438e-02 2.19220495e+01] [-2.78313095e-01 8.71107390e-03 9.60450904e-01 -9.94418161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:149.17, Y:21.91, Z:-99.45 [[ 9.56001854e-01 9.96600195e-02 2.75913638e-01 1.49166728e+02] [-9.63029733e-02 9.95019581e-01 -2.57248967e-02 2.19056237e+01] [-2.77103216e-01 -1.97825475e-03 9.60838121e-01 -9.94513561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:149.20, Y:21.91, Z:-99.46 [[ 9.55502500e-01 1.01993287e-01 2.76789346e-01 1.49200147e+02] [-9.69725300e-02 9.94778757e-01 -3.18049097e-02 2.19081905e+01] [-2.78588049e-01 3.54870761e-03 9.60404137e-01 -9.94601355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:149.23, Y:21.91, Z:-99.47 [[ 9.55266801e-01 1.03104801e-01 2.77190799e-01 1.49233315e+02] [-9.80924916e-02 9.94664992e-01 -3.19283171e-02 2.19050463e+01] [-2.79003946e-01 3.30972518e-03 9.60284251e-01 -9.94679365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:21.90, Z:-99.48 [[ 9.54889318e-01 1.02553182e-01 2.78692010e-01 1.49264918e+02] [-9.80923189e-02 9.94726731e-01 -2.99437492e-02 2.18996364e+01] [-2.80293218e-01 1.25542071e-03 9.59913608e-01 -9.94771942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:21.91, Z:-99.49 [[ 9.53781206e-01 1.07460375e-01 2.80630857e-01 1.49299307e+02] [-9.98018304e-02 9.94142166e-01 -4.14843189e-02 2.19072190e+01] [-2.83444888e-01 1.15594905e-02 9.58918857e-01 -9.94866751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:21.87, Z:-99.49 [[ 9.52282329e-01 1.00997128e-01 2.88024210e-01 1.49328557e+02] [-1.02597071e-01 9.94676902e-01 -9.57604490e-03 2.18727570e+01] [-2.87458182e-01 -2.04313421e-02 9.57575247e-01 -9.94936675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:21.84, Z:-99.50 [[ 9.64524633e-01 9.33010328e-02 2.46955763e-01 1.49355586e+02] [-1.02044074e-01 9.94518202e-01 2.28156155e-02 2.18433719e+01] [-2.43473281e-01 -4.72065953e-02 9.68758122e-01 -9.95006635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:21.96, Z:-99.51 [[ 9.53818242e-01 1.24555607e-01 2.73343489e-01 1.49403606e+02] [-1.00848698e-01 9.89945269e-01 -9.91862142e-02 2.19569984e+01] [-2.82949293e-01 6.70392854e-02 9.56789126e-01 -9.95065163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:21.89, Z:-99.52 [[ 9.52935251e-01 1.08239446e-01 2.83193626e-01 1.49428028e+02] [-1.01916933e-01 9.94104212e-01 -3.70101934e-02 2.18916976e+01] [-2.85529939e-01 6.40609207e-03 9.58348379e-01 -9.95213575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:21.86, Z:-99.53 [[ 9.56695021e-01 1.00433357e-01 2.73217455e-01 1.49456936e+02] [-1.02996786e-01 9.94669207e-01 -4.98304786e-03 2.18579778e+01] [-2.72261453e-01 -2.33732626e-02 9.61939391e-01 -9.95296256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:21.75, Z:-99.53 [[ 9.65718777e-01 6.93079801e-02 2.50167238e-01 1.49472299e+02] [-9.88584261e-02 9.89272699e-01 1.07547839e-01 2.17500403e+01] [-2.40029695e-01 -1.28592107e-01 9.62210900e-01 -9.95317849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:149.54, Y:22.01, Z:-99.53 [[ 9.54797611e-01 1.42474510e-01 2.60887976e-01 1.49540605e+02] [-1.02606365e-01 9.81673961e-01 -1.60586950e-01 2.20092108e+01] [-2.78986480e-01 1.26559269e-01 9.51918744e-01 -9.95261183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:21.88, Z:-99.55 [[ 9.53329900e-01 1.10858704e-01 2.80842393e-01 1.49554789e+02] [-1.05074985e-01 9.93826230e-01 -3.56184212e-02 2.18831011e+01] [-2.83057148e-01 4.44659578e-03 9.59092737e-01 -9.95505445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:21.88, Z:-99.56 [[ 9.53866037e-01 1.10721417e-01 2.79070515e-01 1.49586424e+02] [-1.06642687e-01 9.93850591e-01 -2.98050422e-02 2.18751514e+01] [-2.80654452e-01 -1.33081219e-03 9.59807953e-01 -9.95610860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:21.85, Z:-99.56 [[ 9.60801820e-01 1.04524922e-01 2.56776951e-01 1.49613879e+02] [-1.08790898e-01 9.94061702e-01 2.42338907e-03 2.18458120e+01] [-2.54998829e-01 -3.02633917e-02 9.66467653e-01 -9.95647675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.64, Y:21.85, Z:-99.57 [[ 9.63745696e-01 1.07047752e-01 2.44407474e-01 1.49643630e+02] [-1.09059122e-01 9.94020980e-01 -5.32901812e-03 2.18532816e+01] [-2.43516616e-01 -2.15190462e-02 9.69657975e-01 -9.95709640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:21.94, Z:-99.58 [[ 9.50899133e-01 1.30848611e-01 2.80480803e-01 1.49687568e+02] [-1.07502244e-01 9.89448478e-01 -9.71338086e-02 2.19372374e+01] [-2.90231127e-01 6.22121387e-02 9.54932219e-01 -9.95767976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:21.83, Z:-99.59 [[ 9.59998988e-01 9.97377877e-02 2.61637759e-01 1.49702386e+02] [-1.07741333e-01 9.94043874e-01 1.63884380e-02 2.18261913e+01] [-2.58444865e-01 -4.39220849e-02 9.65026996e-01 -9.95878957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:21.86, Z:-99.60 [[ 9.61016492e-01 1.09036357e-01 2.54083402e-01 1.49737312e+02] [-1.07469669e-01 9.94005516e-01 -2.00824431e-02 2.18599503e+01] [-2.54750019e-01 -8.00670016e-03 9.66973795e-01 -9.95958164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:21.89, Z:-99.60 [[ 9.56689780e-01 1.19131294e-01 2.65617017e-01 1.49774398e+02] [-1.07090424e-01 9.92472291e-01 -5.94171029e-02 2.18935426e+01] [-2.70695966e-01 2.83986960e-02 9.62245919e-01 -9.96028436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:149.80, Y:21.85, Z:-99.61 [[ 9.59302546e-01 1.06676641e-01 2.61455006e-01 1.49799360e+02] [-1.05347301e-01 9.94251338e-01 -1.91369769e-02 2.18516972e+01] [-2.61993458e-01 -9.18542864e-03 9.65025935e-01 -9.96134877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:149.83, Y:21.85, Z:-99.62 [[ 9.59923732e-01 1.06487277e-01 2.59242914e-01 1.49831180e+02] [-1.04707719e-01 9.94287488e-01 -2.07046840e-02 2.18499382e+01] [-2.59966772e-01 -7.26981677e-03 9.65590196e-01 -9.96197633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:21.82, Z:-99.63 [[ 9.60903391e-01 1.01950042e-01 2.57431275e-01 1.49859295e+02] [-1.07237127e-01 9.94211938e-01 6.54376733e-03 2.18215420e+01] [-2.55274110e-01 -3.38941187e-02 9.66274453e-01 -9.96280106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:21.91, Z:-99.63 [[ 9.54888173e-01 1.27923562e-01 2.68000259e-01 1.49902948e+02] [-1.07652648e-01 9.90190066e-01 -8.90760346e-02 2.19086923e+01] [-2.76766118e-01 5.62067145e-02 9.59292094e-01 -9.96333017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:21.86, Z:-99.65 [[ 9.52914542e-01 1.16569839e-01 2.79938114e-01 1.49927120e+02] [-1.09223517e-01 9.93139744e-01 -4.17573100e-02 2.18579148e+01] [-2.82885310e-01 9.21532272e-03 9.59109472e-01 -9.96487174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:21.84, Z:-99.66 [[ 9.52710994e-01 1.15390474e-01 2.81117059e-01 1.49957074e+02] [-1.11791757e-01 9.93312437e-01 -2.88618441e-02 2.18407581e+01] [-2.82567452e-01 -3.92957385e-03 9.59239383e-01 -9.96609144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:21.80, Z:-99.67 [[ 9.59484024e-01 1.05439292e-01 2.61290956e-01 1.49982631e+02] [-1.13603594e-01 9.93392488e-01 1.62969027e-02 2.17957267e+01] [-2.57846139e-01 -4.53202096e-02 9.65122504e-01 -9.96670528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:21.89, Z:-99.67 [[ 9.50329705e-01 1.33717046e-01 2.81057297e-01 1.50029727e+02] [-1.12921492e-01 9.89609596e-01 -8.90032865e-02 2.18918157e+01] [-2.90038254e-01 5.28450576e-02 9.55554923e-01 -9.96712047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:21.83, Z:-99.68 [[ 9.51883914e-01 1.17617089e-01 2.82989813e-01 1.50053023e+02] [-1.14633280e-01 9.93037054e-01 -2.71407393e-02 2.18297687e+01] [-2.84211585e-01 -6.60521719e-03 9.58738831e-01 -9.96848392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:150.08, Y:21.79, Z:-99.69 [[ 9.59087767e-01 1.07501511e-01 2.61904716e-01 1.50077316e+02] [-1.17383406e-01 9.92835474e-01 2.23351280e-02 2.17858065e+01] [-2.57627232e-01 -5.21646156e-02 9.64835251e-01 -9.96924961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.13, Y:21.89, Z:-99.70 [[ 9.49147789e-01 1.40364336e-01 2.81809027e-01 1.50125055e+02] [-1.18366265e-01 9.88538210e-01 -9.37103814e-02 2.18944097e+01] [-2.91732586e-01 5.55883195e-02 9.54883258e-01 -9.96976543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.13, Y:21.74, Z:-99.71 [[ 9.60339029e-01 9.73826083e-02 2.61276822e-01 1.50131921e+02] [-1.18700441e-01 9.90663497e-01 6.70525253e-02 2.17395838e+01] [-2.52307660e-01 -9.54068310e-02 9.62932179e-01 -9.97098194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:21.94, Z:-99.71 [[ 9.45447714e-01 1.58032561e-01 2.84875989e-01 1.50196207e+02] [-1.21919133e-01 9.82554276e-01 -1.40437960e-01 2.19378959e+01] [-3.02099892e-01 9.80449146e-02 9.48220887e-01 -9.97057634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:21.76, Z:-99.73 [[ 9.58043480e-01 1.06073855e-01 2.66272468e-01 1.50198755e+02] [-1.23774766e-01 9.91021947e-01 5.05500598e-02 2.17576774e+01] [-2.58519820e-01 -8.13869676e-02 9.62571381e-01 -9.97273817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:21.92, Z:-99.73 [[ 9.44397507e-01 1.53651200e-01 2.90696849e-01 1.50257277e+02] [-1.23939640e-01 9.85235453e-01 -1.18110406e-01 2.19159941e+01] [-3.04552647e-01 7.55143104e-02 9.49497380e-01 -9.97262940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:150.26, Y:21.75, Z:-99.75 [[ 9.58577660e-01 1.04392489e-01 2.65011469e-01 1.50261459e+02] [-1.22426651e-01 9.91092059e-01 5.24237151e-02 2.17524639e+01] [-2.57178120e-01 -8.26966689e-02 9.62819129e-01 -9.97452284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:21.92, Z:-99.74 [[ 9.44592972e-01 1.50476984e-01 2.91720403e-01 1.50322436e+02] [-1.18343924e-01 9.85082031e-01 -1.24932414e-01 2.19179011e+01] [-3.06167980e-01 8.34869427e-02 9.48309600e-01 -9.97436564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.34, Y:21.83, Z:-99.76 [[ 9.44712733e-01 1.24602904e-01 3.03301779e-01 1.50342820e+02] [-1.18248741e-01 9.92205884e-01 -3.93029141e-02 2.18307339e+01] [-3.05835067e-01 1.26490987e-03 9.52083668e-01 -9.97646703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:21.77, Z:-99.77 [[ 9.57478160e-01 1.01221479e-01 2.70166217e-01 1.50363467e+02] [-1.12260999e-01 9.93346721e-01 2.56857833e-02 2.17691227e+01] [-2.65768773e-01 -5.49227060e-02 9.62471016e-01 -9.97709211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:150.40, Y:21.83, Z:-99.78 [[ 9.57445847e-01 1.17625928e-01 2.63555670e-01 1.50403184e+02] [-1.12105834e-01 9.93046051e-01 -3.59419242e-02 2.18256744e+01] [-2.65950620e-01 4.86631775e-03 9.63974370e-01 -9.97762441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:150.43, Y:21.82, Z:-99.79 [[ 9.56638419e-01 1.16072966e-01 2.67151644e-01 1.50433844e+02] [-1.10115408e-01 9.93221362e-01 -3.72279939e-02 2.18214051e+01] [-2.69661884e-01 6.19621693e-03 9.62935136e-01 -9.97851704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:150.46, Y:21.78, Z:-99.80 [[ 9.60500875e-01 1.03751575e-01 2.58212472e-01 1.50459668e+02] [-1.07724723e-01 9.94179978e-01 1.24684982e-03 2.17803854e+01] [-2.56580307e-01 -2.90134674e-02 9.66087348e-01 -9.97973338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.50, Y:21.87, Z:-99.80 [[ 9.44153402e-01 1.28227233e-01 3.03532749e-01 1.50504866e+02] [-1.02597623e-01 9.89784293e-01 -9.89988942e-02 2.18653845e+01] [-3.13126301e-01 6.23284041e-02 9.47664017e-01 -9.97976057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:150.52, Y:21.75, Z:-99.81 [[ 9.56854872e-01 9.53163041e-02 2.74487809e-01 1.50517121e+02] [-1.04019031e-01 9.94424989e-01 1.72911217e-02 2.17507995e+01] [-2.71309410e-01 -4.50970500e-02 9.61435104e-01 -9.98143102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:150.55, Y:21.79, Z:-99.82 [[ 9.57065431e-01 1.07352967e-01 2.69260286e-01 1.50552453e+02] [-1.02054293e-01 9.94209770e-01 -3.36430348e-02 2.17911882e+01] [-2.71312886e-01 4.71941752e-03 9.62479633e-01 -9.98200604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.59, Y:21.84, Z:-99.83 [[ 9.52510457e-01 1.19511003e-01 2.80073115e-01 1.50593009e+02] [-9.77954083e-02 9.91099584e-01 -9.03198320e-02 2.18368258e+01] [-2.88374562e-01 5.86407198e-02 9.55720345e-01 -9.98283418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:150.61, Y:21.74, Z:-99.84 [[ 9.56085892e-01 9.34459638e-02 2.77790604e-01 1.50607614e+02] [-1.00371576e-01 9.94891596e-01 1.07823809e-02 2.17351093e+01] [-2.75363967e-01 -3.81911631e-02 9.60581137e-01 -9.98393905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:150.66, Y:21.82, Z:-99.84 [[ 9.43698860e-01 1.20626839e-01 3.08028614e-01 1.50655622e+02] [-9.79312231e-02 9.91280167e-01 -8.81652174e-02 2.18200324e+01] [-3.15977748e-01 5.30357962e-02 9.47283098e-01 -9.98444946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:150.67, Y:21.70, Z:-99.86 [[ 9.56729200e-01 9.00218796e-02 2.76704354e-01 1.50669205e+02] [-1.02754249e-01 9.94197258e-01 3.18335602e-02 2.17021569e+01] [-2.72232993e-01 -5.88886447e-02 9.60427678e-01 -9.98573339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:150.72, Y:21.85, Z:-99.86 [[ 9.45380784e-01 1.36222045e-01 2.96139709e-01 1.50723307e+02] [-1.02218214e-01 9.86558106e-01 -1.27493295e-01 2.18450015e+01] [-3.09526427e-01 9.02588394e-02 9.46597450e-01 -9.98636255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:150.74, Y:21.74, Z:-99.88 [[ 9.41168417e-01 1.09849568e-01 3.19585799e-01 1.50738651e+02] [-1.08464811e-01 9.93852667e-01 -2.21869416e-02 2.17356949e+01] [-3.20058425e-01 -1.37821648e-02 9.47297554e-01 -9.98795882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:150.78, Y:21.75, Z:-99.89 [[ 9.41408178e-01 1.21799633e-01 3.14508333e-01 1.50775051e+02] [-1.14092401e-01 9.92544605e-01 -4.28734255e-02 2.17511757e+01] [-3.17385516e-01 4.47838268e-03 9.48286021e-01 -9.98877952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:150.81, Y:21.75, Z:-99.90 [[ 9.41467107e-01 1.24098714e-01 3.13431326e-01 1.50807989e+02] [-1.16512993e-01 9.92262340e-01 -4.28972116e-02 2.17466057e+01] [-3.16329590e-01 3.86749160e-03 9.48641467e-01 -9.98983575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:21.75, Z:-99.91 [[ 9.44568991e-01 1.28713574e-01 3.02030194e-01 1.50841094e+02] [-1.17604640e-01 9.91549359e-01 -5.47632848e-02 2.17544921e+01] [-3.06526623e-01 1.62075484e-02 9.51724091e-01 -9.99107167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:150.85, Y:21.58, Z:-99.91 [[ 9.56869269e-01 7.74019837e-02 2.80018097e-01 1.50846773e+02] [-1.14929786e-01 9.86078884e-01 1.20164800e-01 2.15836512e+01] [-2.66818938e-01 -1.47164424e-01 9.52444375e-01 -9.99114760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:150.91, Y:21.76, Z:-99.92 [[ 9.57558138e-01 1.34960476e-01 2.54692133e-01 1.50908497e+02] [-1.21597756e-01 9.90276413e-01 -6.75767057e-02 2.17648713e+01] [-2.61335796e-01 3.37386327e-02 9.64658129e-01 -9.99236199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:150.95, Y:21.82, Z:-99.93 [[ 9.40239834e-01 1.52631993e-01 3.04388780e-01 1.50949005e+02] [-1.15740405e-01 9.83942786e-01 -1.35870348e-01 2.18196976e+01] [-3.20239306e-01 9.25206330e-02 9.42807891e-01 -9.99254222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:21.75, Z:-99.95 [[ 9.40775613e-01 1.31616002e-01 3.12439553e-01 1.50968796e+02] [-1.16833497e-01 9.90978706e-01 -6.56592606e-02 2.17475855e+01] [-3.18262753e-01 2.52672255e-02 9.47665757e-01 -9.99492777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:150.98, Y:21.63, Z:-99.95 [[ 9.55387833e-01 9.55908319e-02 2.79457477e-01 1.50982140e+02] [-1.16288923e-01 9.91496436e-01 5.84097915e-02 2.16301426e+01] [-2.71497652e-01 -8.83018132e-02 9.58379786e-01 -9.99534746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:151.04, Y:21.79, Z:-99.96 [[ 9.39164137e-01 1.45711941e-01 3.11028543e-01 1.51041072e+02] [-1.16139755e-01 9.86934853e-01 -1.11674316e-01 2.17867770e+01] [-3.23237191e-01 6.87577335e-02 9.43816769e-01 -9.99587092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:21.74, Z:-99.98 [[ 9.39030782e-01 1.32683866e-01 3.17200541e-01 1.51067028e+02] [-1.14965102e-01 9.90607302e-01 -7.40283621e-02 2.17444015e+01] [-3.24043541e-01 3.30479181e-02 9.45464763e-01 -9.99764683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:151.08, Y:21.62, Z:-99.99 [[ 9.55549574e-01 9.57779923e-02 2.78839718e-01 1.51080284e+02] [-1.14943499e-01 9.91947759e-01 5.31755202e-02 2.16206174e+01] [-2.71501389e-01 -8.28626586e-02 9.58864316e-01 -9.99884181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:151.12, Y:21.70, Z:-100.00 [[ 9.55105134e-01 1.23127427e-01 2.69469514e-01 1.51124253e+02] [-1.18041888e-01 9.92389449e-01 -3.50612825e-02 2.17033306e+01] [-2.71735709e-01 1.67852077e-03 9.62370452e-01 -9.99958214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.17, Y:21.76, Z:-100.00 [[ 9.38009433e-01 1.42332413e-01 3.16037637e-01 1.51166154e+02] [-1.14828942e-01 9.87915011e-01 -1.04106892e-01 2.17586184e+01] [-3.27036110e-01 6.13629788e-02 9.43017480e-01 -9.99977068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.18, Y:21.64, Z:-100.01 [[ 9.53414811e-01 1.02943968e-01 2.83553765e-01 1.51175975e+02] [-1.12310240e-01 9.93528963e-01 1.69295329e-02 2.16410833e+01] [-2.79976084e-01 -4.79868588e-02 9.58806891e-01 -1.00012215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:151.21, Y:21.67, Z:-100.02 [[ 9.53479881e-01 1.10816879e-01 2.80349309e-01 1.51208787e+02] [-1.10815167e-01 9.93713684e-01 -1.59094999e-02 2.16650994e+01] [-2.80349986e-01 -1.58975674e-02 9.59766197e-01 -1.00021210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:151.26, Y:21.75, Z:-100.03 [[ 9.37722203e-01 1.42466965e-01 3.16828399e-01 1.51259314e+02] [-1.08983268e-01 9.86639621e-01 -1.21098746e-01 2.17549292e+01] [-3.29848022e-01 7.90279887e-02 9.40720394e-01 -1.00025159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.28, Y:21.68, Z:-100.04 [[ 9.36557187e-01 1.20742820e-01 3.29062010e-01 1.51279038e+02] [-1.11193685e-01 9.92650441e-01 -4.77605081e-02 2.16766767e+01] [-3.32410288e-01 8.14082956e-03 9.43099744e-01 -1.00041821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:21.67, Z:-100.05 [[ 9.36738900e-01 1.22060873e-01 3.28056973e-01 1.51312869e+02] [-1.12573995e-01 9.92491364e-01 -4.78329186e-02 2.16686657e+01] [-3.31432240e-01 7.87627171e-03 9.43446148e-01 -1.00051185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.35, Y:21.66, Z:-100.06 [[ 9.36385434e-01 1.23252483e-01 3.28620060e-01 1.51345419e+02] [-1.13718966e-01 9.92345316e-01 -4.81536051e-02 2.16621510e+01] [-3.32039629e-01 7.72000086e-03 9.43233845e-01 -1.00062442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.37, Y:21.60, Z:-100.07 [[ 9.51883068e-01 1.06487928e-01 2.87365528e-01 1.51366223e+02] [-1.16017451e-01 9.93113625e-01 1.62873930e-02 2.15969828e+01] [-2.83652210e-01 -4.88431098e-02 9.57682502e-01 -1.00069415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.42, Y:21.70, Z:-100.08 [[ 9.36299416e-01 1.43181448e-01 3.20690625e-01 1.51417057e+02] [-1.15913279e-01 9.87938860e-01 -1.02668987e-01 2.17008301e+01] [-3.31523024e-01 5.89566109e-02 9.41603209e-01 -1.00079811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:21.55, Z:-100.09 [[ 9.51326440e-01 1.03410457e-01 2.90317555e-01 1.51425407e+02] [-1.22666269e-01 9.91243529e-01 4.88799861e-02 2.15517927e+01] [-2.82720696e-01 -8.21129943e-02 9.55681152e-01 -1.00087954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.46, Y:21.58, Z:-100.10 [[ 9.50696763e-01 1.17183847e-01 2.87129954e-01 1.51459100e+02] [-1.27018794e-01 9.91774477e-01 1.57991478e-02 2.15785524e+01] [-2.82916755e-01 -5.14910993e-02 9.57761336e-01 -1.00097016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:151.51, Y:21.72, Z:-100.09 [[ 9.46399366e-01 1.67693498e-01 2.76056391e-01 1.51514182e+02] [-1.34010096e-01 9.81493057e-01 -1.36794274e-01 2.17216458e+01] [-2.93886941e-01 9.24676710e-02 9.51357028e-01 -1.00094600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.53, Y:21.64, Z:-100.11 [[ 9.43395418e-01 1.46975407e-01 2.97326949e-01 1.51529195e+02] [-1.34975779e-01 9.88993173e-01 -6.06138885e-02 2.16427524e+01] [-3.02963073e-01 1.70509283e-02 9.52849748e-01 -1.00113490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:21.64, Z:-100.13 [[ 9.37508504e-01 1.53067077e-01 3.12487240e-01 1.51560705e+02] [-1.40004651e-01 9.88082754e-01 -6.39622540e-02 2.16396057e+01] [-3.18553768e-01 1.62154902e-02 9.47766087e-01 -1.00127567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.59, Y:21.62, Z:-100.14 [[ 9.37701082e-01 1.51484113e-01 3.12680739e-01 1.51591123e+02] [-1.43692065e-01 9.88459691e-01 -4.79586150e-02 2.16198557e+01] [-3.16337275e-01 4.11040259e-05 9.48646787e-01 -1.00137712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.63, Y:21.63, Z:-100.15 [[ 9.34642881e-01 1.58787779e-01 3.18165248e-01 1.51625099e+02] [-1.48976270e-01 9.87304209e-01 -5.51041726e-02 2.16271591e+01] [-3.22875758e-01 4.10365066e-03 9.46432462e-01 -1.00148073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:151.62, Y:21.54, Z:-100.16 [[ 9.43089322e-01 7.89028459e-02 3.23043141e-01 1.51624970e+02] [-8.36321629e-02 9.96496403e-01 7.62120253e-04 2.15446719e+01] [-3.21851195e-01 -2.77355441e-02 9.46383933e-01 -1.00157348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:151.70, Y:21.66, Z:-100.17 [[ 9.31628548e-01 1.77530282e-01 3.17098167e-01 1.51695960e+02] [-1.58694252e-01 9.83705552e-01 -8.44956878e-02 2.16551841e+01] [-3.26931771e-01 2.83969384e-02 9.44621210e-01 -1.00169290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:151.72, Y:21.58, Z:-100.18 [[ 9.39817235e-01 1.57264603e-01 3.03333825e-01 1.51715075e+02] [-1.63715177e-01 9.86498638e-01 -4.21638282e-03 2.15811383e+01] [-2.99901493e-01 -4.56977215e-02 9.52875025e-01 -1.00178005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:151.77, Y:21.69, Z:-100.19 [[ 9.26407620e-01 1.93672733e-01 3.22892853e-01 1.51765663e+02] [-1.65487637e-01 9.79733906e-01 -1.12850857e-01 2.16871940e+01] [-3.38205210e-01 5.11111182e-02 9.39683399e-01 -1.00187502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:151.78, Y:21.57, Z:-100.20 [[ 9.38739234e-01 1.56169612e-01 3.07212796e-01 1.51777804e+02] [-1.67365939e-01 9.85841370e-01 1.02681556e-02 2.15716318e+01] [-3.01259510e-01 -6.10560785e-02 9.51585447e-01 -1.00198673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75592 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:151.83, Y:21.69, Z:-100.21 [[ 9.25310107e-01 1.95217221e-01 3.25102203e-01 1.51830787e+02] [-1.65127442e-01 9.79188518e-01 -1.17994804e-01 2.16913377e+01] [-3.41370962e-01 5.54984895e-02 9.38288753e-01 -1.00206437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:151.86, Y:21.64, Z:-100.23 [[ 9.24771476e-01 1.76221595e-01 3.37259051e-01 1.51855217e+02] [-1.64551133e-01 9.84346298e-01 -6.31291592e-02 2.16397241e+01] [-3.43104419e-01 2.88368679e-03 9.39292841e-01 -1.00225977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81592 meters Centerline goodness : 0.842307 Centerline is valid? [True, False] Translation: X:151.88, Y:21.63, Z:-100.23 [[ 9.31650009e-01 1.72634051e-01 3.19727610e-01 1.51879106e+02] [-1.63651086e-01 9.84985410e-01 -5.49733129e-02 2.16342586e+01] [-3.24417297e-01 -1.10788306e-03 9.45913416e-01 -1.00234307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters Centerline goodness : 0.998856 Centerline is valid? [False, True] Translation: X:151.91, Y:21.63, Z:-100.24 [[ 9.39121034e-01 1.67748737e-01 2.99853370e-01 1.51909765e+02] [-1.60740660e-01 9.85825069e-01 -4.80767515e-02 2.16333656e+01] [-3.03667784e-01 -3.04874002e-03 9.52773101e-01 -1.00244946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:151.94, Y:21.64, Z:-100.26 [[ 9.43291809e-01 1.68651878e-01 2.85931998e-01 1.51944702e+02] [-1.60054307e-01 9.85665102e-01 -5.33565819e-02 2.16381574e+01] [-2.90831880e-01 4.56617882e-03 9.56763277e-01 -1.00257887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters Centerline goodness : 0.902785 Centerline is valid? [True, False] Translation: X:151.97, Y:21.64, Z:-100.27 [[ 9.49458770e-01 1.63841821e-01 2.67738496e-01 1.51970370e+02] [-1.57472194e-01 9.86486300e-01 -4.52469701e-02 2.16353503e+01] [-2.71533704e-01 7.98764229e-04 9.62428600e-01 -1.00265196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93592 meters Centerline goodness : 0.997712 Centerline is valid? [False, True] Translation: X:151.99, Y:21.63, Z:-100.27 [[ 9.54992604e-01 1.59352015e-01 2.50192049e-01 1.51993782e+02] [-1.54684212e-01 9.87219629e-01 -3.83431789e-02 2.16309024e+01] [-2.53104565e-01 -2.08330772e-03 9.67436685e-01 -1.00270344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters Centerline goodness : 0.835782 Centerline is valid? [True, False] Translation: X:152.02, Y:21.63, Z:-100.28 [[ 9.60899098e-01 1.53928004e-01 2.30171878e-01 1.52022668e+02] [-1.49909362e-01 9.88081641e-01 -3.49550275e-02 2.16309254e+01] [-2.32809165e-01 -9.16665078e-04 9.72522006e-01 -1.00275663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99592 meters Centerline goodness : 0.998210 Centerline is valid? [False, True] Translation: X:152.05, Y:21.63, Z:-100.28 [[ 9.66064790e-01 1.47761754e-01 2.11861479e-01 1.52047409e+02] [-1.44614657e-01 9.89022121e-01 -3.03618910e-02 2.16260919e+01] [-2.14022016e-01 -1.30672125e-03 9.76827963e-01 -1.00280553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:152.08, Y:21.62, Z:-100.29 [[ 9.66330656e-01 1.45517665e-01 2.12201962e-01 1.52077751e+02] [-1.42070934e-01 9.89355615e-01 -3.14851923e-02 2.16233610e+01] [-2.14524854e-01 2.77375606e-04 9.76718491e-01 -1.00287060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05592000000001 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:152.11, Y:21.61, Z:-100.29 [[ 9.67450785e-01 1.38329758e-01 2.11905302e-01 1.52105332e+02] [-1.36502707e-01 9.90365651e-01 -2.32999812e-02 2.16137010e+01] [-2.13086813e-01 -6.38406231e-03 9.77012412e-01 -1.00293712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:152.14, Y:21.64, Z:-100.29 [[ 9.66404698e-01 1.39360292e-01 2.15964507e-01 1.52140810e+02] [-1.30142020e-01 9.89889662e-01 -5.64048849e-02 2.16387585e+01] [-2.21641634e-01 2.64038888e-02 9.74770650e-01 -1.00294425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11592000000002 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:152.16, Y:21.56, Z:-100.31 [[ 9.65593944e-01 1.20534154e-01 2.30434053e-01 1.52156991e+02] [-1.26494860e-01 9.91903860e-01 1.12152621e-02 2.15647558e+01] [-2.27216605e-01 -3.99781125e-02 9.73023312e-01 -1.00312969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:152.21, Y:21.68, Z:-100.30 [[ 9.57153935e-01 1.44788465e-01 2.50784062e-01 1.52209490e+02] [-1.19312064e-01 9.86284258e-01 -1.14052591e-01 2.16756705e+01] [-2.63857872e-01 7.92443218e-02 9.61300869e-01 -1.00302586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17592000000002 meters Centerline goodness : 0.980763 Centerline is valid? [True, True] Translation: X:152.17, Y:21.56, Z:-100.33 [[ 9.69870047e-01 1.26734883e-01 2.08063358e-01 1.52168839e+02] [-1.31613650e-01 9.91253463e-01 9.71696661e-03 2.15576834e+01] [-2.05012045e-01 -3.68081727e-02 9.78067083e-01 -1.00333497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:152.24, Y:21.50, Z:-100.33 [[ 9.68338673e-01 9.83174570e-02 2.29464360e-01 1.52239664e+02] [-1.11477129e-01 9.92744139e-01 4.50768747e-02 2.15019725e+01] [-2.23367555e-01 -6.92297091e-02 9.72272690e-01 -1.00334390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:152.31, Y:21.65, Z:-100.33 [[ 9.62313540e-01 1.34371608e-01 2.36425297e-01 1.52309454e+02] [-1.08421996e-01 9.86885777e-01 -1.19587345e-01 2.16463836e+01] [-2.49393907e-01 8.94468185e-02 9.64262384e-01 -1.00334150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:152.30, Y:21.49, Z:-100.35 [[ 9.68586018e-01 1.01305237e-01 2.27108730e-01 1.52302720e+02] [-1.11656517e-01 9.93193108e-01 3.31703590e-02 2.14933738e+01] [-2.22202495e-01 -5.74865157e-02 9.73304347e-01 -1.00346117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29592 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:152.34, Y:21.54, Z:-100.35 [[ 9.68350187e-01 1.16502616e-01 2.20737529e-01 1.52342403e+02] [-1.14006927e-01 9.93188626e-01 -2.40577323e-02 2.15378366e+01] [-2.22036791e-01 -1.86929769e-03 9.75036496e-01 -1.00351597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters Centerline goodness : 0.931184 Centerline is valid? [True, False] Translation: X:152.34, Y:21.53, Z:-100.35 [[ 9.68351609e-01 1.16223905e-01 2.20878166e-01 1.52341753e+02] [-1.13979571e-01 9.93218577e-01 -2.29241371e-02 2.15328755e+01] [-2.22044630e-01 -2.97697340e-03 9.75031958e-01 -1.00351871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35592 meters Centerline goodness : 0.998554 Centerline is valid? [False, True] Translation: X:152.37, Y:21.52, Z:-100.36 [[ 9.71302946e-01 1.13618466e-01 2.08953181e-01 1.52373209e+02] [-1.10945670e-01 9.93524261e-01 -2.45071471e-02 2.15233767e+01] [-2.10384519e-01 6.21413484e-04 9.77618519e-01 -1.00357481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:152.44, Y:21.46, Z:-100.39 [[ 9.79933175e-01 1.04371512e-01 1.69816255e-01 1.52438988e+02] [-1.13485607e-01 9.92526679e-01 4.48531922e-02 2.14575266e+01] [-1.63865768e-01 -6.32248319e-02 9.84454484e-01 -1.00386681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41592 meters Centerline goodness : 0.920883 Centerline is valid? [True, False] Translation: X:152.48, Y:21.46, Z:-100.39 [[ 9.83019030e-01 9.62392733e-02 1.56242083e-01 1.52476832e+02] [-1.01930774e-01 9.94374093e-01 2.88145846e-02 2.14592020e+01] [-1.52589985e-01 -4.42511615e-02 9.87298400e-01 -1.00391058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters Centerline goodness : 0.931057 Centerline is valid? [False, False] Translation: X:152.51, Y:21.47, Z:-100.39 [[ 9.85645579e-01 8.83572599e-02 1.43860303e-01 1.52508867e+02] [-9.13764241e-02 9.95710799e-01 1.45035884e-02 2.14653448e+01] [-1.41961760e-01 -2.74408379e-02 9.89491718e-01 -1.00393419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47592 meters Centerline goodness : 0.988490 Centerline is valid? [False, True] Translation: X:152.54, Y:21.47, Z:-100.40 [[ 9.87835983e-01 8.26219522e-02 1.31733381e-01 1.52540339e+02] [-8.41807957e-02 9.96430588e-01 6.29892456e-03 2.14651424e+01] [-1.30742741e-01 -1.73117252e-02 9.91265171e-01 -1.00396633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters Centerline goodness : 0.973539 Centerline is valid? [True, True] Translation: X:152.58, Y:21.51, Z:-100.40 [[ 9.89063357e-01 8.45232834e-02 1.20869724e-01 1.52581336e+02] [-7.97803830e-02 9.95860086e-01 -4.35635214e-02 2.15107937e+01] [-1.24051466e-01 3.34440499e-02 9.91712019e-01 -1.00400373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53592 meters Centerline goodness : 0.934876 Centerline is valid? [True, False] Translation: X:152.60, Y:21.49, Z:-100.40 [[ 9.91138945e-01 7.23505327e-02 1.11395654e-01 1.52597754e+02] [-6.96071127e-02 9.97172188e-01 -2.83280247e-02 2.14929310e+01] [-1.13130196e-01 2.03230787e-02 9.93372302e-01 -1.00402533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters Centerline goodness : 0.916546 Centerline is valid? [False, False] Translation: X:152.62, Y:21.48, Z:-100.40 [[ 9.93199236e-01 6.94706777e-02 9.34296700e-02 1.52617760e+02] [-6.79485766e-02 9.97500600e-01 -1.93789446e-02 2.14819988e+01] [-9.45424204e-02 1.28987399e-02 9.95437267e-01 -1.00404079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59592 meters Centerline goodness : 0.997761 Centerline is valid? [False, True] Translation: X:152.65, Y:21.47, Z:-100.41 [[ 9.95713209e-01 5.64248611e-02 7.32901076e-02 1.52651888e+02] [-5.56757292e-02 9.98374045e-01 -1.22261769e-02 2.14724958e+01] [-7.38608015e-02 8.09328567e-03 9.97235720e-01 -1.00406540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:152.67, Y:21.43, Z:-100.41 [[ 9.93098771e-01 5.78312581e-02 1.02031257e-01 1.52674121e+02] [-6.07951438e-02 9.97806880e-01 2.61797748e-02 2.14327058e+01] [-1.00293481e-01 -3.22021072e-02 9.94436646e-01 -1.00411436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65592 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:152.72, Y:21.53, Z:-100.41 [[ 9.94281337e-01 6.91089266e-02 8.14160830e-02 1.52716401e+02] [-6.33655456e-02 9.95452046e-01 -7.11338935e-02 2.15271056e+01] [-8.59617935e-02 6.55681282e-02 9.94138517e-01 -1.00409795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:152.74, Y:21.48, Z:-100.42 [[ 9.93850576e-01 6.73833074e-02 8.78665033e-02 1.52742791e+02] [-6.56095851e-02 9.97582013e-01 -2.29239982e-02 2.14775439e+01] [-8.91987380e-02 1.70181440e-02 9.95868449e-01 -1.00417341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71592 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:152.77, Y:21.50, Z:-100.42 [[ 9.87568847e-01 7.29881846e-02 1.39213855e-01 1.52774307e+02] [-6.63933965e-02 9.96466288e-01 -5.14475766e-02 2.15028593e+01] [-1.42476978e-01 4.15651433e-02 9.88924997e-01 -1.00418241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:152.80, Y:21.41, Z:-100.43 [[ 9.93672544e-01 6.28282801e-02 9.30993107e-02 1.52795735e+02] [-6.80906889e-02 9.96191233e-01 5.44672809e-02 2.14059499e+01] [-8.93226316e-02 -6.04618378e-02 9.94165898e-01 -1.00426488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:152.83, Y:21.48, Z:-100.42 [[ 9.92932286e-01 7.36622675e-02 9.30556020e-02 1.52832983e+02] [-7.21098303e-02 9.97197333e-01 -1.99411758e-02 2.14797399e+01] [-9.42637104e-02 1.30900136e-02 9.95461202e-01 -1.00424438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:152.87, Y:21.55, Z:-100.42 [[ 9.86737943e-01 8.47835804e-02 1.38419566e-01 1.52873001e+02] [-7.19379936e-02 9.92844719e-01 -9.53115407e-02 2.15505813e+01] [-1.45509989e-01 8.40898877e-02 9.85776716e-01 -1.00424331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83592000000002 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:152.89, Y:21.38, Z:-100.43 [[ 9.93309750e-01 6.30554080e-02 9.67458304e-02 1.52887987e+02] [-7.12865146e-02 9.93902062e-01 8.41244523e-02 2.13797636e+01] [-9.08513787e-02 -9.04583118e-02 9.91747609e-01 -1.00434315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:152.93, Y:21.52, Z:-100.43 [[ 9.87294138e-01 7.86024940e-02 1.38101172e-01 1.52930849e+02] [-7.15793552e-02 9.95911098e-01 -5.51133511e-02 2.15150945e+01] [-1.41868537e-01 4.45278956e-02 9.88883504e-01 -1.00433826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89592000000002 meters Centerline goodness : 0.919620 Centerline is valid? [True, False] Translation: X:152.95, Y:21.50, Z:-100.44 [[ 9.89450807e-01 6.73486255e-02 1.28262479e-01 1.52946399e+02] [-6.27033409e-02 9.97233455e-01 -3.99215056e-02 2.15008621e+01] [-1.30596293e-01 3.14578800e-02 9.90936431e-01 -1.00435588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:152.98, Y:21.49, Z:-100.44 [[ 9.92097375e-01 6.38852890e-02 1.07988282e-01 1.52975244e+02] [-6.10140406e-02 9.97695237e-01 -2.96900648e-02 2.14934708e+01] [-1.09636153e-01 2.28666339e-02 9.93708725e-01 -1.00439365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:153.01, Y:21.47, Z:-100.44 [[ 9.90071622e-01 6.06088760e-02 1.26825660e-01 1.53007918e+02] [-6.08650205e-02 9.98144276e-01 -1.85824480e-03 2.14688373e+01] [-1.26702933e-01 -5.87945094e-03 9.91923283e-01 -1.00442044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:153.04, Y:21.47, Z:-100.44 [[ 9.90049659e-01 6.17290618e-02 1.26456296e-01 1.53041678e+02] [-6.12280703e-02 9.98092943e-01 -7.84864669e-03 2.14730028e+01] [-1.26699626e-01 2.78750144e-05 9.91941129e-01 -1.00444981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:153.08, Y:21.47, Z:-100.45 [[ 9.90085263e-01 6.14751446e-02 1.26301141e-01 1.53075062e+02] [-6.09649900e-02 9.98108607e-01 -7.90438464e-03 2.14731804e+01] [-1.26548179e-01 1.26066973e-04 9.91960454e-01 -1.00447871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:153.10, Y:21.37, Z:-100.45 [[ 9.96214006e-01 4.75440905e-02 7.27819598e-02 1.53096623e+02] [-5.44156532e-02 9.93936848e-01 9.55430770e-02 2.13739358e+01] [-6.77981630e-02 -9.91418294e-02 9.92760951e-01 -1.00454474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:153.14, Y:21.59, Z:-100.44 [[ 9.91550517e-01 6.94652605e-02 1.09554320e-01 1.53144761e+02] [-5.59519831e-02 9.90960218e-01 -1.21931220e-01 2.15853213e+01] [-1.17033957e-01 1.14771183e-01 9.86473836e-01 -1.00438244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:153.16, Y:21.43, Z:-100.46 [[ 9.94484133e-01 5.11763807e-02 9.15548335e-02 1.53163493e+02] [-5.47570564e-02 9.97812706e-01 3.70333350e-02 2.14307280e+01] [-8.94593442e-02 -4.18423372e-02 9.95111172e-01 -1.00455284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:153.20, Y:21.49, Z:-100.46 [[ 9.92442545e-01 5.62079997e-02 1.09080040e-01 1.53200122e+02] [-5.32427355e-02 9.98133519e-01 -2.99113623e-02 2.14947632e+01] [-1.10557702e-01 2.38775888e-02 9.93582838e-01 -1.00456504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:153.23, Y:21.47, Z:-100.46 [[ 9.90101579e-01 5.34406256e-02 1.29780441e-01 1.53233210e+02] [-5.27826945e-02 9.98569791e-01 -8.50640710e-03 2.14741322e+01] [-1.30049416e-01 1.57204574e-03 9.91506267e-01 -1.00459045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:153.25, Y:21.39, Z:-100.47 [[ 9.95398839e-01 4.28885872e-02 8.56838418e-02 1.53254074e+02] [-4.93671110e-02 9.95962315e-01 7.49796944e-02 2.13936690e+01] [-8.21221043e-02 -7.88646645e-02 9.93497018e-01 -1.00468133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:153.30, Y:21.49, Z:-100.46 [[ 9.95849522e-01 5.32026782e-02 7.38458175e-02 1.53296231e+02] [-5.18854103e-02 9.98459810e-01 -1.96446445e-02 2.14886620e+01] [-7.47772286e-02 1.57315893e-02 9.97076167e-01 -1.00460819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:153.33, Y:21.48, Z:-100.46 [[ 9.95710347e-01 5.14494899e-02 7.69015943e-02 1.53325140e+02] [-5.03916195e-02 9.98607143e-01 -1.56351924e-02 2.14846000e+01] [-7.75989040e-02 1.16929270e-02 9.96916088e-01 -1.00464225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:153.36, Y:21.52, Z:-100.47 [[ 9.92475064e-01 5.33631045e-02 1.10207196e-01 1.53360311e+02] [-4.75923156e-02 9.97387243e-01 -5.43475688e-02 2.15227529e+01] [-1.12819406e-01 4.86935912e-02 9.92421642e-01 -1.00466870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:153.39, Y:21.48, Z:-100.47 [[ 9.90079035e-01 4.73528436e-02 1.32292148e-01 1.53390317e+02] [-4.59186809e-02 9.98848853e-01 -1.38724054e-02 2.14821846e+01] [-1.32796759e-01 7.66009682e-03 9.91113689e-01 -1.00473551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:153.41, Y:21.42, Z:-100.48 [[ 9.95756116e-01 3.77464337e-02 8.39342817e-02 1.53413732e+02] [-4.19797719e-02 9.97903547e-01 4.92565664e-02 2.14222409e+01] [-8.18990578e-02 -5.25710692e-02 9.95253147e-01 -1.00477604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:153.45, Y:21.47, Z:-100.48 [[ 9.95787365e-01 3.99552563e-02 8.25293998e-02 1.53449285e+02] [-3.99151229e-02 9.99200789e-01 -2.13679629e-03 2.14748866e+01] [-8.25488176e-02 -1.16637639e-03 9.96586340e-01 -1.00476831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:153.49, Y:21.54, Z:-100.48 [[ 9.90637554e-01 4.53052334e-02 1.28781492e-01 1.53488665e+02] [-3.71588851e-02 9.97195007e-01 -6.49718013e-02 2.15355016e+01] [-1.31363823e-01 5.95781297e-02 9.89542315e-01 -1.00476441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:153.52, Y:21.48, Z:-100.49 [[ 9.90353833e-01 3.81576506e-02 1.33203903e-01 1.53516966e+02] [-3.72636887e-02 9.99263130e-01 -9.19865246e-03 2.14806145e+01] [-1.33456748e-01 4.14625193e-03 9.91045965e-01 -1.00487475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:153.54, Y:21.38, Z:-100.49 [[ 9.96865114e-01 2.36069804e-02 7.55159307e-02 1.53535947e+02] [-3.07044380e-02 9.95074841e-01 9.42512486e-02 2.13821011e+01] [-7.29190153e-02 -9.62744559e-02 9.92680234e-01 -1.00494212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49592 meters Centerline goodness : 0.992084 Centerline is valid? [True, True] Translation: X:153.62, Y:21.46, Z:-100.52 [[ 9.97502795e-01 2.12719250e-02 6.73474515e-02 1.53622716e+02] [-2.20532667e-02 9.99697600e-01 1.08794429e-02 2.14644376e+01] [-6.70956589e-02 -1.23375061e-02 9.97670265e-01 -1.00515662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:153.60, Y:21.53, Z:-100.49 [[ 9.94934587e-01 2.66762769e-02 9.69202954e-02 1.53603179e+02] [-2.05145753e-02 9.97737457e-01 -6.40243624e-02 2.15256751e+01] [-9.84089407e-02 6.17117738e-02 9.93230757e-01 -1.00488425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55592000000001 meters Centerline goodness : 0.949131 Centerline is valid? [True, False] Translation: X:153.63, Y:21.51, Z:-100.49 [[ 9.96718313e-01 2.72017490e-02 7.62408696e-02 1.53632216e+02] [-2.35037083e-02 9.98522720e-01 -4.89893149e-02 2.15116666e+01] [-7.74608356e-02 4.70366042e-02 9.95885223e-01 -1.00490538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:153.66, Y:21.50, Z:-100.49 [[ 9.98117047e-01 2.50228600e-02 5.60019337e-02 1.53659265e+02] [-2.30576730e-02 9.99104828e-01 -3.54666991e-02 2.14988292e+01] [-5.68392806e-02 3.41086427e-02 9.97800530e-01 -1.00492482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:153.69, Y:21.48, Z:-100.50 [[ 9.96038476e-01 2.26414079e-02 8.59925577e-02 1.53693831e+02] [-2.09208794e-02 9.99563561e-01 -2.08567526e-02 2.14769969e+01] [-8.64272535e-02 1.89750881e-02 9.96077445e-01 -1.00497861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:153.72, Y:21.45, Z:-100.50 [[ 9.97623096e-01 1.61046737e-02 6.69984899e-02 1.53720594e+02] [-1.62986106e-02 9.99864410e-01 2.34901300e-03 2.14491072e+01] [-6.69515755e-02 -3.43541192e-03 9.97750312e-01 -1.00504377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:153.75, Y:21.38, Z:-100.50 [[ 9.99298700e-01 9.45351831e-03 3.62317513e-02 1.53745392e+02] [-1.20699970e-02 9.97281489e-01 7.26907580e-02 2.13753773e+01] [-3.54460715e-02 -7.30770970e-02 9.96696199e-01 -1.00504375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:153.79, Y:21.51, Z:-100.49 [[ 9.98040605e-01 1.65021062e-02 6.03542125e-02 1.53786532e+02] [-1.21573778e-02 9.97355118e-01 -7.16586828e-02 2.15100954e+01] [-6.13771020e-02 7.07845262e-02 9.95601528e-01 -1.00494365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:153.82, Y:21.45, Z:-100.50 [[ 9.95919688e-01 1.60809468e-02 8.87996523e-02 1.53817528e+02] [-1.44890784e-02 9.99723090e-01 -1.85421376e-02 2.14470077e+01] [-8.90732379e-02 1.71798548e-02 9.95876905e-01 -1.00504986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:153.84, Y:21.36, Z:-100.51 [[ 9.99136651e-01 5.90213244e-03 4.11231997e-02 1.53839054e+02] [-8.43772210e-03 9.98055342e-01 6.17603350e-02 2.13629507e+01] [-4.06787115e-02 -6.20540005e-02 9.97243473e-01 -1.00509083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:153.87, Y:21.37, Z:-100.51 [[ 9.99286566e-01 9.90364697e-03 3.64455282e-02 1.53867821e+02] [-1.15165998e-02 9.98951176e-01 4.43161000e-02 2.13724849e+01] [-3.59684123e-02 -4.47042120e-02 9.98352546e-01 -1.00506391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:153.90, Y:21.41, Z:-100.51 [[ 9.99204554e-01 1.25521121e-02 3.78510737e-02 1.53902601e+02] [-1.24464272e-02 9.99917960e-01 -3.02648395e-03 2.14119238e+01] [-3.78859572e-02 2.55296591e-03 9.99278808e-01 -1.00505079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:153.93, Y:21.42, Z:-100.51 [[ 9.99120096e-01 1.35586924e-02 3.96887333e-02 1.53934760e+02] [-1.27298634e-02 9.99697126e-01 -2.10619852e-02 2.14217335e+01] [-3.99622856e-02 2.05382205e-02 9.98990089e-01 -1.00505815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:153.96, Y:21.38, Z:-100.51 [[ 9.98913852e-01 1.36571055e-02 4.45488357e-02 1.53958036e+02] [-1.42430167e-02 9.99815845e-01 1.28613053e-02 2.13779744e+01] [-4.43649836e-02 -1.34818458e-02 9.98924416e-01 -1.00507356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:154.00, Y:21.49, Z:-100.50 [[ 9.95019444e-01 2.87524059e-02 9.54442563e-02 1.54000350e+02] [-1.81673597e-02 9.93768450e-01 -1.09973698e-01 2.14859179e+01] [-9.80114990e-02 1.07691997e-01 9.89341286e-01 -1.00501692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:154.01, Y:21.31, Z:-100.51 [[ 9.98507985e-01 1.40477460e-02 5.27680322e-02 1.54011873e+02] [-1.73480055e-02 9.97886985e-01 6.26147877e-02 2.13132481e+01] [-5.17769359e-02 -6.34367856e-02 9.96641823e-01 -1.00510271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:154.06, Y:21.44, Z:-100.51 [[ 9.94156064e-01 3.16270267e-02 1.03215555e-01 1.54057555e+02] [-2.42755439e-02 9.97129392e-01 -7.17194098e-02 2.14372934e+01] [-1.05187536e-01 6.87946725e-02 9.92069995e-01 -1.00510320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:154.09, Y:21.37, Z:-100.52 [[ 9.93513031e-01 3.52268229e-02 1.08124593e-01 1.54085305e+02] [-3.45174916e-02 9.99368578e-01 -8.42548490e-03 2.13697552e+01] [-1.08353123e-01 4.63863932e-03 9.94101647e-01 -1.00516291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:154.11, Y:21.29, Z:-100.52 [[ 9.97644826e-01 3.48017371e-02 5.91070289e-02 1.54107839e+02] [-3.88501298e-02 9.96874786e-01 6.87846579e-02 2.12916797e+01] [-5.65284812e-02 -7.09189738e-02 9.95879024e-01 -1.00517588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:154.14, Y:21.37, Z:-100.52 [[ 9.97374522e-01 4.59445060e-02 5.59746807e-02 1.54143946e+02] [-4.52745674e-02 9.98887643e-01 -1.31791600e-02 2.13693361e+01] [-5.65179269e-02 1.06103290e-02 9.98345203e-01 -1.00516958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:154.17, Y:21.36, Z:-100.52 [[ 9.97183390e-01 4.89083033e-02 5.68618027e-02 1.54173881e+02] [-4.87708171e-02 9.98802752e-01 -3.80394625e-03 2.13568392e+01] [-5.69797696e-02 1.02003544e-03 9.98374812e-01 -1.00522619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:154.21, Y:21.42, Z:-100.52 [[ 9.91852245e-01 6.62019874e-02 1.08841266e-01 1.54211261e+02] [-5.87715931e-02 9.95805974e-01 -7.01167707e-02 2.14182055e+01] [-1.13026652e-01 6.31487019e-02 9.91583187e-01 -1.00520843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:154.23, Y:21.29, Z:-100.53 [[ 9.96353033e-01 5.53720351e-02 6.49197284e-02 1.54227006e+02] [-5.97422254e-02 9.95933840e-01 6.74288703e-02 2.12863940e+01] [-6.09220806e-02 -7.10614085e-02 9.95609751e-01 -1.00525812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:154.26, Y:21.36, Z:-100.53 [[ 9.95790726e-01 6.84878024e-02 6.09118321e-02 1.54264211e+02] [-6.81497553e-02 9.97646060e-01 -7.61250946e-03 2.13612292e+01] [-6.12898133e-02 3.42933987e-03 9.98114121e-01 -1.00526044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:154.30, Y:21.37, Z:-100.53 [[ 9.94992730e-01 7.26962426e-02 6.85909893e-02 1.54297374e+02] [-7.13673588e-02 9.97215484e-01 -2.16328059e-02 2.13729353e+01] [-6.99726203e-02 1.66293268e-02 9.97410296e-01 -1.00527123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:154.32, Y:21.28, Z:-100.53 [[ 9.95364217e-01 6.54203169e-02 7.05000613e-02 1.54318923e+02] [-7.04746006e-02 9.94928800e-01 7.17636007e-02 2.12790726e+01] [-6.54477439e-02 -7.63993839e-02 9.94926996e-01 -1.00533132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:154.35, Y:21.34, Z:-100.53 [[ 9.94591223e-01 6.95999990e-02 7.70982432e-02 1.54352109e+02] [-7.07763036e-02 9.97412276e-01 1.26280041e-02 2.13356568e+01] [-7.60198251e-02 -1.80164307e-02 9.96943526e-01 -1.00533306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:154.38, Y:21.36, Z:-100.53 [[ 9.94310251e-01 7.15369008e-02 7.89277957e-02 1.54383221e+02] [-7.07818443e-02 9.97415653e-01 -1.23266001e-02 2.13579767e+01] [-7.96056256e-02 6.66980991e-03 9.96804122e-01 -1.00533409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33592000000002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:154.43, Y:21.48, Z:-100.52 [[ 9.89026026e-01 8.35932192e-02 1.21818284e-01 1.54426229e+02] [-6.56730553e-02 9.87346608e-01 -1.44338928e-01 2.14805316e+01] [-1.32342625e-01 1.34754778e-01 9.82001313e-01 -1.00521606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:154.44, Y:21.31, Z:-100.54 [[ 9.93800915e-01 6.21934474e-02 9.21505088e-02 1.54439505e+02] [-6.48446817e-02 9.97555069e-01 2.60586219e-02 2.13129233e+01] [-9.03045316e-02 -3.18725527e-02 9.95404055e-01 -1.00539510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39592000000002 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:154.50, Y:21.30, Z:-100.56 [[ 9.96072870e-01 5.39807510e-02 7.01777416e-02 1.54504143e+02] [-5.62320078e-02 9.97951503e-01 3.05083317e-02 2.13048429e+01] [-6.83871201e-02 -3.43347569e-02 9.97067864e-01 -1.00555152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters Centerline goodness : 0.949236 Centerline is valid? [True, False] Translation: X:154.54, Y:21.31, Z:-100.55 [[ 9.97902220e-01 4.44502763e-02 4.70673225e-02 1.54541408e+02] [-4.54426945e-02 9.98762113e-01 2.02287668e-02 2.13112003e+01] [-4.61098842e-02 -2.23251972e-02 9.98686870e-01 -1.00554601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45592000000002 meters Centerline goodness : 0.998359 Centerline is valid? [False, True] Translation: X:154.56, Y:21.31, Z:-100.55 [[ 9.99007503e-01 3.45749933e-02 2.80816327e-02 1.54562798e+02] [-3.50534319e-02 9.99245438e-01 1.67275577e-02 2.13103867e+01] [-2.74820882e-02 -1.76953132e-02 9.99465663e-01 -1.00552919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters Centerline goodness : 0.856972 Centerline is valid? [True, False] Translation: X:154.58, Y:21.31, Z:-100.55 [[ 9.99636894e-01 2.53003925e-02 9.27201655e-03 1.54584656e+02] [-2.54250247e-02 9.99584491e-01 1.35798595e-02 2.13107683e+01] [-8.92458817e-03 -1.38106698e-02 9.99864799e-01 -1.00551394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51592 meters Centerline goodness : 0.998853 Centerline is valid? [False, True] Translation: X:154.61, Y:21.31, Z:-100.55 [[ 9.99939258e-01 1.01539933e-02 4.28675108e-03 1.54606541e+02] [-1.01817992e-02 9.99926938e-01 6.51526802e-03 2.13125728e+01] [-4.22028190e-03 -6.55851911e-03 9.99969587e-01 -1.00547937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:154.64, Y:21.35, Z:-100.55 [[ 9.98613662e-01 1.36831199e-02 5.08284018e-02 1.54641784e+02] [-1.15959906e-02 9.99086404e-01 -4.11326026e-02 2.13532297e+01] [-5.13447875e-02 4.04861733e-02 9.97860001e-01 -1.00549934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:154.67, Y:21.31, Z:-100.55 [[ 9.98624441e-01 1.30802347e-02 5.07753173e-02 1.54673105e+02] [-1.30080615e-02 9.99913857e-01 -1.75163257e-03 2.13120193e+01] [-5.07938552e-02 1.08873464e-03 9.98708566e-01 -1.00552447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters Centerline goodness : 0.876576 Centerline is valid? [True, False] Translation: X:154.70, Y:21.31, Z:-100.55 [[ 9.99458003e-01 9.97898739e-03 3.13706991e-02 1.54699487e+02] [-1.00211111e-02 9.99949084e-01 1.18583369e-03 2.13057836e+01] [-3.13572684e-02 -1.49956023e-03 9.99507115e-01 -1.00553097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63592 meters Centerline goodness : 0.826130 Centerline is valid? [False, False] Translation: X:154.72, Y:21.30, Z:-100.55 [[ 9.99918044e-01 4.59160073e-03 1.19508103e-02 1.54723057e+02] [-4.61161272e-03 9.99988009e-01 1.64751128e-03 2.13027380e+01] [-1.19431023e-02 -1.70248877e-03 9.99927229e-01 -1.00552232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters Centerline goodness : 0.994066 Centerline is valid? [False, True] Translation: X:154.73, Y:21.31, Z:-100.56 [[ 9.99940697e-01 -1.39672664e-03 1.08005509e-02 1.54728612e+02] [ 1.45210019e-03 9.99985834e-01 -5.12077808e-03 2.13063426e+01] [-1.07932456e-02 5.13615788e-03 9.99928560e-01 -1.00556417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:154.75, Y:21.31, Z:-100.55 [[ 9.98303272e-01 -5.82159217e-02 1.21801377e-03 1.54746265e+02] [ 5.82201238e-02 9.97580281e-01 -3.79999937e-02 2.13130090e+01] [ 9.97138143e-04 3.80064310e-02 9.99276997e-01 -1.00547000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:154.78, Y:21.22, Z:-100.55 [[ 9.98172615e-01 -6.00994590e-02 -6.28381367e-03 1.54778359e+02] [ 6.03689027e-02 9.96367011e-01 6.00697541e-02 2.12164186e+01] [ 2.65082492e-03 -6.03393305e-02 9.98174403e-01 -1.00547801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75592 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:154.80, Y:21.39, Z:-100.54 [[ 9.96905535e-01 -5.16319661e-02 5.92747432e-02 1.54803945e+02] [ 5.81138586e-02 9.91845837e-01 -1.13422282e-01 2.13908570e+01] [-5.29351919e-02 1.16515985e-01 9.91777138e-01 -1.00537206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:154.84, Y:21.17, Z:-100.54 [[ 9.98197724e-01 -5.99443386e-02 -2.82507884e-03 1.54839285e+02] [ 5.98997104e-02 9.92380021e-01 1.07675056e-01 2.11717222e+01] [-3.65095823e-03 -1.07650217e-01 9.94182127e-01 -1.00543549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:154.87, Y:21.38, Z:-100.54 [[ 9.97634958e-01 -5.04653944e-02 4.66662129e-02 1.54865341e+02] [ 5.49889863e-02 9.93328655e-01 -1.01362687e-01 2.13813585e+01] [-4.12395786e-02 1.03689087e-01 9.93754432e-01 -1.00542392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:154.90, Y:21.18, Z:-100.55 [[ 9.98376568e-01 -5.69553085e-02 5.66836707e-04 1.54899599e+02] [ 5.65930263e-02 9.93052823e-01 1.03166470e-01 2.11800253e+01] [-6.43877693e-03 -1.02966907e-01 9.94663942e-01 -1.00546055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:154.92, Y:21.37, Z:-100.54 [[ 9.98180512e-01 -4.93336277e-02 3.46678344e-02 1.54923687e+02] [ 5.20803319e-02 9.95155114e-01 -8.33902795e-02 2.13679892e+01] [-3.03859276e-02 8.50440642e-02 9.95913753e-01 -1.00542505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:154.96, Y:21.29, Z:-100.55 [[ 9.98108972e-01 -5.23785733e-02 3.21708846e-02 1.54957636e+02] [ 5.23852320e-02 9.98626748e-01 6.36423625e-04 2.12867436e+01] [-3.21600408e-02 1.05005912e-03 9.99482181e-01 -1.00549509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:154.99, Y:21.31, Z:-100.55 [[ 9.96847562e-01 -4.92505000e-02 6.22039105e-02 1.54990590e+02] [ 5.03407773e-02 9.98602601e-01 -1.60826509e-02 2.13082226e+01] [-6.13249082e-02 1.91633446e-02 9.97933876e-01 -1.00548861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:155.02, Y:21.29, Z:-100.55 [[ 9.96865699e-01 -4.94969656e-02 6.17157006e-02 1.55024224e+02] [ 4.94507064e-02 9.98773968e-01 2.27766665e-03 2.12947083e+01] [-6.17527727e-02 7.81357224e-04 9.98091170e-01 -1.00551384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:155.06, Y:21.31, Z:-100.56 [[ 9.97243016e-01 -5.10475933e-02 5.38563888e-02 1.55056583e+02] [ 5.14235060e-02 9.98661143e-01 -5.61650009e-03 2.13058200e+01] [-5.34975739e-02 8.37049982e-03 9.98532896e-01 -1.00555533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters Centerline goodness : 0.712309 Centerline is valid? [True, False] Translation: X:155.08, Y:21.31, Z:-100.56 [[ 9.98418535e-01 -4.48038952e-02 3.39564339e-02 1.55082662e+02] [ 4.50623829e-02 9.98960447e-01 -6.88526627e-03 2.13105438e+01] [-3.36126477e-02 8.40453529e-03 9.99399597e-01 -1.00555776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05592000000001 meters Centerline goodness : 0.998159 Centerline is valid? [False, True] Translation: X:155.09, Y:21.32, Z:-100.56 [[ 9.99112280e-01 -3.13452336e-02 2.81447880e-02 1.55086883e+02] [ 3.17420115e-02 9.99401329e-01 -1.37633085e-02 2.13204422e+01] [-2.76965244e-02 1.46444627e-02 9.99509101e-01 -1.00556545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:155.12, Y:21.31, Z:-100.56 [[ 9.99119564e-01 -3.36304692e-02 2.50816398e-02 1.55120285e+02] [ 3.36327573e-02 9.99434204e-01 3.30736505e-04 2.13093376e+01] [-2.50785716e-02 5.13119394e-04 9.99685351e-01 -1.00559416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11592000000002 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:155.15, Y:21.31, Z:-100.56 [[ 9.99064525e-01 -3.48804956e-02 2.55622094e-02 1.55153121e+02] [ 3.48836101e-02 9.99391329e-01 3.24209608e-04 2.13109771e+01] [-2.55579590e-02 5.67795828e-04 9.99673181e-01 -1.00559191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:155.19, Y:21.31, Z:-100.56 [[ 9.98984440e-01 -3.74562669e-02 2.50423077e-02 1.55186306e+02] [ 3.74603752e-02 9.99298067e-01 3.05208678e-04 2.13130655e+01] [-2.50361616e-02 6.33195522e-04 9.99686346e-01 -1.00558728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17592000000002 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:155.22, Y:21.23, Z:-100.56 [[ 9.98660468e-01 -4.16969397e-02 -3.06371565e-02 1.55215387e+02] [ 4.42441124e-02 9.95155130e-01 8.77993543e-02 2.12258300e+01] [ 2.68277591e-02 -8.90372580e-02 9.95666931e-01 -1.00555039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:155.25, Y:21.40, Z:-100.55 [[ 9.98742106e-01 -4.07933557e-02 2.91566215e-02 1.55245628e+02] [ 4.31579662e-02 9.95386381e-01 -8.56933080e-02 2.13996220e+01] [-2.55263863e-02 8.68438554e-02 9.95894848e-01 -1.00550405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23592 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:155.28, Y:21.32, Z:-100.56 [[ 9.98754303e-01 -4.22130773e-02 2.66063687e-02 1.55280048e+02] [ 4.22199667e-02 9.99108294e-01 3.03016892e-04 2.13167833e+01] [-2.65954349e-02 8.20680577e-04 9.99645942e-01 -1.00559351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:155.31, Y:21.32, Z:-100.56 [[ 9.98615816e-01 -4.52175751e-02 2.68667674e-02 1.55313330e+02] [ 4.52260381e-02 9.98976736e-01 2.92877526e-04 2.13190952e+01] [-2.68525188e-02 9.22605315e-04 9.99638980e-01 -1.00559612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:155.35, Y:21.20, Z:-100.56 [[ 9.98056229e-01 -4.96389313e-02 -3.76794290e-02 1.55347957e+02] [ 5.38299737e-02 9.91328453e-01 1.19875907e-01 2.11975186e+01] [ 3.14021782e-02 -1.21671178e-01 9.92073600e-01 -1.00557678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:155.38, Y:21.28, Z:-100.56 [[ 9.97837459e-01 -5.42385318e-02 -3.71293364e-02 1.55376422e+02] [ 5.53311971e-02 9.98045025e-01 2.90617712e-02 2.12837928e+01] [ 3.54804817e-02 -3.10533345e-02 9.98887794e-01 -1.00557219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35592 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:155.40, Y:21.32, Z:-100.55 [[ 9.98315169e-01 -5.62303606e-02 -1.43167366e-02 1.55396103e+02] [ 5.60493161e-02 9.98346616e-01 -1.27478592e-02 2.13233681e+01] [ 1.50098823e-02 1.19239380e-02 9.99816245e-01 -1.00552406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:155.42, Y:21.36, Z:-100.55 [[ 9.97897061e-01 -6.21213369e-02 -1.85039440e-02 1.55423397e+02] [ 6.10830254e-02 9.96766766e-01 -5.22003641e-02 2.13556718e+01] [ 2.16868729e-02 5.09603130e-02 9.98465185e-01 -1.00548734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:155.45, Y:21.30, Z:-100.55 [[ 9.97792964e-01 -6.43417457e-02 -1.64115837e-02 1.55449863e+02] [ 6.43316545e-02 9.97927920e-01 -1.14261507e-03 2.13020662e+01] [ 1.64510954e-02 8.43089397e-05 9.99864668e-01 -1.00552566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:155.48, Y:21.30, Z:-100.55 [[ 9.97916416e-01 -6.45160533e-02 -7.10569082e-04 1.55477249e+02] [ 6.45114960e-02 9.97903346e-01 -5.21337517e-03 2.12989636e+01] [ 1.04542565e-03 5.15667279e-03 9.99986158e-01 -1.00550795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47592 meters Centerline goodness : 0.921621 Centerline is valid? [True, False] Translation: X:155.48, Y:21.30, Z:-100.55 [[ 9.98718876e-01 -5.06003109e-02 -4.62896754e-04 1.55477585e+02] [ 5.05925506e-02 9.98662884e-01 -1.06224832e-02 2.13011212e+01] [ 9.99778760e-04 1.05854554e-02 9.99943473e-01 -1.00551626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters Centerline goodness : 0.927126 Centerline is valid? [False, False] Translation: X:155.47, Y:21.30, Z:-100.55 [[ 9.99339838e-01 -3.61720511e-02 3.38682230e-03 1.55474714e+02] [ 3.62186240e-02 9.99233067e-01 -1.48824914e-02 2.13020811e+01] [-2.84589459e-03 1.49953326e-02 9.99883514e-01 -1.00552365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53592 meters Centerline goodness : 0.998258 Centerline is valid? [False, True] Translation: X:155.47, Y:21.30, Z:-100.55 [[ 9.99749123e-01 -2.16268459e-02 5.82839666e-03 1.55473537e+02] [ 2.17291584e-02 9.99599980e-01 -1.81031533e-02 2.12966764e+01] [-5.43455108e-03 1.82252578e-02 9.99819136e-01 -1.00553611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:155.51, Y:21.27, Z:-100.55 [[ 9.99775996e-01 -2.06561192e-02 4.61328207e-03 1.55505126e+02] [ 2.06571340e-02 9.99786604e-01 -1.72436967e-04 2.12666883e+01] [-4.60873574e-03 2.67695526e-04 9.99989344e-01 -1.00553219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59592 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:155.55, Y:21.25, Z:-100.56 [[ 9.99267988e-01 -3.32828832e-02 -1.88610259e-02 1.55546912e+02] [ 3.34786377e-02 9.99387792e-01 1.01597754e-02 2.12462740e+01] [ 1.85113324e-02 -1.07837798e-02 9.99770494e-01 -1.00557958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:155.55, Y:21.21, Z:-100.55 [[ 9.98811257e-01 -2.36461357e-02 -4.26254978e-02 1.55551546e+02] [ 2.53838808e-02 9.98848989e-01 4.06983447e-02 2.12122703e+01] [ 4.16140768e-02 -4.17319654e-02 9.98261845e-01 -1.00545933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:155.60, Y:21.16, Z:-100.58 [[ 9.97474022e-01 -4.47616079e-02 -5.51540869e-02 1.55602530e+02] [ 4.86760681e-02 9.96230365e-01 7.18032106e-02 2.11617363e+01] [ 5.17321489e-02 -7.43065214e-02 9.95892728e-01 -1.00575167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:155.69, Y:21.19, Z:-100.57 [[ 9.96256779e-01 -4.64591707e-02 -7.28970195e-02 1.55691094e+02] [ 4.85759801e-02 9.98439789e-01 2.75383664e-02 2.11867625e+01] [ 7.15038751e-02 -3.09763283e-02 9.96959208e-01 -1.00571946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71592 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:155.72, Y:21.20, Z:-100.57 [[ 9.96309425e-01 -4.53569595e-02 -7.28716437e-02 1.55716967e+02] [ 4.62623150e-02 9.98871118e-01 1.07836680e-02 2.11971658e+01] [ 7.23002658e-02 -1.41150810e-02 9.97283027e-01 -1.00569290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:155.70, Y:21.20, Z:-100.56 [[ 9.97428239e-01 -4.14411152e-02 -5.84768505e-02 1.55695453e+02] [ 4.13917080e-02 9.99140880e-01 -2.05643571e-03 2.11952105e+01] [ 5.85118328e-02 -3.69309675e-04 9.98286647e-01 -1.00556418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77592 meters Centerline goodness : 0.927761 Centerline is valid? [True, False] Translation: X:155.69, Y:21.19, Z:-100.56 [[ 9.98335015e-01 -2.57250342e-02 -5.16277017e-02 1.55692920e+02] [ 2.55819133e-02 9.99666841e-01 -3.43117799e-03 2.11932418e+01] [ 5.16987687e-02 2.10472974e-03 9.98660507e-01 -1.00558724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters Centerline goodness : 0.997910 Centerline is valid? [False, True] Translation: X:155.68, Y:21.19, Z:-100.56 [[ 9.99277308e-01 -1.46872387e-02 -3.50591774e-02 1.55676074e+02] [ 1.45795053e-02 9.99888180e-01 -3.32659071e-03 2.11928411e+01] [ 3.51041155e-02 2.81304115e-03 9.99379702e-01 -1.00560095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83592000000002 meters Centerline goodness : 0.978330 Centerline is valid? [True, True] Translation: X:155.77, Y:21.12, Z:-100.59 [[ 9.91185201e-01 7.62121555e-02 -1.08367917e-01 1.55766623e+02] [-6.68323978e-02 9.93902250e-01 8.77026098e-02 2.11208755e+01] [ 1.14391122e-01 -7.96870411e-02 9.90234642e-01 -1.00590084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters Centerline goodness : 0.892216 Centerline is valid? [True, False] Translation: X:155.73, Y:21.16, Z:-100.60 [[ 9.92409885e-01 7.18026983e-02 -9.98348276e-02 1.55734165e+02] [-6.70446852e-02 9.96484905e-01 5.02279294e-02 2.11582637e+01] [ 1.03090400e-01 -4.31532991e-02 9.93735459e-01 -1.00597948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89592000000002 meters Centerline goodness : 0.887345 Centerline is valid? [False, False] Translation: X:155.73, Y:21.17, Z:-100.60 [[ 9.92946482e-01 6.30414292e-02 -1.00414447e-01 1.55734298e+02] [-5.92364571e-02 9.97424636e-01 4.04368397e-02 2.11662383e+01] [ 1.02705040e-01 -3.42034216e-02 9.94123635e-01 -1.00598146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters Centerline goodness : 0.998304 Centerline is valid? [False, True] Translation: X:155.73, Y:21.17, Z:-100.60 [[ 9.93427391e-01 5.40272161e-02 -1.00911242e-01 1.55734447e+02] [-5.11986666e-02 9.98225250e-01 3.04145852e-02 2.11742779e+01] [ 1.02375365e-01 -2.50481610e-02 9.94430427e-01 -1.00598649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95592000000002 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:155.77, Y:21.23, Z:-100.60 [[ 9.96047608e-01 5.32173209e-02 -7.11131402e-02 1.55767868e+02] [-5.52128622e-02 9.98125652e-01 -2.63954914e-02 2.12289521e+01] [ 6.95751521e-02 3.02175261e-02 9.97118949e-01 -1.00601396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:155.79, Y:21.19, Z:-100.59 [[ 9.93623656e-01 5.94571645e-02 -9.57960095e-02 1.55791404e+02] [-5.79517430e-02 9.98149371e-01 1.84236122e-02 2.11878743e+01] [ 9.67141424e-02 -1.27545912e-02 9.95230473e-01 -1.00593128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01592 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:155.82, Y:21.21, Z:-100.59 [[ 9.93263985e-01 6.27368381e-02 -9.74204611e-02 1.55821173e+02] [-6.25885676e-02 9.98028904e-01 4.58022512e-03 2.12065888e+01] [ 9.75157848e-02 1.54803447e-03 9.95232774e-01 -1.00591574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:155.85, Y:21.23, Z:-100.59 [[ 9.96335979e-01 6.38204794e-02 -5.69347221e-02 1.55853426e+02] [-6.49944372e-02 9.97704542e-01 -1.90097370e-02 2.12282231e+01] [ 5.55908203e-02 2.26405251e-02 9.98196908e-01 -1.00593242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07592 meters Centerline goodness : 0.981729 Centerline is valid? [True, True] Translation: X:155.89, Y:21.14, Z:-100.60 [[ 9.97433157e-01 2.01313773e-02 -6.87155297e-02 1.55894275e+02] [-1.64558850e-02 9.98424645e-01 5.36417007e-02 2.11381562e+01] [ 6.96871597e-02 -5.23732360e-02 9.96193126e-01 -1.00595111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:155.91, Y:21.24, Z:-100.59 [[ 9.94293827e-01 6.08077738e-02 -8.76481574e-02 1.55907645e+02] [-6.35976326e-02 9.97542628e-01 -2.93946512e-02 2.12438744e+01] [ 8.56453500e-02 3.48011355e-02 9.95717708e-01 -1.00586030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13592 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:155.94, Y:21.23, Z:-100.59 [[ 9.95346894e-01 6.33477778e-02 -7.26059236e-02 1.55936176e+02] [-6.43370633e-02 9.97863492e-01 -1.13663085e-02 2.12317172e+01] [ 7.17307701e-02 1.59846718e-02 9.97295937e-01 -1.00586844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:155.96, Y:21.22, Z:-100.58 [[ 9.95142470e-01 6.34080496e-02 -7.53052689e-02 1.55964372e+02] [-6.35984972e-02 9.97975558e-01 -1.31224466e-04 2.12234949e+01] [ 7.51444970e-02 4.91988897e-03 9.97160518e-01 -1.00583612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19592 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:155.99, Y:21.24, Z:-100.58 [[ 9.96155797e-01 5.99925940e-02 -6.38319404e-02 1.55994962e+02] [-6.09913901e-02 9.98042700e-01 -1.38137168e-02 2.12430206e+01] [ 6.28782814e-02 1.76538129e-02 9.97865053e-01 -1.00583598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:156.02, Y:21.20, Z:-100.58 [[ 9.94175763e-01 6.09269278e-02 -8.88957884e-02 1.56019740e+02] [-5.79210122e-02 9.97671406e-01 3.60128107e-02 2.11970813e+01] [ 9.08829361e-02 -3.06541295e-02 9.95389681e-01 -1.00575713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:156.05, Y:21.26, Z:-100.58 [[ 9.96345600e-01 5.21232464e-02 -6.76654411e-02 1.56052492e+02] [-5.38932151e-02 9.98243639e-01 -2.45999818e-02 2.12601979e+01] [ 6.62643652e-02 2.81567918e-02 9.97404747e-01 -1.00577230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.08, Y:21.24, Z:-100.58 [[ 9.96609511e-01 5.12046651e-02 -6.44015868e-02 1.56080334e+02] [-5.14454236e-02 9.98673632e-01 -2.08457002e-03 2.12390498e+01] [ 6.42094269e-02 5.39066922e-03 9.97921886e-01 -1.00576115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:21.24, Z:-100.57 [[ 9.96583559e-01 4.66010152e-02 -6.81876549e-02 1.56108762e+02] [-4.63358999e-02 9.98910964e-01 5.46534395e-03 2.12365653e+01] [ 6.83680866e-02 -2.28713558e-03 9.97657543e-01 -1.00574472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:21.26, Z:-100.57 [[ 9.97306098e-01 4.40107482e-02 -5.86821969e-02 1.56141146e+02] [-4.48983138e-02 9.98894958e-01 -1.38925891e-02 2.12580296e+01] [ 5.80059274e-02 1.64898955e-02 9.98180042e-01 -1.00572065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:21.24, Z:-100.57 [[ 9.97304613e-01 4.26950975e-02 -5.96710712e-02 1.56169865e+02] [-4.24441357e-02 9.99083881e-01 5.46749584e-03 2.12441784e+01] [ 5.98498407e-02 -2.92007179e-03 9.98203120e-01 -1.00569429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:21.25, Z:-100.57 [[ 9.97466831e-01 3.91858841e-02 -5.93665455e-02 1.56199049e+02] [-3.92203447e-02 9.99230415e-01 5.85081285e-04 2.12477430e+01] [ 5.93437849e-02 1.74477720e-03 9.98236080e-01 -1.00567115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:156.22, Y:21.14, Z:-100.56 [[ 9.94490693e-01 4.66730311e-02 -9.38610170e-02 1.56219176e+02] [-3.59901350e-02 9.93005339e-01 1.12450463e-01 2.11382012e+01] [ 9.84528950e-02 -1.08452868e-01 9.89214336e-01 -1.00558401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.26, Y:21.32, Z:-100.56 [[ 9.96826221e-01 2.78351787e-02 -7.45834284e-02 1.56258120e+02] [-3.35716027e-02 9.96481359e-01 -7.67974505e-02 2.13228450e+01] [ 7.21833254e-02 7.90575976e-02 9.94253219e-01 -1.00556237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:156.28, Y:21.19, Z:-100.56 [[ 9.95853828e-01 3.87010276e-02 -8.23248676e-02 1.56282729e+02] [-3.39492005e-02 9.97718317e-01 5.83576141e-02 2.11926402e+01] [ 8.43955281e-02 -5.53207900e-02 9.94895474e-01 -1.00556507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:21.29, Z:-100.55 [[ 9.97026441e-01 2.62036693e-02 -7.24682283e-02 1.56314732e+02] [-2.95319203e-02 9.98539383e-01 -4.52434078e-02 2.12927140e+01] [ 7.11768367e-02 4.72489998e-02 9.96344012e-01 -1.00551081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.34, Y:21.26, Z:-100.55 [[ 9.97869396e-01 2.57313670e-02 -5.99547005e-02 1.56341791e+02] [-2.64078459e-02 9.99595916e-01 -1.05181387e-02 2.12554425e+01] [ 5.96598277e-02 1.20790032e-02 9.98145682e-01 -1.00554074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:21.24, Z:-100.55 [[ 9.98093056e-01 2.30616324e-02 -5.72574220e-02 1.56370378e+02] [-2.32567387e-02 9.99725761e-01 -2.74342579e-03 2.12441808e+01] [ 5.71784519e-02 4.06981514e-03 9.98355679e-01 -1.00552171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.40, Y:21.21, Z:-100.55 [[ 9.96630379e-01 2.57899216e-02 -7.78637818e-02 1.56397007e+02] [-2.36199223e-02 9.99310033e-01 2.86628171e-02 2.12097773e+01] [ 7.85492701e-02 -2.67270978e-02 9.96551892e-01 -1.00546948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.43, Y:21.24, Z:-100.55 [[ 9.97513965e-01 1.99393234e-02 -6.75892912e-02 1.56427559e+02] [-2.07451937e-02 9.99721587e-01 -1.12421421e-02 2.12449994e+01] [ 6.73463127e-02 1.26163467e-02 9.97649889e-01 -1.00546720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:21.23, Z:-100.54 [[ 9.97563910e-01 2.11348138e-02 -6.64798062e-02 1.56455969e+02] [-2.09520752e-02 9.99774546e-01 3.44487810e-03 2.12275021e+01] [ 6.65376249e-02 -2.04359617e-03 9.97781824e-01 -1.00544748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.48, Y:21.23, Z:-100.54 [[ 9.97762094e-01 2.02042610e-02 -6.37384573e-02 1.56484795e+02] [-2.02732728e-02 9.99794381e-01 -4.36103488e-04 2.12278238e+01] [ 6.37165403e-02 1.72731466e-03 9.97966542e-01 -1.00543336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.51, Y:21.22, Z:-100.54 [[ 9.97746299e-01 2.18788745e-02 -6.34321560e-02 1.56513875e+02] [-2.19419483e-02 9.99759202e-01 -2.97823272e-04 2.12248985e+01] [ 6.34103657e-02 1.68897716e-03 9.97986109e-01 -1.00541185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.54, Y:21.22, Z:-100.54 [[ 9.97726485e-01 2.20086106e-02 -6.36983729e-02 1.56541522e+02] [-2.18565466e-02 9.99756363e-01 3.08317173e-03 2.12200354e+01] [ 6.37507100e-02 -1.68393563e-03 9.97964434e-01 -1.00539227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:21.16, Z:-100.53 [[ 9.95395937e-01 3.47191768e-02 -8.93392873e-02 1.56567967e+02] [-2.94166656e-02 9.97764840e-01 5.99998576e-02 2.11605447e+01] [ 9.12227454e-02 -5.70955505e-02 9.94192390e-01 -1.00532632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:21.27, Z:-100.53 [[ 9.97775095e-01 2.49416164e-02 -6.18285958e-02 1.56602696e+02] [-2.81871239e-02 9.98239404e-01 -5.21879215e-02 2.12664833e+01] [ 6.04180895e-02 5.38145787e-02 9.96721448e-01 -1.00531402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.63, Y:21.21, Z:-100.53 [[ 9.97653241e-01 3.23856447e-02 -6.03256205e-02 1.56629666e+02] [-3.24342751e-02 9.99473855e-01 1.73151120e-04 2.12137367e+01] [ 6.02994881e-02 1.78387300e-03 9.98178736e-01 -1.00531988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.66, Y:21.21, Z:-100.53 [[ 9.97519215e-01 3.41832120e-02 -6.15379854e-02 1.56659077e+02] [-3.40086805e-02 9.99414000e-01 3.88164061e-03 2.12081594e+01] [ 6.16346111e-02 -1.77918542e-03 9.98097194e-01 -1.00530223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.69, Y:21.20, Z:-100.53 [[ 9.97581286e-01 3.47585145e-02 -6.01948824e-02 1.56687639e+02] [-3.45648684e-02 9.99393396e-01 4.25557722e-03 2.12042546e+01] [ 6.03062855e-02 -2.16465600e-03 9.98177572e-01 -1.00526618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:21.22, Z:-100.53 [[ 9.97824829e-01 3.43370377e-02 -5.62723553e-02 1.56717989e+02] [-3.49252932e-02 9.99344739e-01 -9.50354317e-03 2.12152785e+01] [ 5.59091586e-02 1.14481998e-02 9.98370224e-01 -1.00525154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.75, Y:21.20, Z:-100.52 [[ 9.97755568e-01 3.82908951e-02 -5.49329871e-02 1.56747107e+02] [-3.82118566e-02 9.99266561e-01 2.48882018e-03 2.12019372e+01] [ 5.49879962e-02 -3.84142767e-04 9.98486942e-01 -1.00522888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.77, Y:21.19, Z:-100.52 [[ 9.97635890e-01 4.05485755e-02 -5.54837232e-02 1.56774810e+02] [-3.96673230e-02 9.99070121e-01 1.68936954e-02 2.11862424e+01] [ 5.61171454e-02 -1.46528661e-02 9.98316663e-01 -1.00519452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.80, Y:21.21, Z:-100.52 [[ 9.97572573e-01 4.31732676e-02 -5.46354420e-02 1.56804898e+02] [-4.34396337e-02 9.99049215e-01 -3.69665026e-03 2.12066659e+01] [ 5.44238990e-02 6.06102049e-03 9.98499526e-01 -1.00518171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:156.84, Y:21.21, Z:-100.52 [[ 9.97620985e-01 4.44202007e-02 -5.27182672e-02 1.56836199e+02] [-4.49973904e-02 9.98938916e-01 -9.81203994e-03 2.12130586e+01] [ 5.22264759e-02 1.21608814e-02 9.98561219e-01 -1.00515878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:156.87, Y:21.20, Z:-100.51 [[ 9.97504773e-01 4.92235205e-02 -5.06090141e-02 1.56865878e+02] [-4.88219714e-02 9.98765668e-01 9.14091633e-03 2.11976080e+01] [ 5.09964938e-02 -6.64727583e-03 9.98676710e-01 -1.00512265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:156.89, Y:21.13, Z:-100.51 [[ 9.94179700e-01 5.68978661e-02 -9.14841948e-02 1.56886951e+02] [-4.98503730e-02 9.95740806e-01 7.75576392e-02 2.11328892e+01] [ 9.55074101e-02 -7.25457092e-02 9.92781675e-01 -1.00505122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:156.92, Y:21.21, Z:-100.50 [[ 9.94054944e-01 5.09501731e-02 -9.62229059e-02 1.56918093e+02] [-5.06603370e-02 9.98701047e-01 5.45434226e-03 2.12054749e+01] [ 9.63758165e-02 -5.47231050e-04 9.95344866e-01 -1.00504843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:156.94, Y:21.19, Z:-100.50 [[ 9.94352568e-01 5.15003334e-02 -9.27937777e-02 1.56943616e+02] [-4.99477360e-02 9.98571496e-01 1.89787010e-02 2.11940889e+01] [ 9.36386309e-02 -1.42366810e-02 9.95504457e-01 -1.00500583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:156.98, Y:21.24, Z:-100.50 [[ 9.94496748e-01 4.67051941e-02 -9.37808211e-02 1.56977982e+02] [-4.85189444e-02 9.98674965e-01 -1.71530205e-02 2.12352264e+01] [ 9.28554231e-02 2.16087696e-02 9.95445092e-01 -1.00498100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:157.00, Y:21.19, Z:-100.50 [[ 9.94580007e-01 5.02342255e-02 -9.10336836e-02 1.56999368e+02] [-4.80562712e-02 9.98507167e-01 2.59621221e-02 2.11943303e+01] [ 9.22019727e-02 -2.14466682e-02 9.95509335e-01 -1.00495607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27592 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:157.07, Y:21.21, Z:-100.50 [[ 9.93901049e-01 3.95206422e-02 -1.02950588e-01 1.57065609e+02] [-3.76945944e-02 9.99096611e-01 1.96234216e-02 2.12074895e+01] [ 1.03633114e-01 -1.56230587e-02 9.94492885e-01 -1.00503328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:157.10, Y:21.20, Z:-100.51 [[ 9.94071473e-01 2.63917780e-02 -1.05476923e-01 1.57104698e+02] [-2.31504465e-02 9.99224914e-01 3.18375204e-02 2.11953063e+01] [ 1.06235418e-01 -2.92069330e-02 9.93911963e-01 -1.00506831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33592000000002 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:157.10, Y:21.21, Z:-100.49 [[ 9.94623932e-01 3.08182077e-02 -9.88608719e-02 1.57098423e+02] [-2.91885431e-02 9.99413835e-01 1.78889738e-02 2.12109509e+01] [ 9.93542292e-02 -1.49071967e-02 9.94940457e-01 -1.00493998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:157.15, Y:21.18, Z:-100.50 [[ 9.93404037e-01 1.67284383e-02 -1.13439756e-01 1.57153540e+02] [-1.11469319e-02 9.98704005e-01 4.96594080e-02 2.11775153e+01] [ 1.14123463e-01 -4.80673512e-02 9.92303061e-01 -1.00497973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:157.13, Y:21.27, Z:-100.48 [[ 9.99297502e-01 -1.04223111e-04 -3.74765551e-02 1.57127992e+02] [-1.88293701e-03 9.98593539e-01 -5.29848800e-02 2.12661141e+01] [ 3.74293681e-02 5.30182242e-02 9.97891833e-01 -1.00478652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:157.15, Y:21.15, Z:-100.48 [[ 9.96298800e-01 4.86250545e-03 -8.58199070e-02 1.57151007e+02] [ 4.82598934e-04 9.98066551e-01 6.21524419e-02 2.11547273e+01] [ 8.59561953e-02 -6.19638199e-02 9.94370161e-01 -1.00479445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45592000000002 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.18, Y:21.22, Z:-100.48 [[ 9.96520851e-01 -1.25251635e-03 -8.33344104e-02 1.57180241e+02] [ 9.64985195e-04 9.99993443e-01 -3.49051816e-03 2.12213473e+01] [ 8.33382359e-02 3.39795766e-03 9.96515525e-01 -1.00476008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:21.27, Z:-100.47 [[ 9.99393949e-01 -4.89443765e-03 -3.44641849e-02 1.57210372e+02] [ 3.03347813e-03 9.98544774e-01 -5.38435902e-02 2.12720616e+01] [ 3.46775658e-02 5.37064119e-02 9.97954452e-01 -1.00472309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:157.23, Y:21.10, Z:-100.47 [[ 9.97132403e-01 6.53675342e-03 -7.53939098e-02 1.57233441e+02] [ 2.82531171e-03 9.92352390e-01 1.23404831e-01 2.11005231e+01] [ 7.56239935e-02 -1.23263967e-01 9.89488255e-01 -1.00474987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.27, Y:21.29, Z:-100.46 [[ 9.96409400e-01 -7.84979813e-03 -8.43011808e-02 1.57265051e+02] [ 2.19218085e-03 9.97750843e-01 -6.69958955e-02 2.12889139e+01] [ 8.46374784e-02 6.65705366e-02 9.94185526e-01 -1.00464524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:157.30, Y:21.28, Z:-100.47 [[ 9.98886236e-01 -6.70254016e-03 -4.67050615e-02 1.57295635e+02] [ 4.25258595e-03 9.98619266e-01 -5.23591251e-02 2.12750782e+01] [ 4.69915133e-02 5.21021921e-02 9.97535543e-01 -1.00468971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.32, Y:21.12, Z:-100.47 [[ 9.97605302e-01 5.11804089e-03 -6.89743924e-02 1.57319018e+02] [ 2.06182760e-03 9.94614458e-01 1.03623495e-01 2.11233649e+01] [ 6.91332772e-02 -1.03517561e-01 9.92222104e-01 -1.00470073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:157.35, Y:21.33, Z:-100.45 [[ 9.99543679e-01 -3.03774493e-03 -3.00533743e-02 1.57351646e+02] [ 2.21641861e-07 9.94931137e-01 -1.00558608e-01 2.13304509e+01] [ 3.02065092e-02 1.00512714e-01 9.94477130e-01 -1.00453276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:157.37, Y:21.13, Z:-100.47 [[ 9.97543730e-01 1.05388114e-02 -6.92491118e-02 1.57373830e+02] [-3.17632202e-03 9.94405719e-01 1.05580188e-01 2.11287279e+01] [ 6.99744025e-02 -1.05100897e-01 9.91996666e-01 -1.00465726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:157.41, Y:21.33, Z:-100.45 [[ 9.99705418e-01 9.22962161e-04 -2.42533683e-02 1.57406818e+02] [-3.36470290e-03 9.94898016e-01 -1.00829644e-01 2.13332022e+01] [ 2.40365660e-02 1.00881547e-01 9.94608042e-01 -1.00446036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.43, Y:21.24, Z:-100.46 [[ 9.99683656e-01 8.77169396e-03 -2.35721298e-02 1.57434151e+02] [-8.76760543e-03 9.99961526e-01 2.76793708e-04 2.12377179e+01] [ 2.35736509e-02 -7.00350122e-05 9.99722100e-01 -1.00457973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:157.46, Y:21.18, Z:-100.46 [[ 9.97131352e-01 1.08682221e-02 -7.49062651e-02 1.57457127e+02] [-6.47195521e-03 9.98255571e-01 5.86849953e-02 2.11828510e+01] [ 7.54133980e-02 -5.80318587e-02 9.95462266e-01 -1.00458453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters Centerline goodness : 0.901273 Centerline is valid? [True, False] Translation: X:157.43, Y:21.21, Z:-100.46 [[ 9.98459689e-01 7.42825312e-03 -5.49824593e-02 1.57430107e+02] [-5.31002372e-03 9.99241720e-01 3.85718614e-02 2.12064225e+01] [ 5.52272887e-02 -3.82204906e-02 9.97742021e-01 -1.00460237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81592 meters Centerline goodness : 0.999402 Centerline is valid? [False, True] Translation: X:157.42, Y:21.23, Z:-100.46 [[ 9.98853096e-01 4.98030198e-03 -4.76202650e-02 1.57421619e+02] [-4.34017829e-03 9.99898962e-01 1.35362173e-02 2.12312192e+01] [ 4.76828680e-02 -1.33140121e-02 9.98773789e-01 -1.00458344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:157.45, Y:21.26, Z:-100.46 [[ 9.99158020e-01 2.37066368e-03 -4.09588926e-02 1.57449791e+02] [-2.92782711e-03 9.99903930e-01 -1.35483646e-02 2.12616664e+01] [ 4.09228390e-02 1.36568777e-02 9.99068972e-01 -1.00455268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:157.48, Y:21.26, Z:-100.46 [[ 9.99201173e-01 1.28876467e-03 -3.99418901e-02 1.57476980e+02] [-1.57608193e-03 9.99973105e-01 -7.16272821e-03 2.12568305e+01] [ 3.99315848e-02 7.21995813e-03 9.99176331e-01 -1.00455055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:157.50, Y:21.25, Z:-100.46 [[ 9.99326189e-01 -1.32979098e-03 -3.66796833e-02 1.57504502e+02] [ 1.17661513e-03 9.99990499e-01 -4.19731089e-03 2.12545349e+01] [ 3.66849163e-02 4.15132482e-03 9.99318259e-01 -1.00456853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.53, Y:21.24, Z:-100.46 [[ 9.99116346e-01 -1.85903535e-03 -4.19889441e-02 1.57532127e+02] [ 2.33581684e-03 9.99933326e-01 1.13087240e-02 2.12403027e+01] [ 4.19651212e-02 -1.13968095e-02 9.99054073e-01 -1.00455259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.56, Y:21.24, Z:-100.46 [[ 9.98953522e-01 -3.64840586e-03 -4.55911268e-02 1.57559326e+02] [ 4.38043468e-03 9.99862927e-01 1.59668107e-02 2.12380819e+01] [ 4.55266240e-02 -1.61498107e-02 9.98832574e-01 -1.00458311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:157.59, Y:21.25, Z:-100.46 [[ 9.98795246e-01 -4.76903960e-03 -4.88396681e-02 1.57586663e+02] [ 4.88300546e-03 9.99985626e-01 2.21442107e-03 2.12518086e+01] [ 4.88284055e-02 -2.45023760e-03 9.98804177e-01 -1.00456099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:157.61, Y:21.25, Z:-100.45 [[ 9.98884273e-01 -1.60035682e-03 -4.71979573e-02 1.57613550e+02] [ 1.60306120e-03 9.99998715e-01 1.94469225e-05 2.12544769e+01] [ 4.71978655e-02 -9.50864388e-05 9.98885555e-01 -1.00452276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05592000000001 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:157.64, Y:21.24, Z:-100.45 [[ 9.98489142e-01 2.95386883e-03 -5.48699175e-02 1.57642196e+02] [-1.61367437e-03 9.99699673e-01 2.44532054e-02 2.12350067e+01] [ 5.49256702e-02 -2.43277179e-02 9.98194036e-01 -1.00453553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:157.67, Y:21.33, Z:-100.44 [[ 9.99962066e-01 5.99949796e-03 6.31440031e-03 1.57672419e+02] [-5.56493949e-03 9.97756107e-01 -6.67216712e-02 2.13274767e+01] [-6.70052800e-03 6.66840009e-02 9.97751646e-01 -1.00441217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:157.70, Y:21.26, Z:-100.45 [[ 9.99924703e-01 1.07861503e-02 5.85211846e-03 1.57703449e+02] [-1.07861401e-02 9.99941827e-01 -3.33052940e-05 2.12633903e+01] [-5.85213726e-03 -2.98189834e-05 9.99982876e-01 -1.00451503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:157.73, Y:21.21, Z:-100.45 [[ 9.99050711e-01 1.08946955e-02 -4.21779771e-02 1.57731843e+02] [-8.61715695e-03 9.98514095e-01 5.38084189e-02 2.12114384e+01] [ 4.27015310e-02 -5.33938849e-02 9.97660099e-01 -1.00452350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17592000000002 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:157.76, Y:21.27, Z:-100.45 [[ 9.99031470e-01 1.06280666e-02 -4.26985505e-02 1.57759972e+02] [-1.08688367e-02 9.99926294e-01 -5.41064458e-03 2.12722785e+01] [ 4.26378987e-02 5.86948778e-03 9.99073350e-01 -1.00446367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:157.79, Y:21.27, Z:-100.45 [[ 9.98989387e-01 1.05240994e-02 -4.36972346e-02 1.57786702e+02] [-1.04754392e-02 9.99944230e-01 1.34241725e-03 2.12697175e+01] [ 4.37089253e-02 -8.83312863e-04 9.99043918e-01 -1.00446064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:157.82, Y:21.31, Z:-100.44 [[ 9.99893261e-01 7.90219032e-03 -1.22891142e-02 1.57815601e+02] [-8.39727545e-03 9.99133234e-01 -4.07708934e-02 2.13114089e+01] [ 1.19562830e-02 4.08697366e-02 9.99092945e-01 -1.00442272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:157.84, Y:21.24, Z:-100.45 [[ 9.99357252e-01 7.38782975e-03 -3.50785135e-02 1.57843041e+02] [-6.22762132e-03 9.99433654e-01 3.30694501e-02 2.12393938e+01] [ 3.53029584e-02 -3.28297391e-02 9.98837279e-01 -1.00446409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:21.31, Z:-100.44 [[ 9.99973557e-01 5.35073804e-03 -4.92485000e-03 1.57872479e+02] [-5.53541200e-03 9.99251654e-01 -3.82817331e-02 2.13107628e+01] [ 4.71632899e-03 3.83079819e-02 9.99254850e-01 -1.00441023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:157.90, Y:21.19, Z:-100.45 [[ 9.98675009e-01 4.20683355e-03 -5.12886753e-02 1.57896952e+02] [ 3.39590330e-04 9.96092579e-01 8.83145456e-02 2.11887890e+01] [ 5.14597934e-02 -8.82149468e-02 9.94771337e-01 -1.00449366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:157.93, Y:21.32, Z:-100.44 [[ 9.99352100e-01 3.41177440e-03 -3.58293291e-02 1.57927416e+02] [-4.90308749e-03 9.99121579e-01 -4.16176746e-02 2.13186955e+01] [ 3.56558657e-02 4.17663848e-02 9.98490976e-01 -1.00435227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:157.95, Y:21.22, Z:-100.45 [[ 9.98817670e-01 8.94637831e-04 -4.86051691e-02 1.57951023e+02] [ 2.09636681e-03 9.98107904e-01 6.14509394e-02 2.12172987e+01] [ 4.85681798e-02 -6.14801783e-02 9.96925935e-01 -1.00446569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:157.98, Y:21.34, Z:-100.43 [[ 9.99487231e-01 1.17091593e-03 -3.19985065e-02 1.57982155e+02] [-3.02529671e-03 9.98314013e-01 -5.79653194e-02 2.13363867e+01] [ 3.18766850e-02 5.80324016e-02 9.97805651e-01 -1.00428440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:158.01, Y:21.26, Z:-100.44 [[ 9.99263346e-01 -9.06735868e-04 -3.83659164e-02 1.58008491e+02] [ 1.69175429e-03 9.99789776e-01 2.04338348e-02 2.12599533e+01] [ 3.83393229e-02 -2.04836878e-02 9.99054811e-01 -1.00442327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:158.04, Y:21.31, Z:-100.43 [[ 9.99722828e-01 -3.27363630e-03 -2.33141711e-02 1.58037674e+02] [ 2.48206805e-03 9.99422127e-01 -3.39006032e-02 2.13134424e+01] [ 2.34116767e-02 3.38333395e-02 9.99153241e-01 -1.00433743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:158.06, Y:21.24, Z:-100.44 [[ 9.99351341e-01 -4.82221831e-03 -3.56881446e-02 1.58062644e+02] [ 6.21067340e-03 9.99223916e-01 3.88972009e-02 2.12411868e+01] [ 3.54728768e-02 -3.90936172e-02 9.98605710e-01 -1.00440175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:158.09, Y:21.28, Z:-100.44 [[ 9.99371015e-01 -5.16039347e-03 -3.50848254e-02 1.58089924e+02] [ 5.29217315e-03 9.99979283e-01 3.66420201e-03 2.12762140e+01] [ 3.50651898e-02 -3.84757225e-03 9.99377621e-01 -1.00435973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:158.12, Y:21.29, Z:-100.43 [[ 9.99477558e-01 -5.88439614e-03 -3.17802685e-02 1.58116415e+02] [ 5.64961494e-03 9.99956122e-01 -7.47239130e-03 2.12867736e+01] [ 3.18228446e-02 7.28894113e-03 9.99466947e-01 -1.00434442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:158.15, Y:21.33, Z:-100.43 [[ 9.99970336e-01 -5.71867191e-03 5.15983587e-03 1.58146340e+02] [ 5.99606545e-03 9.98443414e-01 -5.54508475e-02 2.13329059e+01] [-4.83469894e-03 5.54801414e-02 9.98448086e-01 -1.00431661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:158.17, Y:21.16, Z:-100.45 [[ 9.99493826e-01 -9.57141236e-03 -3.03394173e-02 1.58172134e+02] [ 1.30591294e-02 9.93054300e-01 1.16929966e-01 2.11574417e+01] [ 2.90095038e-02 -1.17266986e-01 9.92676636e-01 -1.00446707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:158.20, Y:21.38, Z:-100.42 [[ 9.99917129e-01 -6.29153067e-03 1.12317077e-02 1.58204191e+02] [ 7.49924863e-03 9.93798114e-01 -1.10946250e-01 2.13835198e+01] [-1.04640281e-02 1.11021285e-01 9.93762939e-01 -1.00417175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:158.24, Y:21.28, Z:-100.44 [[ 9.99862840e-01 -7.42014688e-03 1.48068122e-02 1.58235793e+02] [ 7.48057512e-03 9.99963900e-01 -4.02990712e-03 2.12763403e+01] [-1.47763751e-02 4.14011785e-03 9.99882252e-01 -1.00437330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:158.27, Y:21.27, Z:-100.44 [[ 9.99862409e-01 -6.78563954e-03 1.51366583e-02 1.58268065e+02] [ 6.78874517e-03 9.99976944e-01 -1.53799254e-04 2.12726977e+01] [-1.51352657e-02 2.56537009e-04 9.99885422e-01 -1.00438021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:158.30, Y:21.17, Z:-100.44 [[ 9.99573638e-01 -9.53966881e-03 -2.75959480e-02 1.58295110e+02] [ 1.22190991e-02 9.95050411e-01 9.86173025e-02 2.11710413e+01] [ 2.65185830e-02 -9.89124535e-02 9.94742726e-01 -1.00440580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:158.33, Y:21.37, Z:-100.42 [[ 9.99434301e-01 -6.20258785e-03 3.30545771e-02 1.58331842e+02] [ 9.64991368e-03 9.94406766e-01 -1.05176339e-01 2.13664939e+01] [-3.22173297e-02 1.05435815e-01 9.93904086e-01 -1.00417233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:158.36, Y:21.17, Z:-100.44 [[ 9.99687273e-01 -1.00429919e-02 -2.29018424e-02 1.58358067e+02] [ 1.19950076e-02 9.96157440e-01 8.67552618e-02 2.11749356e+01] [ 2.19425582e-02 -8.70028389e-02 9.95966380e-01 -1.00438711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83592000000002 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:158.39, Y:21.34, Z:-100.42 [[ 9.99508930e-01 -6.94940240e-03 3.05549349e-02 1.58388493e+02] [ 9.37234447e-03 9.96760092e-01 -7.98841503e-02 2.13373431e+01] [-2.99007927e-02 8.01312930e-02 9.96335746e-01 -1.00421206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:158.42, Y:21.20, Z:-100.44 [[ 9.99809722e-01 -1.06405870e-02 -1.63492241e-02 1.58422668e+02] [ 1.15449428e-02 9.98349705e-01 5.62546057e-02 2.11987587e+01] [ 1.57236610e-02 -5.64326525e-02 9.98282586e-01 -1.00437196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89592000000002 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:158.45, Y:21.20, Z:-100.44 [[ 9.99679804e-01 -8.11019291e-03 -2.39690170e-02 1.58445156e+02] [ 9.41822054e-03 9.98443451e-01 5.49724616e-02 2.11994640e+01] [ 2.34858707e-02 -5.51806051e-02 9.98200138e-01 -1.00435408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters Centerline goodness : 0.720275 Centerline is valid? [True, False] Translation: X:158.42, Y:21.23, Z:-100.43 [[ 9.99800309e-01 -7.06956998e-03 -1.86912527e-02 1.58421662e+02] [ 7.53168614e-03 9.99664805e-01 2.47699732e-02 2.12274431e+01] [ 1.85098745e-02 -2.49058035e-02 9.99518427e-01 -1.00432623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95592000000002 meters Centerline goodness : 0.996257 Centerline is valid? [False, True] Translation: X:158.42, Y:21.24, Z:-100.43 [[ 9.99656638e-01 -2.41252406e-03 -2.60918804e-02 1.58424894e+02] [ 2.65672845e-03 9.99952957e-01 9.32878951e-03 2.12418950e+01] [ 2.60681470e-02 -9.39490540e-03 9.99616020e-01 -1.00430323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:158.45, Y:21.19, Z:-100.44 [[ 9.99483437e-01 -3.71788050e-03 -3.19223451e-02 1.58449874e+02] [ 5.67125039e-03 9.98102010e-01 6.13205836e-02 2.11895971e+01] [ 3.16337742e-02 -6.14699473e-02 9.97607513e-01 -1.00435002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01592 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:158.48, Y:21.24, Z:-100.43 [[ 9.99657786e-01 2.18554098e-04 -2.61584309e-02 1.58475996e+02] [ 1.08921361e-04 9.99921655e-01 1.25168464e-02 2.12385696e+01] [ 2.61591172e-02 -1.25154122e-02 9.99579444e-01 -1.00430903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:158.50, Y:21.25, Z:-100.43 [[ 9.99842940e-01 1.68115370e-03 -1.76428262e-02 1.58501012e+02] [-1.56588226e-03 9.99977353e-01 6.54539742e-03 2.12458162e+01] [ 1.76534305e-02 -6.51674281e-03 9.99822929e-01 -1.00429144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07592 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:158.54, Y:21.39, Z:-100.40 [[ 9.98940574e-01 1.29904232e-02 4.41472287e-02 1.58536499e+02] [-6.62292037e-03 9.89926376e-01 -1.41428101e-01 2.13928579e+01] [-4.55397170e-02 1.40985885e-01 9.88963657e-01 -1.00400107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:158.56, Y:21.18, Z:-100.43 [[ 9.99854364e-01 7.08439685e-03 -1.55261613e-02 1.58560545e+02] [-5.84959734e-03 9.96922044e-01 7.81806870e-02 2.11789719e+01] [ 1.60322355e-02 -7.80784793e-02 9.96818298e-01 -1.00428382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13592 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:158.59, Y:21.24, Z:-100.42 [[ 9.99794654e-01 9.94176701e-03 -1.76581507e-02 1.58590017e+02] [-9.63377194e-03 9.99801458e-01 1.74423396e-02 2.12401500e+01] [ 1.78280525e-02 -1.72686433e-02 9.99691930e-01 -1.00423738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:158.62, Y:21.27, Z:-100.42 [[ 9.99827980e-01 1.11416100e-02 -1.48281894e-02 1.58616805e+02] [-1.12987078e-02 9.99880477e-01 -1.05532687e-02 2.12693236e+01] [ 1.47088366e-02 1.07189927e-02 9.99834363e-01 -1.00422318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19592 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:158.64, Y:21.23, Z:-100.42 [[ 9.99604210e-01 1.03759070e-02 -2.61488824e-02 1.58643792e+02] [-9.56925954e-03 9.99480165e-01 3.07868273e-02 2.12291722e+01] [ 2.64547305e-02 -3.05244167e-02 9.99183871e-01 -1.00424635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters Centerline goodness : 0.867331 Centerline is valid? [True, False] Translation: X:158.62, Y:21.24, Z:-100.43 [[ 9.99925837e-01 1.02663969e-02 -6.55139442e-03 1.58618988e+02] [-1.01304217e-02 9.99739320e-01 2.04613448e-02 2.12402479e+01] [ 6.75975089e-03 -2.03934589e-02 9.99769180e-01 -1.00426203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25592 meters Centerline goodness : 0.996711 Centerline is valid? [False, True] Translation: X:158.61, Y:21.26, Z:-100.42 [[ 9.99938310e-01 1.10412931e-02 1.21079936e-03 1.58612921e+02] [-1.10406769e-02 9.99938918e-01 -5.14375441e-04 2.12625190e+01] [-1.21640477e-03 5.00975664e-04 9.99999135e-01 -1.00422775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:158.64, Y:21.28, Z:-100.42 [[ 9.99931304e-01 1.13152027e-02 3.05849286e-03 1.58642161e+02] [-1.12721720e-02 9.99842087e-01 -1.37382130e-02 2.12791894e+01] [-3.21346055e-03 1.37027933e-02 9.99900949e-01 -1.00422819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31592 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:158.67, Y:21.25, Z:-100.43 [[ 9.99946040e-01 1.02637772e-02 1.60342865e-03 1.58671653e+02] [-1.02831290e-02 9.99868157e-01 1.25668944e-02 2.12549148e+01] [-1.47423344e-03 -1.25827046e-02 9.99919748e-01 -1.00426184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:158.69, Y:21.22, Z:-100.43 [[ 9.99782234e-01 1.00073986e-02 1.83122113e-02 1.58692240e+02] [-1.09775378e-02 9.98498507e-01 5.36677255e-02 2.12157106e+01] [-1.77476413e-02 -5.38570614e-02 9.98390925e-01 -1.00429810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37592 meters Centerline goodness : 0.982228 Centerline is valid? [True, True] Translation: X:158.79, Y:21.24, Z:-100.45 [[ 9.99900317e-01 8.48337358e-03 -1.12866592e-02 1.58786532e+02] [-7.96482345e-03 9.98945246e-01 4.52211947e-02 2.12377174e+01] [ 1.16583828e-02 -4.51267907e-02 9.98913237e-01 -1.00452254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters Centerline goodness : 0.894288 Centerline is valid? [True, False] Translation: X:158.79, Y:21.27, Z:-100.45 [[ 9.99805194e-01 3.40664138e-03 -1.94414429e-02 1.58791841e+02] [-3.10537962e-03 9.99874967e-01 1.55050613e-02 2.12682833e+01] [ 1.94918323e-02 -1.54416678e-02 9.99690764e-01 -1.00446867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43592 meters Centerline goodness : 0.996861 Centerline is valid? [False, True] Translation: X:158.79, Y:21.29, Z:-100.44 [[ 9.99914476e-01 6.91788201e-03 -1.10987805e-02 1.58786062e+02] [-6.93041179e-03 9.99975389e-01 -1.09086920e-03 2.12852634e+01] [ 1.10909609e-02 1.16769502e-03 9.99937812e-01 -1.00444368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters Centerline goodness : 0.853673 Centerline is valid? [True, False] Translation: X:158.78, Y:21.29, Z:-100.45 [[ 9.99985162e-01 4.37228158e-03 3.24929789e-03 1.58779380e+02] [-4.35341867e-03 9.99973763e-01 -5.78980049e-03 2.12899529e+01] [-3.27452728e-03 5.77556903e-03 9.99977960e-01 -1.00445228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49592 meters Centerline goodness : 0.966141 Centerline is valid? [False, True] Translation: X:158.78, Y:21.29, Z:-100.45 [[ 9.99994972e-01 3.87159366e-04 3.14730757e-03 1.58779719e+02] [-3.52902743e-04 9.99940774e-01 -1.08777001e-02 2.12942899e+01] [-3.15133258e-03 1.08765347e-02 9.99935883e-01 -1.00445152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters Centerline goodness : 0.938830 Centerline is valid? [True, False] Translation: X:158.78, Y:21.30, Z:-100.45 [[ 9.99995918e-01 4.34133699e-04 2.82424043e-03 1.58780650e+02] [-4.02293396e-04 9.99936470e-01 -1.12647508e-02 2.12959795e+01] [-2.82895141e-03 1.12635686e-02 9.99932562e-01 -1.00445154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55592000000001 meters Centerline goodness : 0.911123 Centerline is valid? [False, False] Translation: X:158.78, Y:21.30, Z:-100.45 [[ 9.99996204e-01 4.12514633e-04 2.72433918e-03 1.58780978e+02] [-3.81760051e-04 9.99936309e-01 -1.12797105e-02 2.12959072e+01] [-2.72881871e-03 1.12786276e-02 9.99932671e-01 -1.00445252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters Centerline goodness : 0.901080 Centerline is valid? [False, False] Translation: X:158.78, Y:21.29, Z:-100.45 [[ 9.99996368e-01 3.59936132e-04 2.67106221e-03 1.58781247e+02] [-3.30667466e-04 9.99939992e-01 -1.09500511e-02 2.12941800e+01] [-2.67484324e-03 1.09491281e-02 9.99936479e-01 -1.00445200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61592000000002 meters Centerline goodness : 0.831526 Centerline is valid? [False, False] Translation: X:158.78, Y:21.29, Z:-100.45 [[ 9.99996636e-01 3.13361004e-04 2.57490345e-03 1.58781565e+02] [-2.85474344e-04 9.99941384e-01 -1.08234165e-02 2.12934074e+01] [-2.57814415e-03 1.08226450e-02 9.99938110e-01 -1.00445364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters Centerline goodness : 0.995520 Centerline is valid? [False, True] Translation: X:158.79, Y:21.29, Z:-100.45 [[ 9.99997097e-01 1.89484959e-03 1.48878568e-03 1.58786806e+02] [-1.88159123e-03 9.99959006e-01 -8.85698031e-03 2.12911127e+01] [-1.50550730e-03 8.85415331e-03 9.99959668e-01 -1.00449864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67592000000002 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:158.81, Y:21.22, Z:-100.46 [[ 9.99953121e-01 3.04215679e-03 -9.19243276e-03 1.58814819e+02] [-2.44955673e-03 9.97959489e-01 6.38032782e-02 2.12186931e+01] [ 9.36777507e-03 -6.37777698e-02 9.97920158e-01 -1.00458093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters Centerline goodness : 0.820425 Centerline is valid? [True, False] Translation: X:158.79, Y:21.26, Z:-100.46 [[ 9.99986615e-01 2.67317536e-04 -5.16708374e-03 1.58792769e+02] [-1.32031233e-04 9.99657630e-01 2.61649618e-02 2.12556642e+01] [ 5.17230904e-03 -2.61639294e-02 9.99644285e-01 -1.00455026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73592 meters Centerline goodness : 0.998007 Centerline is valid? [False, True] Translation: X:158.80, Y:21.27, Z:-100.45 [[ 9.99922214e-01 3.11975084e-03 -1.20761370e-02 1.58795188e+02] [-3.02248440e-03 9.99962915e-01 8.06432133e-03 2.12727262e+01] [ 1.21008478e-02 -8.02719410e-03 9.99894561e-01 -1.00451735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters Centerline goodness : 0.987052 Centerline is valid? [True, True] Translation: X:158.84, Y:21.22, Z:-100.46 [[ 9.99431381e-01 -3.26070550e-02 -8.58451391e-03 1.58836114e+02] [ 3.29194514e-02 9.98689440e-01 3.91881520e-02 2.12206273e+01] [ 7.29545316e-03 -3.94484664e-02 9.99194973e-01 -1.00462604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79592 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:158.85, Y:21.32, Z:-100.44 [[ 9.99947822e-01 3.65612120e-03 -9.53867613e-03 1.58852146e+02] [-4.06227839e-03 9.99070508e-01 -4.29140864e-02 2.13179094e+01] [ 9.37291090e-03 4.29505960e-02 9.99033230e-01 -1.00441885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:158.88, Y:21.27, Z:-100.45 [[ 9.99964768e-01 2.48007459e-03 -8.01945282e-03 1.58877265e+02] [-2.46398641e-03 9.99994933e-01 2.01540253e-03 2.12727676e+01] [ 8.02441054e-03 -1.99557170e-03 9.99965813e-01 -1.00449077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85592 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:158.91, Y:21.27, Z:-100.45 [[ 9.99980951e-01 8.09183961e-04 -6.11907985e-03 1.58906500e+02] [-8.19347823e-04 9.99998289e-01 -1.65868712e-03 2.12742156e+01] [ 6.11772719e-03 1.66366918e-03 9.99979903e-01 -1.00446981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:158.94, Y:21.28, Z:-100.45 [[ 9.99996537e-01 -1.96752840e-03 -1.74796101e-03 1.58935564e+02] [ 1.95207679e-03 9.99959392e-01 -8.79794806e-03 2.12766772e+01] [ 1.76520024e-03 8.79450544e-03 9.99959770e-01 -1.00445748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91592 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:158.96, Y:21.26, Z:-100.45 [[ 9.99988081e-01 -3.92739054e-03 -2.90053898e-03 1.58964284e+02] [ 3.94091964e-03 9.99981314e-01 4.67344671e-03 2.12617342e+01] [ 2.88213033e-03 -4.68482180e-03 9.99984873e-01 -1.00447391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:158.99, Y:21.27, Z:-100.45 [[ 9.99990468e-01 -4.21162934e-03 -1.15158608e-03 1.58994848e+02] [ 4.20945693e-03 9.99989368e-01 -1.88240775e-03 2.12668995e+01] [ 1.15950184e-03 1.87754225e-03 9.99997565e-01 -1.00448398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97592 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:159.02, Y:21.26, Z:-100.45 [[ 9.99991162e-01 -4.19915400e-03 -2.09140152e-04 1.59024737e+02] [ 4.19929110e-03 9.99990965e-01 6.59492435e-04 2.12623816e+01] [ 2.06368953e-04 -6.60364847e-04 9.99999761e-01 -1.00447750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:159.06, Y:21.26, Z:-100.45 [[ 9.99988311e-01 -4.80569767e-03 5.32749722e-04 1.59055584e+02] [ 4.80659187e-03 9.99987020e-01 -1.69007706e-03 2.12604425e+01] [-5.24620807e-04 1.69261802e-03 9.99998430e-01 -1.00446157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03592 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:159.08, Y:21.17, Z:-100.45 [[ 9.99365969e-01 -1.29633728e-03 -3.55806110e-02 1.59079109e+02] [ 4.45642976e-03 9.96032358e-01 8.88801593e-02 2.11695261e+01] [ 3.53242212e-02 -8.89823690e-02 9.95406619e-01 -1.00446312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:159.12, Y:21.34, Z:-100.43 [[ 9.99991070e-01 -4.02722585e-03 1.28078173e-03 1.59118342e+02] [ 4.12081546e-03 9.96436175e-01 -8.42494368e-02 2.13365454e+01] [-9.36925741e-04 8.42539624e-02 9.96443873e-01 -1.00430504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09592 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:159.14, Y:21.18, Z:-100.44 [[ 9.99483793e-01 1.29432386e-03 -3.21009647e-02 1.59140254e+02] [ 1.16228096e-03 9.97077268e-01 7.63909092e-02 2.11767130e+01] [ 3.21060167e-02 -7.63887861e-02 9.96561065e-01 -1.00444621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:159.17, Y:21.22, Z:-100.44 [[ 9.99332609e-01 1.39474516e-03 -3.65019379e-02 1.59170884e+02] [-2.73953977e-04 9.99528853e-01 3.06919839e-02 2.12204573e+01] [ 3.65275476e-02 -3.06615005e-02 9.98862158e-01 -1.00440531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15592 meters Centerline goodness : 0.867068 Centerline is valid? [True, False] Translation: X:159.17, Y:21.24, Z:-100.44 [[ 9.99564940e-01 4.84488004e-03 -2.90939593e-02 1.59166237e+02] [-4.44876912e-03 9.99896743e-01 1.36642158e-02 2.12376025e+01] [ 2.91571567e-02 -1.35288387e-02 9.99483282e-01 -1.00439630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters Centerline goodness : 0.997364 Centerline is valid? [False, True] Translation: X:159.19, Y:21.25, Z:-100.44 [[ 9.99498117e-01 5.19113890e-03 -3.12500642e-02 1.59189683e+02] [-5.09480433e-03 9.99982024e-01 3.16153764e-03 2.12451508e+01] [ 3.12659144e-02 -3.00073795e-03 9.99506597e-01 -1.00436813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:159.22, Y:21.31, Z:-100.43 [[ 9.99947187e-01 6.24211921e-03 8.16448939e-03 1.59224999e+02] [-5.64640717e-03 9.97456375e-01 -7.10555928e-02 2.13148849e+01] [-8.58725947e-03 7.10057401e-02 9.97438942e-01 -1.00430453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:159.25, Y:21.17, Z:-100.44 [[ 9.99575034e-01 1.12131095e-02 -2.69075812e-02 1.59246977e+02] [-9.12962316e-03 9.97039906e-01 7.63418409e-02 2.11694650e+01] [ 2.76839617e-02 -7.60637421e-02 9.96718569e-01 -1.00440404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27592 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:159.28, Y:21.25, Z:-100.43 [[ 9.99507656e-01 1.22481993e-02 -2.88864403e-02 1.59278504e+02] [-1.22894026e-02 9.99923702e-01 -1.24927924e-03 2.12461535e+01] [ 2.88689349e-02 1.60366126e-03 9.99581919e-01 -1.00431956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:159.30, Y:21.24, Z:-100.43 [[ 9.99503936e-01 1.48617819e-02 -2.77670531e-02 1.59304039e+02] [-1.47061417e-02 9.99875031e-01 5.80105305e-03 2.12397713e+01] [ 2.78497971e-02 -5.38982914e-03 9.99597588e-01 -1.00433435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33592000000002 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:159.36, Y:21.23, Z:-100.44 [[ 9.99305166e-01 1.02870388e-02 -3.58240368e-02 1.59361078e+02] [-9.68133042e-03 9.99807928e-01 1.70404996e-02 2.12303528e+01] [ 3.59924523e-02 -1.66818350e-02 9.99212820e-01 -1.00442524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters Centerline goodness : 0.933556 Centerline is valid? [True, False] Translation: X:159.36, Y:21.25, Z:-100.44 [[ 9.99476439e-01 1.61260343e-02 -2.80499277e-02 1.59358490e+02] [-1.60413262e-02 9.99866073e-01 3.24232367e-03 2.12457589e+01] [ 2.80984569e-02 -2.79066808e-03 9.99601265e-01 -1.00442713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39592000000002 meters Centerline goodness : 0.997556 Centerline is valid? [False, True] Translation: X:159.34, Y:21.24, Z:-100.44 [[ 9.99907522e-01 6.65713666e-03 -1.18587605e-02 1.59342916e+02] [-6.60621909e-03 9.99968814e-01 4.32767725e-03 2.12440158e+01] [ 1.18872006e-02 -4.24893547e-03 9.99920317e-01 -1.00443882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:159.37, Y:21.25, Z:-100.44 [[ 9.99867101e-01 9.37849844e-03 -1.33350749e-02 1.59371910e+02] [-9.37947206e-03 9.99956012e-01 -1.04718929e-05 2.12495577e+01] [ 1.33343901e-02 1.35546464e-04 9.99911084e-01 -1.00444114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45592000000002 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:159.40, Y:21.29, Z:-100.44 [[ 9.99437581e-01 1.14817197e-02 3.15070069e-02 1.59399442e+02] [-1.01315888e-02 9.99037344e-01 -4.26818118e-02 2.12920958e+01] [-3.19667370e-02 4.23385907e-02 9.98591794e-01 -1.00438702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters Centerline goodness : 0.943654 Centerline is valid? [True, False] Translation: X:159.40, Y:21.28, Z:-100.44 [[ 9.99665752e-01 7.66709540e-03 2.46900753e-02 1.59404471e+02] [-7.04810640e-03 9.99661090e-01 -2.50605293e-02 2.12776363e+01] [-2.48738490e-02 2.48781346e-02 9.99380993e-01 -1.00440596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51592 meters Centerline goodness : 0.981870 Centerline is valid? [False, True] Translation: X:159.43, Y:21.27, Z:-100.44 [[ 9.99816838e-01 3.79029906e-03 1.87596517e-02 1.59429472e+02] [-3.44510369e-03 9.99824785e-01 -1.83991829e-02 2.12714174e+01] [-1.88261031e-02 1.83311839e-02 9.99654713e-01 -1.00439837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters Centerline goodness : 0.863849 Centerline is valid? [True, False] Translation: X:159.46, Y:21.27, Z:-100.44 [[ 9.99924667e-01 3.44453994e-04 1.22695616e-02 1.59455169e+02] [-1.97170972e-04 9.99927940e-01 -1.20031228e-02 2.12667273e+01] [-1.22728120e-02 1.19997993e-02 9.99852681e-01 -1.00438750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57592 meters Centerline goodness : 0.863849 Centerline is valid? [False, False] Translation: X:159.46, Y:21.27, Z:-100.44 [[ 9.99925046e-01 3.60082562e-04 1.22381615e-02 1.59455274e+02] [-2.13324006e-04 9.99928082e-01 -1.19910699e-02 2.12665143e+01] [-1.22415991e-02 1.19875604e-02 9.99853210e-01 -1.00438718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters Centerline goodness : 0.829439 Centerline is valid? [False, False] Translation: X:159.46, Y:21.27, Z:-100.44 [[ 9.99935572e-01 -1.49638984e-03 1.12522735e-02 1.59460414e+02] [ 1.65940814e-03 9.99893605e-01 -1.44922348e-02 2.12700719e+01] [-1.12293903e-02 1.45099732e-02 9.99831667e-01 -1.00442882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63592 meters Centerline goodness : 0.898411 Centerline is valid? [False, False] Translation: X:159.47, Y:21.28, Z:-100.45 [[ 9.99943627e-01 -3.37994949e-03 1.00657572e-02 1.59466260e+02] [ 3.55792294e-03 9.99836729e-01 -1.77159764e-02 2.12761769e+01] [-1.00042346e-02 1.77507909e-02 9.99792391e-01 -1.00446990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters Centerline goodness : 0.850100 Centerline is valid? [False, False] Translation: X:159.49, Y:21.28, Z:-100.45 [[ 9.99952736e-01 -7.87372351e-03 5.70352029e-03 1.59489919e+02] [ 7.94395135e-03 9.99891600e-01 -1.23968868e-02 2.12763999e+01] [-5.60529237e-03 1.24416093e-02 9.99906889e-01 -1.00445152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69592 meters Centerline goodness : 0.866223 Centerline is valid? [False, False] Translation: X:159.49, Y:21.28, Z:-100.45 [[ 9.99954417e-01 -7.77634313e-03 5.54014714e-03 1.59490362e+02] [ 7.84896912e-03 9.99881936e-01 -1.32101743e-02 2.12802025e+01] [-5.43676620e-03 1.32530566e-02 9.99897394e-01 -1.00445019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters Centerline goodness : 0.900298 Centerline is valid? [False, False] Translation: X:159.49, Y:21.29, Z:-100.44 [[ 9.99957619e-01 -7.60004361e-03 5.19607827e-03 1.59491379e+02] [ 7.67618578e-03 9.99861092e-01 -1.47943408e-02 2.12874284e+01] [-5.08291886e-03 1.48335998e-02 9.99877057e-01 -1.00444824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:159.50, Y:21.29, Z:-100.45 [[ 9.99975699e-01 -5.60983413e-03 4.13902865e-03 1.59496900e+02] [ 5.66472190e-03 9.99894562e-01 -1.33706715e-02 2.12906253e+01] [-4.06358500e-03 1.33937930e-02 9.99902042e-01 -1.00449377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters Centerline goodness : 0.901332 Centerline is valid? [True, False] Translation: X:159.50, Y:21.29, Z:-100.45 [[ 9.99990924e-01 -1.51585144e-03 3.98174874e-03 1.59497222e+02] [ 1.55085655e-03 9.99960050e-01 -8.80306364e-03 2.12888076e+01] [-3.96824553e-03 8.80915887e-03 9.99953325e-01 -1.00449891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81592 meters Centerline goodness : 0.931352 Centerline is valid? [False, False] Translation: X:159.50, Y:21.29, Z:-100.45 [[ 9.99995344e-01 2.46522842e-04 3.04148807e-03 1.59502370e+02] [-2.24986273e-04 9.99974917e-01 -7.07924302e-03 2.12888919e+01] [-3.04315697e-03 7.07852577e-03 9.99970316e-01 -1.00454689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters Centerline goodness : 0.986372 Centerline is valid? [False, True] Translation: X:159.50, Y:21.29, Z:-100.45 [[ 9.99995912e-01 2.66713865e-04 2.84688400e-03 1.59502957e+02] [-2.43729699e-04 9.99967401e-01 -8.07074262e-03 2.12933024e+01] [-2.84894377e-03 8.07001575e-03 9.99963379e-01 -1.00454571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:159.57, Y:21.35, Z:-100.43 [[ 9.96596055e-01 7.27146017e-03 8.21183814e-02 1.59565535e+02] [-2.96846764e-03 9.98621718e-01 -5.24008735e-02 2.13518410e+01] [-8.23862300e-02 5.19787381e-02 9.95244050e-01 -1.00432421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:159.59, Y:21.25, Z:-100.45 [[ 9.99290420e-01 3.18804786e-03 3.75298840e-02 1.59593217e+02] [-5.00371380e-03 9.98816219e-01 4.83851578e-02 2.12531753e+01] [-3.73312026e-02 -4.85386135e-02 9.98123431e-01 -1.00450150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:159.63, Y:21.32, Z:-100.44 [[ 9.99119565e-01 6.04386277e-03 4.15158574e-02 1.59628119e+02] [-5.13107265e-03 9.99743525e-01 -2.20580195e-02 2.13214930e+01] [-4.16385252e-02 2.18255780e-02 9.98894327e-01 -1.00441830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.66, Y:21.33, Z:-100.44 [[ 9.96474557e-01 2.43270640e-04 8.38951614e-02 1.59659904e+02] [ 2.42258193e-03 9.99495357e-01 -3.16727340e-02 2.13286136e+01] [-8.38605294e-02 3.17643165e-02 9.95971104e-01 -1.00444211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:159.69, Y:21.23, Z:-100.46 [[ 9.99224950e-01 -5.03406944e-03 3.90404699e-02 1.59687006e+02] [ 2.34975601e-03 9.97648307e-01 6.85006107e-02 2.12281521e+01] [-3.92934955e-02 -6.83557837e-02 9.96886908e-01 -1.00458562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:159.73, Y:21.36, Z:-100.44 [[ 9.96744307e-01 1.37543165e-04 8.06273329e-02 1.59725513e+02] [ 5.65639011e-03 9.97415388e-01 -7.16278476e-02 2.13640228e+01] [-8.04287945e-02 7.18507090e-02 9.94167332e-01 -1.00439677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05592000000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:159.75, Y:21.25, Z:-100.46 [[ 9.98988989e-01 -4.34152684e-03 4.47454003e-02 1.59752415e+02] [ 2.56835515e-03 9.99211931e-01 3.96095886e-02 2.12526921e+01] [-4.48821040e-02 -3.94546208e-02 9.98212868e-01 -1.00458261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:159.79, Y:21.28, Z:-100.46 [[ 9.99188272e-01 -7.42171528e-04 4.02771163e-02 1.59785215e+02] [ 1.61097381e-04 9.99895895e-01 1.44282338e-02 2.12770496e+01] [-4.02836314e-02 -1.44100334e-02 9.99084371e-01 -1.00456527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:159.82, Y:21.31, Z:-100.45 [[ 9.99016732e-01 3.62969879e-03 4.41859061e-02 1.59816755e+02] [-2.85493334e-03 9.99841301e-01 -1.75847155e-02 2.13056661e+01] [-4.42427211e-02 1.74412772e-02 9.98868552e-01 -1.00452666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:159.85, Y:21.28, Z:-100.46 [[ 9.99055697e-01 2.74881149e-03 4.33607848e-02 1.59846166e+02] [-2.85606300e-03 9.99993013e-01 2.41171223e-03 2.12839822e+01] [-4.33538525e-02 -2.53327598e-03 9.99056568e-01 -1.00457127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:159.88, Y:21.30, Z:-100.45 [[ 9.98735161e-01 4.86177531e-03 5.00443882e-02 1.59877891e+02] [-3.99354541e-03 9.99840031e-01 -1.74345893e-02 2.13005592e+01] [-5.01211456e-02 1.72126828e-02 9.98594810e-01 -1.00454783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:159.91, Y:21.25, Z:-100.46 [[ 9.99114956e-01 3.71712952e-03 4.18985415e-02 1.59906256e+02] [-5.05890987e-03 9.99476214e-01 3.19641191e-02 2.12494364e+01] [-4.17577809e-02 -3.21477903e-02 9.98610438e-01 -1.00462338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:159.94, Y:21.28, Z:-100.46 [[ 9.99114080e-01 6.50539158e-03 4.15780561e-02 1.59938469e+02] [-6.24624390e-03 9.99960269e-01 -6.35967413e-03 2.12847242e+01] [-4.16177763e-02 6.09433329e-03 9.99115018e-01 -1.00458557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters Centerline goodness : 0.879964 Centerline is valid? [True, False] Translation: X:159.95, Y:21.28, Z:-100.46 [[ 9.99627097e-01 5.57704865e-03 2.67313323e-02 1.59948959e+02] [-5.42228953e-03 9.99968138e-01 -5.85842156e-03 2.12816436e+01] [-2.67631532e-02 5.71129191e-03 9.99625487e-01 -1.00458662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29592 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:159.95, Y:21.28, Z:-100.46 [[ 9.99629354e-01 5.56113693e-03 2.66501099e-02 1.59949143e+02] [-5.41227463e-03 9.99969365e-01 -5.65468500e-03 2.12806829e+01] [-2.66807400e-02 5.50835140e-03 9.99628829e-01 -1.00458908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:159.98, Y:21.26, Z:-100.46 [[ 9.99656042e-01 7.27397743e-03 2.51969589e-02 1.59978486e+02] [-7.69326437e-03 9.99832885e-01 1.65836034e-02 2.12585761e+01] [-2.50721193e-02 -1.67717462e-02 9.99544945e-01 -1.00462470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:160.01, Y:21.27, Z:-100.46 [[ 9.99635651e-01 1.19242008e-02 2.42152750e-02 1.60011182e+02] [-1.20733596e-02 9.99908975e-01 6.02286139e-03 2.12685450e+01] [-2.41412530e-02 -6.31302668e-03 9.99688624e-01 -1.00461041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:160.05, Y:21.34, Z:-100.45 [[ 9.97188823e-01 1.83040240e-02 7.26595778e-02 1.60046068e+02] [-1.36157788e-02 9.97824671e-01 -6.45022227e-02 2.13363002e+01] [-7.36821695e-02 6.33315788e-02 9.95268833e-01 -1.00452109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:160.08, Y:21.27, Z:-100.46 [[ 9.96979006e-01 1.82619545e-02 7.54941282e-02 1.60076931e+02] [-1.81567254e-02 9.99832989e-01 -2.08003531e-03 2.12745373e+01] [-7.55195054e-02 7.03025374e-04 9.97144077e-01 -1.00464826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters Centerline goodness : 0.820535 Centerline is valid? [True, False] Translation: X:160.08, Y:21.27, Z:-100.47 [[ 9.97056676e-01 2.12090977e-02 7.36760385e-02 1.60081655e+02] [-2.15087101e-02 9.99763295e-01 3.27549606e-03 2.12699363e+01] [-7.35891288e-02 -4.85053177e-03 9.97276848e-01 -1.00465041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47592 meters Centerline goodness : 0.769988 Centerline is valid? [False, False] Translation: X:160.08, Y:21.27, Z:-100.47 [[ 9.97077969e-01 2.12453091e-02 7.33768355e-02 1.60082523e+02] [-2.15536300e-02 9.99761870e-01 3.41251670e-03 2.12700778e+01] [-7.32868623e-02 -4.98408239e-03 9.97298448e-01 -1.00465142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters Centerline goodness : 0.998906 Centerline is valid? [False, True] Translation: X:160.11, Y:21.26, Z:-100.46 [[ 9.98470704e-01 1.67507811e-02 5.26845757e-02 1.60113134e+02] [-1.72427690e-02 9.99811741e-01 8.89770990e-03 2.12644862e+01] [-5.25256138e-02 -9.79253063e-03 9.98571563e-01 -1.00464520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53592 meters Centerline goodness : 0.741583 Centerline is valid? [True, False] Translation: X:160.15, Y:21.26, Z:-100.46 [[ 9.99442244e-01 1.25108070e-02 3.09625597e-02 1.60145675e+02] [-1.29834306e-02 9.99801529e-01 1.51106681e-02 2.12596583e+01] [-3.07673679e-02 -1.55042403e-02 9.99406318e-01 -1.00463357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters Centerline goodness : 0.998956 Centerline is valid? [False, True] Translation: X:160.17, Y:21.27, Z:-100.46 [[ 9.99909371e-01 8.04542985e-03 1.07945265e-02 1.60169166e+02] [-8.07818216e-03 9.99962889e-01 2.99399588e-03 2.12705731e+01] [-1.07700379e-02 -3.08092469e-03 9.99937255e-01 -1.00460076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59592 meters Centerline goodness : 0.785725 Centerline is valid? [True, False] Translation: X:160.17, Y:21.27, Z:-100.46 [[ 9.99943784e-01 -1.97797700e-05 1.06032437e-02 1.60169709e+02] [ 8.63907391e-05 9.99980266e-01 -6.28171005e-03 2.12749201e+01] [-1.06029102e-02 6.28227294e-03 9.99924053e-01 -1.00459561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:160.17, Y:21.27, Z:-100.46 [[ 9.99943887e-01 -9.54311959e-05 1.05930599e-02 1.60169841e+02] [ 1.60025591e-04 9.99981400e-01 -6.09712314e-03 2.12737287e+01] [-1.05922810e-02 6.09847617e-03 9.99925303e-01 -1.00459734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65592 meters Centerline goodness : 0.756585 Centerline is valid? [True, False] Translation: X:160.19, Y:21.28, Z:-100.46 [[ 9.99993713e-01 5.45402762e-04 3.50367549e-03 1.60192468e+02] [-5.01778782e-04 9.99922497e-01 -1.24397549e-02 2.12788829e+01] [-3.51018862e-03 1.24379187e-02 9.99916485e-01 -1.00457723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:160.19, Y:21.28, Z:-100.46 [[ 9.99994124e-01 5.43914270e-04 3.38455204e-03 1.60192856e+02] [-5.03232560e-04 9.99927762e-01 -1.20090857e-02 2.12767616e+01] [-3.39083946e-03 1.20073119e-02 9.99922160e-01 -1.00457870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:160.23, Y:21.33, Z:-100.45 [[ 9.98573748e-01 8.91142953e-04 5.33823520e-02 1.60225769e+02] [ 2.95014483e-03 9.97412095e-01 -7.18359868e-02 2.13309952e+01] [-5.33082197e-02 7.18910163e-02 9.95986905e-01 -1.00446897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:160.25, Y:21.18, Z:-100.47 [[ 9.99980454e-01 -4.67953237e-03 4.14648760e-03 1.60251991e+02] [ 4.34647374e-03 9.97022876e-01 7.69837204e-02 2.11811268e+01] [-4.49439080e-03 -7.69641931e-02 9.97023728e-01 -1.00468724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:21.22, Z:-100.46 [[ 9.99986682e-01 -4.90347069e-03 1.60976504e-03 1.60282517e+02] [ 4.85320063e-03 9.99541920e-01 2.98729971e-02 2.12248145e+01] [-1.75550900e-03 -2.98647868e-02 9.99552406e-01 -1.00461504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.32, Y:21.35, Z:-100.44 [[ 9.98483394e-01 9.83791484e-04 5.50449335e-02 1.60316158e+02] [ 4.72459726e-03 9.94620538e-01 -1.03477846e-01 2.13536521e+01] [-5.48506219e-02 1.03580976e-01 9.93107442e-01 -1.00441111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.35, Y:21.26, Z:-100.46 [[ 9.98492289e-01 -1.73510117e-03 5.48647260e-02 1.60346287e+02] [ 2.29757809e-03 9.99945434e-01 -1.01906554e-02 2.12590439e+01] [-5.48440505e-02 1.03013468e-02 9.98441792e-01 -1.00461542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:160.38, Y:21.24, Z:-100.46 [[ 9.98358888e-01 -5.90479158e-04 5.72641454e-02 1.60377709e+02] [ 7.05134202e-05 9.99958758e-01 9.08172298e-03 2.12375362e+01] [-5.72671463e-02 -9.06278097e-03 9.98317755e-01 -1.00463273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:160.41, Y:21.17, Z:-100.47 [[ 9.99959910e-01 -2.38739395e-03 8.63006605e-03 1.60405708e+02] [ 1.68971343e-03 9.96796273e-01 7.99645909e-02 2.11665003e+01] [-8.79332465e-03 -7.99468028e-02 9.96760345e-01 -1.00469483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:160.43, Y:21.20, Z:-100.47 [[ 9.99895681e-01 -6.04259936e-05 1.44437802e-02 1.60430824e+02] [-5.69148086e-04 9.99049786e-01 4.35798165e-02 2.12035848e+01] [-1.44326889e-02 -4.35834909e-02 9.98945532e-01 -1.00466329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:160.47, Y:21.37, Z:-100.44 [[ 9.97969330e-01 9.56650425e-03 6.29737876e-02 1.60468587e+02] [-1.58696596e-03 9.92084658e-01 -1.25560794e-01 2.13697342e+01] [-6.36765064e-02 1.25205884e-01 9.90085243e-01 -1.00438859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:160.50, Y:21.25, Z:-100.46 [[ 9.97938041e-01 6.15698446e-03 6.38886416e-02 1.60499243e+02] [-6.11296179e-03 9.99980924e-01 -8.84506241e-04 2.12475985e+01] [-6.38928688e-02 4.92133601e-04 9.97956642e-01 -1.00464258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:21.17, Z:-100.50 [[ 9.99505578e-01 2.27325574e-02 -2.17216442e-02 1.60535493e+02] [-2.10978919e-02 9.97128475e-01 7.27302053e-02 2.11748602e+01] [ 2.33126136e-02 -7.22359650e-02 9.97115082e-01 -1.00500188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:160.54, Y:21.32, Z:-100.46 [[ 9.99414333e-01 3.41006595e-02 -2.85224716e-03 1.60538893e+02] [-3.42142367e-02 9.97270765e-01 -6.54248280e-02 2.13227113e+01] [ 6.13432925e-04 6.54840983e-02 9.97853424e-01 -1.00464236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.58, Y:21.15, Z:-100.48 [[ 9.99185697e-01 3.37397301e-02 2.21263235e-02 1.60577903e+02] [-3.61364874e-02 9.92261361e-01 1.18792026e-01 2.11499207e+01] [-1.79470850e-02 -1.19494861e-01 9.92672595e-01 -1.00479057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:160.62, Y:21.39, Z:-100.45 [[ 9.96963509e-01 4.64557123e-02 6.24950280e-02 1.60622277e+02] [-3.87156261e-02 9.92040944e-01 -1.19815968e-01 2.13872191e+01] [-6.75637627e-02 1.17032613e-01 9.90827182e-01 -1.00445089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:160.63, Y:21.23, Z:-100.48 [[ 9.99215575e-01 3.74583989e-02 1.28492590e-02 1.60627538e+02] [-3.78760944e-02 9.98704857e-01 3.39707134e-02 2.12342081e+01] [-1.15601288e-02 -3.44307457e-02 9.99340226e-01 -1.00476489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:160.67, Y:21.25, Z:-100.47 [[ 9.99276007e-01 3.75419926e-02 6.16932188e-03 1.60670512e+02] [-3.77098556e-02 9.98843687e-01 2.98203939e-02 2.12465063e+01] [-5.04267121e-03 -3.00314484e-02 9.99536234e-01 -1.00472224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:160.70, Y:21.32, Z:-100.46 [[ 9.96939145e-01 4.06247849e-02 6.67979645e-02 1.60704102e+02] [-3.72484107e-02 9.98001860e-01 -5.10376657e-02 2.13244806e+01] [-6.87378870e-02 4.83933288e-02 9.96460330e-01 -1.00464336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters Centerline goodness : 0.976720 Centerline is valid? [True, True] Translation: X:160.79, Y:21.21, Z:-100.50 [[ 9.99250876e-01 3.86999524e-02 5.75800366e-06 1.60791341e+02] [-3.85659900e-02 9.95779513e-01 8.32816025e-02 2.12112727e+01] [ 3.21726035e-03 -8.32194363e-02 9.96526053e-01 -1.00504649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:160.75, Y:21.30, Z:-100.47 [[ 9.99008282e-01 3.80636336e-02 2.31000680e-02 1.60747933e+02] [-3.76142268e-02 9.99100351e-01 -1.95871970e-02 2.12985697e+01] [-2.38248459e-02 1.86988809e-02 9.99541259e-01 -1.00465666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:160.78, Y:21.30, Z:-100.47 [[ 9.98603892e-01 3.67934910e-02 3.79012555e-02 1.60777032e+02] [-3.58371050e-02 9.99029406e-01 -2.56114710e-02 2.13049740e+01] [-3.88068042e-02 2.42174433e-02 9.98953226e-01 -1.00465131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:160.81, Y:21.34, Z:-100.46 [[ 9.98769096e-01 3.36892438e-02 3.64050590e-02 1.60806160e+02] [-3.12713819e-02 9.97391324e-01 -6.50588045e-02 2.13422515e+01] [-3.85018719e-02 6.38402869e-02 9.97217140e-01 -1.00456894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:160.83, Y:21.21, Z:-100.48 [[ 9.98847672e-01 2.25891596e-02 4.23445159e-02 1.60826351e+02] [-2.54327709e-02 9.97370306e-01 6.78649170e-02 2.12118915e+01] [-4.07001514e-02 -6.88636527e-02 9.96795513e-01 -1.00479964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37592 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:160.87, Y:21.32, Z:-100.46 [[ 9.99137021e-01 2.96119920e-02 2.91263146e-02 1.60866607e+02] [-2.83246311e-02 9.98644812e-01 -4.36606756e-02 2.13208656e+01] [-3.03797225e-02 4.27980052e-02 9.98621752e-01 -1.00462859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:160.89, Y:21.26, Z:-100.47 [[ 9.99241869e-01 1.96576027e-02 3.36045415e-02 1.60888465e+02] [-2.00492851e-02 9.99734468e-01 1.13586468e-02 2.12638041e+01] [-3.33723347e-02 -1.20237825e-02 9.99370660e-01 -1.00474400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:160.92, Y:21.21, Z:-100.49 [[ 9.99160933e-01 1.05227961e-02 3.95815802e-02 1.60916136e+02] [-1.30597692e-02 9.97839196e-01 6.43923969e-02 2.12084666e+01] [-3.88184641e-02 -6.48552936e-02 9.97139367e-01 -1.00485333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.96, Y:21.42, Z:-100.45 [[ 9.96070983e-01 2.40765566e-02 8.52227437e-02 1.60961370e+02] [-1.10096276e-02 9.88534217e-01 -1.50595122e-01 2.14160631e+01] [-8.78714102e-02 1.49065160e-01 9.84915323e-01 -1.00445907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49592 meters Centerline goodness : 0.857377 Centerline is valid? [True, False] Translation: X:160.99, Y:21.38, Z:-100.45 [[ 9.97020623e-01 2.65903221e-02 7.24074006e-02 1.60985825e+02] [-1.82284655e-02 9.93337931e-01 -1.13786981e-01 2.13803862e+01] [-7.49506500e-02 1.12128091e-01 9.90863104e-01 -1.00453226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters Centerline goodness : 0.857377 Centerline is valid? [False, False] Translation: X:161.01, Y:21.34, Z:-100.46 [[ 9.98568415e-01 2.02970497e-02 4.94888882e-02 1.61014601e+02] [-1.64882116e-02 9.96956802e-01 -7.61923443e-02 2.13447533e+01] [-5.08847635e-02 7.52672852e-02 9.95864236e-01 -1.00459331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55592000000001 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:161.02, Y:21.32, Z:-100.46 [[ 9.98866383e-01 2.36723281e-02 4.12985435e-02 1.61015700e+02] [-2.15160466e-02 9.98420615e-01 -5.18973444e-02 2.13230990e+01] [-4.24618481e-02 5.09499313e-02 9.97798124e-01 -1.00462498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:161.05, Y:21.27, Z:-100.47 [[ 9.98797079e-01 2.42951811e-02 4.25927237e-02 1.61046138e+02] [-2.42225400e-02 9.99704124e-01 -2.22081473e-03 2.12738639e+01] [-4.26340767e-02 1.18643931e-03 9.99090050e-01 -1.00473324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.08, Y:21.27, Z:-100.48 [[ 9.98754403e-01 2.50188923e-02 4.31705641e-02 1.61079113e+02] [-2.49440406e-02 9.99686268e-01 -2.27174912e-03 2.12718184e+01] [-4.32138568e-02 1.19207113e-03 9.99065134e-01 -1.00475440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:161.10, Y:21.22, Z:-100.48 [[ 9.99695028e-01 2.44877470e-02 -3.19403921e-03 1.61104934e+02] [-2.42994716e-02 9.98474854e-01 4.95731983e-02 2.12200778e+01] [ 4.40310377e-03 -4.94804664e-02 9.98765386e-01 -1.00478993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67592000000002 meters Centerline goodness : 0.943657 Centerline is valid? [True, False] Translation: X:161.07, Y:21.24, Z:-100.48 [[ 9.99515300e-01 2.43192035e-02 1.94355526e-02 1.61068097e+02] [-2.49478013e-02 9.99151090e-01 3.27827293e-02 2.12371246e+01] [-1.86218037e-02 -3.32517138e-02 9.99273512e-01 -1.00478724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters Centerline goodness : 0.999502 Centerline is valid? [False, True] Translation: X:161.06, Y:21.25, Z:-100.48 [[ 9.99671618e-01 1.37865189e-02 2.16006673e-02 1.61061441e+02] [-1.41534582e-02 9.99756538e-01 1.69276241e-02 2.12521671e+01] [-2.13620354e-02 -1.72277896e-02 9.99623362e-01 -1.00477432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:161.08, Y:21.16, Z:-100.48 [[ 9.99027225e-01 1.49576797e-02 -4.14833861e-02 1.61084115e+02] [-1.02535280e-02 9.93725390e-01 1.11376453e-01 2.11586902e+01] [ 4.28890273e-02 -1.10842758e-01 9.92912088e-01 -1.00483372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:161.13, Y:21.38, Z:-100.45 [[ 9.99624892e-01 1.84399487e-02 2.02495093e-02 1.61127911e+02] [-1.61200841e-02 9.93879311e-01 -1.09288877e-01 2.13765931e+01] [-2.21408496e-02 1.08921458e-01 9.93803753e-01 -1.00450590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:161.15, Y:21.19, Z:-100.48 [[ 9.99517031e-01 1.93271693e-02 -2.43344406e-02 1.61150316e+02] [-1.73706846e-02 9.96786922e-01 7.81926550e-02 2.11923553e+01] [ 2.57674949e-02 -7.77321845e-02 9.96641231e-01 -1.00481300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:161.19, Y:21.34, Z:-100.46 [[ 9.99546763e-01 1.85948204e-02 2.36748919e-02 1.61189766e+02] [-1.67079327e-02 9.96848857e-01 -7.75448279e-02 2.13435720e+01] [-2.50422211e-02 7.71141233e-02 9.96707730e-01 -1.00457931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:161.21, Y:21.15, Z:-100.48 [[ 9.99134607e-01 1.71201739e-02 -3.79069414e-02 1.61209184e+02] [-1.24780834e-02 9.92758834e-01 1.19474660e-01 2.11466373e+01] [ 3.96778779e-02 -1.18898261e-01 9.92113335e-01 -1.00483407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:161.24, Y:21.31, Z:-100.46 [[ 9.99589820e-01 1.74380119e-02 -2.27179862e-02 1.61242125e+02] [-1.85312516e-02 9.98634914e-01 -4.88354420e-02 2.13135374e+01] [ 2.18353812e-02 4.92364034e-02 9.98548443e-01 -1.00460281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:161.26, Y:21.23, Z:-100.47 [[ 9.99397374e-01 1.66750109e-02 -3.04439356e-02 1.61263804e+02] [-1.56712413e-02 9.99335215e-01 3.29171707e-02 2.12323058e+01] [ 3.09725911e-02 -3.24202397e-02 9.98994308e-01 -1.00473154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:161.29, Y:21.21, Z:-100.47 [[ 9.99689399e-01 1.64248302e-02 -1.87438085e-02 1.61290758e+02] [-1.53569140e-02 9.98325986e-01 5.57619162e-02 2.12091626e+01] [ 1.96283111e-02 -5.54567495e-02 9.98268139e-01 -1.00473976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:161.33, Y:21.41, Z:-100.43 [[ 9.99255650e-01 1.98769636e-02 3.30613513e-02 1.61332820e+02] [-1.47158408e-02 9.88636085e-01 -1.49606603e-01 2.14078936e+01] [-3.56593699e-02 1.49008717e-01 9.88192700e-01 -1.00432876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:161.35, Y:21.21, Z:-100.47 [[ 9.99793845e-01 1.69422006e-02 -1.11906288e-02 1.61353283e+02] [-1.63821756e-02 9.98695115e-01 4.83703494e-02 2.12132520e+01] [ 1.19955265e-02 -4.81770507e-02 9.98766779e-01 -1.00470973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:161.38, Y:21.26, Z:-100.47 [[ 9.99771782e-01 1.97368637e-02 -8.17552461e-03 1.61383744e+02] [-1.97538220e-02 9.99802876e-01 -1.99874149e-03 2.12620498e+01] [ 8.13446414e-03 2.15978320e-03 9.99964582e-01 -1.00466108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters Centerline goodness : 0.838623 Centerline is valid? [True, False] Translation: X:161.37, Y:21.26, Z:-100.47 [[ 9.99945007e-01 8.90339307e-03 5.54195391e-03 1.61372630e+02] [-8.90374255e-03 9.99960360e-01 3.83913785e-05 2.12572339e+01] [-5.54139241e-03 -8.77333980e-05 9.99984643e-01 -1.00468295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09592 meters Centerline goodness : 0.998609 Centerline is valid? [False, True] Translation: X:161.37, Y:21.26, Z:-100.47 [[ 9.99984487e-01 8.58335678e-04 5.50362650e-03 1.61372804e+02] [-8.05402910e-04 9.99953472e-01 -9.61281183e-03 2.12634912e+01] [-5.51162144e-03 9.60823007e-03 9.99938650e-01 -1.00467372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:161.40, Y:21.21, Z:-100.47 [[ 9.99990929e-01 1.09170695e-03 -4.11706558e-03 1.61402829e+02] [-8.89137224e-04 9.98803908e-01 4.88872481e-02 2.12056667e+01] [ 4.16551174e-03 -4.88831440e-02 9.98795818e-01 -1.00474978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:161.43, Y:21.25, Z:-100.47 [[ 9.99988401e-01 3.41071661e-03 -3.40071753e-03 1.61430381e+02] [-3.42150397e-03 9.99989118e-01 -3.17132554e-03 2.12547450e+01] [ 3.38986403e-03 3.18292432e-03 9.99989189e-01 -1.00467015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:161.46, Y:21.33, Z:-100.45 [[ 9.98466455e-01 5.05624581e-03 5.51286994e-02 1.61463081e+02] [-7.16456516e-04 9.96917144e-01 -7.84582328e-02 2.13251787e+01] [-5.53554497e-02 7.82984162e-02 9.95391949e-01 -1.00454405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21592 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:161.49, Y:21.22, Z:-100.47 [[ 9.99982446e-01 5.90522488e-03 4.85692325e-04 1.61493076e+02] [-5.91680783e-03 9.99563643e-01 2.89398624e-02 2.12165685e+01] [-3.14583994e-04 -2.89422282e-02 9.99581036e-01 -1.00473701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:161.52, Y:21.18, Z:-100.48 [[ 9.99973797e-01 3.22076896e-03 6.48321320e-03 1.61518277e+02] [-3.62320182e-03 9.98003786e-01 6.30501045e-02 2.11822416e+01] [-6.26720150e-03 -6.30719424e-02 9.97989305e-01 -1.00475345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27592 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:161.56, Y:21.33, Z:-100.45 [[ 9.98548371e-01 5.09535361e-03 5.36207871e-02 1.61555198e+02] [-3.19867252e-05 9.95571327e-01 -9.40092069e-02 2.13346054e+01] [-5.38623283e-02 9.38710252e-02 9.94126290e-01 -1.00451356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:161.58, Y:21.17, Z:-100.48 [[ 9.99994376e-01 -1.17086365e-03 3.14290730e-03 1.61580100e+02] [ 9.37321016e-04 9.97308982e-01 7.33069962e-02 2.11679931e+01] [-3.22028218e-03 -7.33036379e-02 9.97304470e-01 -1.00478771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33592000000002 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:161.61, Y:21.28, Z:-100.46 [[ 9.99814289e-01 -6.05590025e-04 1.92618842e-02 1.61611467e+02] [ 1.47076661e-03 9.98988870e-01 -4.49341181e-02 2.12839580e+01] [-1.92151963e-02 4.49541031e-02 9.98804237e-01 -1.00462677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:161.64, Y:21.19, Z:-100.48 [[ 9.99979310e-01 -4.34069629e-03 4.74737463e-03 1.61640738e+02] [ 4.11208928e-03 9.98879461e-01 4.71477799e-02 2.11904248e+01] [-4.94670920e-03 -4.71272828e-02 9.98876644e-01 -1.00476485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39592000000002 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:161.67, Y:21.18, Z:-100.48 [[ 9.99862157e-01 -5.86082469e-03 1.55344153e-02 1.61667376e+02] [ 5.02026279e-03 9.98549494e-01 5.36069578e-02 2.11823560e+01] [-1.58260635e-02 -5.35215816e-02 9.98441273e-01 -1.00476968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:161.71, Y:21.36, Z:-100.44 [[ 9.98134823e-01 4.60267296e-04 6.10464104e-02 1.61708018e+02] [ 7.59341828e-03 9.91269909e-01 -1.31629432e-01 2.13597818e+01] [-6.05740544e-02 1.31847471e-01 9.89417520e-01 -1.00444797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45592000000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:161.73, Y:21.16, Z:-100.48 [[ 9.99881420e-01 -9.82754552e-03 1.18559944e-02 1.61730124e+02] [ 9.03910437e-03 9.97856358e-01 6.48149984e-02 2.11639051e+01] [-1.24675518e-02 -6.47001451e-02 9.97826864e-01 -1.00479361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:161.76, Y:21.19, Z:-100.48 [[ 9.99897537e-01 -7.68959741e-03 1.20741342e-02 1.61762777e+02] [ 7.25414571e-03 9.99336095e-01 3.57035805e-02 2.11905020e+01] [-1.23406643e-02 -3.56123347e-02 9.99289482e-01 -1.00475734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51592 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:161.80, Y:21.23, Z:-100.47 [[ 9.99959411e-01 -7.42340971e-03 5.10584968e-03 1.61795722e+02] [ 7.46304883e-03 9.99941818e-01 -7.78873615e-03 2.12307821e+01] [-5.04773363e-03 7.82652522e-03 9.99956632e-01 -1.00472312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:161.82, Y:21.20, Z:-100.47 [[ 9.99822123e-01 -1.07684991e-02 1.54842582e-02 1.61821705e+02] [ 1.05365066e-02 9.99832175e-01 1.49867979e-02 2.12013732e+01] [-1.56430449e-02 -1.48209821e-02 9.99767790e-01 -1.00472768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:161.85, Y:21.19, Z:-100.47 [[ 9.99523876e-01 -7.75565035e-03 2.98642274e-02 1.61846945e+02] [ 7.20694120e-03 9.99804041e-01 1.84374686e-02 2.11944780e+01] [-3.00013698e-02 -1.82134604e-02 9.99383904e-01 -1.00472395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:161.88, Y:21.29, Z:-100.46 [[ 9.99853260e-01 -1.37417144e-03 1.70754302e-02 1.61883404e+02] [ 2.73769955e-03 9.96783997e-01 -8.00885079e-02 2.12867668e+01] [-1.69104602e-02 8.01235031e-02 9.96641490e-01 -1.00457628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63592 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:161.90, Y:21.12, Z:-100.48 [[ 9.99398566e-01 -1.37067686e-02 3.18532644e-02 1.61900721e+02] [ 1.10365300e-02 9.96526390e-01 8.25430111e-02 2.11241180e+01] [-3.28740165e-02 -8.21418174e-02 9.96078321e-01 -1.00477399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:161.94, Y:21.33, Z:-100.45 [[ 9.96896288e-01 2.47521079e-03 7.86871353e-02 1.61942348e+02] [ 7.83101204e-03 9.91430700e-01 -1.30398784e-01 2.13291363e+01] [-7.83356060e-02 1.30610264e-01 9.88334200e-01 -1.00450123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69592 meters Centerline goodness : 0.838252 Centerline is valid? [True, False] Translation: X:161.92, Y:21.27, Z:-100.46 [[ 9.96941108e-01 -1.82328621e-04 7.81562212e-02 1.61918778e+02] [ 6.12012549e-03 9.97108769e-01 -7.57406528e-02 2.12731716e+01] [-7.79164438e-02 7.59872962e-02 9.94059837e-01 -1.00458265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters Centerline goodness : 0.996519 Centerline is valid? [False, True] Translation: X:161.94, Y:21.24, Z:-100.46 [[ 9.97781749e-01 3.88649590e-04 6.65689918e-02 1.61938732e+02] [ 2.60612081e-03 9.98988324e-01 -4.48947190e-02 2.12432664e+01] [-6.65190939e-02 4.49686180e-02 9.96771305e-01 -1.00463746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75592 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:161.97, Y:21.34, Z:-100.45 [[ 9.92226783e-01 9.78956033e-03 1.24057150e-01 1.61972592e+02] [ 8.30712631e-03 9.89466705e-01 -1.44522079e-01 2.13377637e+01] [-1.24165227e-01 1.44429236e-01 9.81694042e-01 -1.00446545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:161.99, Y:21.11, Z:-100.48 [[ 9.97222177e-01 -1.38569351e-02 7.31841150e-02 1.61991953e+02] [ 7.34831922e-03 9.96052072e-01 8.84662199e-02 2.11069683e+01] [-7.41210601e-02 -8.76826962e-02 9.93387041e-01 -1.00478135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81592 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:162.03, Y:21.28, Z:-100.46 [[ 9.91953796e-01 6.43903782e-03 1.26436567e-01 1.62030986e+02] [ 4.87122632e-03 9.96024929e-01 -8.89416242e-02 2.12806944e+01] [-1.26506671e-01 8.88418829e-02 9.87979343e-01 -1.00464644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:162.06, Y:21.19, Z:-100.48 [[ 9.91618903e-01 -1.79497272e-03 1.29184863e-01 1.62060579e+02] [ 2.17421285e-03 9.99993731e-01 -2.79467026e-03 2.11942238e+01] [-1.29179037e-01 3.05212325e-03 9.91616590e-01 -1.00482406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87592 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:162.09, Y:21.19, Z:-100.49 [[ 9.91610001e-01 -7.31252057e-04 1.29263575e-01 1.62093275e+02] [ 1.11022609e-03 9.99995295e-01 -2.85975908e-03 2.11927629e+01] [-1.29260876e-01 2.97927750e-03 9.91606147e-01 -1.00486821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:162.12, Y:21.15, Z:-100.49 [[ 9.97059612e-01 -5.40865048e-03 7.64387172e-02 1.62121762e+02] [ 2.17745202e-03 9.99102919e-01 4.22920366e-02 2.11456281e+01] [-7.65988883e-02 -4.20012399e-02 9.96176945e-01 -1.00491204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93592 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:162.15, Y:21.11, Z:-100.49 [[ 9.96921984e-01 -6.37844274e-03 7.81400918e-02 1.62146560e+02] [ 3.92292272e-04 9.97078329e-01 7.63848891e-02 2.11110987e+01] [-7.83990088e-02 -7.61191214e-02 9.94011808e-01 -1.00492457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:162.18, Y:21.18, Z:-100.49 [[ 9.96328371e-01 6.11137900e-03 8.53957182e-02 1.62179485e+02] [-6.43496504e-03 9.99973119e-01 3.51450296e-03 2.11810738e+01] [-8.53719443e-02 -4.05111746e-03 9.96340915e-01 -1.00490333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99592 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:162.21, Y:21.25, Z:-100.48 [[ 9.96205940e-01 1.56974844e-02 8.55997363e-02 1.62213906e+02] [-9.42367980e-03 9.97272041e-01 -7.32097640e-02 2.12546758e+01] [-8.65154329e-02 7.21253372e-02 9.93636259e-01 -1.00481299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters Centerline goodness : 0.883149 Centerline is valid? [True, False] Translation: X:162.21, Y:21.24, Z:-100.48 [[ 9.96723363e-01 1.90437455e-02 7.86121715e-02 1.62210450e+02] [-1.51249281e-02 9.98627271e-01 -5.01478880e-02 2.12358082e+01] [-7.94592618e-02 4.87945682e-02 9.95643167e-01 -1.00483500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05592000000001 meters Centerline goodness : 0.995167 Centerline is valid? [False, True] Translation: X:162.24, Y:21.22, Z:-100.48 [[ 9.98009817e-01 2.25293082e-02 5.88968119e-02 1.62236386e+02] [-2.04881059e-02 9.99176074e-01 -3.50344073e-02 2.12234688e+01] [-5.96375863e-02 3.37579983e-02 9.97649115e-01 -1.00484798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:162.27, Y:21.19, Z:-100.49 [[ 9.97800549e-01 2.90180818e-02 5.95987948e-02 1.62268027e+02] [-2.89706587e-02 9.99578884e-01 -1.65980944e-03 2.11935280e+01] [-5.96218613e-02 -7.04575709e-05 9.98221032e-01 -1.00489797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11592000000002 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:162.30, Y:21.14, Z:-100.49 [[ 9.99557210e-01 2.92552707e-02 5.43250293e-03 1.62296693e+02] [-2.95168588e-02 9.97949907e-01 5.67867718e-02 2.11394986e+01] [-3.76005342e-03 -5.69219776e-02 9.98371549e-01 -1.00492662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:162.33, Y:21.22, Z:-100.49 [[ 9.99281280e-01 3.56318523e-02 1.29342668e-02 1.62329438e+02] [-3.53796633e-02 9.99188928e-01 -1.92293102e-02 2.12173496e+01] [-1.36089521e-02 1.87578797e-02 9.99731433e-01 -1.00487443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17592000000002 meters Centerline goodness : 0.845268 Centerline is valid? [True, False] Translation: X:162.33, Y:21.21, Z:-100.49 [[ 9.99608452e-01 2.37295400e-02 1.48274267e-02 1.62330336e+02] [-2.35770375e-02 9.99668169e-01 -1.03767054e-02 2.12131862e+01] [-1.50687410e-02 1.00230556e-02 9.99836222e-01 -1.00489054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters Centerline goodness : 0.727449 Centerline is valid? [False, False] Translation: X:162.34, Y:21.21, Z:-100.49 [[ 9.99896149e-01 9.61313566e-03 1.07367636e-02 1.62341014e+02] [-9.59821482e-03 9.99952899e-01 -1.44036296e-03 2.12090691e+01] [-1.07501043e-02 1.33715962e-03 9.99941322e-01 -1.00489249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23592 meters Centerline goodness : 0.993288 Centerline is valid? [False, True] Translation: X:162.34, Y:21.22, Z:-100.49 [[ 9.99938222e-01 1.71025933e-03 1.09830773e-02 1.62340181e+02] [-1.57160316e-03 9.99919120e-01 -1.26207736e-02 2.12217526e+01] [-1.10037738e-02 1.26027328e-02 9.99860034e-01 -1.00487557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:162.36, Y:21.09, Z:-100.50 [[ 9.99974224e-01 -5.46677817e-03 4.65456961e-03 1.62359887e+02] [ 4.82268809e-03 9.91680480e-01 1.28633463e-01 2.10892371e+01] [-5.31905643e-03 -1.28607700e-01 9.91681283e-01 -1.00500530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29592 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:162.40, Y:21.31, Z:-100.47 [[ 9.99822132e-01 8.92736850e-03 1.66134136e-02 1.62395452e+02] [-7.31032618e-03 9.95453421e-01 -9.49686589e-02 2.13148197e+01] [-1.73856996e-02 9.48303176e-02 9.95341624e-01 -1.00474823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:162.43, Y:21.27, Z:-100.49 [[ 9.99444897e-01 8.43280403e-03 3.22302134e-02 1.62425386e+02] [-6.97995292e-03 9.98965890e-01 -4.49269525e-02 2.12749863e+01] [-3.25757440e-02 4.46770480e-02 9.98470221e-01 -1.00486185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35592 meters Centerline goodness : 0.893685 Centerline is valid? [True, False] Translation: X:162.43, Y:21.26, Z:-100.49 [[ 9.99704674e-01 5.39589863e-03 2.36949300e-02 1.62432198e+02] [-4.74502536e-03 9.99612198e-01 -2.74397124e-02 2.12631596e+01] [-2.38338030e-02 2.73191756e-02 9.99342590e-01 -1.00488663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters Centerline goodness : 0.893685 Centerline is valid? [False, False] Translation: X:162.44, Y:21.25, Z:-100.49 [[ 9.99901432e-01 -1.39449321e-03 1.39707322e-02 1.62439274e+02] [ 1.59606201e-03 9.99894649e-01 -1.44271888e-02 2.12495073e+01] [-1.39491417e-02 1.44480649e-02 9.99798317e-01 -1.00491150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41592 meters Centerline goodness : 0.994875 Centerline is valid? [False, True] Translation: X:162.42, Y:21.27, Z:-100.49 [[ 9.99911303e-01 2.50955611e-03 1.30800837e-02 1.62417379e+02] [-2.17875416e-03 9.99678953e-01 -2.52436851e-02 2.12659624e+01] [-1.31392348e-02 2.52129478e-02 9.99595752e-01 -1.00488699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:162.45, Y:21.13, Z:-100.50 [[ 9.98668169e-01 1.42032731e-03 -5.15739388e-02 1.62448570e+02] [ 4.63280960e-03 9.93114172e-01 1.17058864e-01 2.11261387e+01] [ 5.13850715e-02 -1.17141893e-01 9.91784932e-01 -1.00503235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47592 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:162.48, Y:21.31, Z:-100.48 [[ 9.99453199e-01 -9.63362925e-04 -3.30510983e-02 1.62475340e+02] [-1.07804643e-03 9.98094660e-01 -6.16918787e-02 2.13068670e+01] [ 3.30475564e-02 6.16937761e-02 9.97547862e-01 -1.00477364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:162.50, Y:21.30, Z:-100.48 [[ 9.99777985e-01 -6.90460325e-03 1.99074520e-02 1.62503033e+02] [ 7.89141040e-03 9.98721790e-01 -4.99250568e-02 2.13023241e+01] [-1.95372934e-02 5.00710706e-02 9.98554546e-01 -1.00481606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53592 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:162.54, Y:21.26, Z:-100.49 [[ 9.99781617e-01 -8.90848615e-03 1.89038781e-02 1.62537013e+02] [ 8.90521197e-03 9.99960315e-01 2.57375389e-04 2.12557774e+01] [-1.89054207e-02 -8.89761412e-05 9.99821273e-01 -1.00492192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:162.57, Y:21.16, Z:-100.50 [[ 9.99069832e-01 -1.12501115e-02 -4.16281769e-02 1.62566487e+02] [ 1.54183783e-02 9.94745978e-01 1.01206293e-01 2.11588731e+01] [ 4.02708795e-02 -1.01753994e-01 9.93994155e-01 -1.00504435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59592 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:162.59, Y:21.22, Z:-100.50 [[ 9.99326705e-01 -1.12909520e-02 -3.49091737e-02 1.62590470e+02] [ 1.30611441e-02 9.98618164e-01 5.09035336e-02 2.12176735e+01] [ 3.42861856e-02 -5.13252143e-02 9.98093272e-01 -1.00495297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:162.62, Y:21.33, Z:-100.47 [[ 9.99538101e-01 -1.07542523e-02 -2.84241119e-02 1.62618308e+02] [ 8.91289294e-03 9.97901590e-01 -6.41325023e-02 2.13339027e+01] [ 2.90541636e-02 6.38495385e-02 9.97536512e-01 -1.00472576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65592 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:162.65, Y:21.29, Z:-100.48 [[ 9.99683060e-01 -1.26834224e-02 -2.17464973e-02 1.62645273e+02] [ 1.22277467e-02 9.99705528e-01 -2.09604431e-02 2.12930690e+01] [ 2.20059437e-02 2.06878893e-02 9.99543771e-01 -1.00481988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:162.67, Y:21.26, Z:-100.49 [[ 9.99628033e-01 -1.32485243e-02 -2.38384769e-02 1.62672864e+02] [ 1.35317814e-02 9.99839278e-01 1.17605262e-02 2.12639256e+01] [ 2.36788359e-02 -1.20787288e-02 9.99646646e-01 -1.00489132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71592 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:162.70, Y:21.35, Z:-100.47 [[ 9.99350596e-01 -1.38552087e-02 3.32628982e-02 1.62701532e+02] [ 1.61855319e-02 9.97356154e-01 -7.08429951e-02 2.13489608e+01] [-3.21934118e-02 7.13353670e-02 9.96932721e-01 -1.00471021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:162.73, Y:21.23, Z:-100.49 [[ 9.99688896e-01 -1.76769892e-02 -1.75964801e-02 1.62731982e+02] [ 1.85754923e-02 9.98459664e-01 5.22804975e-02 2.12318020e+01] [ 1.66452138e-02 -5.25910961e-02 9.98477398e-01 -1.00494473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77592 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:162.76, Y:21.26, Z:-100.49 [[ 9.99568861e-01 -1.88507584e-02 -2.25109143e-02 1.62759605e+02] [ 1.94749629e-02 9.99422679e-01 2.78394311e-02 2.12585761e+01] [ 2.19731239e-02 -2.82658277e-02 9.99358907e-01 -1.00491255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:162.79, Y:21.30, Z:-100.48 [[ 9.99684867e-01 -2.07970610e-02 -1.40587527e-02 1.62785524e+02] [ 2.06739471e-02 9.99747132e-01 -8.84645103e-03 2.12969986e+01] [ 1.42391779e-02 8.55301332e-03 9.99862036e-01 -1.00483720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83592000000002 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:162.82, Y:21.36, Z:-100.47 [[ 9.98951343e-01 -2.22805350e-02 3.99974016e-02 1.62816551e+02] [ 2.49653827e-02 9.97377559e-01 -6.79318372e-02 2.13572189e+01] [-3.83789531e-02 6.88591505e-02 9.96887894e-01 -1.00468846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:162.85, Y:21.29, Z:-100.49 [[ 9.98885432e-01 -2.42807962e-02 4.04763774e-02 1.62849833e+02] [ 2.42765631e-02 9.99705103e-01 5.96167708e-04 2.12919233e+01] [-4.04789164e-02 3.87124090e-04 9.99180318e-01 -1.00486461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89592000000002 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:162.90, Y:21.23, Z:-100.50 [[ 9.99838623e-01 7.86058004e-03 -1.61536050e-02 1.62901987e+02] [-6.53218704e-03 9.96716813e-01 8.07026905e-02 2.12301422e+01] [ 1.67349397e-02 -8.05841486e-02 9.96607313e-01 -1.00498429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:162.90, Y:21.27, Z:-100.49 [[ 9.99474504e-01 -2.66387595e-02 -1.84686675e-02 1.62903020e+02] [ 2.70774223e-02 9.99347036e-01 2.39231041e-02 2.12711525e+01] [ 1.78193263e-02 -2.44106165e-02 9.99543192e-01 -1.00486302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95592000000002 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:162.93, Y:21.29, Z:-100.48 [[ 9.99697552e-01 -2.36713144e-02 -6.66876998e-03 1.62926394e+02] [ 2.36935092e-02 9.99713925e-01 3.26904892e-03 2.12947048e+01] [ 6.58947952e-03 -3.42606676e-03 9.99972420e-01 -1.00479404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:162.96, Y:21.44, Z:-100.44 [[ 9.98349861e-01 -1.78584978e-02 5.45768133e-02 1.62957530e+02] [ 2.53226277e-02 9.89927227e-01 -1.39294110e-01 2.14362777e+01] [-5.15394899e-02 1.40446284e-01 9.88745934e-01 -1.00438097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:162.99, Y:21.21, Z:-100.50 [[ 9.99844433e-01 -1.36739605e-02 -1.11415065e-02 1.62988887e+02] [ 1.47071074e-02 9.95014171e-01 9.86433037e-02 2.12073639e+01] [ 9.73711226e-03 -9.87918173e-02 9.95060483e-01 -1.00497021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:163.02, Y:21.31, Z:-100.48 [[ 9.99758335e-01 -2.17821977e-02 -2.96781096e-03 1.63015041e+02] [ 2.17693750e-02 9.99753830e-01 -4.28647370e-03 2.13089242e+01] [ 3.06044919e-03 4.22083042e-03 9.99986409e-01 -1.00475865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:163.04, Y:21.40, Z:-100.45 [[ 9.98834323e-01 -2.22559511e-02 4.28330225e-02 1.63044613e+02] [ 2.62504904e-02 9.95123678e-01 -9.50777381e-02 2.14005341e+01] [-4.05081095e-02 9.60912960e-02 9.94547915e-01 -1.00453571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:21.31, Z:-100.48 [[ 9.97996496e-01 -2.63823122e-02 5.75062384e-02 1.63078789e+02] [ 2.62341092e-02 9.99650278e-01 3.33071010e-03 2.13068487e+01] [-5.75739990e-02 -1.81541207e-03 9.98339591e-01 -1.00478782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:163.11, Y:21.31, Z:-100.48 [[ 9.98943452e-01 -3.06220166e-02 3.42676568e-02 1.63109184e+02] [ 3.04573122e-02 9.99521920e-01 5.31825872e-03 2.13057586e+01] [-3.44141300e-02 -4.26893900e-03 9.99398541e-01 -1.00479681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:163.14, Y:21.22, Z:-100.49 [[ 9.99371920e-01 -3.52076052e-02 -4.02361753e-03 1.63138809e+02] [ 3.54310304e-02 9.94792300e-01 9.55663194e-02 2.12158116e+01] [ 6.38002497e-04 -9.56488570e-02 9.95414933e-01 -1.00494993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:163.17, Y:21.29, Z:-100.48 [[ 9.99348237e-01 -2.91360068e-02 2.13118208e-02 1.63169844e+02] [ 2.86417124e-02 9.99321816e-01 2.31421980e-02 2.12909981e+01] [-2.19716387e-02 -2.25167078e-02 9.99505000e-01 -1.00481643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:163.20, Y:21.42, Z:-100.45 [[ 9.97473801e-01 -2.66680891e-02 6.58394270e-02 1.63203373e+02] [ 3.38353021e-02 9.93326249e-01 -1.10263937e-01 2.14215378e+01] [-6.24595025e-02 1.12213085e-01 9.91719231e-01 -1.00447761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:21.31, Z:-100.48 [[ 9.97405978e-01 -3.23536721e-02 6.43005083e-02 1.63236086e+02] [ 3.23747400e-02 9.99475545e-01 7.14532506e-04 2.13118302e+01] [-6.42899033e-02 1.36903325e-03 9.97930325e-01 -1.00479349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:163.26, Y:21.20, Z:-100.50 [[ 9.99165320e-01 -3.85832233e-02 1.34163244e-02 1.63263249e+02] [ 3.68164082e-02 9.92861148e-01 1.13451720e-01 2.11973019e+01] [-1.76978803e-02 -1.12863083e-01 9.93452923e-01 -1.00496514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:163.29, Y:21.30, Z:-100.48 [[ 9.99056320e-01 -3.76678462e-02 2.16241470e-02 1.63288918e+02] [ 3.74879385e-02 9.99259505e-01 8.66584327e-03 2.12996115e+01] [-2.19345581e-02 -7.84702079e-03 9.99728613e-01 -1.00479121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:163.33, Y:21.36, Z:-100.47 [[ 9.99807554e-01 -2.49480864e-03 1.94584520e-02 1.63327167e+02] [ 3.34726675e-03 9.99030307e-01 -4.39003645e-02 2.13638808e+01] [-1.93300603e-02 4.39570487e-02 9.98846398e-01 -1.00471116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37592 meters Centerline goodness : 0.975722 Centerline is valid? [True, True] Translation: X:163.42, Y:21.28, Z:-100.52 [[ 9.99169149e-01 -4.03872735e-02 -5.46630114e-03 1.63416683e+02] [ 4.05794061e-02 9.98317899e-01 4.14087534e-02 2.12752737e+01] [ 3.78471962e-03 -4.15961681e-02 9.99127337e-01 -1.00517550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:163.38, Y:21.36, Z:-100.47 [[ 9.96407022e-01 -4.39636850e-02 7.23895081e-02 1.63376454e+02] [ 4.87461337e-02 9.96649298e-01 -6.56809841e-02 2.13551646e+01] [-6.92593743e-02 6.89737024e-02 9.95211418e-01 -1.00467173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:163.41, Y:21.29, Z:-100.49 [[ 9.96359865e-01 -4.72087519e-02 7.09813513e-02 1.63410022e+02] [ 4.72422337e-02 9.98882732e-01 1.20794278e-03 2.12884499e+01] [-7.09590716e-02 2.14977189e-03 9.97476911e-01 -1.00485731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:163.44, Y:21.29, Z:-100.49 [[ 9.96422726e-01 -4.70238510e-02 7.02175852e-02 1.63442670e+02] [ 4.70580647e-02 9.98891473e-01 1.16778061e-03 2.12851070e+01] [-7.01946607e-02 2.14070053e-03 9.97531016e-01 -1.00487649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49592 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:163.48, Y:21.28, Z:-100.49 [[ 9.96425231e-01 -4.55972071e-02 7.11171831e-02 1.63475756e+02] [ 4.56301584e-02 9.98957726e-01 1.16204289e-03 2.12846685e+01] [-7.10960454e-02 2.08719948e-03 9.97467291e-01 -1.00488837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:163.50, Y:21.21, Z:-100.50 [[ 9.98517606e-01 -5.08673572e-02 1.93675749e-02 1.63502605e+02] [ 4.92938555e-02 9.96000909e-01 7.45137903e-02 2.12099746e+01] [-2.30804418e-02 -7.34486291e-02 9.97031891e-01 -1.00500447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55592000000001 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:163.53, Y:21.26, Z:-100.49 [[ 9.98744758e-01 -4.68538597e-02 1.77094540e-02 1.63532627e+02] [ 4.64474748e-02 9.98662742e-01 2.27015482e-02 2.12593614e+01] [-1.87494270e-02 -2.18504928e-02 9.99585422e-01 -1.00491965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:163.57, Y:21.37, Z:-100.47 [[ 9.96736705e-01 -3.10746987e-02 7.45003651e-02 1.63567726e+02] [ 3.78622872e-02 9.95085045e-01 -9.14997323e-02 2.13725288e+01] [-7.12908725e-02 9.40218959e-02 9.93014348e-01 -1.00468607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61592000000002 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:163.60, Y:21.28, Z:-100.49 [[ 9.96649116e-01 -3.36652875e-02 7.45465440e-02 1.63600435e+02] [ 3.36798825e-02 9.99432108e-01 1.06167435e-03 2.12838518e+01] [-7.45399512e-02 1.45260204e-03 9.97216970e-01 -1.00493389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:163.63, Y:21.23, Z:-100.50 [[ 9.99137239e-01 -3.45489496e-02 2.30466332e-02 1.63627723e+02] [ 3.30920819e-02 9.97598087e-01 6.08520422e-02 2.12264794e+01] [-2.50936514e-02 -6.00368804e-02 9.97880695e-01 -1.00503452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67592000000002 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:163.66, Y:21.29, Z:-100.49 [[ 9.99222423e-01 -2.86950742e-02 2.70396314e-02 1.63658153e+02] [ 2.86823618e-02 9.99588208e-01 8.57951952e-04 2.12879116e+01] [-2.70531157e-02 -8.17243372e-05 9.99633994e-01 -1.00492567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:163.69, Y:21.25, Z:-100.50 [[ 9.99473217e-01 -2.90619067e-02 1.44462597e-02 1.63689273e+02] [ 2.84401841e-02 9.98732637e-01 4.15244055e-02 2.12492435e+01] [-1.56347294e-02 -4.10916769e-02 9.99033047e-01 -1.00501264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73592 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:163.72, Y:21.39, Z:-100.47 [[ 9.96603021e-01 -1.89437824e-02 8.01470654e-02 1.63723693e+02] [ 2.66464943e-02 9.95009404e-01 -9.61574204e-02 2.13861773e+01] [-7.79254986e-02 9.79664140e-02 9.92134164e-01 -1.00471332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:163.75, Y:21.22, Z:-100.51 [[ 9.99235401e-01 -3.43425320e-02 1.86869785e-02 1.63748032e+02] [ 3.28921235e-02 9.96785433e-01 7.30541555e-02 2.12191567e+01] [-2.11357726e-02 -7.23836440e-02 9.97152891e-01 -1.00506895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:163.78, Y:21.36, Z:-100.48 [[ 9.96197104e-01 -2.34080963e-02 8.39249082e-02 1.63784853e+02] [ 2.92715204e-02 9.97164266e-01 -6.93296758e-02 2.13629882e+01] [-8.20640438e-02 7.15226319e-02 9.94057345e-01 -1.00481134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:163.82, Y:21.30, Z:-100.50 [[ 9.96123571e-01 -2.98418965e-02 8.27483649e-02 1.63817187e+02] [ 2.98701041e-02 9.99553386e-01 8.97345647e-04 2.12972350e+01] [-8.27381868e-02 1.57783513e-03 9.96570069e-01 -1.00499022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85592 meters Centerline goodness : 0.706742 Centerline is valid? [True, False] Translation: X:163.83, Y:21.30, Z:-100.50 [[ 9.96427650e-01 -2.90706966e-02 7.92895463e-02 1.63825922e+02] [ 2.91792240e-02 9.99574174e-01 -2.10217601e-04 2.13002594e+01] [-7.92496716e-02 2.52307406e-03 9.96851606e-01 -1.00500164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters Centerline goodness : 0.998311 Centerline is valid? [False, True] Translation: X:163.84, Y:21.30, Z:-100.50 [[ 9.96931833e-01 -2.80972022e-02 7.30579677e-02 1.63840032e+02] [ 2.83733238e-02 9.99593629e-01 -2.74419645e-03 2.13046102e+01] [-7.29511749e-02 4.80867417e-03 9.97323921e-01 -1.00499159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91592 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:163.87, Y:21.24, Z:-100.51 [[ 9.99045278e-01 -3.61705979e-02 2.44993964e-02 1.63866392e+02] [ 3.45210363e-02 9.97307434e-01 6.47006901e-02 2.12359920e+01] [-2.67736928e-02 -6.37931744e-02 9.97603930e-01 -1.00508192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:163.89, Y:21.23, Z:-100.51 [[ 9.98863480e-01 -3.88060940e-02 2.76737293e-02 1.63894413e+02] [ 3.68319645e-02 9.96964657e-01 6.85921282e-02 2.12323199e+01] [-3.02515226e-02 -6.74948940e-02 9.97260891e-01 -1.00509866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97592 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:163.93, Y:21.32, Z:-100.49 [[ 9.99211412e-01 -3.42915977e-02 2.00160001e-02 1.63928332e+02] [ 3.47763524e-02 9.99097345e-01 -2.43946850e-02 2.13237473e+01] [-1.91613998e-02 2.50715311e-02 9.99502006e-01 -1.00491999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:163.96, Y:21.39, Z:-100.48 [[ 9.96136064e-01 -3.04609840e-02 8.23715426e-02 1.63963339e+02] [ 3.85613262e-02 9.94378853e-01 -9.86089267e-02 2.13944911e+01] [-7.89047951e-02 1.01404264e-01 9.91711253e-01 -1.00477168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:163.99, Y:21.18, Z:-100.52 [[ 9.98534622e-01 -4.89973486e-02 2.29753975e-02 1.63985234e+02] [ 4.59461870e-02 9.91896434e-01 1.18450044e-01 2.11783514e+01] [-2.85929530e-02 -1.17220838e-01 9.92694172e-01 -1.00516295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:164.02, Y:21.41, Z:-100.47 [[ 9.96115806e-01 -3.13468089e-02 8.22841335e-02 1.64024439e+02] [ 4.06375547e-02 9.92674165e-01 -1.13783092e-01 2.14070476e+01] [-7.81145967e-02 1.16684963e-01 9.90092283e-01 -1.00474541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09592 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:164.05, Y:21.25, Z:-100.51 [[ 9.98410522e-01 -4.48035232e-02 3.41917368e-02 1.64050819e+02] [ 4.33536127e-02 9.98175320e-01 4.20296885e-02 2.12530228e+01] [-3.60124259e-02 -4.04805479e-02 9.98531136e-01 -1.00506202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:164.08, Y:21.27, Z:-100.51 [[ 9.98011795e-01 -4.73873471e-02 4.15559541e-02 1.64077539e+02] [ 4.65745784e-02 9.98708247e-01 2.03137135e-02 2.12740897e+01] [-4.24648870e-02 -1.83378746e-02 9.98929655e-01 -1.00507966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:164.11, Y:21.30, Z:-100.50 [[ 9.97184643e-01 -5.50673111e-02 5.08957748e-02 1.64105386e+02] [ 5.61196752e-02 9.98233931e-01 -1.94833430e-02 2.13028719e+01] [-4.97329940e-02 2.22847448e-02 9.98513905e-01 -1.00495150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:164.14, Y:21.25, Z:-100.51 [[ 9.97603032e-01 -5.48372755e-02 4.22026529e-02 1.64140541e+02] [ 5.32639875e-02 9.97874487e-01 3.75427259e-02 2.12472374e+01] [-4.41716914e-02 -3.52048557e-02 9.98403465e-01 -1.00511258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21592 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:164.17, Y:21.29, Z:-100.50 [[ 9.97507987e-01 -5.19124438e-02 4.77798458e-02 1.64172096e+02] [ 5.25518947e-02 9.98543363e-01 -1.22249970e-02 2.12932757e+01] [-4.70756184e-02 1.47054536e-02 9.98783077e-01 -1.00503608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:164.20, Y:21.27, Z:-100.51 [[ 9.97107437e-01 -5.56043269e-02 5.18161991e-02 1.64201268e+02] [ 5.53533985e-02 9.98447162e-01 6.26632395e-03 2.12704157e+01] [-5.20841716e-02 -3.37999549e-03 9.98636978e-01 -1.00508539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27592 meters Centerline goodness : 0.891687 Centerline is valid? [True, False] Translation: X:164.20, Y:21.28, Z:-100.51 [[ 9.97939058e-01 -4.35505532e-02 4.71273345e-02 1.64202529e+02] [ 4.36739428e-02 9.99044571e-01 -1.59121204e-03 2.12767462e+01] [-4.70130096e-02 3.64616916e-03 9.98887622e-01 -1.00507458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters Centerline goodness : 0.998259 Centerline is valid? [False, True] Translation: X:164.23, Y:21.28, Z:-100.51 [[ 9.98913914e-01 -3.78468034e-02 2.71774278e-02 1.64228598e+02] [ 3.79283867e-02 9.99277351e-01 -2.49249903e-03 2.12760377e+01] [-2.70634550e-02 3.52058795e-03 9.99627518e-01 -1.00507054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33592000000002 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:164.26, Y:21.27, Z:-100.51 [[ 9.98878589e-01 -3.72050956e-02 2.92804449e-02 1.64259335e+02] [ 3.72357234e-02 9.99306384e-01 -5.01267746e-04 2.12739015e+01] [-2.92414858e-02 1.59098417e-03 9.99571110e-01 -1.00507928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:164.34, Y:21.25, Z:-100.54 [[ 9.99357417e-01 -3.58434338e-02 2.95972171e-05 1.64343022e+02] [ 3.58318764e-02 9.99055481e-01 2.45809238e-02 2.12523658e+01] [-9.10633977e-04 -2.45640680e-02 9.99697843e-01 -1.00539732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39592000000002 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:164.31, Y:21.28, Z:-100.51 [[ 9.98558899e-01 -3.89580768e-02 3.69106173e-02 1.64314366e+02] [ 3.96784393e-02 9.99032054e-01 -1.89888784e-02 2.12813718e+01] [-3.61351196e-02 2.04260692e-02 9.99138143e-01 -1.00506577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:164.35, Y:21.33, Z:-100.50 [[ 9.96381038e-01 -3.03145578e-02 7.94094157e-02 1.64352624e+02] [ 3.56016941e-02 9.97182046e-01 -6.60339850e-02 2.13266382e+01] [-7.71838526e-02 6.86221202e-02 9.94652531e-01 -1.00498640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45592000000002 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:164.37, Y:21.19, Z:-100.52 [[ 9.98547318e-01 -3.94395620e-02 3.67120579e-02 1.64374637e+02] [ 3.65707295e-02 9.96453595e-01 7.57813557e-02 2.11866132e+01] [-3.95706456e-02 -7.43286828e-02 9.96448399e-01 -1.00518301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:164.40, Y:21.25, Z:-100.51 [[ 9.98872553e-01 -3.40457815e-02 3.30833525e-02 1.64403049e+02] [ 3.36064873e-02 9.99340620e-01 1.37451202e-02 2.12467148e+01] [-3.35295014e-02 -1.26178081e-02 9.99358076e-01 -1.00514048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:164.44, Y:21.26, Z:-100.52 [[ 9.98994980e-01 -3.13556802e-02 3.20289149e-02 1.64438047e+02] [ 3.16067199e-02 9.99473271e-01 -7.36179209e-03 2.12613131e+01] [-3.17812104e-02 8.36672229e-03 9.99459830e-01 -1.00515337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:164.47, Y:21.27, Z:-100.51 [[ 9.98724664e-01 -2.85359801e-02 4.16502537e-02 1.64465732e+02] [ 2.94066861e-02 9.99358433e-01 -2.04443014e-02 2.12726655e+01] [-4.10401340e-02 2.16430240e-02 9.98923064e-01 -1.00509950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:164.49, Y:21.23, Z:-100.52 [[ 9.98754542e-01 -2.96560151e-02 4.01233773e-02 1.64493422e+02] [ 2.88369506e-02 9.99366845e-01 2.08407895e-02 2.12298687e+01] [-4.07160278e-02 -1.96577973e-02 9.98977365e-01 -1.00518227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.53, Y:21.26, Z:-100.51 [[ 9.98582458e-01 -2.60801405e-02 4.63993699e-02 1.64526261e+02] [ 2.67326062e-02 9.99551494e-01 -1.34973424e-02 2.12620257e+01] [-4.60265469e-02 1.47185854e-02 9.98831778e-01 -1.00512184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.55, Y:21.27, Z:-100.51 [[ 9.97585247e-01 -3.75524384e-02 5.84250778e-02 1.64547679e+02] [ 3.95495800e-02 9.98658891e-01 -3.34103284e-02 2.12661448e+01] [-5.70920841e-02 3.56403380e-02 9.97732559e-01 -1.00505614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:164.59, Y:21.19, Z:-100.53 [[ 9.98876113e-01 -1.85454805e-02 4.36185361e-02 1.64586123e+02] [ 1.60337951e-02 9.98231447e-01 5.72441705e-02 2.11889973e+01] [-4.46030151e-02 -5.64804639e-02 9.97406902e-01 -1.00526694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.62, Y:21.28, Z:-100.51 [[ 9.98765145e-01 -1.17545758e-02 4.82702304e-02 1.64617642e+02] [ 1.37194949e-02 9.99082131e-01 -4.05791870e-02 2.12821487e+01] [-4.77489335e-02 4.11913207e-02 9.98009677e-01 -1.00510190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:164.65, Y:21.17, Z:-100.53 [[ 9.98846042e-01 -8.48192415e-03 4.72719966e-02 1.64649270e+02] [ 4.86221183e-03 9.97083193e-01 7.61673555e-02 2.11722574e+01] [-4.77801590e-02 -7.58496151e-02 9.95973841e-01 -1.00529823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75592 meters Centerline goodness : 0.945276 Centerline is valid? [True, False] Translation: X:164.62, Y:21.22, Z:-100.52 [[ 9.98810857e-01 -2.64072258e-04 4.87524629e-02 1.64621897e+02] [-1.06312186e-03 9.99629577e-01 2.71951819e-02 2.12234365e+01] [-4.87415854e-02 -2.72146727e-02 9.98440594e-01 -1.00522967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:164.66, Y:21.24, Z:-100.52 [[ 9.99650056e-01 4.23767037e-03 2.61114484e-02 1.64664876e+02] [-4.43409386e-03 9.99962274e-01 7.46920168e-03 2.12448611e+01] [-2.60788113e-02 -7.58236849e-03 9.99631134e-01 -1.00521786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:164.70, Y:21.28, Z:-100.52 [[ 9.97690741e-01 1.03257885e-02 6.71309484e-02 1.64700780e+02] [-8.17653482e-03 9.99447609e-01 -3.22121404e-02 2.12834277e+01] [-6.74264816e-02 3.15888557e-02 9.97224054e-01 -1.00519439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.72, Y:21.12, Z:-100.53 [[ 9.99885780e-01 1.40583404e-03 1.50482985e-02 1.64720205e+02] [-3.48145448e-03 9.90313035e-01 1.38809118e-01 2.11167974e+01] [-1.47073836e-02 -1.38845654e-01 9.90204816e-01 -1.00534405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.76, Y:21.27, Z:-100.52 [[ 9.99756931e-01 1.01812560e-02 1.95555818e-02 1.64757877e+02] [-9.91836330e-03 9.99859764e-01 -1.34936293e-02 2.12684318e+01] [-1.96902215e-02 1.32963901e-02 9.99717711e-01 -1.00520401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:164.79, Y:21.33, Z:-100.51 [[ 9.99530439e-01 1.44180376e-02 2.70373947e-02 1.64789091e+02] [-1.24045899e-02 9.97239238e-01 -7.32122189e-02 2.13277083e+01] [-2.80183274e-02 7.28424535e-02 9.96949823e-01 -1.00507077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:164.81, Y:21.19, Z:-100.53 [[ 9.99414116e-01 6.84225286e-03 3.35351700e-02 1.64810279e+02] [-8.96291942e-03 9.97941558e-01 6.35004894e-02 2.11936155e+01] [-3.30316534e-02 -6.37638586e-02 9.97418207e-01 -1.00529931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:164.85, Y:21.31, Z:-100.51 [[ 9.99501674e-01 1.18881446e-02 2.92416887e-02 1.64845901e+02] [-1.02530409e-02 9.98409108e-01 -5.54448252e-02 2.13087634e+01] [-2.98543044e-02 5.51173793e-02 9.98033464e-01 -1.00513375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:164.87, Y:21.22, Z:-100.53 [[ 9.99006784e-01 7.94262049e-03 4.38447253e-02 1.64872172e+02] [-9.60301830e-03 9.99239553e-01 3.77901760e-02 2.12156594e+01] [-4.35112307e-02 -3.81736839e-02 9.98323366e-01 -1.00529807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.90, Y:21.26, Z:-100.52 [[ 9.99003169e-01 9.82359320e-03 4.35449717e-02 1.64902767e+02] [-9.30453406e-03 9.99883419e-01 -1.21067696e-02 2.12619153e+01] [-4.36588272e-02 1.16895355e-02 9.98978109e-01 -1.00522621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05592000000001 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:164.93, Y:21.27, Z:-100.52 [[ 9.99279890e-01 8.46511307e-03 3.69870748e-02 1.64934267e+02] [-7.66943508e-03 9.99737243e-01 -2.16015071e-02 2.12698217e+01] [-3.71602154e-02 2.13022816e-02 9.99082244e-01 -1.00518876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.96, Y:21.23, Z:-100.53 [[ 9.99438512e-01 9.19041086e-03 3.22210731e-02 1.64959679e+02] [-9.86544832e-03 9.99733853e-01 2.08541822e-02 2.12280478e+01] [-3.20208390e-02 -2.11603482e-02 9.99263181e-01 -1.00528903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.00, Y:21.33, Z:-100.51 [[ 9.95847723e-01 1.85176380e-02 8.91314136e-02 1.64998121e+02] [-1.05196656e-02 9.95942099e-01 -8.93793767e-02 2.13311263e+01] [-9.04248221e-02 8.80706162e-02 9.92001471e-01 -1.00509747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:165.02, Y:21.17, Z:-100.54 [[ 9.98734986e-01 8.80490778e-03 4.95065861e-02 1.65019019e+02] [-1.26177852e-02 9.96932628e-01 7.72407067e-02 2.11686299e+01] [-4.86746337e-02 -7.77676596e-02 9.95782592e-01 -1.00535285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.06, Y:21.32, Z:-100.51 [[ 9.95424081e-01 2.60237601e-02 9.19438057e-02 1.65060657e+02] [-1.86095636e-02 9.96573225e-01 -8.05946057e-02 2.13233829e+01] [-9.37261097e-02 7.85147772e-02 9.92497278e-01 -1.00513911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:165.09, Y:21.22, Z:-100.53 [[ 9.98378803e-01 2.09343716e-02 5.29293714e-02 1.65086106e+02] [-2.25274861e-02 9.99305458e-01 2.96835720e-02 2.12175977e+01] [-5.22712028e-02 -3.08278148e-02 9.98156985e-01 -1.00532605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.12, Y:21.24, Z:-100.53 [[ 9.98225463e-01 2.89572106e-02 5.20327260e-02 1.65119026e+02] [-2.92826200e-02 9.99556028e-01 5.50235554e-03 2.12441076e+01] [-5.18502921e-02 -7.01624595e-03 9.98630222e-01 -1.00533353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:165.15, Y:21.25, Z:-100.53 [[ 9.98169385e-01 3.19158954e-02 5.13736844e-02 1.65150651e+02] [-3.19943996e-02 9.99487799e-01 7.06239090e-04 2.12503702e+01] [-5.13248304e-02 -2.34861642e-03 9.98679251e-01 -1.00532245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.18, Y:21.27, Z:-100.53 [[ 9.97796329e-01 3.63765970e-02 5.54908042e-02 1.65183362e+02] [-3.56370768e-02 9.99263068e-01 -1.42590385e-02 2.12693429e+01] [-5.59686065e-02 1.22500863e-02 9.98357376e-01 -1.00533353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters Centerline goodness : 0.885941 Centerline is valid? [True, False] Translation: X:165.22, Y:21.26, Z:-100.53 [[ 9.98885138e-01 3.21966432e-02 3.45232955e-02 1.65215250e+02] [-3.19742443e-02 9.99464355e-01 -6.97499598e-03 2.12634435e+01] [-3.47293748e-02 5.86336354e-03 9.99379553e-01 -1.00532585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:165.24, Y:21.26, Z:-100.53 [[ 9.99559680e-01 2.60581401e-02 1.41922375e-02 1.65243991e+02] [-2.60425572e-02 9.99660013e-01 -1.28172509e-03 2.12589570e+01] [-1.42208117e-02 9.11558563e-04 9.99898464e-01 -1.00531701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.28, Y:21.26, Z:-100.53 [[ 9.99458117e-01 2.74537007e-02 1.81594941e-02 1.65275096e+02] [-2.74169485e-02 9.99621508e-01 -2.26977855e-03 2.12634806e+01] [-1.82149347e-02 1.77067068e-03 9.99832526e-01 -1.00534154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.30, Y:21.24, Z:-100.54 [[ 9.99360153e-01 1.55978601e-02 3.21868183e-02 1.65303754e+02] [-1.64098659e-02 9.99549753e-01 2.51198767e-02 2.12369722e+01] [-3.17805099e-02 -2.56319852e-02 9.99166153e-01 -1.00540634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:165.34, Y:21.31, Z:-100.52 [[ 9.99240926e-01 3.11966570e-02 2.33310983e-02 1.65338875e+02] [-3.01673513e-02 9.98609187e-01 -4.32391226e-02 2.13143368e+01] [-2.46475652e-02 4.25024635e-02 9.98792290e-01 -1.00524840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:165.37, Y:21.26, Z:-100.54 [[ 9.99281050e-01 2.75862002e-02 2.60074153e-02 1.65368574e+02] [-2.80643245e-02 9.99440385e-01 1.82019275e-02 2.12613833e+01] [-2.54907391e-02 -1.89187218e-02 9.99496025e-01 -1.00541010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:165.40, Y:21.29, Z:-100.54 [[ 9.99252306e-01 2.80171662e-02 2.66433350e-02 1.65401001e+02] [-2.77294975e-02 9.99553767e-01 -1.11059549e-02 2.12928749e+01] [-2.69426032e-02 1.03588447e-02 9.99583308e-01 -1.00536944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:165.43, Y:21.28, Z:-100.54 [[ 9.99455472e-01 2.26613724e-02 2.39837834e-02 1.65431489e+02] [-2.28202834e-02 9.99719271e-01 6.37290777e-03 2.12821663e+01] [-2.38326316e-02 -6.91675428e-03 9.99692035e-01 -1.00540255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:165.46, Y:21.31, Z:-100.53 [[ 9.99286191e-01 2.11744557e-02 3.12849839e-02 1.65464887e+02] [-2.04176584e-02 9.99495822e-01 -2.43150488e-02 2.13144010e+01] [-3.17840686e-02 2.36589264e-02 9.99214706e-01 -1.00532449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.49, Y:21.24, Z:-100.55 [[ 9.99721447e-01 1.11603585e-02 2.07960297e-02 1.65491909e+02] [-1.22707328e-02 9.98462601e-01 5.40542674e-02 2.12398658e+01] [-2.01607929e-02 -5.42943930e-02 9.98321422e-01 -1.00550422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.53, Y:21.36, Z:-100.52 [[ 9.97329519e-01 1.48508439e-02 7.15072167e-02 1.65529755e+02] [-9.97335917e-03 9.97629346e-01 -6.80898012e-02 2.13593406e+01] [-7.23488888e-02 6.71948015e-02 9.95113309e-01 -1.00524345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:165.56, Y:21.30, Z:-100.54 [[ 9.97158779e-01 5.61383261e-03 7.51189295e-02 1.65561061e+02] [-5.50037157e-03 9.99983398e-01 -1.71721845e-03 2.12976435e+01] [-7.51273225e-02 1.29915743e-03 9.97173103e-01 -1.00542508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:165.59, Y:21.30, Z:-100.54 [[ 9.97292249e-01 2.62411200e-03 7.34934288e-02 1.65593714e+02] [-2.50483335e-03 9.99995392e-01 -1.71510601e-03 2.12978504e+01] [-7.34975908e-02 1.52637314e-03 9.97294227e-01 -1.00544609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:165.61, Y:21.19, Z:-100.56 [[ 9.99725584e-01 -1.17370117e-02 2.02731391e-02 1.65614975e+02] [ 9.46670592e-03 9.94033895e-01 1.08660003e-01 2.11852801e+01] [-2.14275312e-02 -1.08438265e-01 9.93872227e-01 -1.00562062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.65, Y:21.32, Z:-100.54 [[ 9.99690203e-01 -6.30050156e-03 2.40790555e-02 1.65652028e+02] [ 7.06196571e-03 9.99473418e-01 -3.16704329e-02 2.13219116e+01] [-2.38668362e-02 3.18306670e-02 9.99208278e-01 -1.00535375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:165.68, Y:21.30, Z:-100.54 [[ 9.99419912e-01 -1.10628159e-02 3.22095404e-02 1.65679758e+02] [ 1.15407398e-02 9.99825492e-01 -1.46900508e-02 2.13033042e+01] [-3.20414062e-02 1.50532512e-02 9.99373178e-01 -1.00539135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.71, Y:21.25, Z:-100.55 [[ 9.99407109e-01 -1.32653973e-02 3.17719966e-02 1.65710311e+02] [ 1.20897186e-02 9.99245308e-01 3.69141204e-02 2.12511255e+01] [-3.22376990e-02 -3.65081199e-02 9.98813240e-01 -1.00550148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.74, Y:21.26, Z:-100.55 [[ 9.99271025e-01 -1.49348664e-02 3.51335899e-02 1.65739506e+02] [ 1.40802552e-02 9.99601952e-01 2.44475584e-02 2.12584980e+01] [-3.54847260e-02 -2.39350468e-02 9.99083554e-01 -1.00550435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.77, Y:21.34, Z:-100.53 [[ 9.99106543e-01 -1.03237649e-02 4.09821426e-02 1.65770832e+02] [ 1.29413288e-02 9.97857743e-01 -6.41283566e-02 2.13431550e+01] [-4.02323023e-02 6.46014241e-02 9.97099803e-01 -1.00529980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:165.79, Y:21.21, Z:-100.56 [[ 9.99157457e-01 -1.91908030e-02 3.62779458e-02 1.65794291e+02] [ 1.64664532e-02 9.97125377e-01 7.39583540e-02 2.12084722e+01] [-3.75929806e-02 -7.32986718e-02 9.96601261e-01 -1.00558059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:165.83, Y:21.31, Z:-100.54 [[ 9.99261800e-01 -7.11636979e-03 3.77519786e-02 1.65831652e+02] [ 8.35062235e-03 9.99432372e-01 -3.26374307e-02 2.13120443e+01] [-3.74982895e-02 3.29285903e-02 9.98754017e-01 -1.00535986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:21.27, Z:-100.55 [[ 9.98730942e-01 -8.51960964e-03 4.96379043e-02 1.65858433e+02] [ 8.13013245e-03 9.99934603e-01 8.04299963e-03 2.12724134e+01] [-4.97031813e-02 -7.62922986e-03 9.98734894e-01 -1.00547554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:165.89, Y:21.29, Z:-100.54 [[ 9.99186389e-01 -5.88092096e-03 3.98995566e-02 1.65888669e+02] [ 6.27148745e-03 9.99933571e-01 -9.67064898e-03 2.12913506e+01] [-3.98400338e-02 9.91301040e-03 9.99156897e-01 -1.00543683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.91, Y:21.23, Z:-100.56 [[ 9.98681847e-01 -1.55223486e-02 4.89246863e-02 1.65909316e+02] [ 1.29521743e-02 9.98541160e-01 5.24193983e-02 2.12298044e+01] [-4.96669851e-02 -5.17166205e-02 9.97425978e-01 -1.00556175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:165.94, Y:21.41, Z:-100.50 [[ 9.97980527e-01 -1.19556346e-02 6.23853425e-02 1.65939954e+02] [ 2.06615964e-02 9.89817610e-01 -1.40833933e-01 2.14056136e+01] [-6.00663516e-02 1.41838504e-01 9.88065723e-01 -1.00501113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:165.97, Y:21.27, Z:-100.55 [[ 9.97871167e-01 -4.15958295e-03 6.50832754e-02 1.65973404e+02] [ 3.03757944e-03 9.99845228e-01 1.73289714e-02 2.12652235e+01] [-6.51452836e-02 -1.70943853e-02 9.97729359e-01 -1.00550763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:166.01, Y:21.33, Z:-100.54 [[ 9.94399456e-01 4.74900655e-03 1.05580155e-01 1.66012467e+02] [ 8.78926195e-04 9.98583783e-01 -5.31945104e-02 2.13315787e+01] [-1.05683252e-01 5.29893894e-02 9.92986996e-01 -1.00540582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:166.03, Y:21.19, Z:-100.57 [[ 9.98105336e-01 -8.04648153e-03 6.09999409e-02 1.66031943e+02] [ 2.94445887e-03 9.96522461e-01 8.32725309e-02 2.11947975e+01] [-6.14578621e-02 -8.29351456e-02 9.94658078e-01 -1.00566034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters Centerline goodness : 0.738049 Centerline is valid? [True, False] Translation: X:166.00, Y:21.25, Z:-100.56 [[ 9.98149943e-01 -1.10118755e-03 6.07904538e-02 1.66004909e+02] [-7.23418506e-04 9.99550102e-01 2.99845149e-02 2.12457610e+01] [-6.07961229e-02 -2.99730188e-02 9.97700080e-01 -1.00557390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19592 meters Centerline goodness : 0.738049 Centerline is valid? [False, False] Translation: X:166.04, Y:21.26, Z:-100.56 [[ 9.99216375e-01 -2.14587542e-03 3.95225492e-02 1.66035534e+02] [ 1.45028145e-03 9.99843700e-01 1.76201958e-02 2.12573360e+01] [-3.95541826e-02 -1.75490693e-02 9.99063310e-01 -1.00555263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:166.06, Y:21.27, Z:-100.55 [[ 9.99818843e-01 -3.76452072e-03 1.86577155e-02 1.66063205e+02] [ 3.64077154e-03 9.99971180e-01 6.66213569e-03 2.12665972e+01] [-1.86822575e-02 -6.59300031e-03 9.99803734e-01 -1.00552929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:166.09, Y:21.21, Z:-100.56 [[ 9.99995493e-01 -1.01725424e-04 -3.00064283e-03 1.66088587e+02] [ 2.91036713e-04 9.98003530e-01 6.31574900e-02 2.12101537e+01] [ 2.98822741e-03 -6.31580786e-02 9.97999062e-01 -1.00564542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:166.12, Y:21.21, Z:-100.57 [[ 9.99066919e-01 4.00802508e-02 -1.60892945e-02 1.66121756e+02] [-3.86338859e-02 9.95891342e-01 8.19015070e-02 2.12087397e+01] [ 1.93058221e-02 -8.12034943e-02 9.96510551e-01 -1.00572771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:166.15, Y:21.33, Z:-100.54 [[ 9.99982604e-01 3.87521532e-03 -4.44678060e-03 1.66152396e+02] [-4.17476871e-03 9.97575987e-01 -6.94602163e-02 2.13313954e+01] [ 4.16682825e-03 6.94775723e-02 9.97574811e-01 -1.00536012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:166.18, Y:21.27, Z:-100.55 [[ 9.99744300e-01 2.26024497e-02 6.80567434e-04 1.66178104e+02] [-2.26013811e-02 9.99743372e-01 -1.53895436e-03 2.12695026e+01] [-7.15176919e-04 1.52317908e-03 9.99998584e-01 -1.00553809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:166.20, Y:21.17, Z:-100.56 [[ 9.99988741e-01 -4.46546677e-03 1.60515310e-03 1.66197266e+02] [ 4.30451880e-03 9.96005563e-01 8.91873841e-02 2.11678014e+01] [-1.99700472e-03 -8.91794705e-02 9.96013571e-01 -1.00561844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:166.25, Y:21.42, Z:-100.50 [[ 9.98517793e-01 1.00001787e-02 5.34996669e-02 1.66247348e+02] [-2.28669828e-04 9.83737380e-01 -1.79612682e-01 2.14243014e+01] [-5.44257810e-02 1.79334225e-01 9.82281564e-01 -1.00503675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:166.26, Y:21.10, Z:-100.57 [[ 9.99992512e-01 -9.73729679e-04 3.74542114e-03 1.66259760e+02] [ 4.06384169e-04 9.88898540e-01 1.48591763e-01 2.11032629e+01] [-3.84852971e-03 -1.48589129e-01 9.88891531e-01 -1.00568736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:166.30, Y:21.32, Z:-100.54 [[ 9.99848229e-01 1.47522178e-02 9.26777605e-03 1.66299009e+02] [-1.41009206e-02 9.97667203e-01 -6.67930876e-02 2.13172443e+01] [-1.02315024e-02 6.66522662e-02 9.97723805e-01 -1.00535997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:166.32, Y:21.19, Z:-100.56 [[ 9.99856427e-01 1.26469960e-02 1.12773983e-02 1.66322196e+02] [-1.33011733e-02 9.98112440e-01 5.99552806e-02 2.11938121e+01] [-1.04978574e-02 -6.00966753e-02 9.98137358e-01 -1.00557349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:166.37, Y:21.38, Z:-100.52 [[ 9.97682584e-01 2.42351090e-02 6.35776820e-02 1.66366704e+02] [-1.53331148e-02 9.90460640e-01 -1.36940191e-01 2.13830588e+01] [-6.62899520e-02 1.35648000e-01 9.88536930e-01 -1.00515964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55592000000001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:166.38, Y:21.15, Z:-100.56 [[ 9.99785195e-01 1.53827468e-02 1.38901266e-02 1.66384479e+02] [-1.66687446e-02 9.95067646e-01 9.77881993e-02 2.11542574e+01] [-1.23173644e-02 -9.79987249e-02 9.95110312e-01 -1.00563847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:166.42, Y:21.24, Z:-100.55 [[ 9.99690966e-01 2.11181328e-02 1.31147642e-02 1.66419591e+02] [-2.12634067e-02 9.99712971e-01 1.10382737e-02 2.12395310e+01] [-1.28778922e-02 -1.13137270e-02 9.99853069e-01 -1.00549987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:166.45, Y:21.27, Z:-100.54 [[ 9.99562541e-01 2.38893510e-02 1.74363016e-02 1.66450338e+02] [-2.36021363e-02 9.99585321e-01 -1.64962326e-02 2.12655303e+01] [-1.78231554e-02 1.60774822e-02 9.99711883e-01 -1.00544894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:166.48, Y:21.23, Z:-100.55 [[ 9.99459428e-01 2.14350168e-02 2.49277243e-02 1.66475285e+02] [-2.19424039e-02 9.99553890e-01 2.02620988e-02 2.12303063e+01] [-2.44822854e-02 -2.07981199e-02 9.99483895e-01 -1.00551840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:166.51, Y:21.36, Z:-100.52 [[ 9.96694427e-01 2.72338390e-02 7.65410836e-02 1.66514451e+02] [-1.84722226e-02 9.93431222e-01 -1.12930000e-01 2.13572720e+01] [-7.91138196e-02 1.11142818e-01 9.90650432e-01 -1.00524655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:166.53, Y:21.15, Z:-100.56 [[ 9.99501255e-01 1.26903791e-02 2.89170555e-02 1.66532240e+02] [-1.54210932e-02 9.95237056e-01 9.62569102e-02 2.11529546e+01] [-2.75577885e-02 -9.66548352e-02 9.94936385e-01 -1.00564666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:166.58, Y:21.34, Z:-100.53 [[ 9.96516458e-01 2.34962675e-02 8.00179662e-02 1.66577320e+02] [-1.55706118e-02 9.95038040e-01 -9.82692953e-02 2.13393394e+01] [-8.19298819e-02 9.66810413e-02 9.91937634e-01 -1.00532688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:166.61, Y:21.25, Z:-100.56 [[ 9.96325661e-01 1.83208615e-02 8.36631553e-02 1.66605574e+02] [-1.81393316e-02 9.99831177e-01 -2.92944920e-03 2.12455698e+01] [-8.37027011e-02 1.40109170e-03 9.96489787e-01 -1.00556092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:166.63, Y:21.19, Z:-100.56 [[ 9.99318823e-01 1.22616326e-02 3.48072312e-02 1.66631627e+02] [-1.39435240e-02 9.98726043e-01 4.84960774e-02 2.11947183e+01] [-3.41682472e-02 -4.89483785e-02 9.98216703e-01 -1.00563273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:166.66, Y:21.15, Z:-100.57 [[ 9.99482836e-01 9.86232887e-03 3.06071096e-02 1.66660388e+02] [-1.25267400e-02 9.96031166e-01 8.81192228e-02 2.11537282e+01] [-2.96165743e-02 -8.84570580e-02 9.95639597e-01 -1.00569866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:166.69, Y:21.22, Z:-100.56 [[ 9.99297780e-01 1.32869704e-02 3.50343077e-02 1.66688744e+02] [-1.38764467e-02 9.99765307e-01 1.66365572e-02 2.12237199e+01] [-3.48050360e-02 -1.71110264e-02 9.99247628e-01 -1.00559897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:166.72, Y:21.26, Z:-100.55 [[ 9.98922945e-01 1.65322872e-02 4.33547401e-02 1.66719461e+02] [-1.55685747e-02 9.99626227e-01 -2.24727765e-02 2.12614197e+01] [-4.37100616e-02 2.17736005e-02 9.98806959e-01 -1.00552126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:166.75, Y:21.25, Z:-100.55 [[ 9.98673576e-01 1.59512950e-02 4.89555297e-02 1.66748116e+02] [-1.51400432e-02 9.99742593e-01 -1.68975390e-02 2.12535801e+01] [-4.92124658e-02 1.61339368e-02 9.98658014e-01 -1.00552901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:166.79, Y:21.34, Z:-100.53 [[ 9.95437223e-01 2.34720994e-02 9.24867352e-02 1.66789413e+02] [-1.26707234e-02 9.93204677e-01 -1.15688906e-01 2.13444889e+01] [-9.45737195e-02 1.13989170e-01 9.88970313e-01 -1.00533891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:166.81, Y:21.16, Z:-100.57 [[ 9.98668319e-01 6.52021420e-03 5.11768997e-02 1.66807558e+02] [-1.02313931e-02 9.97309147e-01 7.25932779e-02 2.11595488e+01] [-5.05658665e-02 -7.30202178e-02 9.96047760e-01 -1.00571289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:166.84, Y:21.28, Z:-100.55 [[ 9.98731261e-01 1.54418273e-03 5.03337184e-02 1.66835735e+02] [ 1.54288768e-03 9.98122150e-01 -6.12355542e-02 2.12800076e+01] [-5.03337581e-02 6.12355215e-02 9.96853411e-01 -1.00547401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:166.88, Y:21.25, Z:-100.56 [[ 9.95012420e-01 1.59401338e-02 9.84692620e-02 1.66877954e+02] [-1.33735253e-02 9.99554820e-01 -2.66703917e-02 2.12535971e+01] [-9.88505551e-02 2.52204899e-02 9.94782637e-01 -1.00561305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters Centerline goodness : 0.964401 Centerline is valid? [True, True] Translation: X:166.97, Y:21.14, Z:-100.61 [[ 9.99594648e-01 5.59976302e-03 2.79138234e-02 1.66966497e+02] [-8.18485726e-03 9.95597446e-01 9.33741577e-02 2.11448621e+01] [-2.72680581e-02 -9.35647790e-02 9.95239712e-01 -1.00608519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09592 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:167.00, Y:21.25, Z:-100.59 [[ 9.99627732e-01 1.13485121e-02 2.48114634e-02 1.66998294e+02] [-1.09187172e-02 9.99789166e-01 -1.73898228e-02 2.12495576e+01] [-2.50035809e-02 1.71124398e-02 9.99540887e-01 -1.00592755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:166.96, Y:21.23, Z:-100.57 [[ 9.98968891e-01 1.05634296e-02 4.41539159e-02 1.66961657e+02] [-9.94641908e-03 9.99850122e-01 -1.41705009e-02 2.12316191e+01] [-4.42969873e-02 1.37167162e-02 9.98924236e-01 -1.00570718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:167.00, Y:21.30, Z:-100.56 [[ 9.95723549e-01 1.90774346e-02 9.03917309e-02 1.66999805e+02] [-1.07679854e-02 9.95743349e-01 -9.15381513e-02 2.13002020e+01] [-9.17532780e-02 9.01733561e-02 9.91690527e-01 -1.00558210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters Centerline goodness : 0.921276 Centerline is valid? [True, False] Translation: X:167.00, Y:21.26, Z:-100.57 [[ 9.96599323e-01 1.39609763e-02 8.12088727e-02 1.67004579e+02] [-9.98565503e-03 9.98741314e-01 -4.91535798e-02 2.12576805e+01] [-8.17928882e-02 4.81755005e-02 9.95484327e-01 -1.00567595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:167.04, Y:21.24, Z:-100.57 [[ 9.98075333e-01 1.35224037e-02 6.05208574e-02 1.67037344e+02] [-1.16299462e-02 9.99435670e-01 -3.15132713e-02 2.12397240e+01] [-6.09128388e-02 3.07487645e-02 9.97669354e-01 -1.00572634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:167.06, Y:21.19, Z:-100.58 [[ 9.97840987e-01 1.24836852e-02 6.44788460e-02 1.67063655e+02] [-1.38199437e-02 9.99698014e-01 2.03197031e-02 2.11895002e+01] [-6.42057095e-02 -2.11669266e-02 9.97712177e-01 -1.00581891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27592 meters Centerline goodness : 0.866829 Centerline is valid? [True, False] Translation: X:167.10, Y:21.20, Z:-100.58 [[ 9.99026106e-01 1.18850933e-02 4.24921736e-02 1.67096084e+02] [-1.22357234e-02 9.99893129e-01 8.00109627e-03 2.12012454e+01] [-4.23925386e-02 -8.51322653e-03 9.99064761e-01 -1.00579667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:167.12, Y:21.21, Z:-100.58 [[ 9.99674605e-01 1.04246596e-02 2.32811070e-02 1.67122362e+02] [-1.04078802e-02 9.99945482e-01 -8.41787706e-04 2.12092534e+01] [-2.32886131e-02 5.99206820e-04 9.99728604e-01 -1.00576947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:167.15, Y:21.15, Z:-100.58 [[ 9.99650663e-01 1.08188804e-02 2.41144091e-02 1.67152042e+02] [-1.21500682e-02 9.98370376e-01 5.57581161e-02 2.11533765e+01] [-2.34718713e-02 -5.60316294e-02 9.98153058e-01 -1.00583987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:167.18, Y:21.25, Z:-100.57 [[ 9.99571974e-01 1.53718507e-02 2.48912807e-02 1.67184307e+02] [-1.42402348e-02 9.98884657e-01 -4.50184236e-02 2.12523565e+01] [-2.55555348e-02 4.46446968e-02 9.98676006e-01 -1.00569974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:167.21, Y:21.18, Z:-100.58 [[ 9.99638648e-01 1.26592988e-02 2.37132064e-02 1.67211410e+02] [-1.33918148e-02 9.99429950e-01 3.09908860e-02 2.11795794e+01] [-2.33073658e-02 -3.12972503e-02 9.99238334e-01 -1.00582889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:167.24, Y:21.25, Z:-100.57 [[ 9.99152432e-01 2.12475448e-02 3.52556410e-02 1.67242178e+02] [-1.96836340e-02 9.98831937e-01 -4.41284158e-02 2.12541364e+01] [-3.61520807e-02 4.33970549e-02 9.98403587e-01 -1.00570968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45592000000002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:167.27, Y:21.22, Z:-100.58 [[ 9.99236384e-01 1.77342264e-02 3.48158837e-02 1.67272291e+02] [-1.74265521e-02 9.99806544e-01 -9.12085821e-03 2.12197241e+01] [-3.49708997e-02 8.50717257e-03 9.99352122e-01 -1.00576962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:167.30, Y:21.20, Z:-100.58 [[ 9.99264558e-01 2.12151639e-02 3.19415141e-02 1.67304428e+02] [-2.15706991e-02 9.99708691e-01 1.08276461e-02 2.12012489e+01] [-3.17024990e-02 -1.15086838e-02 9.99431089e-01 -1.00581369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:167.33, Y:21.23, Z:-100.58 [[ 9.98948437e-01 2.07996543e-02 4.08582165e-02 1.67334257e+02] [-1.98498546e-02 9.99526378e-01 -2.35160024e-02 2.12340695e+01] [-4.13279898e-02 2.26802442e-02 9.98888184e-01 -1.00578327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:167.37, Y:21.22, Z:-100.58 [[ 9.98819132e-01 2.19381668e-02 4.33481054e-02 1.67365026e+02] [-2.17204231e-02 9.99749022e-01 -5.48782224e-03 2.12162096e+01] [-4.34576187e-02 4.53980266e-03 9.99044957e-01 -1.00583963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:167.40, Y:21.18, Z:-100.59 [[ 9.99089925e-01 2.27053856e-02 3.61079840e-02 1.67395488e+02] [-2.39596390e-02 9.99110825e-01 3.46914234e-02 2.11774015e+01] [-3.52881955e-02 -3.55249859e-02 9.98745573e-01 -1.00591723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters Centerline goodness : 0.976317 Centerline is valid? [True, True] Translation: X:167.42, Y:21.19, Z:-100.61 [[ 9.95301449e-01 9.01820176e-02 3.52452788e-02 1.67420385e+02] [-9.18934026e-02 9.94492672e-01 5.03977058e-02 2.11947370e+01] [-3.05062047e-02 -5.33997182e-02 9.98107129e-01 -1.00607092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:167.46, Y:21.31, Z:-100.56 [[ 9.98263317e-01 3.46700710e-02 4.76270568e-02 1.67460196e+02] [-2.97750536e-02 9.94552079e-01 -9.98979922e-02 2.13107297e+01] [-5.08310588e-02 9.83064029e-02 9.93857160e-01 -1.00563001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:167.48, Y:21.17, Z:-100.60 [[ 9.97042329e-01 5.66486278e-02 5.19377168e-02 1.67484149e+02] [-5.97785648e-02 9.96356277e-01 6.08333162e-02 2.11691731e+01] [-4.83023463e-02 -6.37581535e-02 9.96795757e-01 -1.00604081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:167.52, Y:21.27, Z:-100.58 [[ 9.97995841e-01 3.82338990e-02 5.04229060e-02 1.67519771e+02] [-3.57773687e-02 9.98169894e-01 -4.87528758e-02 2.12696348e+01] [-5.21946393e-02 4.68511684e-02 9.97537311e-01 -1.00579383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:167.55, Y:21.22, Z:-100.59 [[ 9.98211353e-01 3.59540377e-02 4.77640179e-02 1.67547829e+02] [-3.61445415e-02 9.99341669e-01 3.13046494e-03 2.12200816e+01] [-4.76200205e-02 -4.85127418e-03 9.98853742e-01 -1.00591697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:167.58, Y:21.21, Z:-100.60 [[ 9.98441696e-01 3.49634727e-02 4.34940854e-02 1.67576554e+02] [-3.56524025e-02 9.99249170e-01 1.51658350e-02 2.12083447e+01] [-4.29311785e-02 -1.66928707e-02 9.98938568e-01 -1.00595462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:167.61, Y:21.29, Z:-100.58 [[ 9.94529975e-01 4.15908715e-02 9.58140246e-02 1.67612745e+02] [-3.51705562e-02 9.97082265e-01 -6.77494553e-02 2.12915716e+01] [-9.83522235e-02 6.40090316e-02 9.93090975e-01 -1.00579581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81592 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:167.65, Y:21.15, Z:-100.62 [[ 9.96377671e-01 6.69491594e-02 5.24342051e-02 1.67649523e+02] [-7.16666557e-02 9.92992581e-01 9.39660846e-02 2.11520599e+01] [-4.57758263e-02 -9.73834927e-02 9.94193658e-01 -1.00617851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters Centerline goodness : 0.980105 Centerline is valid? [True, True] Translation: X:167.68, Y:21.28, Z:-100.61 [[ 9.92439284e-01 1.07957180e-01 5.83910466e-02 1.67683879e+02] [-1.07320124e-01 9.94126682e-01 -1.39474476e-02 2.12774780e+01] [-5.95538245e-02 7.57546053e-03 9.98196351e-01 -1.00607359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:167.70, Y:21.29, Z:-100.58 [[ 9.97781788e-01 3.32533204e-02 5.76690523e-02 1.67700438e+02] [-2.93898468e-02 9.97347175e-01 -6.65946653e-02 2.12936687e+01] [-5.97305601e-02 6.47520597e-02 9.96112158e-01 -1.00582654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters Centerline goodness : 0.984229 Centerline is valid? [True, True] Translation: X:167.76, Y:21.19, Z:-100.63 [[ 9.93275726e-01 9.81283403e-02 6.14341978e-02 1.67757474e+02] [-1.02414132e-01 9.92204482e-01 7.10043095e-02 2.11942182e+01] [-5.39877514e-02 -7.68185871e-02 9.95582356e-01 -1.00626901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:167.76, Y:21.30, Z:-100.58 [[ 9.97916260e-01 3.12361521e-02 5.64574303e-02 1.67758660e+02] [-2.71098037e-02 9.97004900e-01 -7.24312605e-02 2.12993671e+01] [-5.85508085e-02 7.07497827e-02 9.95774207e-01 -1.00582945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:167.78, Y:21.18, Z:-100.61 [[ 9.98512165e-01 2.23721966e-02 4.97286828e-02 1.67783692e+02] [-2.47046156e-02 9.98599019e-01 4.67940319e-02 2.11840688e+01] [-4.86121286e-02 -4.79529381e-02 9.97665964e-01 -1.00610386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:167.82, Y:21.31, Z:-100.59 [[ 9.95903959e-01 3.11862826e-02 8.48688357e-02 1.67820844e+02] [-2.47439301e-02 9.96806079e-01 -7.59300874e-02 2.13053899e+01] [-8.69657486e-02 7.35190862e-02 9.93494792e-01 -1.00587832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters Centerline goodness : 0.958650 Centerline is valid? [True, True] Translation: X:167.84, Y:21.25, Z:-100.63 [[ 9.93161860e-01 1.00829214e-01 5.88471752e-02 1.67838858e+02] [-1.01040465e-01 9.94882125e-01 6.17751320e-04 2.12514778e+01] [-5.84837153e-02 -6.55947297e-03 9.98266812e-01 -1.00632400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05592000000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:167.88, Y:21.25, Z:-100.61 [[ 9.93686351e-01 2.07368309e-02 1.10260687e-01 1.67879890e+02] [-1.90662747e-02 9.99687230e-01 -1.61839015e-02 2.12486121e+01] [-1.10561803e-01 1.39794615e-02 9.93770930e-01 -1.00606096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:167.90, Y:21.18, Z:-100.63 [[ 9.96835653e-01 2.91365016e-02 7.39577205e-02 1.67900882e+02] [-3.33512171e-02 9.97850607e-01 5.64079919e-02 2.11848515e+01] [-7.21552248e-02 -5.86960775e-02 9.95664800e-01 -1.00628159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.94, Y:21.21, Z:-100.62 [[ 9.98002346e-01 1.06307685e-02 6.22760281e-02 1.67938697e+02] [-1.17553946e-02 9.99773876e-01 1.77202490e-02 2.12142457e+01] [-6.20735661e-02 -1.84169294e-02 9.97901643e-01 -1.00617300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.97, Y:21.23, Z:-100.61 [[ 9.97877360e-01 1.28427882e-02 6.38422773e-02 1.67970171e+02] [-1.27502441e-02 9.99916988e-01 -1.85679733e-03 2.12327894e+01] [-6.38608241e-02 1.03885140e-03 9.97958274e-01 -1.00614946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17592000000002 meters Centerline goodness : 0.979582 Centerline is valid? [True, True] Translation: X:168.07, Y:21.21, Z:-100.68 [[ 9.94607662e-01 7.31580435e-02 7.35084989e-02 1.68071835e+02] [-7.65771439e-02 9.96055730e-01 4.48210172e-02 2.12057586e+01] [-6.99395436e-02 -5.02083980e-02 9.96286895e-01 -1.00676800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters Centerline goodness : 0.896437 Centerline is valid? [True, False] Translation: X:168.10, Y:21.22, Z:-100.68 [[ 9.96301509e-01 5.96140050e-02 6.18827392e-02 1.68102671e+02] [-6.11759564e-02 9.97846565e-01 2.36587395e-02 2.12220205e+01] [-6.03390865e-02 -2.73569736e-02 9.97802982e-01 -1.00675250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23592 meters Centerline goodness : 0.999302 Centerline is valid? [False, True] Translation: X:168.10, Y:21.23, Z:-100.68 [[ 9.96686175e-01 5.25406108e-02 6.20979349e-02 1.68100861e+02] [-5.34434439e-02 9.98486679e-01 1.29672851e-02 2.12311940e+01] [-6.13226517e-02 -1.62430412e-02 9.97985820e-01 -1.00675021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters Centerline goodness : 0.892723 Centerline is valid? [True, False] Translation: X:168.10, Y:21.24, Z:-100.67 [[ 9.96836563e-01 4.91345444e-02 6.24713070e-02 1.68099228e+02] [-4.97031626e-02 9.98735270e-01 7.57991562e-03 2.12357450e+01] [-6.20198620e-02 -1.06609586e-02 9.98017976e-01 -1.00674948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29592 meters Centerline goodness : 0.999206 Centerline is valid? [False, True] Translation: X:168.10, Y:21.24, Z:-100.68 [[ 9.97009120e-01 4.55080846e-02 6.24646166e-02 1.68098606e+02] [-4.57898647e-02 9.98946327e-01 3.08620705e-03 2.12368602e+01] [-6.22583519e-02 -5.93722292e-03 9.98042407e-01 -1.00675166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:168.13, Y:21.25, Z:-100.67 [[ 9.96570781e-01 4.71761804e-02 6.79785713e-02 1.68132601e+02] [-4.62871018e-02 9.98821537e-01 -1.45959488e-02 2.12511843e+01] [-6.85870422e-02 1.13993650e-02 9.97580008e-01 -1.00673044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:168.17, Y:21.24, Z:-100.68 [[ 9.96099259e-01 4.80786892e-02 7.39912618e-02 1.68165137e+02] [-4.75362994e-02 9.98828284e-01 -9.07515252e-03 2.12449244e+01] [-7.43408865e-02 5.52248192e-03 9.97217597e-01 -1.00676710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:168.20, Y:21.24, Z:-100.68 [[ 9.96369341e-01 4.74530530e-02 7.06848251e-02 1.68195407e+02] [-4.73623799e-02 9.98873390e-01 -2.95917270e-03 2.12373579e+01] [-7.07456126e-02 -3.99372587e-04 9.97494310e-01 -1.00680243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:168.23, Y:21.24, Z:-100.68 [[ 9.96394168e-01 4.78163014e-02 7.00875437e-02 1.68227563e+02] [-4.75234218e-02 9.98853044e-01 -5.84123691e-03 2.12380215e+01] [-7.02864627e-02 2.48937448e-03 9.97523742e-01 -1.00682043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:168.25, Y:21.18, Z:-100.69 [[ 9.98128087e-01 4.28396494e-02 4.36472901e-02 1.68251978e+02] [-4.52528622e-02 9.97410928e-01 5.58893426e-02 2.11801213e+01] [-4.11400043e-02 -5.77598874e-02 9.97482479e-01 -1.00691075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:168.30, Y:21.30, Z:-100.67 [[ 9.95810122e-01 5.15863732e-02 7.55052785e-02 1.68296952e+02] [-4.62934175e-02 9.96454838e-01 -7.02472400e-02 2.13002171e+01] [-7.88614004e-02 6.64575153e-02 9.94667924e-01 -1.00667442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:168.33, Y:21.23, Z:-100.68 [[ 9.94745427e-01 4.77464115e-02 9.05638813e-02 1.68325066e+02] [-4.80367262e-02 9.98845042e-01 1.02742090e-03 2.12277689e+01] [-9.04102281e-02 -5.37241460e-03 9.95890118e-01 -1.00684996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53592 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:168.34, Y:21.13, Z:-100.70 [[ 9.98256868e-01 3.80425279e-02 4.51219605e-02 1.68341817e+02] [-4.24884643e-02 9.93870683e-01 1.02057802e-01 2.11276951e+01] [-4.09628569e-02 -1.03797065e-01 9.93754604e-01 -1.00702250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:168.40, Y:21.33, Z:-100.66 [[ 9.95066917e-01 5.30540889e-02 8.38277625e-02 1.68395426e+02] [-4.38537162e-02 9.93181190e-01 -1.08018403e-01 2.13285281e+01] [-8.89869749e-02 1.03809380e-01 9.90608364e-01 -1.00658117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:168.40, Y:21.10, Z:-100.70 [[ 9.97967336e-01 3.41189032e-02 5.38246840e-02 1.68401929e+02] [-4.03764067e-02 9.91974280e-01 1.19819758e-01 2.11039142e+01] [-4.93045834e-02 -1.21749452e-01 9.91335528e-01 -1.00703336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:168.46, Y:21.33, Z:-100.65 [[ 9.95085569e-01 5.12511062e-02 8.47232782e-02 1.68458218e+02] [-4.02988355e-02 9.91176854e-01 -1.26271325e-01 2.13349315e+01] [-9.04472975e-02 1.22236524e-01 9.88371144e-01 -1.00653229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:168.47, Y:21.19, Z:-100.69 [[ 9.97063525e-01 3.90815906e-02 6.58555650e-02 1.68472336e+02] [-4.03064655e-02 9.99036301e-01 1.73740655e-02 2.11936630e+01] [-6.51130939e-02 -1.99774521e-02 9.97677897e-01 -1.00692319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:168.50, Y:21.11, Z:-100.70 [[ 9.97807266e-01 3.64822621e-02 5.52241346e-02 1.68497852e+02] [-4.18623414e-02 9.94143628e-01 9.96292675e-02 2.11105216e+01] [-5.12660205e-02 -1.01722619e-01 9.93490968e-01 -1.00704793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71592 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:168.56, Y:21.24, Z:-100.70 [[ 9.93868453e-01 9.79510459e-02 5.12941651e-02 1.68557640e+02] [-9.75867040e-02 9.95181053e-01 -9.56596878e-03 2.12373927e+01] [-5.19839779e-02 4.50168608e-03 9.98637773e-01 -1.00697916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:168.58, Y:21.28, Z:-100.67 [[ 9.94881318e-01 4.98615399e-02 8.78919175e-02 1.68576332e+02] [-4.19948188e-02 9.95129198e-01 -8.91869666e-02 2.12798658e+01] [-9.19108129e-02 8.50394418e-02 9.92129375e-01 -1.00674817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:168.59, Y:21.14, Z:-100.71 [[ 9.97356078e-01 4.94827627e-02 5.32194465e-02 1.68592256e+02] [-5.24192959e-02 9.97094200e-01 5.52754273e-02 2.11415790e+01] [-5.03296206e-02 -5.79190093e-02 9.97051813e-01 -1.00709454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:168.64, Y:21.25, Z:-100.69 [[ 9.94312586e-01 5.12749589e-02 9.33453817e-02 1.68637898e+02] [-4.53833441e-02 9.96905740e-01 -6.41817565e-02 2.12498230e+01] [-9.63474637e-02 5.95804027e-02 9.93562953e-01 -1.00685537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83592000000002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:168.67, Y:21.19, Z:-100.70 [[ 9.94131093e-01 4.98818748e-02 9.59956657e-02 1.68666182e+02] [-4.94413655e-02 9.98752753e-01 -6.96344995e-03 2.11910763e+01] [-9.62232854e-02 2.17642532e-03 9.95357394e-01 -1.00700739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:168.70, Y:21.19, Z:-100.70 [[ 9.93895698e-01 5.25991043e-02 9.69777056e-02 1.68699519e+02] [-5.21578057e-02 9.98613745e-01 -7.08172941e-03 2.11877324e+01] [-9.72157624e-02 1.98035607e-03 9.95261360e-01 -1.00703134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89592000000002 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:168.73, Y:21.19, Z:-100.71 [[ 9.93828050e-01 5.28533176e-02 9.75311895e-02 1.68732100e+02] [-5.24035362e-02 9.98600255e-01 -7.16931934e-03 2.11856893e+01] [-9.77735931e-02 2.01409145e-03 9.95206646e-01 -1.00705792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:168.77, Y:21.18, Z:-100.71 [[ 9.93614956e-01 5.52267116e-02 9.83835840e-02 1.68765115e+02] [-5.47758509e-02 9.98472137e-01 -7.27995430e-03 2.11832625e+01] [-9.86353153e-02 1.84442694e-03 9.95121939e-01 -1.00706361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95592000000002 meters Centerline goodness : 0.915777 Centerline is valid? [True, False] Translation: X:168.82, Y:21.18, Z:-100.71 [[ 9.96190104e-01 5.21493005e-02 6.98979698e-02 1.68821416e+02] [-5.19234912e-02 9.98638323e-01 -5.04480848e-03 2.11776146e+01] [-7.00658746e-02 1.39624167e-03 9.97541389e-01 -1.00706990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters Centerline goodness : 0.998908 Centerline is valid? [False, True] Translation: X:168.82, Y:21.18, Z:-100.71 [[ 9.96208941e-01 5.20305970e-02 6.97177395e-02 1.68821857e+02] [-5.18386677e-02 9.98645059e-01 -4.56059370e-03 2.11752399e+01] [-6.98605665e-02 9.29229487e-04 9.97556333e-01 -1.00707853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:168.85, Y:21.09, Z:-100.72 [[ 9.98273010e-01 4.98476879e-02 3.10838596e-02 1.68846114e+02] [-5.22779552e-02 9.95176078e-01 8.30155962e-02 2.10881084e+01] [-2.67957779e-02 -8.44972297e-02 9.96063354e-01 -1.00722454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:168.88, Y:21.17, Z:-100.71 [[ 9.97936419e-01 5.53373548e-02 3.25681084e-02 1.68882620e+02] [-5.51707240e-02 9.98458946e-01 -5.99366069e-03 2.11728272e+01] [-3.28495925e-02 4.18448617e-03 9.99451547e-01 -1.00706873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:168.92, Y:21.24, Z:-100.69 [[ 9.95999997e-01 5.60410762e-02 6.95945700e-02 1.68918710e+02] [-5.00997266e-02 9.95174658e-01 -8.43647903e-02 2.12431490e+01] [-7.39866460e-02 8.05406620e-02 9.94001599e-01 -1.00691831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:168.94, Y:21.11, Z:-100.72 [[ 9.98205972e-01 5.18066642e-02 3.00151081e-02 1.68939016e+02] [-5.33895424e-02 9.97080842e-01 5.45834338e-02 2.11054647e+01] [-2.70997037e-02 -5.60880024e-02 9.98057985e-01 -1.00718879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:168.97, Y:21.13, Z:-100.71 [[ 9.97584495e-01 5.47593265e-02 4.27386355e-02 1.68971019e+02] [-5.59384338e-02 9.98071843e-01 2.68977308e-02 2.11282182e+01] [-4.11833271e-02 -2.92234916e-02 9.98724147e-01 -1.00713591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:169.00, Y:21.17, Z:-100.70 [[ 9.97373619e-01 5.83158762e-02 4.29548895e-02 1.69004645e+02] [-5.72833219e-02 9.98047648e-01 -2.48900405e-02 2.11747818e+01] [-4.43225109e-02 2.23640710e-02 9.98766921e-01 -1.00703990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:169.03, Y:21.16, Z:-100.71 [[ 9.97643118e-01 5.66155409e-02 3.87671312e-02 1.69031214e+02] [-5.62786159e-02 9.98367703e-01 -9.72869748e-03 2.11561551e+01] [-3.92546472e-02 7.52400760e-03 9.99200912e-01 -1.00710224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:169.05, Y:21.19, Z:-100.70 [[ 9.98289914e-01 3.70972458e-02 4.51778953e-02 1.69049659e+02] [-3.43405929e-02 9.97587212e-01 -6.03363767e-02 2.11902190e+01] [-4.73072040e-02 5.86817606e-02 9.97155193e-01 -1.00695194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:169.09, Y:21.09, Z:-100.72 [[ 9.97547751e-01 5.90194511e-02 3.76189935e-02 1.69086974e+02] [-6.11564723e-02 9.96415684e-01 5.84437414e-02 2.10876725e+01] [-3.40348376e-02 -6.06010677e-02 9.97581646e-01 -1.00722974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:169.13, Y:21.17, Z:-100.71 [[ 9.96942271e-01 6.99782219e-02 3.47729400e-02 1.69127099e+02] [-6.89648526e-02 9.97181785e-01 -2.95353642e-02 2.11733289e+01] [-3.67417747e-02 2.70469424e-02 9.98958710e-01 -1.00711779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:169.14, Y:21.05, Z:-100.73 [[ 9.97143303e-01 6.13260835e-02 4.40947148e-02 1.69142059e+02] [-6.51755453e-02 9.93629547e-01 9.19373206e-02 2.10528522e+01] [-3.81756557e-02 -9.45485806e-02 9.94788010e-01 -1.00730399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:169.19, Y:21.21, Z:-100.70 [[ 9.96313777e-01 7.55483585e-02 4.06362336e-02 1.69188602e+02] [-7.25815583e-02 9.94895701e-01 -7.01032151e-02 2.12105983e+01] [-4.57249970e-02 6.68953579e-02 9.96711711e-01 -1.00702904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37592 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:169.22, Y:21.20, Z:-100.71 [[ 9.92950906e-01 7.77014414e-02 8.95040980e-02 1.69220427e+02] [-7.22425685e-02 9.95414414e-01 -6.26989268e-02 2.12018311e+01] [-9.39654662e-02 5.57909502e-02 9.94010996e-01 -1.00707661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:169.23, Y:21.01, Z:-100.74 [[ 9.96604659e-01 6.26298592e-02 5.34476787e-02 1.69229841e+02] [-6.96728154e-02 9.87394678e-01 1.42117730e-01 2.10050891e+01] [-4.38731401e-02 -1.45359042e-01 9.88405735e-01 -1.00739343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:169.28, Y:21.17, Z:-100.72 [[ 9.95332538e-01 7.90711814e-02 5.53252898e-02 1.69276736e+02] [-7.78407820e-02 9.96675558e-01 -2.40550185e-02 2.11700491e+01] [-5.70434228e-02 1.96361788e-02 9.98178575e-01 -1.00716967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:169.32, Y:21.26, Z:-100.69 [[ 9.92192776e-01 8.66114063e-02 8.97327069e-02 1.69315491e+02] [-7.56833617e-02 9.90035432e-01 -1.18751307e-01 2.12607806e+01] [-9.91237769e-02 1.11032916e-01 9.88861046e-01 -1.00694924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49592 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:169.34, Y:21.15, Z:-100.73 [[ 9.91899752e-01 7.94599611e-02 9.91009430e-02 1.69337992e+02] [-7.91118889e-02 9.96837954e-01 -7.44334097e-03 2.11533120e+01] [-9.93790288e-02 -4.57014728e-04 9.95049546e-01 -1.00726890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:169.37, Y:21.16, Z:-100.73 [[ 9.91763403e-01 7.94314061e-02 1.00478877e-01 1.69370895e+02] [-7.90682374e-02 9.96840250e-01 -7.59800073e-03 2.11563573e+01] [-1.00764908e-01 -4.09268620e-04 9.94910180e-01 -1.00729025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55592000000001 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:169.40, Y:21.16, Z:-100.73 [[ 9.91740418e-01 7.96101260e-02 1.00564266e-01 1.69403906e+02] [-7.92421164e-02 9.96826006e-01 -7.65514799e-03 2.11560852e+01] [-1.00854503e-01 -3.77005577e-04 9.94901114e-01 -1.00731341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:169.43, Y:21.10, Z:-100.74 [[ 9.95789734e-01 7.17676360e-02 5.70281675e-02 1.69426870e+02] [-7.49898375e-02 9.95580852e-01 5.65269116e-02 2.10973443e+01] [-5.27193487e-02 -6.05654513e-02 9.96771035e-01 -1.00739157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:169.46, Y:21.13, Z:-100.74 [[ 9.95083928e-01 7.43028272e-02 6.54756934e-02 1.69457315e+02] [-7.58735806e-02 9.96878330e-01 2.18356194e-02 2.11305592e+01] [-6.36488517e-02 -2.66961492e-02 9.97615226e-01 -1.00735218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:169.50, Y:21.24, Z:-100.71 [[ 9.91199245e-01 8.30670557e-02 1.03072406e-01 1.69501331e+02] [-7.34940393e-02 9.92908927e-01 -9.34370826e-02 2.12399244e+01] [-1.10103055e-01 8.50395582e-02 9.90275513e-01 -1.00709841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67592000000002 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:169.56, Y:21.11, Z:-100.76 [[ 9.96118112e-01 7.17651329e-02 5.09752147e-02 1.69560189e+02] [-7.42366730e-02 9.96066946e-01 4.83689533e-02 2.11118370e+01] [-4.73035221e-02 -5.19654207e-02 9.97527930e-01 -1.00759497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:169.54, Y:21.16, Z:-100.73 [[ 9.95241511e-01 7.20082031e-02 6.56441358e-02 1.69543474e+02] [-7.14561959e-02 9.97386114e-01 -1.07215880e-02 2.11602522e+01] [-6.62445918e-02 5.97988921e-03 9.97785495e-01 -1.00733069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73592 meters Centerline goodness : 0.927181 Centerline is valid? [True, False] Translation: X:169.54, Y:21.16, Z:-100.73 [[ 9.96169863e-01 6.35691806e-02 6.00380169e-02 1.69539585e+02] [-6.34801121e-02 9.97977341e-01 -3.39163803e-03 2.11560943e+01] [-6.01321841e-02 -4.32572455e-04 9.98190329e-01 -1.00734677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters Centerline goodness : 0.872958 Centerline is valid? [False, False] Translation: X:169.54, Y:21.16, Z:-100.73 [[ 9.96366094e-01 6.01669010e-02 6.02872418e-02 1.69538254e+02] [-5.97502695e-02 9.98175517e-01 -8.69147403e-03 2.11606940e+01] [-6.07001878e-02 5.05771108e-03 9.98143230e-01 -1.00734374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79592 meters Centerline goodness : 0.999204 Centerline is valid? [False, True] Translation: X:169.54, Y:21.16, Z:-100.73 [[ 9.96385152e-01 6.00954556e-02 6.00430329e-02 1.69539189e+02] [-5.96344072e-02 9.98175620e-01 -9.44290859e-03 2.11642445e+01] [-6.05009676e-02 5.82814323e-03 9.98151124e-01 -1.00733792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:169.57, Y:21.20, Z:-100.73 [[ 9.95682184e-01 5.78722067e-02 7.25795814e-02 1.69572863e+02] [-5.48475340e-02 9.97568503e-01 -4.29980174e-02 2.11956816e+01] [-7.48914945e-02 3.88315488e-02 9.96435334e-01 -1.00728895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85592 meters Centerline goodness : 0.901984 Centerline is valid? [True, False] Translation: X:169.61, Y:21.18, Z:-100.73 [[ 9.97311903e-01 5.27201224e-02 5.08876909e-02 1.69609779e+02] [-5.14034692e-02 9.98317084e-01 -2.68455320e-02 2.11796655e+01] [-5.22173509e-02 2.41575648e-02 9.98343508e-01 -1.00732682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters Centerline goodness : 0.999058 Centerline is valid? [False, True] Translation: X:169.61, Y:21.17, Z:-100.74 [[ 9.97895158e-01 4.70393747e-02 4.46380010e-02 1.69608682e+02] [-4.64292833e-02 9.98814764e-01 -1.46078433e-02 2.11691125e+01] [-4.52722383e-02 1.25045857e-02 9.98896421e-01 -1.00735889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:169.64, Y:21.16, Z:-100.74 [[ 9.99007956e-01 4.04889442e-02 1.85404541e-02 1.69636562e+02] [-4.05147588e-02 9.99178421e-01 1.01869632e-03 2.11559301e+01] [-1.84839757e-02 -1.76884776e-03 9.99827592e-01 -1.00740577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters Centerline goodness : 0.834300 Centerline is valid? [True, False] Translation: X:169.64, Y:21.15, Z:-100.74 [[ 9.99510621e-01 2.29165738e-02 2.12920011e-02 1.69639270e+02] [-2.30221628e-02 9.99723778e-01 4.72724704e-03 2.11532354e+01] [-2.11777874e-02 -5.21512154e-03 9.99762124e-01 -1.00741623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97592 meters Centerline goodness : 0.999454 Centerline is valid? [False, True] Translation: X:169.66, Y:21.16, Z:-100.74 [[ 9.99862473e-01 8.45123764e-03 1.42692889e-02 1.69662997e+02] [-8.42295912e-03 9.99962444e-01 -2.04071214e-03 2.11560184e+01] [-1.42859996e-02 1.92024185e-03 9.99896106e-01 -1.00737563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:169.70, Y:21.15, Z:-100.74 [[ 9.99850862e-01 9.45239441e-03 1.44535820e-02 1.69695578e+02] [-9.44919888e-03 9.99955313e-01 -2.89365714e-04 2.11538694e+01] [-1.44556714e-02 1.52747788e-04 9.99895500e-01 -1.00738250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:169.73, Y:21.15, Z:-100.74 [[ 9.99850162e-01 1.07081083e-02 1.36011367e-02 1.69728599e+02] [-1.06982241e-02 9.99942453e-01 -7.99272274e-04 2.11544453e+01] [-1.36089126e-02 6.53644505e-04 9.99907181e-01 -1.00738206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:169.76, Y:21.16, Z:-100.74 [[ 9.99785538e-01 1.08885000e-02 1.76158533e-02 1.69762543e+02] [-1.08070629e-02 9.99930502e-01 -4.71155719e-03 2.11606791e+01] [-1.76659309e-02 4.52017111e-03 9.99833728e-01 -1.00737645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:169.80, Y:21.16, Z:-100.74 [[ 9.99801537e-01 1.11422121e-02 1.65147950e-02 1.69795170e+02] [-1.11471015e-02 9.99937848e-01 2.04034107e-04 2.11561274e+01] [-1.65114952e-02 -3.88085711e-04 9.99863601e-01 -1.00738464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters Centerline goodness : 0.917270 Centerline is valid? [True, False] Translation: X:169.80, Y:21.16, Z:-100.74 [[ 9.99865705e-01 3.33517751e-03 1.60452209e-02 1.69796456e+02] [-3.17711238e-03 9.99946276e-01 -9.86665221e-03 2.11643758e+01] [-1.60772660e-02 9.81434970e-03 9.99822584e-01 -1.00737505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15592 meters Centerline goodness : 0.999455 Centerline is valid? [False, True] Translation: X:169.80, Y:21.17, Z:-100.74 [[ 9.99885537e-01 1.26814312e-03 1.50766579e-02 1.69801772e+02] [-1.07830745e-03 9.99920126e-01 -1.25928310e-02 2.11673339e+01] [-1.50914232e-02 1.25751323e-02 9.99807039e-01 -1.00741390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:169.83, Y:21.16, Z:-100.74 [[ 9.99835915e-01 2.92794515e-03 1.78765232e-02 1.69834983e+02] [-2.84615869e-03 9.99985375e-01 -4.59880548e-03 2.11602337e+01] [-1.78897268e-02 4.54717146e-03 9.99829626e-01 -1.00742536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21592 meters Centerline goodness : 0.965375 Centerline is valid? [True, True] Translation: X:169.83, Y:21.13, Z:-100.77 [[ 9.98961271e-01 4.54868166e-02 2.70696795e-03 1.69829146e+02] [-4.55659341e-02 9.97626021e-01 5.16339740e-02 2.11287064e+01] [-3.51876556e-04 -5.17036858e-02 9.98662408e-01 -1.00770479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters Centerline goodness : 0.965155 Centerline is valid? [True, True] Translation: X:169.86, Y:21.18, Z:-100.76 [[ 9.98667715e-01 5.15514500e-02 2.28954591e-03 1.69860396e+02] [-5.15689130e-02 9.98634382e-01 8.36764810e-03 2.11753282e+01] [-1.85505488e-03 -8.47456940e-03 9.99962370e-01 -1.00760004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27592 meters Centerline goodness : 0.755933 Centerline is valid? [True, False] Translation: X:169.88, Y:21.17, Z:-100.76 [[ 9.99272651e-01 3.80369570e-02 2.71279211e-03 1.69884202e+02] [-3.80565336e-02 9.99246897e-01 7.57224531e-03 2.11737712e+01] [-2.42272393e-03 -7.66997710e-03 9.99967650e-01 -1.00759414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters Centerline goodness : 0.897302 Centerline is valid? [False, False] Translation: X:169.91, Y:21.17, Z:-100.76 [[ 9.99677870e-01 2.53788632e-02 -2.65236830e-04 1.69912620e+02] [-2.53753460e-02 9.99635574e-01 9.20928162e-03 2.11700771e+01] [ 4.98861269e-04 -9.19958455e-03 9.99957558e-01 -1.00757223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33592000000002 meters Centerline goodness : 0.977941 Centerline is valid? [False, True] Translation: X:169.94, Y:21.17, Z:-100.75 [[ 9.99950394e-01 9.75728730e-03 -2.00108115e-03 1.69937423e+02] [-9.74564277e-03 9.99935986e-01 5.74857220e-03 2.11726207e+01] [ 2.05704352e-03 -5.72878521e-03 9.99981475e-01 -1.00754147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters Centerline goodness : 0.886321 Centerline is valid? [True, False] Translation: X:169.94, Y:21.18, Z:-100.75 [[ 9.99996584e-01 1.62323125e-03 -2.04885234e-03 1.69937585e+02] [-1.63216974e-03 9.99989126e-01 -4.36857320e-03 2.11805190e+01] [ 2.04173885e-03 4.37190235e-03 9.99988359e-01 -1.00752458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39592000000002 meters Centerline goodness : 0.999108 Centerline is valid? [False, True] Translation: X:169.94, Y:21.18, Z:-100.75 [[ 9.99994205e-01 -2.39146724e-03 -2.42280060e-03 1.69938657e+02] [ 2.36946519e-03 9.99956297e-01 -9.04377546e-03 2.11830290e+01] [ 2.44432261e-03 9.03798231e-03 9.99956169e-01 -1.00752436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:169.97, Y:21.18, Z:-100.76 [[ 9.99965805e-01 -3.74903270e-03 -7.37108061e-03 1.69967501e+02] [ 3.67181023e-03 9.99938528e-01 -1.04621788e-02 2.11841097e+01] [ 7.40985054e-03 1.04347559e-02 9.99918102e-01 -1.00755051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:170.00, Y:21.18, Z:-100.76 [[ 9.99968410e-01 -1.78297073e-03 -7.74593953e-03 1.69995530e+02] [ 1.80045287e-03 9.99995847e-01 2.25055488e-03 2.11755714e+01] [ 7.74189469e-03 -2.26442998e-03 9.99967467e-01 -1.00756666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters Centerline goodness : 0.968917 Centerline is valid? [True, True] Translation: X:169.98, Y:21.18, Z:-100.78 [[ 9.99247893e-01 3.37280812e-02 -1.91328066e-02 1.69976847e+02] [-3.35575334e-02 9.99394754e-01 9.16608371e-03 2.11821228e+01] [ 1.94303810e-02 -8.51714004e-03 9.99774934e-01 -1.00778445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51592 meters Centerline goodness : 0.879796 Centerline is valid? [True, False] Translation: X:170.00, Y:21.18, Z:-100.78 [[ 9.99533033e-01 2.13623959e-02 -2.18486615e-02 1.70004342e+02] [-2.11392862e-02 9.99722529e-01 1.03921048e-02 2.11802379e+01] [ 2.20645994e-02 -9.92538694e-03 9.99707277e-01 -1.00775826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters Centerline goodness : 0.999305 Centerline is valid? [False, True] Translation: X:170.00, Y:21.19, Z:-100.78 [[ 9.99802075e-01 1.85913953e-02 -7.08307683e-03 1.69997600e+02] [-1.85617329e-02 9.99818765e-01 4.23076608e-03 2.11867500e+01] [ 7.16044897e-03 -4.09845453e-03 9.99965965e-01 -1.00775854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57592 meters Centerline goodness : 0.870862 Centerline is valid? [True, False] Translation: X:170.02, Y:21.19, Z:-100.77 [[ 9.99940910e-01 5.54358127e-03 -9.35123092e-03 1.70018086e+02] [-5.53121782e-03 9.99983795e-01 1.34746479e-03 2.11884158e+01] [ 9.35854917e-03 -1.29566148e-03 9.99955368e-01 -1.00771670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters Centerline goodness : 0.999554 Centerline is valid? [False, True] Translation: X:170.04, Y:21.20, Z:-100.77 [[ 9.99903447e-01 4.86945974e-03 -1.30148095e-02 1.70041803e+02] [-5.02119200e-03 9.99919514e-01 -1.16512935e-02 2.12030533e+01] [ 1.29570265e-02 1.17155183e-02 9.99847419e-01 -1.00765347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:170.10, Y:21.12, Z:-100.80 [[ 9.97497688e-01 1.69069028e-03 -7.06788783e-02 1.70102653e+02] [ 3.93478908e-03 9.96836893e-01 7.93771151e-02 2.11164052e+01] [ 7.05895156e-02 -7.94565953e-02 9.94335844e-01 -1.00795343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters Centerline goodness : 0.897193 Centerline is valid? [True, False] Translation: X:170.08, Y:21.17, Z:-100.79 [[ 9.97798103e-01 1.25812368e-04 -6.63244347e-02 1.70077158e+02] [ 1.77106411e-03 9.99591071e-01 2.85403914e-02 2.11717973e+01] [ 6.63009035e-02 -2.85950132e-02 9.97389851e-01 -1.00785413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69592 meters Centerline goodness : 0.902176 Centerline is valid? [False, False] Translation: X:170.07, Y:21.19, Z:-100.78 [[ 9.98334415e-01 1.08424482e-03 -5.76820649e-02 1.70069071e+02] [-5.88974420e-04 9.99962824e-01 8.60251932e-03 2.11933163e+01] [ 5.76892478e-02 -8.55421783e-03 9.98297940e-01 -1.00781208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters Centerline goodness : 0.999357 Centerline is valid? [False, True] Translation: X:170.05, Y:21.20, Z:-100.78 [[ 9.99278868e-01 1.84071166e-03 -3.79256488e-02 1.70045376e+02] [-1.86011444e-03 9.99998157e-01 -4.76321132e-04 2.12041761e+01] [ 3.79247021e-02 5.46523689e-04 9.99280450e-01 -1.00780525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:170.08, Y:21.21, Z:-100.78 [[ 9.99728914e-01 5.84921713e-03 -2.25363062e-02 1.70076579e+02] [-5.88017511e-03 9.99981857e-01 -1.30767097e-03 2.12103005e+01] [ 2.25282485e-02 1.43983391e-03 9.99745170e-01 -1.00775860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:170.11, Y:21.26, Z:-100.76 [[ 9.99672274e-01 1.00626734e-03 -2.55799271e-02 1.70107912e+02] [-2.27910529e-03 9.98757661e-01 -4.97789203e-02 2.12602471e+01] [ 2.54980573e-02 4.98209058e-02 9.98432635e-01 -1.00764339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81592 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:170.12, Y:21.11, Z:-100.80 [[ 9.98768568e-01 4.70209273e-03 -4.93886313e-02 1.70118628e+02] [ 3.32787067e-04 9.94841129e-01 1.01444652e-01 2.11124958e+01] [ 4.96108439e-02 -1.01336165e-01 9.93614485e-01 -1.00799278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:170.16, Y:21.18, Z:-100.79 [[ 9.98273557e-01 -3.35183782e-03 -5.86401829e-02 1.70155404e+02] [ 5.80041666e-03 9.99116019e-01 4.16357450e-02 2.11753993e+01] [ 5.84487899e-02 -4.19040007e-02 9.97410544e-01 -1.00787318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:170.17, Y:21.27, Z:-100.75 [[ 9.98801954e-01 -6.40073510e-03 -4.85148141e-02 1.70172377e+02] [ 4.05060634e-03 9.98820504e-01 -4.83858792e-02 2.12667366e+01] [ 4.87672963e-02 4.81313962e-02 9.97649798e-01 -1.00751831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:170.20, Y:21.20, Z:-100.77 [[ 9.98638866e-01 -2.91858274e-03 -5.20758846e-02 1.70202435e+02] [ 4.12443688e-03 9.99725499e-01 2.30632930e-02 2.11986788e+01] [ 5.19942776e-02 -2.32466845e-02 9.98376776e-01 -1.00774859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:170.23, Y:21.22, Z:-100.77 [[ 9.98699966e-01 -4.27211254e-03 -5.07949443e-02 1.70228202e+02] [ 4.25857625e-03 9.99990862e-01 -3.74713353e-04 2.12242320e+01] [ 5.07960809e-02 1.57912070e-04 9.98709033e-01 -1.00767464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:170.26, Y:21.29, Z:-100.74 [[ 9.99992355e-01 -6.67621257e-04 -3.85290379e-03 1.70261432e+02] [ 3.96294022e-04 9.97547106e-01 -6.99972477e-02 2.12939013e+01] [ 3.89018467e-03 6.99951857e-02 9.97539744e-01 -1.00741774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:170.28, Y:21.16, Z:-100.78 [[ 9.98560535e-01 2.76836958e-03 -5.35648668e-02 1.70282996e+02] [ 1.11258359e-03 9.97383166e-01 7.22881902e-02 2.11612363e+01] [ 5.36248168e-02 -7.22437292e-02 9.95944387e-01 -1.00783319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.32, Y:21.30, Z:-100.74 [[ 9.99993678e-01 3.33910154e-03 -1.22238700e-03 1.70317633e+02] [-3.41562492e-03 9.97601396e-01 -6.91360195e-02 2.13026730e+01] [ 9.88602784e-04 6.91397577e-02 9.97606494e-01 -1.00738542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05592000000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:170.34, Y:21.24, Z:-100.76 [[ 9.99986778e-01 5.09124179e-03 7.23361659e-04 1.70344314e+02] [-5.09124093e-03 9.99987040e-01 -3.03669083e-06 2.12393372e+01] [-7.23367744e-04 -6.46157800e-07 9.99999738e-01 -1.00762654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:170.43, Y:21.19, Z:-100.79 [[ 9.97987662e-01 4.77498115e-03 -6.32283682e-02 1.70428299e+02] [-9.24925841e-04 9.98150695e-01 6.07810430e-02 2.11930711e+01] [ 6.34016680e-02 -6.06002494e-02 9.96146494e-01 -1.00793645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11592000000002 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:170.39, Y:21.24, Z:-100.75 [[ 9.99014082e-01 8.23280417e-04 -4.43867686e-02 1.70389732e+02] [-9.84342052e-04 9.99993011e-01 -3.60686109e-03 2.12443414e+01] [ 4.43834889e-02 3.64699678e-03 9.99007911e-01 -1.00753018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:170.42, Y:21.31, Z:-100.73 [[ 9.99994779e-01 -1.04001518e-03 3.05962814e-03 1.70423785e+02] [ 1.25900973e-03 9.97369989e-01 -7.24673750e-02 2.13136673e+01] [-2.97621412e-03 7.24708488e-02 9.97366090e-01 -1.00728667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17592000000002 meters Centerline goodness : 0.971677 Centerline is valid? [True, True] Translation: X:170.43, Y:21.20, Z:-100.79 [[ 9.98094291e-01 5.14056143e-02 -3.41357510e-02 1.70426127e+02] [-4.88515232e-02 9.96218138e-01 7.18536684e-02 2.12011833e+01] [ 3.77003363e-02 -7.00491528e-02 9.96830879e-01 -1.00793818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:170.48, Y:21.32, Z:-100.73 [[ 9.99984430e-01 -5.14935638e-03 2.15041146e-03 1.70483032e+02] [ 5.29027369e-03 9.97413187e-01 -7.16864513e-02 2.13161683e+01] [-1.77570966e-03 7.16967114e-02 9.97424899e-01 -1.00728206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:170.51, Y:21.25, Z:-100.75 [[ 9.99976764e-01 -4.19930470e-03 5.37012383e-03 1.70514039e+02] [ 4.19995396e-03 9.99991174e-01 -1.09630024e-04 2.12479318e+01] [-5.36961607e-03 1.32181750e-04 9.99985575e-01 -1.00753936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:170.54, Y:21.11, Z:-100.79 [[ 9.98849105e-01 -4.86423886e-03 -4.77158739e-02 1.70538005e+02] [ 1.14708274e-02 9.90200786e-01 1.39179104e-01 2.11110819e+01] [ 4.65712955e-02 -1.39566264e-01 9.89116966e-01 -1.00788259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:170.58, Y:21.38, Z:-100.69 [[ 9.99926038e-01 -1.20261979e-02 1.81349053e-03 1.70579140e+02] [ 1.21614326e-02 9.90321251e-01 -1.38260331e-01 2.13815343e+01] [-1.33192117e-04 1.38272159e-01 9.90394261e-01 -1.00693066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:170.61, Y:21.25, Z:-100.75 [[ 9.99943708e-01 -1.02582285e-02 2.71098349e-03 1.70608496e+02] [ 1.02584137e-02 9.99947380e-01 -5.44111450e-05 2.12509967e+01] [-2.71028268e-03 8.22184723e-05 9.99996324e-01 -1.00750172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:170.63, Y:21.16, Z:-100.78 [[ 9.98741885e-01 -1.69381752e-02 -4.71990079e-02 1.70630281e+02] [ 2.13979600e-02 9.95185357e-01 9.56463939e-02 2.11568913e+01] [ 4.53516862e-02 -9.65360221e-02 9.94295741e-01 -1.00775855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:170.66, Y:21.20, Z:-100.76 [[ 9.98629550e-01 -1.44301171e-02 -5.03069977e-02 1.70662435e+02] [ 1.72983643e-02 9.98221230e-01 5.70538637e-02 2.11953608e+01] [ 4.93942191e-02 -5.78459030e-02 9.97102835e-01 -1.00763484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:170.69, Y:21.25, Z:-100.74 [[ 9.98821361e-01 -2.01704837e-02 -4.41479353e-02 1.70692183e+02] [ 2.03044456e-02 9.99790494e-01 2.58802980e-03 2.12481075e+01] [ 4.40864842e-02 -3.48137880e-03 9.99021652e-01 -1.00743913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:170.73, Y:21.38, Z:-100.69 [[ 9.99731696e-01 -2.06489828e-02 1.04955364e-02 1.70726186e+02] [ 2.18976282e-02 9.90245816e-01 -1.37599843e-01 2.13797945e+01] [-7.55186424e-03 1.37792752e-01 9.90432293e-01 -1.00685596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:170.76, Y:21.25, Z:-100.74 [[ 9.99730459e-01 -1.99924201e-02 1.18030798e-02 1.70757083e+02] [ 1.99967222e-02 9.99800015e-01 -2.46572630e-04 2.12481331e+01] [-1.17957898e-02 4.82529076e-04 9.99930311e-01 -1.00742793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:170.79, Y:21.24, Z:-100.74 [[ 9.99744828e-01 -2.03866617e-02 9.72952358e-03 1.70790416e+02] [ 2.03896817e-02 9.99792087e-01 -2.11291118e-04 2.12449548e+01] [-9.72319316e-03 4.09619091e-04 9.99952645e-01 -1.00744727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:170.82, Y:21.24, Z:-100.75 [[ 9.99749062e-01 -2.01013343e-02 9.88682836e-03 1.70823931e+02] [ 2.01044820e-02 9.99797860e-01 -2.19081062e-04 2.12400665e+01] [-9.88042602e-03 4.17795649e-04 9.99951100e-01 -1.00746052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:170.86, Y:21.24, Z:-100.74 [[ 9.99720864e-01 -2.03633581e-02 1.19803039e-02 1.70856559e+02] [ 2.03680494e-02 9.99792513e-01 -2.69687671e-04 2.12377647e+01] [-1.19723264e-02 5.13627813e-04 9.99928197e-01 -1.00744177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59592 meters Centerline goodness : 0.861895 Centerline is valid? [True, False] Translation: X:170.86, Y:21.25, Z:-100.74 [[ 9.99927155e-01 -8.54724291e-03 8.52224748e-03 1.70856039e+02] [ 8.62018404e-03 9.99926213e-01 -8.55922813e-03 2.12461094e+01] [-8.44846085e-03 8.63206797e-03 9.99927053e-01 -1.00741338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters Centerline goodness : 0.999011 Centerline is valid? [False, True] Translation: X:170.88, Y:21.24, Z:-100.74 [[ 9.99988609e-01 -1.14551366e-03 4.63346952e-03 1.70879987e+02] [ 1.18677217e-03 9.99959587e-01 -8.91152720e-03 2.12447178e+01] [-4.62307399e-03 8.91692457e-03 9.99949557e-01 -1.00740270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65592 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:170.91, Y:21.24, Z:-100.74 [[ 9.99967533e-01 2.61557703e-03 7.62183448e-03 1.70909218e+02] [-2.57737032e-03 9.99984087e-01 -5.01831433e-03 2.12385110e+01] [-7.63483898e-03 4.99850711e-03 9.99958361e-01 -1.00741656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:170.94, Y:21.21, Z:-100.75 [[ 9.99897076e-01 7.37730654e-03 1.23050106e-02 1.70939819e+02] [-7.65565403e-03 9.99712348e-01 2.27290848e-02 2.12072167e+01] [-1.21337916e-02 -2.28209483e-02 9.99665932e-01 -1.00751572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:170.96, Y:21.21, Z:-100.75 [[ 9.99927712e-01 3.92332060e-03 1.13656973e-02 1.70963259e+02] [-4.18461937e-03 9.99725364e-01 2.30583088e-02 2.12051396e+01] [-1.12721107e-02 -2.31042031e-02 9.99669513e-01 -1.00750281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:170.99, Y:21.22, Z:-100.74 [[ 9.99779963e-01 1.23612520e-02 1.69477154e-02 1.70988740e+02] [-1.25219535e-02 9.99877327e-01 9.40909134e-03 2.12187219e+01] [-1.68293283e-02 -9.61923950e-03 9.99812104e-01 -1.00742147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:171.04, Y:21.38, Z:-100.68 [[ 9.97148169e-01 2.59615056e-02 7.08627474e-02 1.71037881e+02] [-1.40190466e-02 9.86345560e-01 -1.64091142e-01 2.13802119e+01] [-7.41552093e-02 1.62629753e-01 9.83896625e-01 -1.00677800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:171.06, Y:21.23, Z:-100.74 [[ 9.96692180e-01 2.15011658e-02 7.83734539e-02 1.71060423e+02] [-2.12825237e-02 9.99766933e-01 -3.62405425e-03 2.12265405e+01] [-7.84331091e-02 1.94408164e-03 9.96917483e-01 -1.00744003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83592000000002 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:171.07, Y:21.04, Z:-100.79 [[ 9.99582799e-01 1.22212392e-02 2.61699879e-02 1.71070640e+02] [-1.68286796e-02 9.82816920e-01 1.83814301e-01 2.10390889e+01] [-2.34738684e-02 -1.84178020e-01 9.82612556e-01 -1.00785239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:171.12, Y:21.29, Z:-100.71 [[ 9.99140151e-01 3.57072069e-02 2.10702137e-02 1.71120366e+02] [-3.42098770e-02 9.97126495e-01 -6.75902186e-02 2.12904122e+01] [-2.34231262e-02 6.68112918e-02 9.97490656e-01 -1.00714097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89592000000002 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:171.14, Y:21.24, Z:-100.73 [[ 9.98690190e-01 3.30351348e-02 3.90715195e-02 1.71143651e+02] [-3.22331290e-02 9.99260125e-01 -2.09816046e-02 2.12436057e+01] [-3.97357416e-02 1.96947253e-02 9.99016110e-01 -1.00733149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:171.18, Y:21.30, Z:-100.71 [[ 9.95143137e-01 3.85113101e-02 9.05925791e-02 1.71181993e+02] [-3.06740512e-02 9.95791122e-01 -8.63663361e-02 2.13032349e+01] [-9.35373667e-02 8.31680253e-02 9.92135999e-01 -1.00713392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95592000000002 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:171.21, Y:21.22, Z:-100.75 [[ 9.94931743e-01 3.36393430e-02 9.47587535e-02 1.71209705e+02] [-3.33549607e-02 9.99433057e-01 -4.58387377e-03 2.12229391e+01] [-9.48592291e-02 1.39996702e-03 9.95489712e-01 -1.00745952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:171.22, Y:21.09, Z:-100.78 [[ 9.99190780e-01 2.24232284e-02 3.33913719e-02 1.71224965e+02] [-2.66635960e-02 9.90823500e-01 1.32506015e-01 2.10883967e+01] [-3.01137434e-02 -1.33289123e-01 9.90619590e-01 -1.00779011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01592 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:171.27, Y:21.26, Z:-100.73 [[ 9.98491790e-01 3.63853453e-02 4.11126722e-02 1.71268797e+02] [-3.48315808e-02 9.98674394e-01 -3.78974436e-02 2.12569399e+01] [-4.24370845e-02 3.64082670e-02 9.98435542e-01 -1.00733041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:171.30, Y:21.23, Z:-100.74 [[ 9.98333471e-01 3.45702927e-02 4.62079552e-02 1.71296997e+02] [-3.41026285e-02 9.99359206e-01 -1.08713902e-02 2.12303163e+01] [-4.65541726e-02 9.27746001e-03 9.98872683e-01 -1.00744275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07592 meters Centerline goodness : 0.983309 Centerline is valid? [True, True] Translation: X:171.33, Y:21.18, Z:-100.78 [[ 9.95233246e-01 8.73901222e-02 4.32868741e-02 1.71325040e+02] [-9.04639908e-02 9.93068328e-01 7.50437340e-02 2.11771879e+01] [-3.64287426e-02 -7.86019223e-02 9.96240274e-01 -1.00782551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:171.36, Y:21.30, Z:-100.72 [[ 9.98133527e-01 3.71949121e-02 4.84355355e-02 1.71358912e+02] [-3.30913334e-02 9.96005780e-01 -8.29303953e-02 2.12977644e+01] [-5.13266620e-02 8.11728115e-02 9.95377591e-01 -1.00717687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13592 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:171.38, Y:21.20, Z:-100.76 [[ 9.97442888e-01 5.27379144e-02 4.82327360e-02 1.71378163e+02] [-5.45909154e-02 9.97787644e-01 3.79427154e-02 2.11954430e+01] [-4.61250083e-02 -4.04787609e-02 9.98115201e-01 -1.00764041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:171.43, Y:21.33, Z:-100.71 [[ 9.93667496e-01 3.95697163e-02 1.05162473e-01 1.71427944e+02] [-2.61158331e-02 9.91640440e-01 -1.26361392e-01 2.13346118e+01] [-1.09283445e-01 1.22814802e-01 9.86394269e-01 -1.00705471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19592 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:171.45, Y:21.22, Z:-100.76 [[ 9.93420023e-01 2.53651611e-02 1.11683775e-01 1.71450671e+02] [-2.48828697e-02 9.99674064e-01 -5.71034335e-03 2.12152607e+01] [-1.11792217e-01 2.89375660e-03 9.93727390e-01 -1.00756929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:171.47, Y:21.13, Z:-100.78 [[ 9.98456085e-01 1.06979429e-02 5.45068887e-02 1.71465374e+02] [-1.48620391e-02 9.96953222e-01 7.65727929e-02 2.11334477e+01] [-5.35216470e-02 -7.72646545e-02 9.95573004e-01 -1.00780746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25592 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:171.50, Y:21.21, Z:-100.76 [[ 9.98313708e-01 1.82198138e-02 5.51160397e-02 1.71499413e+02] [-1.82749888e-02 9.99832875e-01 4.97189408e-04 2.12076265e+01] [-5.50977698e-02 -1.50359601e-03 9.98479832e-01 -1.00760271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:171.53, Y:21.20, Z:-100.76 [[ 9.98420497e-01 1.24899171e-02 5.47769482e-02 1.71531246e+02] [-1.24488434e-02 9.99921915e-01 -1.09099715e-03 2.12046087e+01] [-5.47862974e-02 4.07364264e-04 9.98498020e-01 -1.00760048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31592 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:171.58, Y:21.28, Z:-100.73 [[ 9.93438898e-01 3.17789069e-02 1.09860167e-01 1.71580286e+02] [-2.25943178e-02 9.96221451e-01 -8.38589161e-02 2.12808905e+01] [-1.12110000e-01 8.08264936e-02 9.90403163e-01 -1.00733991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:171.61, Y:21.20, Z:-100.76 [[ 9.93211761e-01 2.78424558e-02 1.12938906e-01 1.71606744e+02] [-2.72962976e-02 9.99607029e-01 -6.37965038e-03 2.12036568e+01] [-1.13072149e-01 3.25352981e-03 9.93581453e-01 -1.00764704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37592 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:171.62, Y:21.08, Z:-100.80 [[ 9.97780846e-01 1.08704615e-02 6.56903020e-02 1.71619267e+02] [-1.88363890e-02 9.92364607e-01 1.21892070e-01 2.10760331e+01] [-6.38637077e-02 -1.22858941e-01 9.90367158e-01 -1.00797016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:171.67, Y:21.25, Z:-100.75 [[ 9.98034583e-01 2.71631299e-02 5.64724403e-02 1.71665159e+02] [-2.38424159e-02 9.97992862e-01 -5.86667421e-02 2.12488810e+01] [-5.79526646e-02 5.72049981e-02 9.96679024e-01 -1.00747043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43592 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:171.70, Y:21.26, Z:-100.75 [[ 9.92849730e-01 3.90028234e-02 1.12819292e-01 1.71704690e+02] [-3.06798775e-02 9.96742192e-01 -7.45905368e-02 2.12599037e+01] [-1.15360990e-01 7.05959123e-02 9.90811818e-01 -1.00745032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:171.73, Y:21.19, Z:-100.77 [[ 9.92477895e-01 3.39759812e-02 1.17614887e-01 1.71731723e+02] [-3.33890209e-02 9.99418211e-01 -6.95787077e-03 2.11922320e+01] [-1.17782860e-01 2.97848702e-03 9.93034907e-01 -1.00771032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49592 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:171.76, Y:21.19, Z:-100.77 [[ 9.92637638e-01 3.41588461e-02 1.16205394e-01 1.71764951e+02] [-3.35808964e-02 9.99411989e-01 -6.92823800e-03 2.11885765e+01] [-1.16373724e-01 2.97494851e-03 9.93201040e-01 -1.00773761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:171.80, Y:21.18, Z:-100.78 [[ 9.92638379e-01 3.51556896e-02 1.15901359e-01 1.71797975e+02] [-3.45812702e-02 9.99377627e-01 -6.96379794e-03 2.11833942e+01] [-1.16074042e-01 2.90451689e-03 9.93236317e-01 -1.00777571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55592000000001 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:171.83, Y:21.18, Z:-100.78 [[ 9.92652848e-01 3.55379253e-02 1.15660620e-01 1.71830891e+02] [-3.49622275e-02 9.99364098e-01 -7.00300611e-03 2.11806884e+01] [-1.15835944e-01 2.90780105e-03 9.93264103e-01 -1.00779947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:171.86, Y:21.18, Z:-100.78 [[ 9.92705520e-01 3.66524992e-02 1.14857935e-01 1.71863779e+02] [-3.60860646e-02 9.99324116e-01 -7.00770794e-03 2.11775414e+01] [-1.15037154e-01 2.81181950e-03 9.93357210e-01 -1.00783602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61592000000002 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:171.90, Y:21.17, Z:-100.79 [[ 9.92625114e-01 3.80275856e-02 1.15105540e-01 1.71896412e+02] [-3.74616551e-02 9.99273009e-01 -7.07663806e-03 2.11731055e+01] [-1.15290966e-01 2.71240464e-03 9.93328061e-01 -1.00785995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:171.93, Y:21.17, Z:-100.79 [[ 9.92573419e-01 3.89129620e-02 1.15255326e-01 1.71929188e+02] [-3.83452090e-02 9.99239044e-01 -7.13993647e-03 2.11699753e+01] [-1.15445458e-01 2.66742159e-03 9.93310239e-01 -1.00787729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67592000000002 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:171.96, Y:21.16, Z:-100.79 [[ 9.92701242e-01 3.94221672e-02 1.13974278e-01 1.71961741e+02] [-3.88642969e-02 9.99219178e-01 -7.11344467e-03 2.11647484e+01] [-1.14165712e-01 2.63199517e-03 9.93458234e-01 -1.00790862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:171.99, Y:21.16, Z:-100.79 [[ 9.92686631e-01 3.92703727e-02 1.14153799e-01 1.71994379e+02] [-3.87035681e-02 9.99224953e-01 -7.17822503e-03 2.11602947e+01] [-1.14347216e-01 2.70756867e-03 9.93437156e-01 -1.00794809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73592 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:172.03, Y:21.15, Z:-100.80 [[ 9.92734373e-01 3.86026681e-02 1.13966221e-01 1.72027310e+02] [-3.80271803e-02 9.99250621e-01 -7.22013126e-03 2.11548603e+01] [-1.14159533e-01 2.83385846e-03 9.93458389e-01 -1.00798687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:172.06, Y:21.15, Z:-100.80 [[ 9.92823467e-01 3.68555803e-02 1.13768316e-01 1.72059978e+02] [-3.62645950e-02 9.99315847e-01 -7.26058523e-03 2.11474084e+01] [-1.13958074e-01 3.08271750e-03 9.93480777e-01 -1.00801438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79592 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:172.09, Y:21.14, Z:-100.80 [[ 9.92892472e-01 3.64677403e-02 1.13290087e-01 1.72092409e+02] [-3.58732130e-02 9.99329813e-01 -7.28269311e-03 2.11434107e+01] [-1.13479745e-01 3.16685174e-03 9.93535263e-01 -1.00803936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:172.11, Y:21.06, Z:-100.82 [[ 9.97110897e-01 2.46268369e-02 7.18566449e-02 1.72108941e+02] [-3.00414996e-02 9.96710311e-01 7.52732662e-02 2.10577085e+01] [-6.97665164e-02 -7.72144754e-02 9.94570539e-01 -1.00821787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85592 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:172.16, Y:21.20, Z:-100.78 [[ 9.92644378e-01 4.52752266e-02 1.12282197e-01 1.72160426e+02] [-3.60231601e-02 9.95889696e-01 -8.31026157e-02 2.12030396e+01] [-1.15583173e-01 7.84465848e-02 9.90195265e-01 -1.00782407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:172.19, Y:21.13, Z:-100.81 [[ 9.92264442e-01 3.89501796e-02 1.17873497e-01 1.72186076e+02] [-3.83014120e-02 9.99236061e-01 -7.76506066e-03 2.11255682e+01] [-1.18085900e-01 3.19027219e-03 9.92998259e-01 -1.00808737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91592 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:172.20, Y:21.05, Z:-100.82 [[ 9.96431715e-01 2.95382842e-02 7.90653300e-02 1.72204894e+02] [-3.47580431e-02 9.97248497e-01 6.54775859e-02 2.10506903e+01] [-7.69136860e-02 -6.79920994e-02 9.94716723e-01 -1.00824018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:172.25, Y:21.18, Z:-100.79 [[ 9.91816295e-01 5.02191001e-02 1.17381769e-01 1.72253500e+02] [-4.16340817e-02 9.96353018e-01 -7.44799758e-02 2.11776456e+01] [-1.20693997e-01 6.89833714e-02 9.90289985e-01 -1.00791812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:172.28, Y:21.11, Z:-100.82 [[ 9.91512532e-01 4.50833138e-02 1.21944220e-01 1.72280281e+02] [-4.44110674e-02 9.98979470e-01 -8.22650749e-03 2.11093810e+01] [-1.22190650e-01 2.74101230e-03 9.92502862e-01 -1.00815942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:172.30, Y:21.05, Z:-100.83 [[ 9.95334231e-01 3.95633736e-02 8.80028822e-02 1.72302174e+02] [-4.45047364e-02 9.97498710e-01 5.49149451e-02 2.10457355e+01] [-8.56101411e-02 -5.85752697e-02 9.94605370e-01 -1.00830054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03592 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:172.35, Y:21.16, Z:-100.80 [[ 9.91399184e-01 5.34972397e-02 1.19439118e-01 1.72348036e+02] [-4.57336516e-02 9.96716180e-01 -6.68228263e-02 2.11559601e+01] [-1.22621738e-01 6.07857085e-02 9.90590232e-01 -1.00801862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:172.38, Y:21.10, Z:-100.82 [[ 9.90998682e-01 4.88848424e-02 1.24626983e-01 1.72375545e+02] [-4.81962839e-02 9.98801411e-01 -8.53583826e-03 2.10968880e+01] [-1.24894879e-01 2.45244702e-03 9.92166949e-01 -1.00821767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09592 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:172.41, Y:21.09, Z:-100.82 [[ 9.90650362e-01 5.07447412e-02 1.26636615e-01 1.72408424e+02] [-5.00418348e-02 9.98708986e-01 -8.72786502e-03 2.10920772e+01] [-1.26916019e-01 2.30913408e-03 9.91910778e-01 -1.00824112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:172.44, Y:21.09, Z:-100.83 [[ 9.90613986e-01 5.14867016e-02 1.26621683e-01 1.72440961e+02] [-5.07856188e-02 9.98671150e-01 -8.76105231e-03 2.10897218e+01] [-1.26904499e-01 2.24826044e-03 9.91912392e-01 -1.00827771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15592 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:172.47, Y:21.09, Z:-100.83 [[ 9.90631636e-01 5.24349070e-02 1.26093384e-01 1.72474166e+02] [-5.17395749e-02 9.98621966e-01 -8.78547413e-03 2.10873262e+01] [-1.26380289e-01 2.17915052e-03 9.91979473e-01 -1.00831293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:172.51, Y:21.08, Z:-100.83 [[ 9.90610293e-01 5.27808212e-02 1.26116738e-01 1.72506903e+02] [-5.20802748e-02 9.98603705e-01 -8.84789235e-03 2.10846255e+01] [-1.26407641e-01 2.19661886e-03 9.91975949e-01 -1.00833271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21592 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:172.54, Y:21.08, Z:-100.84 [[ 9.90680418e-01 5.26056999e-02 1.25638170e-01 1.72539878e+02] [-5.19014465e-02 9.98612779e-01 -8.87451223e-03 2.10815332e+01] [-1.25930732e-01 2.27100274e-03 9.92036437e-01 -1.00836188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:172.57, Y:21.08, Z:-100.84 [[ 9.90743147e-01 5.25190452e-02 1.25178935e-01 1.72572507e+02] [-5.18116350e-02 9.98617194e-01 -8.90244963e-03 2.10791197e+01] [-1.25473385e-01 2.33431567e-03 9.92094240e-01 -1.00839608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27592 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:172.61, Y:21.08, Z:-100.84 [[ 9.90678240e-01 5.25216679e-02 1.25690488e-01 1.72605468e+02] [-5.18007438e-02 9.98616889e-01 -8.99952646e-03 2.10775060e+01] [-1.25989314e-01 2.40477427e-03 9.92028684e-01 -1.00842644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:172.62, Y:21.00, Z:-100.86 [[ 9.95737688e-01 3.92744306e-02 8.34504336e-02 1.72623132e+02] [-4.52122300e-02 9.96486787e-01 7.04977795e-02 2.10022157e+01] [-8.03884943e-02 -7.39702762e-02 9.94015135e-01 -1.00862360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33592000000002 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:172.66, Y:21.07, Z:-100.85 [[ 9.95155548e-01 4.95685097e-02 8.49022838e-02 1.72662980e+02] [-4.95987015e-02 9.98767685e-01 -1.75499078e-03 2.10718514e+01] [-8.48846497e-02 -2.46455422e-03 9.96387737e-01 -1.00847067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:172.71, Y:21.15, Z:-100.83 [[ 9.90278978e-01 6.01712962e-02 1.25407180e-01 1.72706497e+02] [-4.99300136e-02 9.95275574e-01 -8.32677888e-02 2.11452809e+01] [-1.29825034e-01 7.61967586e-02 9.88604832e-01 -1.00828629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39592000000002 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:172.72, Y:21.02, Z:-100.87 [[ 9.94524480e-01 4.30804952e-02 9.52109726e-02 1.72720784e+02] [-4.79443677e-02 9.97627605e-01 4.94014073e-02 2.10177854e+01] [-9.28568574e-02 -5.36957387e-02 9.94230543e-01 -1.00865363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:172.77, Y:21.12, Z:-100.84 [[ 9.89955208e-01 5.86018187e-02 1.28664345e-01 1.72768226e+02] [-5.07143878e-02 9.96676602e-01 -6.37479579e-02 2.11230671e+01] [-1.31972488e-01 5.65824894e-02 9.89637148e-01 -1.00839658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45592 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:172.78, Y:20.98, Z:-100.88 [[ 9.94393280e-01 4.18148351e-02 9.71263326e-02 1.72781453e+02] [-4.98682379e-02 9.95381756e-01 8.20263308e-02 2.09840550e+01] [-9.32478620e-02 -8.64099512e-02 9.91886161e-01 -1.00875767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:172.83, Y:21.15, Z:-100.84 [[ 9.89879847e-01 6.25732070e-02 1.27367510e-01 1.72834249e+02] [-5.06626489e-02 9.94216134e-01 -9.46972808e-02 2.11500727e+01] [-1.32556346e-01 8.72861544e-02 9.87324639e-01 -1.00835778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51592 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:172.85, Y:21.02, Z:-100.88 [[ 9.92577178e-01 4.91427270e-02 1.11245396e-01 1.72852915e+02] [-5.41791517e-02 9.97617376e-01 4.27105422e-02 2.10189659e+01] [-1.08881427e-01 -4.84206906e-02 9.92874751e-01 -1.00875959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:172.88, Y:21.05, Z:-100.87 [[ 9.91769335e-01 5.08787193e-02 1.17494432e-01 1.72882558e+02] [-5.23197584e-02 9.98587902e-01 9.21114669e-03 2.10482874e+01] [-1.16859867e-01 -1.52826131e-02 9.93030822e-01 -1.00869289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57592 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:172.92, Y:21.07, Z:-100.86 [[ 9.93243940e-01 5.28853338e-02 1.03293842e-01 1.72916666e+02] [-5.15313640e-02 9.98547414e-01 -1.57347065e-02 2.10695716e+01] [-1.03975934e-01 1.03055293e-02 9.94526421e-01 -1.00864886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:172.95, Y:21.12, Z:-100.85 [[ 9.88788460e-01 5.52461875e-02 1.38727216e-01 1.72954296e+02] [-4.54471253e-02 9.96307776e-01 -7.28380016e-02 2.11160016e+01] [-1.42239026e-01 6.57166223e-02 9.87648412e-01 -1.00854147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63592 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:172.96, Y:20.94, Z:-100.90 [[ 9.92887425e-01 2.46630274e-02 1.16474447e-01 1.72957333e+02] [-3.67631781e-02 9.94011076e-01 1.02909909e-01 2.09435766e+01] [-1.13238821e-01 -1.06459926e-01 9.87847789e-01 -1.00896963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:173.01, Y:21.06, Z:-100.88 [[ 9.94077548e-01 3.98874742e-02 1.01088173e-01 1.73007283e+02] [-3.83547189e-02 9.99118516e-01 -1.70618287e-02 2.10569842e+01] [-1.01679618e-01 1.30835724e-02 9.94731157e-01 -1.00877458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69592 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:173.05, Y:21.13, Z:-100.86 [[ 9.89082451e-01 5.43491332e-02 1.36974731e-01 1.73051474e+02] [-4.06727500e-02 9.94081139e-01 -1.00739347e-01 2.11290949e+01] [-1.41639093e-01 9.40683816e-02 9.85438738e-01 -1.00857418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:173.06, Y:20.97, Z:-100.90 [[ 9.93309554e-01 3.44545514e-02 1.10222567e-01 1.73063258e+02] [-4.09254327e-02 9.97535378e-01 5.69936761e-02 2.09720046e+01] [-1.07987219e-01 -6.11232692e-02 9.92271488e-01 -1.00898502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75592 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:173.08, Y:20.98, Z:-100.90 [[ 9.94679490e-01 2.59223084e-02 9.97032933e-02 1.73083057e+02] [-3.07281680e-02 9.98423475e-01 4.69717403e-02 2.09768639e+01] [-9.83284926e-02 -4.97855263e-02 9.93907898e-01 -1.00899949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:173.13, Y:21.06, Z:-100.88 [[ 9.93300493e-01 4.71828198e-02 1.05488917e-01 1.73131343e+02] [-4.24455742e-02 9.98006220e-01 -4.67114270e-02 2.10632842e+01] [-1.07482573e-01 4.19209458e-02 9.93322773e-01 -1.00881150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81592 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:173.16, Y:21.04, Z:-100.89 [[ 9.92073293e-01 5.19127691e-02 1.14436207e-01 1.73158895e+02] [-4.85248910e-02 9.98302927e-01 -3.21962873e-02 2.10423774e+01] [-1.15913398e-01 2.63880723e-02 9.92908734e-01 -1.00886680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:173.19, Y:21.02, Z:-100.90 [[ 9.91799688e-01 4.96937302e-02 1.17745116e-01 1.73187582e+02] [-4.89708563e-02 9.98759421e-01 -9.02628726e-03 2.10177981e+01] [-1.18047594e-01 3.18618972e-03 9.93002827e-01 -1.00895463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87592 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:173.23, Y:21.06, Z:-100.89 [[ 9.87032969e-01 5.99020348e-02 1.48921671e-01 1.73227297e+02] [-5.14775856e-02 9.96882275e-01 -5.97978958e-02 2.10600199e+01] [-1.52039390e-01 5.13563666e-02 9.87039284e-01 -1.00888255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:173.25, Y:20.97, Z:-100.91 [[ 9.91269480e-01 5.07378431e-02 1.21698355e-01 1.73245401e+02] [-5.51761433e-02 9.97918545e-01 3.33791879e-02 2.09669799e+01] [-1.19751458e-01 -3.98026161e-02 9.92005716e-01 -1.00912667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93592 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:173.28, Y:20.96, Z:-100.92 [[ 9.91133538e-01 5.50990000e-02 1.20906613e-01 1.73277544e+02] [-6.06445943e-02 9.97246784e-01 4.26741819e-02 2.09550754e+01] [-1.18222427e-01 -4.96281454e-02 9.91746190e-01 -1.00918053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:173.33, Y:21.09, Z:-100.89 [[ 9.86583095e-01 7.32322925e-02 1.45913768e-01 1.73325148e+02] [-5.88064172e-02 9.93163010e-01 -1.00841663e-01 2.10870700e+01] [-1.52301023e-01 9.09080141e-02 9.84144365e-01 -1.00888195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99592 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:173.35, Y:21.00, Z:-100.92 [[ 9.85768640e-01 6.58530704e-02 1.54672435e-01 1.73348217e+02] [-6.46702066e-02 9.97826226e-01 -1.26723238e-02 2.09991737e+01] [-1.55170724e-01 2.48928102e-03 9.87884533e-01 -1.00915827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:173.37, Y:20.97, Z:-100.92 [[ 9.90282329e-01 6.28266172e-02 1.24071454e-01 1.73373544e+02] [-6.59427235e-02 9.97598887e-01 2.11664353e-02 2.09669777e+01] [-1.22443729e-01 -2.91423564e-02 9.92047507e-01 -1.00924900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05592000000001 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:173.41, Y:20.98, Z:-100.92 [[ 9.90706886e-01 6.68539812e-02 1.18450036e-01 1.73407346e+02] [-6.77117072e-02 9.97699709e-01 3.22715793e-03 2.09824808e+01] [-1.17961818e-01 -1.12176217e-02 9.92954770e-01 -1.00924902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:173.44, Y:20.98, Z:-100.93 [[ 9.90715850e-01 7.03344838e-02 1.16340731e-01 1.73440790e+02] [-7.09648428e-02 9.97477996e-01 1.27981479e-03 2.09819139e+01] [-1.15957304e-01 -9.52403445e-03 9.93208536e-01 -1.00927861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11592000000002 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:173.47, Y:20.98, Z:-100.93 [[ 9.90250125e-01 6.97616548e-02 1.20573638e-01 1.73469105e+02] [-7.07791575e-02 9.97483287e-01 4.17159853e-03 2.09769059e+01] [-1.19979171e-01 -1.26650265e-02 9.92695621e-01 -1.00932121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:173.50, Y:20.99, Z:-100.93 [[ 9.90835672e-01 7.07103725e-02 1.15085686e-01 1.73499726e+02] [-6.94685568e-02 9.97474786e-01 -1.47706419e-02 2.09930555e+01] [-1.15839508e-01 6.64044233e-03 9.93245747e-01 -1.00931679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17592000000002 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:173.52, Y:20.96, Z:-100.94 [[ 9.90262911e-01 6.46325723e-02 1.23296378e-01 1.73522524e+02] [-6.79628186e-02 9.97422849e-01 2.29938161e-02 2.09552141e+01] [-1.21492475e-01 -3.11494927e-02 9.92103466e-01 -1.00941952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:173.56, Y:21.03, Z:-100.92 [[ 9.90014482e-01 7.66372655e-02 1.18313373e-01 1.73564169e+02] [-6.98949315e-02 9.95740641e-01 -6.01271466e-02 2.10333484e+01] [-1.22417414e-01 5.12572408e-02 9.91154212e-01 -1.00924509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23592 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:173.60, Y:21.03, Z:-100.93 [[ 9.84445205e-01 7.72067664e-02 1.57818734e-01 1.73597712e+02] [-6.87610143e-02 9.95928185e-01 -5.83007081e-02 2.10268049e+01] [-1.61677334e-01 4.65420764e-02 9.85745543e-01 -1.00932776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:173.61, Y:20.91, Z:-100.96 [[ 9.90709571e-01 5.80902718e-02 1.22963675e-01 1.73612270e+02] [-6.62739736e-02 9.95776170e-01 6.35419492e-02 2.09104860e+01] [-1.18753128e-01 -7.11009086e-02 9.90374856e-01 -1.00960412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29592 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:173.66, Y:21.05, Z:-100.93 [[ 9.84836671e-01 7.78613378e-02 1.55030139e-01 1.73664358e+02] [-6.51777272e-02 9.94222301e-01 -8.52870463e-02 2.10486247e+01] [-1.60774985e-01 7.38892986e-02 9.84221406e-01 -1.00932600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters Centerline goodness : 0.947366 Centerline is valid? [True, False] Translation: X:173.71, Y:21.03, Z:-100.94 [[ 9.88549047e-01 7.59132243e-02 1.30414587e-01 1.73710641e+02] [-6.79408778e-02 9.95599952e-01 -6.45350549e-02 2.10265352e+01] [-1.34739821e-01 5.49355855e-02 9.89356994e-01 -1.00940970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35592 meters Centerline goodness : 0.998356 Centerline is valid? [False, True] Translation: X:173.75, Y:21.01, Z:-100.95 [[ 9.91431464e-01 7.26299028e-02 1.08575089e-01 1.73747852e+02] [-6.80625040e-02 9.96656569e-01 -4.52015444e-02 2.10056413e+01] [-1.11495059e-01 3.74243409e-02 9.93060054e-01 -1.00947109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:173.78, Y:21.02, Z:-100.94 [[ 9.90808146e-01 7.44821496e-02 1.12923107e-01 1.73778207e+02] [-6.69580641e-02 9.95365439e-01 -6.90236250e-02 2.10244824e+01] [-1.17540786e-01 6.08280572e-02 9.91203365e-01 -1.00942435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41592 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:173.81, Y:21.02, Z:-100.95 [[ 9.85206551e-01 7.35845462e-02 1.54768751e-01 1.73811371e+02] [-6.38960269e-02 9.95726695e-01 -6.66756862e-02 2.10171605e+01] [-1.59013677e-01 5.58002146e-02 9.85698223e-01 -1.00949448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:173.84, Y:20.96, Z:-100.97 [[ 9.85038047e-01 6.70181041e-02 1.58772228e-01 1.73837705e+02] [-6.55744169e-02 9.97744919e-01 -1.43203717e-02 2.09641987e+01] [-1.59373908e-01 3.69471471e-03 9.87211379e-01 -1.00966863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47592 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:173.85, Y:20.87, Z:-100.99 [[ 9.90378120e-01 5.34833239e-02 1.27635081e-01 1.73854539e+02] [-6.39001284e-02 9.94827327e-01 7.89643163e-02 2.08724595e+01] [-1.22751593e-01 -8.63604292e-02 9.88672809e-01 -1.00986260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:173.90, Y:20.99, Z:-100.96 [[ 9.90302940e-01 7.04091425e-02 1.19760762e-01 1.73899251e+02] [-6.54098673e-02 9.96835175e-01 -4.51794549e-02 2.09902282e+01] [-1.22562787e-01 3.69078115e-02 9.91774257e-01 -1.00964212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:173.93, Y:21.00, Z:-100.96 [[ 9.84668714e-01 7.49771534e-02 1.57499050e-01 1.73934856e+02] [-6.51381094e-02 9.95642130e-01 -6.67366208e-02 2.10043102e+01] [-1.61816411e-01 5.54542722e-02 9.85261525e-01 -1.00964957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:173.96, Y:20.95, Z:-100.98 [[ 9.84426325e-01 6.77497729e-02 1.62218309e-01 1.73961649e+02] [-6.62107918e-02 9.97694689e-01 -1.48808247e-02 2.09508830e+01] [-1.62852518e-01 3.90847289e-03 9.86642682e-01 -1.00981769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:173.99, Y:20.90, Z:-100.99 [[ 9.89342396e-01 6.08626681e-02 1.32277587e-01 1.73985487e+02] [-6.60992638e-02 9.97179201e-01 3.55601988e-02 2.09014923e+01] [-1.29740170e-01 -4.39246634e-02 9.90574637e-01 -1.00992966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:174.03, Y:20.99, Z:-100.98 [[ 9.84418634e-01 7.48548515e-02 1.59112236e-01 1.74031185e+02] [-6.58504333e-02 9.95954808e-01 -6.11370683e-02 2.09898089e+01] [-1.63045002e-01 4.97068596e-02 9.85365696e-01 -1.00978342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65592 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:174.06, Y:20.94, Z:-100.99 [[ 9.84095939e-01 6.93906441e-02 1.63524067e-01 1.74058473e+02] [-6.78252622e-02 9.97582283e-01 -1.51434101e-02 2.09426346e+01] [-1.64179523e-01 3.81150566e-03 9.86423112e-01 -1.00994521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:174.08, Y:20.88, Z:-101.01 [[ 9.89518909e-01 6.14310377e-02 1.30684948e-01 1.74079819e+02] [-6.89505035e-02 9.96167793e-01 5.38103723e-02 2.08760999e+01] [-1.26878509e-01 -6.22571739e-02 9.89962569e-01 -1.01009663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:174.13, Y:21.00, Z:-100.99 [[ 9.84142490e-01 8.09054917e-02 1.57853919e-01 1.74127704e+02] [-6.92212696e-02 9.94533886e-01 -7.81713905e-02 2.09985268e+01] [-1.63315567e-01 6.60049382e-02 9.84363436e-01 -1.00986523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:174.15, Y:20.94, Z:-101.01 [[ 9.83363969e-01 7.42016469e-02 1.65799334e-01 1.74152897e+02] [-7.26323963e-02 9.97238072e-01 -1.55165027e-02 2.09361880e+01] [-1.66492759e-01 3.21596675e-03 9.86037433e-01 -1.01006898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:174.17, Y:20.87, Z:-101.02 [[ 9.89054244e-01 6.61883579e-02 1.31874193e-01 1.74173836e+02] [-7.32140583e-02 9.96104193e-01 4.91542285e-02 2.08741401e+01] [-1.28106999e-01 -5.82712431e-02 9.90046998e-01 -1.01020578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:174.21, Y:20.93, Z:-101.01 [[ 9.87125635e-01 7.96541188e-02 1.38701843e-01 1.74214722e+02] [-7.87955425e-02 9.96822382e-01 -1.16790695e-02 2.09299509e+01] [-1.39191388e-01 5.99621931e-04 9.90265317e-01 -1.01013474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83592000000002 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:174.24, Y:20.90, Z:-101.02 [[ 9.88168181e-01 7.57122485e-02 1.33384039e-01 1.74237207e+02] [-7.93782823e-02 9.96593371e-01 2.23772493e-02 2.08967112e+01] [-1.31235417e-01 -3.27002816e-02 9.90811767e-01 -1.01022522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:174.27, Y:20.96, Z:-101.01 [[ 9.88001203e-01 8.63102396e-02 1.28078748e-01 1.74274687e+02] [-8.15247690e-02 9.95779353e-01 -4.21567578e-02 2.09581782e+01] [-1.31176733e-01 3.12093371e-02 9.90867621e-01 -1.01009936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89592000000002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:174.31, Y:20.99, Z:-101.01 [[ 9.81044138e-01 9.54572716e-02 1.68642547e-01 1.74312261e+02] [-8.25217611e-02 9.93199290e-01 -8.21299529e-02 2.09929072e+01] [-1.75335559e-01 6.66564289e-02 9.82249644e-01 -1.01005227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:174.32, Y:20.86, Z:-101.04 [[ 9.87267168e-01 7.61850392e-02 1.39640173e-01 1.74323297e+02] [-8.42661107e-02 9.95038416e-01 5.28939744e-02 2.08639571e+01] [-1.34917607e-01 -6.39874186e-02 9.88788577e-01 -1.01040190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:174.36, Y:20.92, Z:-101.03 [[ 9.87661994e-01 8.45584929e-02 1.31809128e-01 1.74361674e+02] [-8.50306096e-02 9.96376225e-01 -2.05274493e-03 2.09184467e+01] [-1.31505058e-01 -9.18039234e-03 9.91272990e-01 -1.01030563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:174.39, Y:20.92, Z:-101.03 [[ 9.87734928e-01 8.58785551e-02 1.30401631e-01 1.74393480e+02] [-8.57722927e-02 9.96293942e-01 -6.44159800e-03 2.09214420e+01] [-1.30471551e-01 -4.82225556e-03 9.91440326e-01 -1.01031967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:174.44, Y:21.00, Z:-101.02 [[ 9.79566173e-01 9.97166909e-02 1.74661655e-01 1.74438390e+02] [-8.45228225e-02 9.92129452e-01 -9.23852928e-02 2.09972023e+01] [-1.82499328e-01 7.57346117e-02 9.80284787e-01 -1.01016998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:174.44, Y:20.85, Z:-101.05 [[ 9.87720923e-01 6.87154066e-02 1.40305281e-01 1.74444232e+02] [-7.84044506e-02 9.94817749e-01 6.47332020e-02 2.08466499e+01] [-1.35130016e-01 -7.49388965e-02 9.87989899e-01 -1.01054910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:174.49, Y:20.93, Z:-101.04 [[ 9.87198387e-01 8.16478503e-02 1.37014500e-01 1.74485341e+02] [-7.94658617e-02 9.96609368e-01 -2.13294357e-02 2.09267667e+01] [-1.38291437e-01 1.01684092e-02 9.90339377e-01 -1.01041503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:174.51, Y:20.88, Z:-101.06 [[ 9.87568338e-01 6.98666939e-02 1.40809879e-01 1.74507932e+02] [-7.40842590e-02 9.96940336e-01 2.49296661e-02 2.08771986e+01] [-1.38637295e-01 -3.50515445e-02 9.89722734e-01 -1.01057170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:174.55, Y:20.94, Z:-101.05 [[ 9.85188487e-01 8.21982441e-02 1.50489515e-01 1.74550101e+02] [-7.63081707e-02 9.96090129e-01 -4.45142528e-02 2.09392034e+01] [-1.53560114e-01 3.23713498e-02 9.87608924e-01 -1.01046236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:174.59, Y:20.97, Z:-101.04 [[ 9.79835142e-01 8.17517017e-02 1.82317729e-01 1.74585788e+02] [-6.69119152e-02 9.94035178e-01 -8.61211989e-02 2.09690922e+01] [-1.88270791e-01 7.21853487e-02 9.79460762e-01 -1.01042388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:174.61, Y:20.90, Z:-101.07 [[ 9.79780134e-01 7.02090388e-02 1.87354155e-01 1.74608432e+02] [-6.79316580e-02 9.97517390e-01 -1.85565577e-02 2.08988534e+01] [-1.88191865e-01 5.45406820e-03 9.82117139e-01 -1.01065558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:174.64, Y:20.89, Z:-101.07 [[ 9.79648710e-01 6.84812610e-02 1.88676238e-01 1.74640383e+02] [-6.61219752e-02 9.97634836e-01 -1.87781141e-02 2.08934461e+01] [-1.89515937e-01 5.92030971e-03 9.81859796e-01 -1.01070342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:174.67, Y:20.89, Z:-101.08 [[ 9.79855342e-01 6.40340755e-02 1.89164334e-01 1.74672170e+02] [-6.15629069e-02 9.97923926e-01 -1.89168473e-02 2.08861819e+01] [-1.89982938e-01 6.89026754e-03 9.81763214e-01 -1.01075358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:174.70, Y:20.88, Z:-101.08 [[ 9.79992711e-01 6.22153489e-02 1.89059613e-01 1.74704286e+02] [-5.96962939e-02 9.98035839e-01 -1.89951471e-02 2.08815968e+01] [-1.89870059e-01 7.32894746e-03 9.81781874e-01 -1.01080419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:174.74, Y:20.87, Z:-101.09 [[ 9.80512455e-01 5.81292729e-02 1.87660099e-01 1.74736263e+02] [-5.55570519e-02 9.98275820e-01 -1.89420461e-02 2.08726990e+01] [-1.88437627e-01 8.14707031e-03 9.82051366e-01 -1.01085679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:174.77, Y:20.87, Z:-101.09 [[ 9.80812472e-01 5.64210381e-02 1.86610719e-01 1.74767815e+02] [-5.38309352e-02 9.98370766e-01 -1.89220767e-02 2.08655095e+01] [-1.87374289e-01 8.51357927e-03 9.82251696e-01 -1.01092312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:174.78, Y:20.75, Z:-101.11 [[ 9.86968043e-01 3.48851260e-02 1.57089496e-01 1.74780404e+02] [-4.98255841e-02 9.94493370e-01 9.21973337e-02 2.07538282e+01] [-1.53008147e-01 -9.88228979e-02 9.83271347e-01 -1.01109944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:174.82, Y:20.83, Z:-101.10 [[ 9.86380958e-01 4.78662935e-02 1.57357629e-01 1.74815253e+02] [-4.86550986e-02 9.98814963e-01 1.16227315e-03 2.08342734e+01] [-1.57115521e-01 -8.80269505e-03 9.87541000e-01 -1.01096230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:174.86, Y:20.87, Z:-101.09 [[ 9.87156670e-01 5.71499091e-02 1.49183098e-01 1.74856646e+02] [-5.08952742e-02 9.97670850e-01 -4.54152588e-02 2.08731339e+01] [-1.51431106e-01 3.72392610e-02 9.87766095e-01 -1.01093337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:174.88, Y:20.82, Z:-101.11 [[ 9.86348157e-01 4.98067459e-02 1.56960510e-01 1.74878632e+02] [-5.08158758e-02 9.98705106e-01 2.42031574e-03 2.08156713e+01] [-1.56636715e-01 -1.03633598e-02 9.87601914e-01 -1.01106260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:174.93, Y:20.92, Z:-101.09 [[ 9.80276964e-01 7.03069420e-02 1.84699776e-01 1.74928089e+02] [-4.81251263e-02 9.91368823e-01 -1.21950108e-01 2.09239804e+01] [-1.91679538e-01 1.10656182e-01 9.75199551e-01 -1.01086530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:174.93, Y:20.74, Z:-101.12 [[ 9.86560038e-01 3.94621764e-02 1.58562376e-01 1.74929202e+02] [-4.93062321e-02 9.97061078e-01 5.86353355e-02 2.07438329e+01] [-1.55782496e-01 -6.56653922e-02 9.85606347e-01 -1.01121870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55592000000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:174.98, Y:20.88, Z:-101.11 [[ 9.79763094e-01 6.78478948e-02 1.88310760e-01 1.74984852e+02] [-5.13044357e-02 9.94493488e-01 -9.13813787e-02 2.08783679e+01] [-1.93473859e-01 7.98709250e-02 9.77848915e-01 -1.01106244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:175.01, Y:20.80, Z:-101.13 [[ 9.78958892e-01 5.69988331e-02 1.95935244e-01 1.75007400e+02] [-5.40157832e-02 9.98328822e-01 -2.05391667e-02 2.08035586e+01] [-1.96778510e-01 9.52340420e-03 9.80401715e-01 -1.01126756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61592000000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:175.01, Y:20.67, Z:-101.14 [[ 9.87260159e-01 3.04840804e-02 1.56166898e-01 1.75013438e+02] [-4.86336125e-02 9.92318252e-01 1.13750857e-01 2.06681846e+01] [-1.51499673e-01 -1.19896650e-01 9.81158826e-01 -1.01139419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:175.08, Y:20.90, Z:-101.11 [[ 9.79270963e-01 8.27959907e-02 1.84859958e-01 1.75084319e+02] [-5.68934525e-02 9.88334272e-01 -1.41274559e-01 2.09021260e+01] [-1.94400399e-01 1.27828752e-01 9.72557605e-01 -1.01107639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:175.10, Y:20.78, Z:-101.14 [[ 9.77971271e-01 6.39598753e-02 1.98699087e-01 1.75099557e+02] [-6.09677617e-02 9.97915701e-01 -2.11467728e-02 2.07812785e+01] [-1.99637483e-01 8.56669774e-03 9.79832377e-01 -1.01139184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:175.11, Y:20.66, Z:-101.15 [[ 9.85569896e-01 4.16819694e-02 1.64056680e-01 1.75110612e+02] [-5.89124259e-02 9.93079021e-01 1.01604056e-01 2.06615014e+01] [-1.58686190e-01 -1.09802876e-01 9.81204373e-01 -1.01150389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:175.16, Y:20.77, Z:-101.14 [[ 9.85628691e-01 6.26952300e-02 1.56861061e-01 1.75156043e+02] [-6.20552141e-02 9.98032327e-01 -8.97907319e-03 2.07662111e+01] [-1.57115355e-01 -8.84014588e-04 9.87579862e-01 -1.01144628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:175.19, Y:20.78, Z:-101.14 [[ 9.85503829e-01 6.83027887e-02 1.55296271e-01 1.75186002e+02] [-6.44783911e-02 9.97481861e-01 -2.95376793e-02 2.07791099e+01] [-1.56922719e-01 1.90962423e-02 9.87426247e-01 -1.01144633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:175.21, Y:20.78, Z:-101.15 [[ 9.85395475e-01 7.03357629e-02 1.55076234e-01 1.75214908e+02] [-6.60711595e-02 9.97285774e-01 -3.24913365e-02 2.07760936e+01] [-1.56940625e-01 2.17707494e-02 9.87368054e-01 -1.01148673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:175.26, Y:20.84, Z:-101.14 [[ 9.75831671e-01 8.89511077e-02 1.99600225e-01 1.75258121e+02] [-6.81764278e-02 9.91738913e-01 -1.08654974e-01 2.08357796e+01] [-2.07616291e-01 9.24209349e-02 9.73834609e-01 -1.01144045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:175.28, Y:20.75, Z:-101.17 [[ 9.75148906e-01 7.48545326e-02 2.08521965e-01 1.75278257e+02] [-7.16670346e-02 9.97167747e-01 -2.28105237e-02 2.07487063e+01] [-2.09638849e-01 7.29950634e-03 9.77751640e-01 -1.01165640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:175.29, Y:20.67, Z:-101.17 [[ 9.83575911e-01 5.94833408e-02 1.70411737e-01 1.75294544e+02] [-7.12254901e-02 9.95428260e-01 6.36357449e-02 2.06654449e+01] [-1.65847392e-01 -7.47282452e-02 9.83315988e-01 -1.01174720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91592 meters Centerline goodness : 0.973364 Centerline is valid? [True, True] Translation: X:175.37, Y:20.70, Z:-101.20 [[ 9.73857293e-01 1.36419739e-01 1.81635977e-01 1.75373775e+02] [-1.49138081e-01 9.87099475e-01 5.82448214e-02 2.06958983e+01] [-1.71347034e-01 -8.38109851e-02 9.81639400e-01 -1.01203104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:175.36, Y:20.79, Z:-101.16 [[ 9.83503944e-01 8.78597938e-02 1.58115932e-01 1.75363361e+02] [-7.67247003e-02 9.94211505e-01 -7.52117275e-02 2.07862654e+01] [-1.63808765e-01 6.18396332e-02 9.84551953e-01 -1.01163678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:175.39, Y:20.78, Z:-101.17 [[ 9.82117538e-01 9.21188903e-02 1.64192728e-01 1.75386611e+02] [-8.06586761e-02 9.93903860e-01 -7.51617957e-02 2.07820858e+01] [-1.70115608e-01 6.05741496e-02 9.83560599e-01 -1.01165245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:175.41, Y:20.73, Z:-101.18 [[ 9.81284659e-01 8.27007266e-02 1.73899418e-01 1.75410973e+02] [-8.02085949e-02 9.96550018e-01 -2.13223649e-02 2.07256084e+01] [-1.75062843e-01 6.97508159e-03 9.84532554e-01 -1.01178584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:175.45, Y:20.79, Z:-101.18 [[ 9.71427888e-01 9.83683367e-02 2.15989651e-01 1.75453483e+02] [-7.93996447e-02 9.92322119e-01 -9.48288360e-02 2.07869316e+01] [-2.23659464e-01 7.49698743e-02 9.71779791e-01 -1.01175822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:175.46, Y:20.66, Z:-101.20 [[ 9.80918665e-01 7.01001722e-02 1.81340946e-01 1.75462854e+02] [-7.82193775e-02 9.96211415e-01 3.80071670e-02 2.06570470e+01] [-1.77989611e-01 -5.14663155e-02 9.82685563e-01 -1.01199168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:175.51, Y:20.76, Z:-101.19 [[ 9.71849217e-01 9.45288337e-02 2.15808709e-01 1.75514290e+02] [-7.94937169e-02 9.93830921e-01 -7.73359491e-02 2.07595714e+01] [-2.21787845e-01 5.80034453e-02 9.73368251e-01 -1.01191725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:175.54, Y:20.70, Z:-101.21 [[ 9.71521513e-01 8.32629163e-02 2.21840565e-01 1.75539064e+02] [-7.99129064e-02 9.96511668e-01 -2.40504248e-02 2.07031947e+01] [-2.23069220e-01 5.63758074e-03 9.74786305e-01 -1.01206728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:175.56, Y:20.64, Z:-101.22 [[ 9.80578613e-01 6.74211138e-02 1.84173770e-01 1.75557369e+02] [-7.49959795e-02 9.96587905e-01 3.44695499e-02 2.06446065e+01] [-1.81221377e-01 -4.76123957e-02 9.82289098e-01 -1.01217712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:175.60, Y:20.69, Z:-101.22 [[ 9.80034820e-01 7.77311926e-02 1.83001677e-01 1.75595047e+02] [-7.62175535e-02 9.96973803e-01 -1.53009879e-02 2.06889408e+01] [-1.83637242e-01 1.04756082e-03 9.82993523e-01 -1.01216655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:175.62, Y:20.67, Z:-101.22 [[ 9.79325182e-01 7.49427584e-02 1.87898299e-01 1.75622519e+02] [-7.67179667e-02 9.97050445e-01 2.18270244e-03 2.06678221e+01] [-1.87180505e-01 -1.65527509e-02 9.82186064e-01 -1.01224050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:175.66, Y:20.70, Z:-101.23 [[ 9.79763763e-01 8.23900131e-02 1.82413962e-01 1.75657080e+02] [-7.76664327e-02 9.96436366e-01 -3.29012587e-02 2.06953700e+01] [-1.84474641e-01 1.80680194e-02 9.82671183e-01 -1.01226917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:175.70, Y:20.73, Z:-101.23 [[ 9.70946695e-01 9.54717617e-02 2.19425747e-01 1.75698286e+02] [-7.92456977e-02 9.93508404e-01 -8.16159891e-02 2.07327215e+01] [-2.25793346e-01 6.18562285e-02 9.72209428e-01 -1.01230291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:175.72, Y:20.67, Z:-101.24 [[ 9.70040143e-01 8.46581159e-02 2.27717204e-01 1.75722136e+02] [-8.09704951e-02 9.96390127e-01 -2.55047932e-02 2.06714916e+01] [-2.29054361e-01 6.30229854e-03 9.73393230e-01 -1.01244279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33592000000002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:175.74, Y:20.61, Z:-101.25 [[ 9.78601105e-01 6.94899305e-02 1.93677637e-01 1.75741128e+02] [-7.72349621e-02 9.96475863e-01 3.27202501e-02 2.06139748e+01] [-1.90721363e-01 -4.69787578e-02 9.80519433e-01 -1.01251651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:175.78, Y:20.64, Z:-101.25 [[ 9.78823232e-01 7.70207425e-02 1.89665193e-01 1.75775573e+02] [-7.77594096e-02 9.96965814e-01 -3.55537346e-03 2.06436021e+01] [-1.89363551e-01 -1.12681713e-02 9.81842388e-01 -1.01254531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:175.81, Y:20.66, Z:-101.26 [[ 9.77412082e-01 8.34753205e-02 1.94158423e-01 1.75809025e+02] [-7.88925856e-02 9.96393796e-01 -3.12308113e-02 2.06629337e+01] [-1.96065250e-01 1.52077122e-02 9.80472918e-01 -1.01257326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:175.85, Y:20.70, Z:-101.26 [[ 9.68965981e-01 9.53282722e-02 2.28073339e-01 1.75850589e+02] [-7.98339426e-02 9.93888009e-01 -7.62441247e-02 2.06978531e+01] [-2.33947578e-01 5.56699692e-02 9.70654102e-01 -1.01261485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:175.88, Y:20.64, Z:-101.27 [[ 9.68048022e-01 8.57700398e-02 2.35640676e-01 1.75876169e+02] [-8.16518163e-02 9.96289745e-01 -2.71979013e-02 2.06443702e+01] [-2.37099154e-01 7.08838533e-03 9.71459596e-01 -1.01273736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:175.89, Y:20.56, Z:-101.28 [[ 9.78075392e-01 6.60621590e-02 1.97495111e-01 1.75891486e+02] [-7.94414736e-02 9.94995833e-01 6.05998670e-02 2.05595125e+01] [-1.92503454e-01 -7.49605413e-02 9.78429015e-01 -1.01282830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:175.95, Y:20.71, Z:-101.28 [[ 9.69046395e-01 1.02711620e-01 2.24498123e-01 1.75949562e+02] [-8.06487218e-02 9.91159337e-01 -1.05351563e-01 2.07100367e+01] [-2.33334240e-01 8.39850656e-02 9.68762944e-01 -1.01277985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:175.97, Y:20.63, Z:-101.30 [[ 9.68516084e-01 8.62208485e-02 2.33543486e-01 1.75970249e+02] [-8.21337122e-02 9.96250385e-01 -2.71886505e-02 2.06301655e+01] [-2.35012016e-01 7.15085185e-03 9.71966161e-01 -1.01296196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:176.00, Y:20.63, Z:-101.30 [[ 9.67594659e-01 8.66411884e-02 2.37179003e-01 1.76001839e+02] [-8.24059207e-02 9.96212918e-01 -2.77323977e-02 2.06260525e+01] [-2.38683555e-01 7.28876577e-03 9.71070046e-01 -1.01303247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:176.03, Y:20.62, Z:-101.31 [[ 9.67621671e-01 8.59687854e-02 2.37313444e-01 1.76034097e+02] [-8.16793919e-02 9.96268985e-01 -2.78673000e-02 2.06198664e+01] [-2.38823742e-01 7.58138562e-03 9.71033338e-01 -1.01309337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:176.07, Y:20.62, Z:-101.32 [[ 9.67843915e-01 8.51184661e-02 2.36712910e-01 1.76066391e+02] [-8.07974099e-02 9.96339593e-01 -2.79140513e-02 2.06155110e+01] [-2.38222446e-01 7.89065463e-03 9.71178564e-01 -1.01315839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:176.10, Y:20.61, Z:-101.32 [[ 9.67844909e-01 8.45420137e-02 2.36915342e-01 1.76098024e+02] [-8.01675192e-02 9.96386498e-01 -2.80555729e-02 2.06104534e+01] [-2.38431123e-01 8.16052813e-03 9.71125123e-01 -1.01323693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69592 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:176.12, Y:20.53, Z:-101.33 [[ 9.76644713e-01 6.84206887e-02 2.03675509e-01 1.76116308e+02] [-8.06085985e-02 9.95380737e-01 5.21482732e-02 2.05322836e+01] [-1.99166658e-01 -6.73483327e-02 9.77648630e-01 -1.01329761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:176.15, Y:20.60, Z:-101.33 [[ 9.76718752e-01 8.41239060e-02 1.97341450e-01 1.76154377e+02] [-8.21214536e-02 9.96453867e-01 -1.83237109e-02 2.05956845e+01] [-1.98183113e-01 1.69114525e-03 9.80163555e-01 -1.01331536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75592 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:176.18, Y:20.57, Z:-101.34 [[ 9.76466323e-01 7.94881309e-02 2.00487299e-01 1.76180667e+02] [-8.09827332e-02 9.96715223e-01 -7.48767787e-04 2.05723522e+01] [-1.99888261e-01 -1.55048629e-02 9.79696015e-01 -1.01337378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:176.21, Y:20.61, Z:-101.34 [[ 9.75236746e-01 8.98502881e-02 2.02089622e-01 1.76214938e+02] [-8.16202208e-02 9.95472331e-01 -4.87132250e-02 2.06115582e+01] [-2.05551525e-01 3.10123274e-02 9.78154797e-01 -1.01337558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81592 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:176.24, Y:20.61, Z:-101.34 [[ 9.73516320e-01 8.87931467e-02 2.10669770e-01 1.76242033e+02] [-8.03855528e-02 9.95599724e-01 -4.81596618e-02 2.06051433e+01] [-2.14019012e-01 2.99494108e-02 9.76370265e-01 -1.01343925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:176.26, Y:20.48, Z:-101.35 [[ 9.75723544e-01 6.27037867e-02 2.09837559e-01 1.76258691e+02] [-8.01759090e-02 9.93893378e-01 7.58140903e-02 2.04818302e+01] [-2.03802330e-01 -9.07975099e-02 9.74792502e-01 -1.01354779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87592 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:176.31, Y:20.61, Z:-101.35 [[ 9.75246184e-01 9.74594586e-02 1.98485601e-01 1.76307614e+02] [-8.55491006e-02 9.94028283e-01 -6.77430718e-02 2.06144317e+01] [-2.03902504e-01 4.90859077e-02 9.77759859e-01 -1.01353425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:176.31, Y:20.47, Z:-101.36 [[ 9.75573952e-01 6.51298491e-02 2.09794106e-01 1.76312390e+02] [-8.22813142e-02 9.93851880e-01 7.40825574e-02 2.04724315e+01] [-2.03679281e-01 -8.95351480e-02 9.74934976e-01 -1.01363244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93592 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:176.37, Y:20.64, Z:-101.36 [[ 9.72782214e-01 1.10379827e-01 2.03742626e-01 1.76367951e+02] [-8.89459653e-02 9.89771258e-01 -1.11541347e-01 2.06433043e+01] [-2.13970510e-01 9.03833539e-02 9.72649716e-01 -1.01355968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:176.38, Y:20.54, Z:-101.37 [[ 9.72188019e-01 8.69043062e-02 2.17481257e-01 1.76379741e+02] [-8.64237395e-02 9.96189306e-01 -1.17390176e-02 2.05424534e+01] [-2.17672673e-01 -7.38301117e-03 9.75993903e-01 -1.01371051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99592 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:176.44, Y:20.67, Z:-101.36 [[ 9.59575681e-01 1.23328179e-01 2.52991446e-01 1.76436135e+02] [-8.37384797e-02 9.83278257e-01 -1.61714985e-01 2.06744856e+01] [-2.68705003e-01 1.33992648e-01 9.53857218e-01 -1.01364167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:176.44, Y:20.49, Z:-101.39 [[ 9.69121739e-01 8.03707199e-02 2.33117142e-01 1.76438728e+02] [-8.83968540e-02 9.95792014e-01 2.41715036e-02 2.04948367e+01] [-2.30193507e-01 -4.40319516e-02 9.72148207e-01 -1.01388554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05592000000001 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:176.47, Y:20.48, Z:-101.40 [[ 9.71403962e-01 8.05476386e-02 2.23352681e-01 1.76468479e+02] [-8.95269840e-02 9.95521709e-01 3.03553288e-02 2.04822145e+01] [-2.19907393e-01 -4.94833786e-02 9.74264920e-01 -1.01397283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:176.52, Y:20.63, Z:-101.40 [[ 9.60208625e-01 1.18200737e-01 2.53037513e-01 1.76524497e+02] [-8.56919163e-02 9.87012043e-01 -1.35882751e-01 2.06322846e+01] [-2.65812514e-01 1.08792520e-01 9.57866324e-01 -1.01395689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11592000000002 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:176.54, Y:20.53, Z:-101.41 [[ 9.59053070e-01 9.50902249e-02 2.66786542e-01 1.76541248e+02] [-8.95488032e-02 9.95439245e-01 -3.28895416e-02 2.05282510e+01] [-2.68697268e-01 7.65240033e-03 9.63194279e-01 -1.01414972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:176.56, Y:20.44, Z:-101.42 [[ 9.71549593e-01 7.84124700e-02 2.23479021e-01 1.76558431e+02] [-9.38924444e-02 9.93803424e-01 5.94891852e-02 2.04393695e+01] [-2.17429523e-01 -7.87796853e-02 9.72891651e-01 -1.01421455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17592000000002 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:176.62, Y:20.60, Z:-101.42 [[ 9.60085828e-01 1.15590171e-01 2.54703976e-01 1.76615861e+02] [-8.80169821e-02 9.89206153e-01 -1.17150318e-01 2.05972242e+01] [-2.65496165e-01 9.00560850e-02 9.59896707e-01 -1.01421324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters Centerline goodness : 0.899482 Centerline is valid? [True, False] Translation: X:176.63, Y:20.57, Z:-101.43 [[ 9.63047073e-01 1.06877000e-01 2.47219826e-01 1.76630111e+02] [-8.64888425e-02 9.92001401e-01 -9.19396618e-02 2.05702403e+01] [-2.55068648e-01 6.71604656e-02 9.64587713e-01 -1.01427700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23592 meters Centerline goodness : 0.997065 Centerline is valid? [False, True] Translation: X:176.67, Y:20.55, Z:-101.44 [[ 9.68711764e-01 1.02146866e-01 2.26193582e-01 1.76666371e+02] [-8.77490524e-02 9.93475632e-01 -7.28441678e-02 2.05465373e+01] [-2.32158615e-01 5.07167298e-02 9.71354822e-01 -1.01439345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:176.69, Y:20.50, Z:-101.45 [[ 9.68451222e-01 9.43616623e-02 2.30647149e-01 1.76691797e+02] [-9.03283428e-02 9.95518105e-01 -2.80087974e-02 2.04974611e+01] [-2.32256370e-01 6.29117932e-03 9.72634258e-01 -1.01449382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29592 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:176.71, Y:20.39, Z:-101.45 [[ 9.79375333e-01 7.54814804e-02 1.87420659e-01 1.76707677e+02] [-9.15126453e-02 9.92712883e-01 7.84000523e-02 2.03932814e+01] [-1.80137151e-01 -9.39344376e-02 9.79146020e-01 -1.01451910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:176.77, Y:20.58, Z:-101.45 [[ 9.69187606e-01 1.14790311e-01 2.17941666e-01 1.76766197e+02] [-8.89759716e-02 9.88184065e-01 -1.24801963e-01 2.05794959e+01] [-2.29692538e-01 1.01564944e-01 9.67949327e-01 -1.01451401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35592 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:176.78, Y:20.48, Z:-101.47 [[ 9.68274855e-01 9.64812904e-02 2.30510662e-01 1.76784514e+02] [-9.24561267e-02 9.95316600e-01 -2.82264046e-02 2.04811171e+01] [-2.32154408e-01 6.01879492e-03 9.72660324e-01 -1.01466218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:176.82, Y:20.47, Z:-101.47 [[ 9.68001333e-01 9.78096469e-02 2.31098882e-01 1.76815662e+02] [-9.37724923e-02 9.95188025e-01 -2.84168049e-02 2.04726913e+01] [-2.32766277e-01 5.83678688e-03 9.72515189e-01 -1.01472529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41592 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:176.85, Y:20.47, Z:-101.48 [[ 9.67403830e-01 1.01732753e-01 2.31905750e-01 1.76847539e+02] [-9.77491696e-02 9.94799031e-01 -2.86354390e-02 2.04651833e+01] [-2.33612778e-01 5.03343877e-03 9.72316684e-01 -1.01479221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:176.86, Y:20.31, Z:-101.48 [[ 9.77033951e-01 6.99301614e-02 2.01281969e-01 1.76857547e+02] [-9.79390380e-02 9.86300550e-01 1.32737218e-01 2.03105159e+01] [-1.89242182e-01 -1.49402131e-01 9.70498016e-01 -1.01475323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47592 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:176.93, Y:20.60, Z:-101.48 [[ 9.67743274e-01 1.36235927e-01 2.11926230e-01 1.76934711e+02] [-9.83029841e-02 9.78694874e-01 -1.80257781e-01 2.06038457e+01] [-2.31968701e-01 1.53610275e-01 9.60517780e-01 -1.01476946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:176.95, Y:20.45, Z:-101.50 [[ 9.66334764e-01 1.10818057e-01 2.32199227e-01 1.76945015e+02] [-1.07022416e-01 9.93835885e-01 -2.89212028e-02 2.04523530e+01] [-2.33972916e-01 3.09704145e-03 9.72238182e-01 -1.01500406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53592 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:176.96, Y:20.31, Z:-101.50 [[ 9.77275499e-01 8.34951715e-02 1.94836229e-01 1.76955612e+02] [-1.07358918e-01 9.87510663e-01 1.15311550e-01 2.03146631e+01] [-1.82774896e-01 -1.33608559e-01 9.74033927e-01 -1.01496199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:177.02, Y:20.57, Z:-101.50 [[ 9.64174098e-01 1.45860786e-01 2.21569268e-01 1.77023404e+02] [-1.11715631e-01 9.80846582e-01 -1.59560645e-01 2.05726658e+01] [-2.40599100e-01 1.29091491e-01 9.62001798e-01 -1.01496669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59592 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:177.04, Y:20.45, Z:-101.52 [[ 9.63219952e-01 1.21616091e-01 2.39618137e-01 1.77037187e+02] [-1.17802520e-01 9.92576815e-01 -3.02296616e-02 2.04460921e+01] [-2.41515820e-01 8.90192985e-04 9.70396474e-01 -1.01515875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:177.07, Y:20.44, Z:-101.52 [[ 9.62964888e-01 1.23409640e-01 2.39726270e-01 1.77069800e+02] [-1.19615152e-01 9.92355648e-01 -3.03724014e-02 2.04436432e+01] [-2.41641965e-01 5.72662012e-04 9.70365309e-01 -1.01522921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65592 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:177.10, Y:20.44, Z:-101.53 [[ 9.62920821e-01 1.23783389e-01 2.39710587e-01 1.77102319e+02] [-1.19969611e-01 9.92309077e-01 -3.04957118e-02 2.04398140e+01] [-2.41641854e-01 6.06970068e-04 9.70365316e-01 -1.01530111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:177.13, Y:20.44, Z:-101.54 [[ 9.61955428e-01 1.26666434e-01 2.42068935e-01 1.77134603e+02] [-1.22841596e-01 9.91945369e-01 -3.08922030e-02 2.04370696e+01] [-2.44032164e-01 -1.92118859e-05 9.69767138e-01 -1.01536608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71592 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:177.17, Y:20.44, Z:-101.54 [[ 9.61908388e-01 1.28154792e-01 2.41471744e-01 1.77167126e+02] [-1.24362525e-01 9.91754143e-01 -3.09464366e-02 2.04365873e+01] [-2.43446537e-01 -2.62398807e-04 9.69914282e-01 -1.01542750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:177.20, Y:20.44, Z:-101.55 [[ 9.61861456e-01 1.28920480e-01 2.41251010e-01 1.77199251e+02] [-1.25126277e-01 9.91654882e-01 -3.10484944e-02 2.04351573e+01] [-2.43240529e-01 -3.22490594e-04 9.69965948e-01 -1.01550601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77592 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:177.23, Y:20.43, Z:-101.56 [[ 9.61909196e-01 1.29293975e-01 2.40860471e-01 1.77232019e+02] [-1.25491101e-01 9.91606267e-01 -3.11286948e-02 2.04334185e+01] [-2.42863505e-01 -2.82867816e-04 9.70060430e-01 -1.01557887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:177.26, Y:20.43, Z:-101.57 [[ 9.61905199e-01 1.29608396e-01 2.40707400e-01 1.77263963e+02] [-1.25787522e-01 9.91565233e-01 -3.12392038e-02 2.04313261e+01] [-2.42725953e-01 -2.28834867e-04 9.70094871e-01 -1.01566652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83592000000002 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:177.30, Y:20.43, Z:-101.57 [[ 9.61804057e-01 1.29307401e-01 2.41272776e-01 1.77296418e+02] [-1.25426159e-01 9.91604556e-01 -3.14433312e-02 2.04283465e+01] [-2.43313040e-01 -1.95940205e-05 9.69947815e-01 -1.01573172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:177.36, Y:20.33, Z:-101.61 [[ 9.77690368e-01 1.06043870e-01 1.81318068e-01 1.77360255e+02] [-1.21562282e-01 9.89615736e-01 7.67027212e-02 2.03347286e+01] [-1.71301360e-01 -9.70329498e-02 9.80428708e-01 -1.01605795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89592000000002 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:177.38, Y:20.54, Z:-101.57 [[ 9.62350645e-01 1.50187201e-01 2.26550305e-01 1.77376114e+02] [-1.16581092e-01 9.80993833e-01 -1.55112697e-01 2.05371807e+01] [-2.45540394e-01 1.22861322e-01 9.61569036e-01 -1.01571092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:177.36, Y:20.26, Z:-101.58 [[ 9.74101590e-01 8.57952345e-02 2.09201508e-01 1.77364858e+02] [-1.14515283e-01 9.84974954e-01 1.29269443e-01 2.02635786e+01] [-1.94967543e-01 -1.49878340e-01 9.69290534e-01 -1.01583031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95592 meters Centerline goodness : 0.984331 Centerline is valid? [True, True] Translation: X:177.47, Y:20.35, Z:-101.64 [[ 9.80095002e-01 1.08500765e-01 1.66256940e-01 1.77470357e+02] [-1.17539262e-01 9.92025496e-01 4.54965524e-02 2.03498941e+01] [-1.59994713e-01 -6.41326617e-02 9.85032331e-01 -1.01638529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:177.47, Y:20.52, Z:-101.60 [[ 9.64144897e-01 1.36953122e-01 2.27306972e-01 1.77465394e+02] [-1.02873348e-01 9.82451598e-01 -1.55582559e-01 2.05169745e+01] [-2.44625616e-01 1.26620301e-01 9.61314521e-01 -1.01595565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01592 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:177.48, Y:20.39, Z:-101.62 [[ 9.63470293e-01 1.10333056e-01 2.44031990e-01 1.77480230e+02] [-1.06514675e-01 9.93893069e-01 -2.88303778e-02 2.03896163e+01] [-2.45722647e-01 1.78422440e-03 9.69338536e-01 -1.01616647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:177.49, Y:20.24, Z:-101.62 [[ 9.76329815e-01 7.41247224e-02 2.03188625e-01 1.77488417e+02] [-1.00750411e-01 9.87155652e-01 1.23988196e-01 2.02429930e+01] [-1.91388209e-01 -1.41524710e-01 9.71257592e-01 -1.01615823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07592 meters Centerline goodness : 0.966047 Centerline is valid? [True, True] Translation: X:177.60, Y:20.30, Z:-101.67 [[ 9.82117001e-01 9.55649977e-02 1.62214448e-01 1.77596191e+02] [-1.08556094e-01 9.91392400e-01 7.31893658e-02 2.03012837e+01] [-1.53823830e-01 -8.94898873e-02 9.84037494e-01 -1.01673227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:177.58, Y:20.46, Z:-101.63 [[ 9.77804407e-01 1.25767050e-01 1.67574435e-01 1.77576528e+02] [-1.07674015e-01 9.87740050e-01 -1.13030524e-01 2.04627067e+01] [-1.79735496e-01 9.24783324e-02 9.79358417e-01 -1.01626504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13592 meters Centerline goodness : 0.939636 Centerline is valid? [True, False] Translation: X:177.55, Y:20.44, Z:-101.62 [[ 9.77661539e-01 1.17249859e-01 1.74443071e-01 1.77553804e+02] [-1.03282435e-01 9.90828487e-01 -8.71300676e-02 2.04383053e+01] [-1.83059152e-01 6.71668109e-02 9.80804754e-01 -1.01624834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters Centerline goodness : 0.995516 Centerline is valid? [False, True] Translation: X:177.57, Y:20.42, Z:-101.63 [[ 9.79961256e-01 1.08973442e-01 1.66735494e-01 1.77567951e+02] [-9.93114285e-02 9.92914552e-01 -6.52528368e-02 2.04161976e+01] [-1.72664925e-01 4.73865118e-02 9.83840100e-01 -1.01628498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19592 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:177.57, Y:20.34, Z:-101.64 [[ 9.88484218e-01 9.69601015e-02 1.16179559e-01 1.77573080e+02] [-9.93707893e-02 9.94935490e-01 1.51266779e-02 2.03387539e+01] [-1.14124482e-01 -2.64973368e-02 9.93113032e-01 -1.01637239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:177.62, Y:20.39, Z:-101.64 [[ 9.79719452e-01 1.08404239e-01 1.68517997e-01 1.77623559e+02] [-1.03857040e-01 9.93955130e-01 -3.55937526e-02 2.03852866e+01] [-1.71357842e-01 1.73701115e-02 9.85055719e-01 -1.01639279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25592 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:177.64, Y:20.30, Z:-101.64 [[ 9.86966543e-01 9.52745712e-02 1.29691169e-01 1.77642177e+02] [-1.02542640e-01 9.93443204e-01 5.05530171e-02 2.03047553e+01] [-1.24024393e-01 -6.31930114e-02 9.90264911e-01 -1.01641902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:177.68, Y:20.37, Z:-101.64 [[ 9.86556259e-01 1.05919769e-01 1.24449793e-01 1.77679877e+02] [-1.04500207e-01 9.94363794e-01 -1.78983861e-02 2.03681695e+01] [-1.25644161e-01 4.65273580e-03 9.92064462e-01 -1.01643626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31592 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:177.71, Y:20.36, Z:-101.65 [[ 9.86384222e-01 1.05560810e-01 1.26107426e-01 1.77710449e+02] [-1.04388967e-01 9.94409699e-01 -1.58837838e-02 2.03630663e+01] [-1.27079152e-01 2.50328976e-03 9.91889421e-01 -1.01648082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:177.73, Y:20.32, Z:-101.65 [[ 9.84946879e-01 9.71141417e-02 1.42998215e-01 1.77731907e+02] [-1.01987709e-01 9.94415426e-01 2.71379259e-02 2.03158061e+01] [-1.39564154e-01 -4.13134757e-02 9.89350819e-01 -1.01654614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37592 meters Centerline goodness : 0.954225 Centerline is valid? [True, True] Translation: X:177.83, Y:20.30, Z:-101.71 [[ 9.84126838e-01 1.31953247e-01 1.18670579e-01 1.77830983e+02] [-1.40166525e-01 9.88075348e-01 6.37216818e-02 2.02971008e+01] [-1.08847191e-01 -7.93438599e-02 9.90886896e-01 -1.01709732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:177.80, Y:20.43, Z:-101.66 [[ 9.80574629e-01 1.10593262e-01 1.61995455e-01 1.77804141e+02] [-9.25784315e-02 9.89060785e-01 -1.14839007e-01 2.04332444e+01] [-1.72923772e-01 9.76109312e-02 9.80086463e-01 -1.01659275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43592 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:177.82, Y:20.34, Z:-101.67 [[ 9.80185964e-01 9.71266038e-02 1.72632265e-01 1.77824951e+02] [-9.52697923e-02 9.95269591e-01 -1.90291310e-02 2.03359924e+01] [-1.73663879e-01 2.20544709e-03 9.84802515e-01 -1.01672966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:177.84, Y:20.22, Z:-101.67 [[ 9.87817419e-01 7.68594225e-02 1.35312143e-01 1.77839326e+02] [-9.09163622e-02 9.90726942e-01 1.00967034e-01 2.02186028e+01] [-1.26297118e-01 -1.12039083e-01 9.85645110e-01 -1.01672682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49592 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:177.89, Y:20.36, Z:-101.68 [[ 9.86655974e-01 1.00831577e-01 1.27839675e-01 1.77887190e+02] [-9.55519322e-02 9.94323881e-01 -4.67958020e-02 2.03574373e+01] [-1.31832537e-01 3.39560296e-02 9.90690249e-01 -1.01676345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:177.90, Y:20.29, Z:-101.68 [[ 9.85737498e-01 9.05726077e-02 1.41838601e-01 1.77904259e+02] [-9.47336922e-02 9.95240371e-01 2.28501759e-02 2.02853894e+01] [-1.39093902e-01 -3.59611696e-02 9.89626031e-01 -1.01682499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55592000000001 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:177.95, Y:20.37, Z:-101.68 [[ 9.86109293e-01 1.06216312e-01 1.27697128e-01 1.77947011e+02] [-9.75842215e-02 9.92614346e-01 -7.20699656e-02 2.03729535e+01] [-1.34409007e-01 5.86076380e-02 9.89191267e-01 -1.01679390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:177.98, Y:20.37, Z:-101.69 [[ 9.79162180e-01 1.05559397e-01 1.73489591e-01 1.77978603e+02] [-9.39246407e-02 9.92826839e-01 -7.39799213e-02 2.03656274e+01] [-1.80054398e-01 5.61433936e-02 9.82053121e-01 -1.01687270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61592000000002 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:178.00, Y:20.31, Z:-101.70 [[ 9.78467100e-01 9.93250532e-02 1.80932770e-01 1.78004816e+02] [-9.72570129e-02 9.95052486e-01 -2.02884961e-02 2.03080906e+01] [-1.82052759e-01 2.25464514e-03 9.83286179e-01 -1.01696235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters Centerline goodness : 0.747974 Centerline is valid? [True, False] Translation: X:178.03, Y:20.30, Z:-101.70 [[ 9.81635414e-01 9.47129814e-02 1.65593979e-01 1.78025997e+02] [-9.29212585e-02 9.95500617e-01 -1.85516010e-02 2.03032177e+01] [-1.66605986e-01 2.82370754e-03 9.86019509e-01 -1.01698490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67592000000002 meters Centerline goodness : 0.996821 Centerline is valid? [False, True] Translation: X:178.05, Y:20.30, Z:-101.70 [[ 9.84717206e-01 9.00081992e-02 1.49099123e-01 1.78049896e+02] [-8.84754624e-02 9.95935066e-01 -1.68948791e-02 2.02975235e+01] [-1.50013723e-01 3.44506425e-03 9.88677912e-01 -1.01702563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:178.08, Y:20.27, Z:-101.71 [[ 9.85635691e-01 8.91998494e-02 1.43407363e-01 1.78077791e+02] [-9.11212063e-02 9.95816090e-01 6.87320253e-03 2.02730559e+01] [-1.42194271e-01 -1.98419256e-02 9.89639878e-01 -1.01706839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73592 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:178.12, Y:20.34, Z:-101.71 [[ 9.76971313e-01 1.03653550e-01 1.86501998e-01 1.78117850e+02] [-9.26951336e-02 9.93466535e-01 -6.65721938e-02 2.03376060e+01] [-1.92183938e-01 4.77512960e-02 9.80196484e-01 -1.01709441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:178.15, Y:20.29, Z:-101.72 [[ 9.76419250e-01 1.00782065e-01 1.90914701e-01 1.78145070e+02] [-9.89321929e-02 9.94908519e-01 -1.92213462e-02 2.02903395e+01] [-1.91879830e-01 -1.19517595e-04 9.81418421e-01 -1.01716554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79592 meters Centerline goodness : 0.955484 Centerline is valid? [True, True] Translation: X:178.21, Y:20.28, Z:-101.74 [[ 9.67766265e-01 1.85768785e-01 1.70054152e-01 1.78211634e+02] [-1.94156480e-01 9.80382870e-01 3.39512843e-02 2.02780862e+01] [-1.60411089e-01 -6.58740233e-02 9.84849682e-01 -1.01741072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:178.20, Y:20.33, Z:-101.72 [[ 9.84384597e-01 1.14508924e-01 1.33696188e-01 1.78203711e+02] [-1.07408917e-01 9.92451704e-01 -5.91856315e-02 2.03319890e+01] [-1.39464292e-01 4.39012613e-02 9.89253451e-01 -1.01722340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:178.24, Y:20.36, Z:-101.72 [[ 9.75045799e-01 1.20423469e-01 1.86504362e-01 1.78237823e+02] [-1.04316543e-01 9.90098902e-01 -9.39266906e-02 2.03575495e+01] [-1.95968742e-01 7.21273348e-02 9.77953935e-01 -1.01724518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:178.25, Y:20.22, Z:-101.73 [[ 9.83487440e-01 9.75399055e-02 1.52441538e-01 1.78250635e+02] [-1.07283388e-01 9.92591154e-01 5.70357465e-02 2.02160645e+01] [-1.45748861e-01 -7.24483850e-02 9.86665344e-01 -1.01733280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:178.29, Y:20.29, Z:-101.73 [[ 9.83373552e-01 1.12334568e-01 1.42679370e-01 1.78290913e+02] [-1.10183296e-01 9.93647080e-01 -2.29155522e-02 2.02933826e+01] [-1.44347148e-01 6.81366469e-03 9.89503651e-01 -1.01734617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters Centerline goodness : 0.808650 Centerline is valid? [True, False] Translation: X:178.32, Y:20.29, Z:-101.74 [[ 9.87292151e-01 1.00855128e-01 1.22810637e-01 1.78324724e+02] [-9.97248652e-02 9.94896926e-01 -1.53315727e-02 2.02885166e+01] [-1.23730193e-01 2.88946719e-03 9.92311690e-01 -1.01739605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97592 meters Centerline goodness : 0.998707 Centerline is valid? [False, True] Translation: X:178.35, Y:20.29, Z:-101.74 [[ 9.90131697e-01 9.34680026e-02 1.04417214e-01 1.78347874e+02] [-9.25885078e-02 9.95616304e-01 -1.32492606e-02 2.02873436e+01] [-1.05197863e-01 3.45067886e-03 9.94445324e-01 -1.01742530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:178.38, Y:20.35, Z:-101.74 [[ 9.85169664e-01 1.01557268e-01 1.38299869e-01 1.78384522e+02] [-9.19214906e-02 9.92984533e-01 -7.43784695e-02 2.03451120e+01] [-1.44883305e-01 6.05626817e-02 9.87593535e-01 -1.01743484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:178.41, Y:20.29, Z:-101.75 [[ 9.84771218e-01 9.33527389e-02 1.46665993e-01 1.78412503e+02] [-9.09378204e-02 9.95588623e-01 -2.30999459e-02 2.02945294e+01] [-1.48175438e-01 9.41067612e-03 9.88916315e-01 -1.01751507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:178.44, Y:20.22, Z:-101.75 [[ 9.89812988e-01 8.26003207e-02 1.15963078e-01 1.78435201e+02] [-8.95150395e-02 9.94424722e-01 5.57362559e-02 2.02213267e+01] [-1.10712719e-01 -6.55489095e-02 9.91688476e-01 -1.01753439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:178.47, Y:20.29, Z:-101.76 [[ 9.89578515e-01 8.92611109e-02 1.12990337e-01 1.78472798e+02] [-8.84948000e-02 9.96006864e-01 -1.17897366e-02 2.02888515e+01] [-1.13591516e-01 1.66781271e-03 9.93526137e-01 -1.01755274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:178.50, Y:20.30, Z:-101.76 [[ 9.89294614e-01 8.70153999e-02 1.17151558e-01 1.78503692e+02] [-8.48828721e-02 9.96123580e-01 -2.30805594e-02 2.02993266e+01] [-1.18705794e-01 1.28893123e-02 9.92845809e-01 -1.01759393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:178.53, Y:20.29, Z:-101.76 [[ 9.88864322e-01 8.49553688e-02 1.22188129e-01 1.78533771e+02] [-8.38942588e-02 9.96378931e-01 -1.38123091e-02 2.02885784e+01] [-1.22919107e-01 3.40761713e-03 9.92410843e-01 -1.01763049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:178.56, Y:20.27, Z:-101.77 [[ 9.89454331e-01 8.13704197e-02 1.19828965e-01 1.78562873e+02] [-8.22283093e-02 9.96611037e-01 2.22399077e-03 2.02714565e+01] [-1.19241902e-01 -1.20538705e-02 9.92792059e-01 -1.01767546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:178.59, Y:20.26, Z:-101.77 [[ 9.90382342e-01 8.15494288e-02 1.11769885e-01 1.78593444e+02] [-8.33270663e-02 9.96457972e-01 1.13185827e-02 2.02634915e+01] [-1.10450969e-01 -2.05231811e-02 9.93669655e-01 -1.01770338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:178.63, Y:20.31, Z:-101.77 [[ 9.88260859e-01 8.64312426e-02 1.25976644e-01 1.78626679e+02] [-8.20826399e-02 9.95849559e-01 -3.93204210e-02 2.03088517e+01] [-1.28852298e-01 2.85183376e-02 9.91253645e-01 -1.01770849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:178.66, Y:20.32, Z:-101.77 [[ 9.82159182e-01 8.77394492e-02 1.66328383e-01 1.78660004e+02] [-7.92608804e-02 9.95225354e-01 -5.69579455e-02 2.03213346e+01] [-1.70531683e-01 4.27584350e-02 9.84424025e-01 -1.01774013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:178.68, Y:20.19, Z:-101.78 [[ 9.90125417e-01 6.77058829e-02 1.22750038e-01 1.78675643e+02] [-7.79645458e-02 9.93677329e-01 8.07892013e-02 2.01910933e+01] [-1.16504026e-01 -8.95615926e-02 9.89143838e-01 -1.01780393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33592000000002 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:178.73, Y:20.36, Z:-101.77 [[ 9.81533817e-01 9.48775425e-02 1.66101227e-01 1.78725345e+02] [-7.85588605e-02 9.91655707e-01 -1.02212841e-01 2.03620460e+01] [-1.74412933e-01 8.72766364e-02 9.80797083e-01 -1.01773960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:178.75, Y:20.28, Z:-101.79 [[ 9.81646313e-01 8.25703202e-02 1.71908867e-01 1.78748964e+02] [-8.11715048e-02 9.96584807e-01 -1.51627909e-02 2.02766024e+01] [-1.72573761e-01 9.30396346e-04 9.84996158e-01 -1.01789275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:178.78, Y:20.28, Z:-101.80 [[ 9.81757120e-01 8.26864714e-02 1.71218880e-01 1.78781747e+02] [-8.12851529e-02 9.96575112e-01 -1.51910926e-02 2.02778506e+01] [-1.71888573e-01 9.96410463e-04 9.85115895e-01 -1.01795242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:178.81, Y:20.28, Z:-101.80 [[ 9.81974933e-01 8.22649603e-02 1.70169642e-01 1.78814199e+02] [-8.08592841e-02 9.96609827e-01 -1.51864794e-02 2.02767522e+01] [-1.70842053e-01 1.15294663e-03 9.85297754e-01 -1.01799829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:178.85, Y:20.27, Z:-101.80 [[ 9.81720015e-01 8.19685956e-02 1.71775904e-01 1.78847189e+02] [-8.05155808e-02 9.96634054e-01 -1.54208851e-02 2.02748286e+01] [-1.72461744e-01 1.30835486e-03 9.85015348e-01 -1.01804994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:178.88, Y:20.27, Z:-101.81 [[ 9.81711003e-01 8.14968145e-02 1.72051665e-01 1.78879924e+02] [-8.00161817e-02 9.96672497e-01 -1.55352615e-02 2.02740822e+01] [-1.72745237e-01 1.48421984e-03 9.84965421e-01 -1.01809782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:178.91, Y:20.27, Z:-101.81 [[ 9.81485285e-01 8.23027192e-02 1.72953456e-01 1.78913089e+02] [-8.08029248e-02 9.96606335e-01 -1.57067096e-02 2.02724384e+01] [-1.73659214e-01 1.44075930e-03 9.84804753e-01 -1.01814763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:178.95, Y:20.27, Z:-101.82 [[ 9.81467004e-01 8.25360831e-02 1.72945988e-01 1.78946116e+02] [-8.10254658e-02 9.96586974e-01 -1.57885367e-02 2.02695843e+01] [-1.73658843e-01 1.48289855e-03 9.84804756e-01 -1.01819769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:178.98, Y:20.27, Z:-101.82 [[ 9.81472328e-01 8.24659519e-02 1.72949229e-01 1.78978494e+02] [-8.09459509e-02 9.96592689e-01 -1.58355947e-02 2.02692109e+01] [-1.73665835e-01 1.54265817e-03 9.84803431e-01 -1.01824679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:179.01, Y:20.27, Z:-101.83 [[ 9.81209199e-01 8.26481219e-02 1.74349636e-01 1.79011710e+02] [-8.10897677e-02 9.96577482e-01 -1.60552744e-02 2.02686833e+01] [-1.75079860e-01 1.61561145e-03 9.84552910e-01 -1.01829285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63592 meters Centerline goodness : 0.915755 Centerline is valid? [True, False] Translation: X:179.05, Y:20.27, Z:-101.83 [[ 9.84953990e-01 7.99965652e-02 1.53186770e-01 1.79045996e+02] [-7.88672110e-02 9.96794463e-01 -1.34447580e-02 2.02691421e+01] [-1.53771258e-01 1.16105473e-03 9.88105790e-01 -1.01834284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:179.07, Y:20.27, Z:-101.84 [[ 9.87658791e-01 7.66967842e-02 1.36556639e-01 1.79070525e+02] [-7.61380433e-02 9.97053748e-01 -9.31780684e-03 2.02656632e+01] [-1.36868954e-01 -1.19434144e-03 9.90588443e-01 -1.01836418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.09, Y:20.19, Z:-101.85 [[ 9.86734942e-01 6.33930412e-02 1.49450583e-01 1.79086496e+02] [-7.39429295e-02 9.95068131e-01 6.61200306e-02 2.01924628e+01] [-1.44521963e-01 -7.62937585e-02 9.86555961e-01 -1.01845104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:179.14, Y:20.36, Z:-101.83 [[ 9.85425690e-01 9.44810563e-02 1.41455078e-01 1.79138648e+02] [-7.93552710e-02 9.90868430e-01 -1.09006855e-01 2.03606203e+01] [-1.50462454e-01 9.61929491e-02 9.83924777e-01 -1.01829734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.17, Y:20.33, Z:-101.84 [[ 9.76703694e-01 8.67664272e-02 1.96268902e-01 1.79165964e+02] [-7.27511926e-02 9.94331520e-01 -7.75376780e-02 2.03260966e+01] [-2.01884023e-01 6.14525398e-02 9.77479630e-01 -1.01843475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.18, Y:20.19, Z:-101.86 [[ 9.86283824e-01 5.94810720e-02 1.53968242e-01 1.79181827e+02] [-7.07368832e-02 9.95127421e-01 6.86855791e-02 2.01886896e+01] [-1.49132528e-01 -7.86347092e-02 9.85685585e-01 -1.01858267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.23, Y:20.34, Z:-101.85 [[ 9.76962797e-01 8.41926181e-02 1.96100220e-01 1.79231561e+02] [-6.59745057e-02 9.93030627e-01 -9.76603229e-02 2.03417356e+01] [-2.02955802e-01 8.24728872e-02 9.75708545e-01 -1.01851552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.24, Y:20.18, Z:-101.87 [[ 9.86816099e-01 5.15669064e-02 1.53410694e-01 1.79242755e+02] [-6.35171126e-02 9.95230341e-01 7.40415103e-02 2.01772523e+01] [-1.48860885e-01 -8.28095587e-02 9.85384703e-01 -1.01868968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:179.28, Y:20.24, Z:-101.87 [[ 9.86515514e-01 6.22999731e-02 1.51346802e-01 1.79278871e+02] [-6.49543248e-02 9.97808012e-01 1.26533018e-02 2.02351300e+01] [-1.50226752e-01 -2.23133079e-02 9.88399737e-01 -1.01871178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:179.31, Y:20.21, Z:-101.87 [[ 9.85327171e-01 5.57651543e-02 1.61309063e-01 1.79305468e+02] [-6.14780178e-02 9.97638030e-01 3.06400806e-02 2.02141066e+01] [-1.59219407e-01 -4.01074654e-02 9.86428189e-01 -1.01874784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.34, Y:20.28, Z:-101.87 [[ 9.84805839e-01 6.97695865e-02 1.59027243e-01 1.79337414e+02] [-6.39310683e-02 9.97089173e-01 -4.15451455e-02 2.02806527e+01] [-1.61462930e-01 3.07471203e-02 9.86399684e-01 -1.01870096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:20.23, Z:-101.88 [[ 9.83331033e-01 6.08890831e-02 1.71326003e-01 1.79363383e+02] [-6.32180851e-02 9.97966327e-01 8.16601243e-03 2.02280827e+01] [-1.70480361e-01 -1.88607953e-02 9.85180550e-01 -1.01882245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:179.40, Y:20.29, Z:-101.88 [[ 9.85153276e-01 7.23093416e-02 1.55706075e-01 1.79398912e+02] [-6.41543805e-02 9.96323152e-01 -5.67837381e-02 2.02888009e+01] [-1.59239562e-01 4.59514588e-02 9.86169978e-01 -1.01879060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.42, Y:20.27, Z:-101.88 [[ 9.83448860e-01 7.12890505e-02 1.66571940e-01 1.79422481e+02] [-6.47631807e-02 9.96917170e-01 -4.42931882e-02 2.02737888e+01] [-1.69216047e-01 3.27723568e-02 9.85033960e-01 -1.01883392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:179.46, Y:20.32, Z:-101.89 [[ 9.72823250e-01 8.17688143e-02 2.16630529e-01 1.79460925e+02] [-6.19146293e-02 9.93365219e-01 -9.69129572e-02 2.03175406e+01] [-2.23117690e-01 8.08665791e-02 9.71431466e-01 -1.01885541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.48, Y:20.24, Z:-101.90 [[ 9.72063178e-01 6.85450363e-02 2.24487762e-01 1.79484536e+02] [-6.57043152e-02 9.97636487e-01 -2.01092648e-02 2.02419004e+01] [-2.25335572e-01 4.79766118e-03 9.74269399e-01 -1.01902027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.51, Y:20.18, Z:-101.91 [[ 9.81785440e-01 5.78246468e-02 1.80979723e-01 1.79507403e+02] [-6.85407789e-02 9.96211494e-01 5.35240128e-02 2.01752045e+01] [-1.77199073e-01 -6.49535877e-02 9.82029287e-01 -1.01908524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:179.54, Y:20.23, Z:-101.91 [[ 9.81638829e-01 7.39472857e-02 1.75832331e-01 1.79543519e+02] [-7.39642718e-02 9.97239928e-01 -6.46630039e-03 2.02324105e+01] [-1.75825186e-01 -6.65773878e-03 9.84398892e-01 -1.01909124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17592000000002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:179.58, Y:20.27, Z:-101.91 [[ 9.80272661e-01 8.48282771e-02 1.78520795e-01 1.79578704e+02] [-7.82396790e-02 9.95978892e-01 -4.36417233e-02 2.02669141e+01] [-1.81504996e-01 2.88133785e-02 9.82967815e-01 -1.01910061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:179.60, Y:20.22, Z:-101.92 [[ 9.80661430e-01 7.65302002e-02 1.80128535e-01 1.79602757e+02] [-7.91366552e-02 9.96836918e-01 7.31775508e-03 2.02178614e+01] [-1.78998744e-01 -2.14310099e-02 9.83615861e-01 -1.01922432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:179.64, Y:20.27, Z:-101.92 [[ 9.78907546e-01 8.98058923e-02 1.83507268e-01 1.79639914e+02] [-8.20972397e-02 9.95409310e-01 -4.91970368e-02 2.02732622e+01] [-1.87083026e-01 3.30939104e-02 9.81786501e-01 -1.01919938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:179.66, Y:20.23, Z:-101.93 [[ 9.79670161e-01 8.05627960e-02 1.83728089e-01 1.79664770e+02] [-8.12770802e-02 9.96684854e-01 -3.65207256e-03 2.02294187e+01] [-1.83413225e-01 -1.13550561e-02 9.82970321e-01 -1.01930849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:179.70, Y:20.27, Z:-101.93 [[ 9.75465469e-01 9.18171282e-02 2.00091813e-01 1.79701195e+02] [-8.33292469e-02 9.95243953e-01 -5.04550312e-02 2.02738111e+01] [-2.03772803e-01 3.25436405e-02 9.78477162e-01 -1.01934698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:179.73, Y:20.25, Z:-101.95 [[ 9.74563561e-01 8.67593080e-02 2.06636609e-01 1.79729325e+02] [-8.38511354e-02 9.96217249e-01 -2.28074687e-02 2.02461430e+01] [-2.07833714e-01 4.90061362e-03 9.78151896e-01 -1.01946437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.76, Y:20.26, Z:-101.95 [[ 9.73780830e-01 9.02209839e-02 2.08832634e-01 1.79762902e+02] [-8.45390328e-02 9.95769824e-01 -3.59945836e-02 2.02568923e+01] [-2.11196702e-01 1.73963266e-02 9.77288760e-01 -1.01952207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.79, Y:20.24, Z:-101.96 [[ 9.72991251e-01 8.59481185e-02 2.14245061e-01 1.79793692e+02] [-8.36182822e-02 9.96298518e-01 -1.99310359e-02 2.02397091e+01] [-2.15165072e-01 1.47791952e-03 9.76576575e-01 -1.01961284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:179.83, Y:20.24, Z:-101.97 [[ 9.72566875e-01 8.58119826e-02 2.16217432e-01 1.79826184e+02] [-8.34088725e-02 9.96309994e-01 -2.02325474e-02 2.02384970e+01] [-2.17155783e-01 1.64305317e-03 9.76135578e-01 -1.01967528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:179.86, Y:20.24, Z:-101.97 [[ 9.71571757e-01 8.79380332e-02 2.19807243e-01 1.79860091e+02] [-8.48309021e-02 9.96116934e-01 -2.35536164e-02 2.02434474e+01] [-2.21024975e-01 4.23758178e-03 9.75258942e-01 -1.01974419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.87, Y:20.13, Z:-101.99 [[ 9.79567291e-01 6.20135094e-02 1.91317139e-01 1.79873550e+02] [-8.18492600e-02 9.91856450e-01 9.75780773e-02 2.01274552e+01] [-1.83707979e-01 -1.11243459e-01 9.76665895e-01 -1.01987968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:179.94, Y:20.35, Z:-101.96 [[ 9.70854846e-01 1.11869392e-01 2.11957798e-01 1.79935458e+02] [-8.28285701e-02 9.86499131e-01 -1.41275948e-01 2.03539356e+01] [-2.24900638e-01 1.19602277e-01 9.67013443e-01 -1.01964569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:179.94, Y:20.14, Z:-102.00 [[ 9.80262553e-01 6.46885188e-02 1.86817350e-01 1.79936658e+02] [-8.09424767e-02 9.93444586e-01 8.07228028e-02 2.01432231e+01] [-1.80370846e-01 -9.42509997e-02 9.79072575e-01 -1.01997997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:179.97, Y:20.17, Z:-102.00 [[ 9.80121488e-01 6.90634944e-02 1.85989522e-01 1.79971243e+02] [-7.92410135e-02 9.95706597e-01 4.78459377e-02 2.01745736e+01] [-1.81886586e-01 -6.16328299e-02 9.81386093e-01 -1.02002567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59592 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:180.01, Y:20.23, Z:-102.00 [[ 9.80169953e-01 8.27538631e-02 1.80051828e-01 1.80006264e+02] [-8.15607920e-02 9.96569582e-01 -1.40323210e-02 2.02333252e+01] [-1.80595404e-01 -9.31110288e-04 9.83557031e-01 -1.01998546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters Centerline goodness : 0.970533 Centerline is valid? [True, True] Translation: X:180.01, Y:20.32, Z:-101.99 [[ 9.70180860e-01 1.52743062e-01 1.88198450e-01 1.80012515e+02] [-1.39458064e-01 9.86827310e-01 -8.19957897e-02 2.03235636e+01] [-1.98243658e-01 5.33049542e-02 9.78702219e-01 -1.01994602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65592 meters Centerline goodness : 0.848607 Centerline is valid? [True, False] Translation: X:180.03, Y:20.30, Z:-102.00 [[ 9.72934616e-01 1.44141294e-01 1.80614284e-01 1.80027869e+02] [-1.35329345e-01 9.88966324e-01 -6.02625713e-02 2.03043197e+01] [-1.87307769e-01 3.41891290e-02 9.81706118e-01 -1.01999970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters Centerline goodness : 0.995432 Centerline is valid? [False, True] Translation: X:180.02, Y:20.29, Z:-102.00 [[ 9.74706660e-01 1.38713547e-01 1.75229789e-01 1.80023450e+02] [-1.32574925e-01 9.90089916e-01 -4.63232982e-02 2.02928680e+01] [-1.79918916e-01 2.19205511e-02 9.83437173e-01 -1.02001740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.01, Y:20.22, Z:-102.05 [[ 9.77883202e-01 1.03756918e-01 1.81601061e-01 1.80008810e+02] [-1.09261208e-01 9.93800730e-01 2.05450260e-02 2.02218875e+01] [-1.78343578e-01 -3.99325870e-02 9.83157646e-01 -1.02047584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:180.10, Y:20.39, Z:-101.99 [[ 9.59125653e-01 1.72031511e-01 2.24684538e-01 1.80099891e+02] [-1.36611607e-01 9.76828319e-01 -1.64753462e-01 2.03915319e+01] [-2.47821007e-01 1.27324756e-01 9.60402600e-01 -1.01987845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77592 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:180.07, Y:20.12, Z:-102.03 [[ 9.72252923e-01 1.05904002e-01 2.08587143e-01 1.80072237e+02] [-1.33690813e-01 9.83242616e-01 1.23938394e-01 2.01182435e+01] [-1.91966196e-01 -1.48385651e-01 9.70118899e-01 -1.02029465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:180.18, Y:20.41, Z:-101.99 [[ 9.63254497e-01 1.76307398e-01 2.02623978e-01 1.80177410e+02] [-1.37159530e-01 9.71507883e-01 -1.93286566e-01 2.04121011e+01] [-2.30928643e-01 1.58392345e-01 9.59991576e-01 -1.01993050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83592000000002 meters Centerline goodness : 0.945873 Centerline is valid? [True, False] Translation: X:180.17, Y:20.38, Z:-102.00 [[ 9.64443810e-01 1.68152312e-01 2.03894428e-01 1.80166739e+02] [-1.38480074e-01 9.78623952e-01 -1.52047461e-01 2.03756613e+01] [-2.25103103e-01 1.18405917e-01 9.67113557e-01 -1.02000851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters Centerline goodness : 0.992755 Centerline is valid? [False, True] Translation: X:180.19, Y:20.34, Z:-102.01 [[ 9.69832633e-01 1.58190437e-01 1.85473583e-01 1.80192294e+02] [-1.38784239e-01 9.83809215e-01 -1.13394723e-01 2.03388981e+01] [-2.00408581e-01 8.42330925e-02 9.76084621e-01 -1.02012645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89592000000002 meters Centerline goodness : 0.917884 Centerline is valid? [True, False] Translation: X:180.19, Y:20.32, Z:-102.02 [[ 9.70893743e-01 1.57447311e-01 1.80487349e-01 1.80189590e+02] [-1.42966287e-01 9.85563357e-01 -9.06945952e-02 2.03207404e+01] [-1.92161338e-01 6.22512089e-02 9.79386955e-01 -1.02015926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters Centerline goodness : 0.996722 Centerline is valid? [False, True] Translation: X:180.19, Y:20.30, Z:-102.02 [[ 9.72155262e-01 1.54806794e-01 1.75923289e-01 1.80185611e+02] [-1.44232208e-01 9.86960030e-01 -7.14630693e-02 2.03049300e+01] [-1.84692223e-01 4.40993945e-02 9.81806512e-01 -1.02018663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95592 meters Centerline goodness : 0.890914 Centerline is valid? [True, False] Translation: X:180.18, Y:20.29, Z:-102.02 [[ 9.73448612e-01 1.51393368e-01 1.71691143e-01 1.80180715e+02] [-1.44156214e-01 9.88083843e-01 -5.39379830e-02 2.02906341e+01] [-1.77811098e-01 2.77555093e-02 9.83673139e-01 -1.02020980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters Centerline goodness : 0.948825 Centerline is valid? [False, False] Translation: X:180.17, Y:20.28, Z:-102.02 [[ 9.75028258e-01 1.45683921e-01 1.67618887e-01 1.80174333e+02] [-1.40714282e-01 9.89191868e-01 -4.12181983e-02 2.02809657e+01] [-1.71812068e-01 1.66025367e-02 9.84989832e-01 -1.02022492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01592 meters Centerline goodness : 0.985598 Centerline is valid? [False, True] Translation: X:180.20, Y:20.27, Z:-102.03 [[ 9.78993458e-01 1.38391696e-01 1.49731584e-01 1.80197297e+02] [-1.35176910e-01 9.90320983e-01 -3.14889477e-02 2.02712435e+01] [-1.52640139e-01 1.05872210e-02 9.88225126e-01 -1.02025356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:180.15, Y:20.30, Z:-102.01 [[ 9.70062338e-01 1.89677207e-01 1.51662844e-01 1.80153823e+02] [-1.83417388e-01 9.81529825e-01 -5.43807273e-02 2.03044004e+01] [-1.59176390e-01 2.49350927e-02 9.86935215e-01 -1.02009611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07592 meters Centerline goodness : 0.882592 Centerline is valid? [True, False] Translation: X:180.16, Y:20.30, Z:-102.01 [[ 9.73596408e-01 1.72202815e-01 1.49854014e-01 1.80161827e+02] [-1.66890887e-01 9.84834144e-01 -4.74251124e-02 2.02952877e+01] [-1.55748087e-01 2.11636497e-02 9.87570065e-01 -1.02011959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters Centerline goodness : 0.998907 Centerline is valid? [False, True] Translation: X:180.17, Y:20.28, Z:-102.01 [[ 9.76811594e-01 1.55468683e-01 1.47202578e-01 1.80171028e+02] [-1.51369809e-01 9.87718596e-01 -3.87189245e-02 2.02848264e+01] [-1.51414304e-01 1.55390682e-02 9.88348241e-01 -1.02014086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13592 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:180.23, Y:20.31, Z:-102.01 [[ 9.61597821e-01 1.69110710e-01 2.16174003e-01 1.80232075e+02] [-1.55733268e-01 9.84745231e-01 -7.76142983e-02 2.03126926e+01] [-2.26001727e-01 4.09682562e-02 9.73265031e-01 -1.02005052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:180.26, Y:20.27, Z:-102.02 [[ 9.61430244e-01 1.61375517e-01 2.22732641e-01 1.80256646e+02] [-1.56297565e-01 9.86885000e-01 -4.03617111e-02 2.02720340e+01] [-2.26324894e-01 3.99240031e-03 9.74043686e-01 -1.02017009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19592 meters Centerline goodness : 0.891048 Centerline is valid? [True, False] Translation: X:180.30, Y:20.26, Z:-102.02 [[ 9.66901569e-01 1.57243673e-01 2.00937261e-01 1.80296937e+02] [-1.53498300e-01 9.87557358e-01 -3.41867856e-02 2.02624348e+01] [-2.03812726e-01 2.21172859e-03 9.79007396e-01 -1.02023818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters Centerline goodness : 0.993009 Centerline is valid? [False, True] Translation: X:180.32, Y:20.25, Z:-102.03 [[ 9.71631572e-01 1.50732379e-01 1.82241156e-01 1.80323169e+02] [-1.48159814e-01 9.88574603e-01 -2.77294585e-02 2.02544559e+01] [-1.84338706e-01 -5.79984622e-05 9.82862777e-01 -1.02026727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25592 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:180.34, Y:20.19, Z:-102.04 [[ 9.80291098e-01 1.42137876e-01 1.37208555e-01 1.80340959e+02] [-1.48898556e-01 9.88031617e-01 4.02833017e-02 2.01937972e+01] [-1.29840607e-01 -5.99195178e-02 9.89722723e-01 -1.02036220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters Centerline goodness : 0.913072 Centerline is valid? [True, False] Translation: X:180.33, Y:20.21, Z:-102.03 [[ 9.81903209e-01 1.29975583e-01 1.37740468e-01 1.80333926e+02] [-1.33665242e-01 9.90865866e-01 1.78448687e-02 2.02148907e+01] [-1.34162931e-01 -3.59330468e-02 9.90307591e-01 -1.02034064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31592 meters Centerline goodness : 0.926194 Centerline is valid? [False, False] Translation: X:180.33, Y:20.23, Z:-102.03 [[ 9.83101904e-01 1.20904508e-01 1.37450885e-01 1.80331039e+02] [-1.22319629e-01 9.92489009e-01 1.86440931e-03 2.02290368e+01] [-1.36193077e-01 -1.86458456e-02 9.90506829e-01 -1.02033360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters Centerline goodness : 0.904684 Centerline is valid? [False, False] Translation: X:180.33, Y:20.24, Z:-102.03 [[ 9.83808264e-01 1.14947776e-01 1.37507483e-01 1.80328613e+02] [-1.14819478e-01 9.93346582e-01 -8.89136704e-03 2.02386074e+01] [-1.37614631e-01 -7.04113699e-03 9.90460820e-01 -1.02033046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37592 meters Centerline goodness : 0.992554 Centerline is valid? [False, True] Translation: X:180.33, Y:20.24, Z:-102.03 [[ 9.84158881e-01 1.11960985e-01 1.37462850e-01 1.80327676e+02] [-1.11077370e-01 9.93711637e-01 -1.41067432e-02 2.02431550e+01] [-1.38177838e-01 -1.38573526e-03 9.90406464e-01 -1.02032733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters Centerline goodness : 0.880738 Centerline is valid? [True, False] Translation: X:180.33, Y:20.24, Z:-102.03 [[ 9.84148206e-01 1.12011802e-01 1.37497874e-01 1.80327498e+02] [-1.11078407e-01 9.93706337e-01 -1.44672953e-02 2.02440450e+01] [-1.38253016e-01 -1.03508211e-03 9.90396401e-01 -1.02033277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43592 meters Centerline goodness : 0.990515 Centerline is valid? [False, True] Translation: X:180.33, Y:20.25, Z:-102.03 [[ 9.84559673e-01 1.08739073e-01 1.37178948e-01 1.80327287e+02] [-1.07074541e-01 9.94060193e-01 -1.94775370e-02 2.02473679e+01] [-1.38482101e-01 4.48842448e-03 9.90354766e-01 -1.02033281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:180.36, Y:20.24, Z:-102.04 [[ 9.84160512e-01 1.08536137e-01 1.40171299e-01 1.80356500e+02] [-1.07263133e-01 9.94091616e-01 -1.66276834e-02 2.02409528e+01] [-1.41147817e-01 1.32909674e-03 9.89987640e-01 -1.02038255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49592 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:180.38, Y:20.21, Z:-102.05 [[ 9.83315501e-01 1.02567521e-01 1.50234916e-01 1.80378664e+02] [-1.04668708e-01 9.94488284e-01 6.12484164e-03 2.02148810e+01] [-1.48778654e-01 -2.17475463e-02 9.88631355e-01 -1.02046619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:180.43, Y:20.34, Z:-102.03 [[ 9.70834321e-01 1.30468770e-01 2.01143287e-01 1.80433279e+02] [-1.04637093e-01 9.85422380e-01 -1.34141017e-01 2.03376493e+01] [-2.15712310e-01 1.09181654e-01 9.70333739e-01 -1.02030317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55592000000001 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:180.45, Y:20.23, Z:-102.06 [[ 9.70464926e-01 1.10929595e-01 2.14225236e-01 1.80448740e+02] [-1.07846714e-01 9.93825856e-01 -2.60625066e-02 2.02309315e+01] [-2.15793682e-01 2.18926084e-03 9.76436528e-01 -1.02058698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:180.48, Y:20.23, Z:-102.06 [[ 9.70136426e-01 1.11693271e-01 2.15313558e-01 1.80481056e+02] [-1.08572339e-01 9.93740418e-01 -2.63064547e-02 2.02265755e+01] [-2.16904039e-01 2.14375333e-03 9.76190577e-01 -1.02064861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61592000000002 meters Centerline goodness : 0.990935 Centerline is valid? [True, True] Translation: X:180.50, Y:20.17, Z:-102.07 [[ 9.81010574e-01 9.91746953e-02 1.66681232e-01 1.80501526e+02] [-1.06393863e-01 9.93710252e-01 3.49325063e-02 2.01695548e+01] [-1.62168428e-01 -5.20030183e-02 9.85391844e-01 -1.02073831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:180.55, Y:20.27, Z:-102.07 [[ 9.70310773e-01 1.23763079e-01 2.07797265e-01 1.80551322e+02] [-1.09792307e-01 9.90927323e-01 -7.75157367e-02 2.02688105e+01] [-2.15505574e-01 5.23998132e-02 9.75095691e-01 -1.02066631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67592000000002 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:180.55, Y:20.07, Z:-102.09 [[ 9.81882840e-01 8.08994540e-02 1.71351586e-01 1.80546890e+02] [-1.04775050e-01 9.85260542e-01 1.35217797e-01 2.00659473e+01] [-1.57886910e-01 -1.50721406e-01 9.75886664e-01 -1.02090000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:180.63, Y:20.35, Z:-102.05 [[ 9.69609001e-01 1.42715324e-01 1.98722727e-01 1.80627466e+02] [-1.08866845e-01 9.79071702e-01 -1.71949444e-01 2.03514109e+01] [-2.19103619e-01 1.45089413e-01 9.64853702e-01 -1.02052597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73592 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:180.63, Y:20.17, Z:-102.09 [[ 9.78583470e-01 1.05183218e-01 1.76948816e-01 1.80626992e+02] [-1.10029538e-01 9.93769369e-01 1.77747839e-02 2.01714965e+01] [-1.73976704e-01 -3.68637062e-02 9.84059538e-01 -1.02092435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:180.67, Y:20.24, Z:-102.09 [[ 9.69318546e-01 1.21459296e-01 2.13703523e-01 1.80671869e+02] [-1.10135413e-01 9.91843256e-01 -6.41649945e-02 2.02410368e+01] [-2.19753833e-01 3.86599934e-02 9.74789032e-01 -1.02089884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79592 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:180.68, Y:20.13, Z:-102.11 [[ 9.80032781e-01 9.67690608e-02 1.73699442e-01 1.80682337e+02] [-1.06518991e-01 9.93166163e-01 4.76935669e-02 2.01343679e+01] [-1.67897147e-01 -6.52435483e-02 9.83643140e-01 -1.02109797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:180.74, Y:20.26, Z:-102.10 [[ 9.69376566e-01 1.23558631e-01 2.12231804e-01 1.80738277e+02] [-1.05923752e-01 9.90054503e-01 -9.25863919e-02 2.02599869e+01] [-2.21560901e-01 6.72706897e-02 9.72823428e-01 -1.02097195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85592 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:180.76, Y:20.19, Z:-102.12 [[ 9.69048384e-01 1.10876209e-01 2.20571292e-01 1.80760197e+02] [-1.07379647e-01 9.93828837e-01 -2.78182207e-02 2.01945440e+01] [-2.22294490e-01 3.27233431e-03 9.74974077e-01 -1.02115463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:180.77, Y:20.06, Z:-102.13 [[ 9.79445835e-01 8.31930412e-02 1.83751934e-01 1.80768066e+02] [-1.04626709e-01 9.88387307e-01 1.10198833e-01 2.00623190e+01] [-1.72450303e-01 -1.27159148e-01 9.76776046e-01 -1.02129499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91592 meters Centerline goodness : 0.983733 Centerline is valid? [True, True] Translation: X:180.83, Y:20.20, Z:-102.13 [[ 9.72147340e-01 1.58136497e-01 1.72980915e-01 1.80828121e+02] [-1.58487036e-01 9.87289671e-01 -1.18728687e-02 2.01988072e+01] [-1.72659804e-01 -1.58730546e-02 9.84853613e-01 -1.02133449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:180.84, Y:20.18, Z:-102.13 [[ 9.78502735e-01 1.09773431e-01 1.74591500e-01 1.80842593e+02] [-1.08504863e-01 9.93953538e-01 -1.68243286e-02 2.01785650e+01] [-1.75382704e-01 -2.48137526e-03 9.84497207e-01 -1.02126443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97592 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:180.90, Y:20.32, Z:-102.10 [[ 9.67022924e-01 1.43192663e-01 2.10624133e-01 1.80901111e+02] [-1.06559325e-01 9.78595045e-01 -1.76059220e-01 2.03206203e+01] [-2.31326121e-01 1.47809336e-01 9.61582355e-01 -1.02101236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:180.91, Y:20.18, Z:-102.14 [[ 9.66094629e-01 1.13518780e-01 2.31893626e-01 1.80908069e+02] [-1.09653432e-01 9.93530999e-01 -2.95343826e-02 2.01776340e+01] [-2.33746213e-01 3.10507644e-03 9.72292686e-01 -1.02141140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03592 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:180.91, Y:20.04, Z:-102.16 [[ 9.76463875e-01 8.28051251e-02 1.99152234e-01 1.80914738e+02] [-1.07421881e-01 9.87405664e-01 1.16149019e-01 2.00390674e+01] [-1.87026310e-01 -1.34808629e-01 9.73061043e-01 -1.02156123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:180.98, Y:20.24, Z:-102.14 [[ 9.75980753e-01 1.27789476e-01 1.76440978e-01 1.80976550e+02] [-1.12725877e-01 9.89269163e-01 -9.29483720e-02 2.02388491e+01] [-1.86425442e-01 7.08263581e-02 9.79912844e-01 -1.02137171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09592 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:181.01, Y:20.23, Z:-102.15 [[ 9.65593543e-01 1.25227505e-01 2.27919244e-01 1.81008405e+02] [-1.06528294e-01 9.89986250e-01 -9.26226085e-02 2.02311058e+01] [-2.37235816e-01 6.51559445e-02 9.69264603e-01 -1.02145100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters Centerline goodness : 0.794103 Centerline is valid? [True, False] Translation: X:181.04, Y:20.21, Z:-102.15 [[ 9.70318651e-01 1.23927843e-01 2.07662238e-01 1.81042237e+02] [-1.11476277e-01 9.91250922e-01 -7.06728297e-02 2.02096416e+01] [-2.14603716e-01 4.54257516e-02 9.75644272e-01 -1.02153796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15592 meters Centerline goodness : 0.996522 Centerline is valid? [False, True] Translation: X:181.08, Y:20.19, Z:-102.16 [[ 9.74737674e-01 1.21854921e-01 1.87183989e-01 1.81075653e+02] [-1.13986237e-01 9.92105724e-01 -5.22816374e-02 2.01902176e+01] [-1.92077082e-01 2.96244831e-02 9.80932610e-01 -1.02160405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:181.13, Y:20.27, Z:-102.15 [[ 9.62229676e-01 1.42709712e-01 2.31836125e-01 1.81127448e+02] [-1.09266363e-01 9.82438614e-01 -1.51245603e-01 2.02724068e+01] [-2.49348978e-01 1.20201117e-01 9.60924960e-01 -1.02149362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21592 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:181.12, Y:20.08, Z:-102.19 [[ 9.73429063e-01 9.64575934e-02 2.07681949e-01 1.81119985e+02] [-1.09998561e-01 9.92428523e-01 5.46437932e-02 2.00769507e+01] [-2.00838681e-01 -7.60365720e-02 9.76668963e-01 -1.02187559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:181.18, Y:20.23, Z:-102.17 [[ 9.61479489e-01 1.33753979e-01 2.40139677e-01 1.81181287e+02] [-1.09420511e-01 9.87664187e-01 -1.12011633e-01 2.02267957e+01] [-2.52159361e-01 8.14206820e-02 9.64254287e-01 -1.02171620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27592 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:181.18, Y:20.07, Z:-102.20 [[ 9.72370587e-01 9.52376118e-02 2.13131974e-01 1.81179912e+02] [-1.09125864e-01 9.92541040e-01 5.43491511e-02 2.00675938e+01] [-2.06366148e-01 -7.61057268e-02 9.75510600e-01 -1.02199829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:181.24, Y:20.22, Z:-102.19 [[ 9.60654104e-01 1.32310268e-01 2.44208283e-01 1.81241487e+02] [-1.07465907e-01 9.87828475e-01 -1.12454356e-01 2.02152442e+01] [-2.56114762e-01 8.17856735e-02 9.63180322e-01 -1.02185020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33592000000002 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:181.24, Y:20.06, Z:-102.21 [[ 9.72807913e-01 9.34279785e-02 2.11933897e-01 1.81240515e+02] [-1.06970223e-01 9.92830721e-01 5.33341407e-02 2.00571169e+01] [-2.05431583e-01 -7.45544903e-02 9.75827594e-01 -1.02213910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:181.30, Y:20.21, Z:-102.20 [[ 9.61034442e-01 1.30469136e-01 2.43701880e-01 1.81301011e+02] [-1.05603163e-01 9.88023305e-01 -1.12507421e-01 2.02053603e+01] [-2.55461883e-01 8.23878174e-02 9.63302379e-01 -1.02199258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39592000000002 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:181.30, Y:20.03, Z:-102.23 [[ 9.72511029e-01 8.35491688e-02 2.17351869e-01 1.81297159e+02] [-1.00996194e-01 9.92391279e-01 7.04224277e-02 2.00279365e+01] [-2.09814364e-01 -9.04382992e-02 9.73549612e-01 -1.02226664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:181.37, Y:20.21, Z:-102.21 [[ 9.60482928e-01 1.29952861e-01 2.46139794e-01 1.81366073e+02] [-1.00292159e-01 9.86497527e-01 -1.29476298e-01 2.02064132e+01] [-2.59642114e-01 9.96738826e-02 9.60547287e-01 -1.02207268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:181.38, Y:20.11, Z:-102.23 [[ 9.59575081e-01 1.08103078e-01 2.59864174e-01 1.81381637e+02] [-1.02103384e-01 9.94103276e-01 -3.65181602e-02 2.01128978e+01] [-2.62279552e-01 8.50890504e-03 9.64954421e-01 -1.02231993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:181.39, Y:20.04, Z:-102.24 [[ 9.71265224e-01 8.83506945e-02 2.20993257e-01 1.81394921e+02] [-1.00656926e-01 9.93901365e-01 4.50361980e-02 2.00356298e+01] [-2.15666520e-01 -6.59865949e-02 9.74234942e-01 -1.02244827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51592 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:181.44, Y:20.11, Z:-102.24 [[ 9.71785592e-01 1.09598081e-01 2.08856465e-01 1.81439530e+02] [-1.03772697e-01 9.93848527e-01 -3.86824505e-02 2.01098679e+01] [-2.11811212e-01 1.59174495e-02 9.77180968e-01 -1.02241811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:181.46, Y:20.03, Z:-102.25 [[ 9.70224675e-01 9.18752890e-02 2.24104913e-01 1.81456807e+02] [-1.02533907e-01 9.94064349e-01 3.63712558e-02 2.00331966e+01] [-2.19433085e-01 -5.82666421e-02 9.73886092e-01 -1.02254747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:181.50, Y:20.12, Z:-102.25 [[ 9.71128118e-01 1.15017781e-01 2.09000212e-01 1.81503483e+02] [-1.04838438e-01 9.92726575e-01 -5.91848813e-02 2.01181182e+01] [-2.14287378e-01 3.55648466e-02 9.76122975e-01 -1.02250825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:181.55, Y:20.17, Z:-102.25 [[ 9.56995531e-01 1.30153199e-01 2.59267621e-01 1.81545514e+02] [-9.96147974e-02 9.86799768e-01 -1.27683629e-01 2.01713164e+01] [-2.72463661e-01 9.63657710e-02 9.57328152e-01 -1.02247717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:181.55, Y:20.06, Z:-102.27 [[ 9.62081995e-01 1.00556141e-01 2.53548213e-01 1.81551318e+02] [-1.00163587e-01 9.94865447e-01 -1.44913139e-02 2.00613728e+01] [-2.53703547e-01 -1.14544664e-02 9.67214198e-01 -1.02274799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:181.57, Y:19.97, Z:-102.29 [[ 9.69412743e-01 7.89169649e-02 2.32402769e-01 1.81572240e+02] [-9.85899390e-02 9.92352649e-01 7.42714212e-02 1.99733123e+01] [-2.24764228e-01 -9.49122370e-02 9.69779722e-01 -1.02286384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:181.64, Y:20.17, Z:-102.27 [[ 9.58249438e-01 1.31945388e-01 2.53669923e-01 1.81643827e+02] [-9.58019153e-02 9.84041289e-01 -1.49949105e-01 2.01748561e+01] [-2.69406771e-01 1.19386581e-01 9.55597633e-01 -1.02269412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.64, Y:19.98, Z:-102.30 [[ 9.68561287e-01 8.16855427e-02 2.34981926e-01 1.81636699e+02] [-9.53718932e-02 9.94309571e-01 4.74624026e-02 1.99821002e+01] [-2.29767785e-01 -6.83809169e-02 9.70840262e-01 -1.02302563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:181.68, Y:20.05, Z:-102.30 [[ 9.68890242e-01 1.00834500e-01 2.26017925e-01 1.81679385e+02] [-9.65579430e-02 9.94877365e-01 -2.99264446e-02 2.00502490e+01] [-2.27877736e-01 7.17161417e-03 9.73663343e-01 -1.02302797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:181.70, Y:19.99, Z:-102.31 [[ 9.70813010e-01 8.75853840e-02 2.23273149e-01 1.81698737e+02] [-9.46010101e-02 9.95295844e-01 2.09005100e-02 1.99942599e+01] [-2.20392258e-01 -4.14123525e-02 9.74531821e-01 -1.02311457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:181.74, Y:20.08, Z:-102.31 [[ 9.68507094e-01 1.11828401e-01 2.22459924e-01 1.81743278e+02] [-9.63961901e-02 9.92195503e-01 -7.90939876e-02 2.00809644e+01] [-2.29568690e-01 5.51587990e-02 9.71728215e-01 -1.02309776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:20.11, Z:-102.32 [[ 9.55824875e-01 1.23029630e-01 2.66950406e-01 1.81784134e+02] [-9.31615177e-02 9.88166835e-01 -1.21849240e-01 2.01067184e+01] [-2.78782604e-01 9.15970296e-02 9.55976069e-01 -1.02315898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:181.78, Y:19.95, Z:-102.34 [[ 9.67126930e-01 8.25118573e-02 2.40535433e-01 1.81783763e+02] [-9.64242167e-02 9.94247246e-01 4.66345835e-02 1.99454190e+01] [-2.35303786e-01 -6.82950023e-02 9.69519428e-01 -1.02340046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:181.85, Y:20.09, Z:-102.33 [[ 9.54749407e-01 1.24512758e-01 2.70092842e-01 1.81845538e+02] [-9.52927835e-02 9.88338029e-01 -1.18773846e-01 2.00912940e+01] [-2.81731886e-01 8.76613606e-02 9.55480314e-01 -1.02334355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:181.84, Y:19.92, Z:-102.35 [[ 9.66025754e-01 8.17374671e-02 2.45179992e-01 1.81843490e+02] [-9.87015198e-02 9.93442905e-01 5.76992570e-02 1.99189276e+01] [-2.38856132e-01 -7.99386060e-02 9.67759044e-01 -1.02351690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:181.91, Y:20.08, Z:-102.35 [[ 9.53393318e-01 1.32588013e-01 2.71038006e-01 1.81907683e+02] [-1.01048959e-01 9.86711337e-01 -1.27239324e-01 2.00829922e+01] [-2.84306682e-01 9.39210130e-02 9.54121876e-01 -1.02347053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:181.91, Y:19.92, Z:-102.37 [[ 9.65213274e-01 9.05697729e-02 2.45276278e-01 1.81906276e+02] [-1.04412136e-01 9.93560081e-01 4.40053491e-02 1.99206062e+01] [-2.39711164e-01 -6.80843670e-02 9.68453962e-01 -1.02365729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:181.94, Y:19.94, Z:-102.37 [[ 9.66679740e-01 1.01366056e-01 2.35064251e-01 1.81939108e+02] [-1.07965889e-01 9.94036175e-01 1.53443593e-02 1.99445026e+01] [-2.32106972e-01 -4.02120020e-02 9.71858708e-01 -1.02370897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05592000000001 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:181.99, Y:20.03, Z:-102.37 [[ 9.64280979e-01 1.28749080e-01 2.31486216e-01 1.81986093e+02] [-1.12237282e-01 9.90192733e-01 -8.31934092e-02 2.00303582e+01] [-2.39927043e-01 5.42404385e-02 9.69274465e-01 -1.02370415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:182.01, Y:19.98, Z:-102.38 [[ 9.63204180e-01 1.19549104e-01 2.40719173e-01 1.82008007e+02] [-1.13695410e-01 9.92784335e-01 -3.81132235e-02 1.99822537e+01] [-2.43538626e-01 9.34215116e-03 9.69846205e-01 -1.02382821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:182.03, Y:19.96, Z:-102.39 [[ 9.64916825e-01 1.18060332e-01 2.34514987e-01 1.82033312e+02] [-1.16405058e-01 9.92981081e-01 -2.09388621e-02 1.99630207e+01] [-2.35340994e-01 -7.09447038e-03 9.71886971e-01 -1.02390838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:182.07, Y:19.98, Z:-102.40 [[ 9.62552481e-01 1.24805947e-01 2.40657844e-01 1.82065051e+02] [-1.18194657e-01 9.92111432e-01 -4.17723632e-02 1.99773130e+01] [-2.43972837e-01 1.17636206e-02 9.69710716e-01 -1.02396125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:182.11, Y:20.04, Z:-102.40 [[ 9.47564074e-01 1.46509330e-01 2.84002361e-01 1.82110262e+02] [-1.17897928e-01 9.86292885e-01 -1.15440126e-01 2.00362537e+01] [-2.97022564e-01 7.59036261e-02 9.51848852e-01 -1.02400582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:182.11, Y:19.87, Z:-102.42 [[ 9.64128666e-01 1.01236883e-01 2.45371166e-01 1.82110059e+02] [-1.19920171e-01 9.90820637e-01 6.23988613e-02 1.98706102e+01] [-2.36801748e-01 -8.95854831e-02 9.67418923e-01 -1.02417587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:182.15, Y:19.94, Z:-102.42 [[ 9.62561958e-01 1.22471052e-01 2.41816704e-01 1.82147088e+02] [-1.22856095e-01 9.92332061e-01 -1.35447549e-02 1.99400460e+01] [-2.41621309e-01 -1.66709901e-02 9.70227407e-01 -1.02422749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:182.20, Y:20.03, Z:-102.42 [[ 9.57959850e-01 1.48944482e-01 2.45211067e-01 1.82195984e+02] [-1.24769042e-01 9.85909574e-01 -1.11422612e-01 2.00259706e+01] [-2.58351722e-01 7.61436389e-02 9.63045448e-01 -1.02419711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:182.21, Y:19.95, Z:-102.44 [[ 9.56983548e-01 1.28474116e-01 2.60147824e-01 1.82213885e+02] [-1.21765511e-01 9.91677823e-01 -4.18121521e-02 1.99537585e+01] [-2.63354607e-01 8.33650880e-03 9.64663078e-01 -1.02436596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:19.89, Z:-102.45 [[ 9.59782864e-01 1.08638962e-01 2.58871456e-01 1.82228284e+02] [-1.19214506e-01 9.92541991e-01 2.54617059e-02 1.98862833e+01] [-2.54174657e-01 -5.52989418e-02 9.65576134e-01 -1.02448826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:19.94, Z:-102.45 [[ 9.58980998e-01 1.27186669e-01 2.53335739e-01 1.82268590e+02] [-1.22215742e-01 9.91874500e-01 -3.53311356e-02 1.99403579e+01] [-2.55770909e-01 2.92027242e-03 9.66733011e-01 -1.02453118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:182.30, Y:19.94, Z:-102.46 [[ 9.57261200e-01 1.26471461e-01 2.60107602e-01 1.82298297e+02] [-1.19076537e-01 9.91906959e-01 -4.40608951e-02 1.99401250e+01] [-2.63574986e-01 1.12050729e-02 9.64573830e-01 -1.02461648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:182.33, Y:19.96, Z:-102.46 [[ 9.55866489e-01 1.33004913e-01 2.61971274e-01 1.82331183e+02] [-1.17637403e-01 9.90327789e-01 -7.35684094e-02 1.99608486e+01] [-2.69222393e-01 3.95039567e-02 9.62267500e-01 -1.02464565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:182.37, Y:19.99, Z:-102.47 [[ 9.47234434e-01 1.41894335e-01 2.87424641e-01 1.82368909e+02] [-1.11737359e-01 9.86608263e-01 -1.18822971e-01 1.99918312e+01] [-3.00435832e-01 8.04371394e-02 9.50404218e-01 -1.02470647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:182.37, Y:19.85, Z:-102.49 [[ 9.55244979e-01 9.96866898e-02 2.78513186e-01 1.82373165e+02] [-1.09814074e-01 9.93731129e-01 2.09597832e-02 1.98530964e+01] [-2.74677811e-01 -5.06063952e-02 9.60203673e-01 -1.02488837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:182.43, Y:19.96, Z:-102.49 [[ 9.46877509e-01 1.34145272e-01 2.92280736e-01 1.82425338e+02] [-1.08889835e-01 9.88898868e-01 -1.01104070e-01 1.99586558e+01] [-3.02598722e-01 6.39067688e-02 9.50973153e-01 -1.02490799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:182.43, Y:19.81, Z:-102.51 [[ 9.54817942e-01 9.52492619e-02 2.81514255e-01 1.82431723e+02] [-1.13212052e-01 9.92400594e-01 4.82088355e-02 1.98100755e+01] [-2.74783058e-01 -7.79014676e-02 9.58345257e-01 -1.02508598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:182.50, Y:19.98, Z:-102.51 [[ 9.40204639e-01 1.51393489e-01 3.05115140e-01 1.82499160e+02] [-1.12272080e-01 9.83475821e-01 -1.42022142e-01 1.99787683e+01] [-3.21574590e-01 9.92739653e-02 9.41665791e-01 -1.02507327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59592 meters Centerline goodness : 0.854865 Centerline is valid? [True, False] Translation: X:182.51, Y:19.95, Z:-102.52 [[ 9.43379200e-01 1.43244177e-01 2.99193568e-01 1.82511408e+02] [-1.13750377e-01 9.86963092e-01 -1.13862662e-01 1.99502211e+01] [-3.11603172e-01 7.33822855e-02 9.47374532e-01 -1.02515800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:182.54, Y:19.93, Z:-102.53 [[ 9.49547820e-01 1.37504330e-01 2.81871418e-01 1.82540880e+02] [-1.16099774e-01 9.89026447e-01 -9.13648190e-02 1.99267146e+01] [-2.91341345e-01 5.40300568e-02 9.55092128e-01 -1.02527856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:182.53, Y:19.71, Z:-102.54 [[ 9.61275266e-01 8.28656094e-02 2.62836743e-01 1.82534185e+02] [-1.20037689e-01 9.84397040e-01 1.28660096e-01 1.97149214e+01] [-2.48074215e-01 -1.55228083e-01 9.56223523e-01 -1.02535124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:182.63, Y:20.03, Z:-102.53 [[ 9.48992725e-01 1.75502320e-01 2.61938435e-01 1.82629759e+02] [-1.23008377e-01 9.71014516e-01 -2.04938404e-01 2.00250926e+01] [-2.90313188e-01 1.62264433e-01 9.43073967e-01 -1.02526775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71592 meters Centerline goodness : 0.786919 Centerline is valid? [True, False] Translation: X:182.61, Y:19.99, Z:-102.53 [[ 9.49904749e-01 1.65372736e-01 2.65203368e-01 1.82612158e+02] [-1.23424568e-01 9.78062752e-01 -1.67808311e-01 1.99941085e+01] [-2.87136455e-01 1.26669301e-01 9.49477511e-01 -1.02529505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters Centerline goodness : 0.999305 Centerline is valid? [False, True] Translation: X:182.62, Y:19.97, Z:-102.53 [[ 9.51881086e-01 1.61218825e-01 2.60635547e-01 1.82618177e+02] [-1.28530899e-01 9.82050861e-01 -1.38043159e-01 1.99675738e+01] [-2.78212519e-01 9.79009509e-02 9.55517241e-01 -1.02534151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77592 meters Centerline goodness : 0.822199 Centerline is valid? [True, False] Translation: X:182.63, Y:19.94, Z:-102.54 [[ 9.54916956e-01 1.54225238e-01 2.53669438e-01 1.82630634e+02] [-1.29553941e-01 9.85300919e-01 -1.11345750e-01 1.99414438e+01] [-2.67113055e-01 7.34620688e-02 9.60861041e-01 -1.02541072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters Centerline goodness : 0.999552 Centerline is valid? [False, True] Translation: X:182.64, Y:19.92, Z:-102.55 [[ 9.57706942e-01 1.47309488e-01 2.47178737e-01 1.82642269e+02] [-1.29980828e-01 9.87856985e-01 -8.51091199e-02 1.99173113e+01] [-2.56714623e-01 4.93810979e-02 9.65224901e-01 -1.02545059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83592000000002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:182.65, Y:19.79, Z:-102.56 [[ 9.57884131e-01 1.10606402e-01 2.64998518e-01 1.82649121e+02] [-1.27052312e-01 9.90843140e-01 4.56900595e-02 1.97888422e+01] [-2.57518351e-01 -7.74344573e-02 9.63165720e-01 -1.02558956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:182.71, Y:19.97, Z:-102.55 [[ 9.53963950e-01 1.68231128e-01 2.48296334e-01 1.82712054e+02] [-1.34856328e-01 9.80063198e-01 -1.45910582e-01 1.99692986e+01] [-2.67892801e-01 1.05709103e-01 9.57631992e-01 -1.02550331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:182.72, Y:19.84, Z:-102.57 [[ 9.55568098e-01 1.32771507e-01 2.63175486e-01 1.82718229e+02] [-1.33576161e-01 9.90926287e-01 -1.49165023e-02 1.98413570e+01] [-2.62767994e-01 -2.09002375e-02 9.64632656e-01 -1.02573172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:182.76, Y:19.87, Z:-102.58 [[ 9.53605205e-01 1.46103156e-01 2.63231802e-01 1.82756275e+02] [-1.37936241e-01 9.89210952e-01 -4.93486147e-02 1.98741420e+01] [-2.67601770e-01 1.07498906e-02 9.63469632e-01 -1.02579671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:182.80, Y:19.92, Z:-102.58 [[ 9.37554200e-01 1.63816246e-01 3.06849082e-01 1.82797341e+02] [-1.36183352e-01 9.84607923e-01 -1.09550598e-01 1.99232784e+01] [-3.20072205e-01 6.09218869e-02 9.45432339e-01 -1.02583110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:182.82, Y:19.86, Z:-102.60 [[ 9.37336626e-01 1.47002808e-01 3.15895907e-01 1.82818962e+02] [-1.39647059e-01 9.89135505e-01 -4.59309344e-02 1.98629527e+01] [-3.19215834e-01 -1.06118735e-03 9.47681447e-01 -1.02599292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01592 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:182.84, Y:19.80, Z:-102.61 [[ 9.52756276e-01 1.28798277e-01 2.75075413e-01 1.82839100e+02] [-1.41194585e-01 9.89649213e-01 2.56617369e-02 1.97998304e+01] [-2.68922978e-01 -6.32885395e-02 9.61080118e-01 -1.02610656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters Centerline goodness : 0.925339 Centerline is valid? [True, False] Translation: X:182.87, Y:19.82, Z:-102.62 [[ 9.55934249e-01 1.27619838e-01 2.64391546e-01 1.82871037e+02] [-1.34036235e-01 9.90956443e-01 6.29417602e-03 1.98202426e+01] [-2.61197244e-01 -4.14548657e-02 9.64394885e-01 -1.02616099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07592 meters Centerline goodness : 0.998460 Centerline is valid? [False, True] Translation: X:182.90, Y:19.83, Z:-102.62 [[ 9.59290278e-01 1.24794339e-01 2.53354565e-01 1.82899656e+02] [-1.27713417e-01 9.91798710e-01 -4.95994667e-03 1.98316076e+01] [-2.51895704e-01 -2.75987484e-02 9.67360772e-01 -1.02622783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:182.93, Y:19.83, Z:-102.63 [[ 9.60451253e-01 1.21792258e-01 2.50399755e-01 1.82928816e+02] [-1.26432341e-01 9.91972167e-01 2.46633587e-03 1.98295983e+01] [-2.48089207e-01 -3.40274225e-02 9.68139391e-01 -1.02628866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:182.97, Y:19.89, Z:-102.63 [[ 9.58323251e-01 1.38463428e-01 2.49888825e-01 1.82968168e+02] [-1.27835548e-01 9.90077281e-01 -5.83528144e-02 1.98883503e+01] [-2.55488979e-01 2.39761839e-02 9.66514627e-01 -1.02632926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters Centerline goodness : 0.780167 Centerline is valid? [True, False] Translation: X:183.01, Y:19.89, Z:-102.64 [[ 9.63895863e-01 1.37107697e-01 2.28267924e-01 1.83005651e+02] [-1.29610068e-01 9.90422213e-01 -4.75927570e-02 1.98851591e+01] [-2.32606955e-01 1.62886404e-02 9.72434411e-01 -1.02641884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19592 meters Centerline goodness : 0.999503 Centerline is valid? [False, True] Translation: X:183.03, Y:19.88, Z:-102.65 [[ 9.68834254e-01 1.33471551e-01 2.08675666e-01 1.83034892e+02] [-1.28313093e-01 9.91000531e-01 -3.81273882e-02 1.98786866e+01] [-2.11886618e-01 1.01632994e-02 9.77241408e-01 -1.02647415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:183.06, Y:19.89, Z:-102.65 [[ 9.65289281e-01 1.31362252e-01 2.25744462e-01 1.83059716e+02] [-1.24864471e-01 9.91246373e-01 -4.28892962e-02 1.98861934e+01] [-2.29402414e-01 1.32131151e-02 9.73241977e-01 -1.02653475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.09, Y:19.89, Z:-102.66 [[ 9.65128012e-01 1.30310484e-01 2.27039859e-01 1.83090769e+02] [-1.22981434e-01 9.91333202e-01 -4.61957742e-02 1.98889077e+01] [-2.31091944e-01 1.66631483e-02 9.72789213e-01 -1.02657032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.11, Y:19.85, Z:-102.67 [[ 9.63447845e-01 1.15080595e-01 2.41918803e-01 1.83110721e+02] [-1.17255987e-01 9.93086847e-01 -5.43569512e-03 1.98488136e+01] [-2.40871924e-01 -2.31294193e-02 9.70281272e-01 -1.02669711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:19.99, Z:-102.65 [[ 9.49989279e-01 1.51174778e-01 2.73251819e-01 1.83169895e+02] [-1.09548713e-01 9.80736029e-01 -1.61727922e-01 1.99875367e+01] [-2.92437087e-01 1.23705407e-01 9.48249715e-01 -1.02651641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:19.77, Z:-102.69 [[ 9.65148799e-01 8.54509920e-02 2.47357887e-01 1.83156493e+02] [-1.06987781e-01 9.91431074e-01 7.49535819e-02 1.97655489e+01] [-2.38833438e-01 -9.88056311e-02 9.66020722e-01 -1.02691586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:19.88, Z:-102.69 [[ 9.63249612e-01 1.14399474e-01 2.43028694e-01 1.83204865e+02] [-1.07347367e-01 9.93329378e-01 -4.21104536e-02 1.98759520e+01] [-2.46224955e-01 1.44743876e-02 9.69104620e-01 -1.02687883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:19.87, Z:-102.70 [[ 9.62968056e-01 1.10514776e-01 2.45924800e-01 1.83233191e+02] [-1.05219379e-01 9.93846531e-01 -3.46114977e-02 1.98653564e+01] [-2.48236591e-01 7.45371193e-03 9.68670758e-01 -1.02697929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:19.86, Z:-102.70 [[ 9.61653969e-01 1.09950380e-01 2.51261929e-01 1.83261939e+02] [-1.04127431e-01 9.93897793e-01 -3.63958132e-02 1.98618809e+01] [-2.53730411e-01 8.83691891e-03 9.67234608e-01 -1.02703165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.31, Y:19.94, Z:-102.70 [[ 9.47717819e-01 1.34104451e-01 2.89563346e-01 1.83310023e+02] [-9.99519147e-02 9.86497613e-01 -1.29738485e-01 1.99389716e+01] [-3.03052058e-01 9.40130629e-02 9.48325363e-01 -1.02700158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.30, Y:19.76, Z:-102.73 [[ 9.62046913e-01 7.72767378e-02 2.61713666e-01 1.83303415e+02] [-9.54051093e-02 9.93789942e-01 5.72661962e-02 1.97590473e+01] [-2.55663064e-01 -8.00615882e-02 9.63445141e-01 -1.02728298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:183.34, Y:19.79, Z:-102.73 [[ 9.61808456e-01 8.73619920e-02 2.59407742e-01 1.83339430e+02] [-9.63335781e-02 9.95104824e-01 2.20506538e-02 1.97868910e+01] [-2.56211507e-01 -4.61981813e-02 9.65516127e-01 -1.02734360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.39, Y:19.87, Z:-102.73 [[ 9.61129771e-01 1.15753873e-01 2.50660337e-01 1.83387784e+02] [-9.98259063e-02 9.92144229e-01 -7.53963994e-02 1.98737213e+01] [-2.57418632e-01 4.74433287e-02 9.65134591e-01 -1.02728625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.41, Y:19.83, Z:-102.74 [[ 9.59520237e-01 1.08709820e-01 2.59813567e-01 1.83408880e+02] [-1.02400191e-01 9.94027096e-01 -3.77403359e-02 1.98288731e+01] [-2.62364470e-01 9.60765732e-03 9.64921021e-01 -1.02742624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:19.90, Z:-102.74 [[ 9.43746154e-01 1.39090309e-01 2.99995137e-01 1.83457940e+02] [-1.03365472e-01 9.85857612e-01 -1.31910382e-01 1.99024547e+01] [-3.14099945e-01 9.34807768e-02 9.44776465e-01 -1.02741074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:183.47, Y:19.81, Z:-102.76 [[ 9.42378487e-01 1.17087540e-01 3.13390006e-01 1.83472781e+02] [-1.08595398e-01 9.93090278e-01 -4.44830110e-02 1.98138406e+01] [-3.16432975e-01 7.88712005e-03 9.48582082e-01 -1.02764849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.49, Y:19.72, Z:-102.78 [[ 9.57786282e-01 9.24764228e-02 2.72201302e-01 1.83485889e+02] [-1.11406962e-01 9.92257304e-01 5.48992756e-02 1.97205298e+01] [-2.65016842e-01 -8.29068933e-02 9.60672952e-01 -1.02778778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:183.53, Y:19.82, Z:-102.77 [[ 9.55424533e-01 1.31503083e-01 2.64331044e-01 1.83534000e+02] [-1.20964471e-01 9.91085408e-01 -5.58328814e-02 1.98203444e+01] [-2.69316836e-01 2.13694397e-02 9.62814514e-01 -1.02774530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:183.54, Y:19.71, Z:-102.79 [[ 9.54225998e-01 1.01588427e-01 2.81305059e-01 1.83543164e+02] [-1.22036685e-01 9.90938570e-01 5.61052371e-02 1.97080720e+01] [-2.73056390e-01 -8.78666128e-02 9.57976861e-01 -1.02791709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.63, Y:19.95, Z:-102.77 [[ 9.37404508e-01 1.83501204e-01 2.95973135e-01 1.83627249e+02] [-1.25344597e-01 9.70732955e-01 -2.04856686e-01 1.99464043e+01] [-3.24902324e-01 1.54934948e-01 9.32970333e-01 -1.02765291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.60, Y:19.68, Z:-102.81 [[ 9.56153235e-01 1.02793794e-01 2.74234256e-01 1.83603538e+02] [-1.28390208e-01 9.88727229e-01 7.70351949e-02 1.96831900e+01] [-2.63224136e-01 -1.08866444e-01 9.58572455e-01 -1.02808651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:183.66, Y:19.80, Z:-102.81 [[ 9.53537843e-01 1.48379137e-01 2.62200711e-01 1.83657258e+02] [-1.40050848e-01 9.88866872e-01 -5.02799151e-02 1.98024727e+01] [-2.66742088e-01 1.12223698e-02 9.63702608e-01 -1.02809120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.70, Y:19.87, Z:-102.81 [[ 9.33541916e-01 1.74532456e-01 3.13110064e-01 1.83703133e+02] [-1.37060201e-01 9.80886745e-01 -1.38114788e-01 1.98747912e+01] [-3.31231025e-01 8.60210155e-02 9.39620345e-01 -1.02806320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:19.79, Z:-102.83 [[ 9.32535844e-01 1.48734180e-01 3.29021343e-01 1.83718050e+02] [-1.40700936e-01 9.88876345e-01 -4.82371311e-02 1.97873638e+01] [-3.32535933e-01 -1.31075730e-03 9.43089675e-01 -1.02832183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:183.73, Y:19.71, Z:-102.85 [[ 9.49965792e-01 1.24712675e-01 2.86376924e-01 1.83734988e+02] [-1.40404221e-01 9.89480966e-01 3.48435520e-02 1.97142327e+01] [-2.79019082e-01 -7.33087115e-02 9.57483256e-01 -1.02845510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.79, Y:19.85, Z:-102.84 [[ 9.31813955e-01 1.72593821e-01 3.19271242e-01 1.83794472e+02] [-1.41191169e-01 9.82779688e-01 -1.19202093e-01 1.98505228e+01] [-3.34346836e-01 6.59958937e-02 9.40136551e-01 -1.02840124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.81, Y:19.78, Z:-102.86 [[ 9.32611568e-01 1.47572679e-01 3.29329572e-01 1.83813749e+02] [-1.39207884e-01 9.89051200e-01 -4.89784521e-02 1.97809285e+01] [-3.32951690e-01 -1.67401686e-04 9.42943871e-01 -1.02862814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:19.78, Z:-102.87 [[ 9.33064790e-01 1.45995397e-01 3.28748295e-01 1.83846193e+02] [-1.37484900e-01 9.89285065e-01 -4.91219170e-02 1.97778145e+01] [-3.32397352e-01 6.36004589e-04 9.43139224e-01 -1.02874206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:183.85, Y:19.64, Z:-102.89 [[ 9.51887341e-01 9.55143380e-02 2.91182933e-01 1.83850767e+02] [-1.28988973e-01 9.86793706e-01 9.79797224e-02 1.96399661e+01] [-2.77979018e-01 -1.30825045e-01 9.51636734e-01 -1.02890451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:19.89, Z:-102.87 [[ 9.33599556e-01 1.79972727e-01 3.09841391e-01 1.83937297e+02] [-1.27900094e-01 9.75126599e-01 -1.81023982e-01 1.98940893e+01] [-3.34713961e-01 1.29375166e-01 9.33396288e-01 -1.02867522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.94, Y:19.76, Z:-102.90 [[ 9.33657937e-01 1.34564110e-01 3.31926734e-01 1.83941984e+02] [-1.24915634e-01 9.90889409e-01 -5.03414658e-02 1.97639305e+01] [-3.35676839e-01 5.53887087e-03 9.41960923e-01 -1.02903442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.96, Y:19.68, Z:-102.92 [[ 9.51307111e-01 1.02874830e-01 2.90571076e-01 1.83955121e+02] [-1.20672241e-01 9.91718577e-01 4.39599166e-02 1.96754366e+01] [-2.83642365e-01 -7.68832441e-02 9.55843071e-01 -1.02915802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:183.99, Y:19.74, Z:-102.92 [[ 9.52398805e-01 1.23527894e-01 2.78706612e-01 1.83994027e+02] [-1.21194853e-01 9.92297117e-01 -2.56561547e-02 1.97374421e+01] [-2.79729018e-01 -9.34291567e-03 9.60033534e-01 -1.02918455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:19.83, Z:-102.91 [[ 9.34168797e-01 1.55589893e-01 3.21123721e-01 1.84050716e+02] [-1.13042250e-01 9.82618610e-01 -1.47248486e-01 1.98341456e+01] [-3.38452521e-01 1.01254393e-01 9.35519876e-01 -1.02914333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:184.04, Y:19.65, Z:-102.94 [[ 9.51125382e-01 9.26381992e-02 2.94582200e-01 1.84042053e+02] [-1.10496798e-01 9.92878395e-01 4.45303286e-02 1.96531100e+01] [-2.88359092e-01 -7.49043155e-02 9.54588067e-01 -1.02941193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:184.08, Y:19.71, Z:-102.95 [[ 9.52585517e-01 1.15069385e-01 2.81673340e-01 1.84081879e+02] [-1.14037226e-01 9.93272877e-01 -2.01122655e-02 1.97091854e+01] [-2.82092795e-01 -1.29625934e-02 9.59299550e-01 -1.02945255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:184.11, Y:19.72, Z:-102.95 [[ 9.51693407e-01 1.22283358e-01 2.81649497e-01 1.84114746e+02] [-1.15639428e-01 9.92479158e-01 -4.01577262e-02 1.97238587e+01] [-2.84441878e-01 5.64805661e-03 9.58676649e-01 -1.02951819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:184.14, Y:19.67, Z:-102.97 [[ 9.49558903e-01 1.05697832e-01 2.95238647e-01 1.84136071e+02] [-1.12099829e-01 9.93685392e-01 4.79273041e-03 1.96716477e+01] [-2.92867750e-01 -3.76471818e-02 9.55411519e-01 -1.02969017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.21, Y:19.85, Z:-102.95 [[ 9.32201244e-01 1.69831557e-01 3.19621780e-01 1.84212442e+02] [-1.08421370e-01 9.73555904e-01 -2.01081350e-01 1.98469158e+01] [-3.45319630e-01 1.52794454e-01 9.25963395e-01 -1.02952226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:19.56, Z:-102.99 [[ 9.47987713e-01 7.19303261e-02 3.10073095e-01 1.84182230e+02] [-1.07357798e-01 9.89306416e-01 9.87274972e-02 1.95611355e+01] [-2.99655801e-01 -1.26881219e-01 9.45572608e-01 -1.02988151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:184.25, Y:19.75, Z:-102.99 [[ 9.44665885e-01 1.42350016e-01 2.95538218e-01 1.84251936e+02] [-1.14709005e-01 9.87407719e-01 -1.08939621e-01 1.97517052e+01] [-3.07324274e-01 6.90106483e-02 9.49099215e-01 -1.02985524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.29, Y:19.75, Z:-103.00 [[ 9.28046844e-01 1.47436151e-01 3.42040403e-01 1.84285786e+02] [-1.08963438e-01 9.85613575e-01 -1.29200811e-01 1.97539618e+01] [-3.56168535e-01 8.26345069e-02 9.30760718e-01 -1.02997972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.30, Y:19.68, Z:-103.02 [[ 9.26614978e-01 1.25492518e-01 3.54452128e-01 1.84303248e+02] [-1.12501907e-01 9.92008799e-01 -5.71127331e-02 1.96773643e+01] [-3.58786850e-01 1.30449737e-02 9.33328359e-01 -1.03018996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.34, Y:19.67, Z:-103.03 [[ 9.26493953e-01 1.27626307e-01 3.54006329e-01 1.84336668e+02] [-1.14731747e-01 9.91744236e-01 -5.72712492e-02 1.96723282e+01] [-3.58393055e-01 1.24457015e-02 9.33487827e-01 -1.03030577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.34, Y:19.53, Z:-103.04 [[ 9.42718411e-01 7.99982076e-02 3.23855344e-01 1.84340669e+02] [-1.14902891e-01 9.89281964e-01 9.01028414e-02 1.95331423e+01] [-3.13176185e-01 -1.22153523e-01 9.41806346e-01 -1.03040732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:184.43, Y:19.79, Z:-103.03 [[ 9.24818633e-01 1.79453136e-01 3.35420734e-01 1.84429094e+02] [-1.20850141e-01 9.74658552e-01 -1.88244390e-01 1.97858988e+01] [-3.60701733e-01 1.33556276e-01 9.23069326e-01 -1.03030844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:184.41, Y:19.55, Z:-103.06 [[ 9.39129465e-01 1.01269377e-01 3.28299195e-01 1.84409832e+02] [-1.27755881e-01 9.89984255e-01 6.00800250e-02 1.95523919e+01] [-3.18926767e-01 -9.83650748e-02 9.42661142e-01 -1.03061372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.47, Y:19.69, Z:-103.06 [[ 9.38737321e-01 1.55383405e-01 3.07617034e-01 1.84468136e+02] [-1.35148275e-01 9.87071695e-01 -8.61650306e-02 1.96901051e+01] [-3.17028683e-01 3.93124185e-02 9.47600838e-01 -1.03059933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:184.48, Y:19.59, Z:-103.08 [[ 9.39157776e-01 1.20679248e-01 3.21588544e-01 1.84478980e+02] [-1.34280035e-01 9.90734146e-01 2.03648010e-02 1.95851741e+01] [-3.16151143e-01 -6.23086820e-02 9.46660490e-01 -1.03079678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:184.53, Y:19.71, Z:-103.07 [[ 9.38500568e-01 1.68793004e-01 3.01206916e-01 1.84534884e+02] [-1.39721080e-01 9.83402821e-01 -1.15745029e-01 1.97103622e+01] [-3.15744682e-01 6.65418203e-02 9.46508046e-01 -1.03071677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.57, Y:19.71, Z:-103.09 [[ 9.16994921e-01 1.75954670e-01 3.57994789e-01 1.84571591e+02] [-1.37270939e-01 9.81838417e-01 -1.30958054e-01 1.97135326e+01] [-3.74535718e-01 7.09455889e-02 9.24494305e-01 -1.03089959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:184.57, Y:19.57, Z:-103.11 [[ 9.34952913e-01 1.25948333e-01 3.31662580e-01 1.84571882e+02] [-1.41199710e-01 9.89732388e-01 2.21910345e-02 1.95716927e+01] [-3.25462274e-01 -6.75782324e-02 9.43137048e-01 -1.03111896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.60, Y:19.58, Z:-103.12 [[ 9.31627518e-01 1.32628896e-01 3.38348554e-01 1.84604936e+02] [-1.44637518e-01 9.89429976e-01 1.04072774e-02 1.95788266e+01] [-3.33391896e-01 -5.86336013e-02 9.40963307e-01 -1.03122623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:184.65, Y:19.63, Z:-103.13 [[ 9.31559495e-01 1.52994000e-01 3.29832903e-01 1.84649202e+02] [-1.44146597e-01 9.88227093e-01 -5.12734900e-02 1.96334695e+01] [-3.33794348e-01 2.20015754e-04 9.42645896e-01 -1.03131361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.69, Y:19.70, Z:-103.13 [[ 9.31174882e-01 1.78985166e-01 3.17612419e-01 1.84694203e+02] [-1.46549801e-01 9.81471493e-01 -1.23437691e-01 1.96972412e+01] [-3.33821051e-01 6.83960408e-02 9.40151843e-01 -1.03130854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:184.71, Y:19.61, Z:-103.16 [[ 9.29842775e-01 1.60222550e-01 3.31241828e-01 1.84707797e+02] [-1.57367746e-01 9.86897773e-01 -3.56114919e-02 1.96111905e+01] [-3.32607587e-01 -1.90136915e-02 9.42873625e-01 -1.03158280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.77, Y:19.72, Z:-103.15 [[ 9.12707891e-01 1.89978411e-01 3.61763057e-01 1.84765795e+02] [-1.35758370e-01 9.76038899e-01 -1.70052145e-01 1.97203728e+01] [-3.85401052e-01 1.06095572e-01 9.16629565e-01 -1.03150830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:19.52, Z:-103.18 [[ 9.29026759e-01 1.14219701e-01 3.51941957e-01 1.84753654e+02] [-1.37726912e-01 9.89562032e-01 4.24061601e-02 1.95174800e+01] [-3.43424779e-01 -8.78683365e-02 9.35060734e-01 -1.03177627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.80, Y:19.60, Z:-103.18 [[ 9.26868701e-01 1.49658150e-01 3.44262762e-01 1.84801559e+02] [-1.40020666e-01 9.88737497e-01 -5.28429267e-02 1.96017235e+01] [-3.48293876e-01 7.74553647e-04 9.37385074e-01 -1.03184695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.84, Y:19.64, Z:-103.19 [[ 9.26012367e-01 1.63445669e-01 3.40274316e-01 1.84839890e+02] [-1.37899708e-01 9.85573105e-01 -9.81291227e-02 1.96366838e+01] [-3.51403994e-01 4.39450523e-02 9.35191994e-01 -1.03189034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.85, Y:19.57, Z:-103.21 [[ 9.24873895e-01 1.38453841e-01 3.54173421e-01 1.84854735e+02] [-1.35115284e-01 9.90237056e-01 -3.42700038e-02 1.95703211e+01] [-3.55460459e-01 -1.61588104e-02 9.34551633e-01 -1.03206786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.92, Y:19.69, Z:-103.21 [[ 9.07369058e-01 1.87511123e-01 3.76192732e-01 1.84918413e+02] [-1.30623324e-01 9.76459827e-01 -1.71650088e-01 1.96877389e+01] [-3.99523391e-01 1.06610433e-01 9.10502760e-01 -1.03206498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.93, Y:19.58, Z:-103.23 [[ 9.05566854e-01 1.49776806e-01 3.96882327e-01 1.84928378e+02] [-1.32580192e-01 9.88655160e-01 -7.05936807e-02 1.95814077e+01] [-4.02953056e-01 1.13085621e-02 9.15150780e-01 -1.03234254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.94, Y:19.47, Z:-103.24 [[ 9.27894616e-01 1.06113926e-01 3.57423300e-01 1.84935773e+02] [-1.31266961e-01 9.90242290e-01 4.67888068e-02 1.94694406e+01] [-3.48970723e-01 -9.03329525e-02 9.32769742e-01 -1.03243771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:184.99, Y:19.57, Z:-103.25 [[ 9.22902089e-01 1.49677279e-01 3.54751246e-01 1.84987210e+02] [-1.36200464e-01 9.88687747e-01 -6.28169738e-02 1.95673323e+01] [-3.60140484e-01 9.65663219e-03 9.32848102e-01 -1.03251966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:185.03, Y:19.60, Z:-103.26 [[ 9.21276597e-01 1.66596979e-01 3.51418381e-01 1.85029012e+02] [-1.40455611e-01 9.85144079e-01 -9.88097453e-02 1.95950348e+01] [-3.62659142e-01 4.16724227e-02 9.30989665e-01 -1.03262069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17592000000002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:185.04, Y:19.51, Z:-103.28 [[ 9.21666068e-01 1.34434449e-01 3.63949223e-01 1.85036026e+02] [-1.37077873e-01 9.90383963e-01 -1.86885893e-02 1.95105699e+01] [-3.62961864e-01 -3.26647470e-02 9.31231281e-01 -1.03278797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.08, Y:19.57, Z:-103.29 [[ 9.20235471e-01 1.64187532e-01 3.55259247e-01 1.85084511e+02] [-1.39990741e-01 9.85778553e-01 -9.29690145e-02 1.95727301e+01] [-3.65471299e-01 3.58203797e-02 9.30133125e-01 -1.03285785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:185.11, Y:19.54, Z:-103.30 [[ 9.19414501e-01 1.54250260e-01 3.61778707e-01 1.85108153e+02] [-1.40654146e-01 9.88001264e-01 -6.37958793e-02 1.95378344e+01] [-3.67278351e-01 7.76918151e-03 9.30078627e-01 -1.03300557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:185.16, Y:19.61, Z:-103.31 [[ 8.98573737e-01 1.87905341e-01 3.96556203e-01 1.85161827e+02] [-1.37437715e-01 9.78725967e-01 -1.52336326e-01 1.96065804e+01] [-4.16744663e-01 8.23836435e-02 9.05282730e-01 -1.03310103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:185.15, Y:19.42, Z:-103.33 [[ 9.18390995e-01 1.14888586e-01 3.78627249e-01 1.85151656e+02] [-1.41073102e-01 9.89105515e-01 4.20554310e-02 1.94189555e+01] [-3.69670611e-01 -9.20374496e-02 9.24593287e-01 -1.03333002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:185.25, Y:19.58, Z:-103.35 [[ 9.11845358e-01 1.94148264e-01 3.61724336e-01 1.85252239e+02] [-1.54564208e-01 9.78628925e-01 -1.35629392e-01 1.95781645e+01] [-3.80326109e-01 6.77633955e-02 9.22366615e-01 -1.03349103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:185.25, Y:19.44, Z:-103.37 [[ 9.10606313e-01 1.41058696e-01 3.88456673e-01 1.85252635e+02] [-1.53443129e-01 9.88157097e-01 8.70444461e-04 1.94406756e+01] [-3.83733435e-01 -6.03986395e-02 9.21466579e-01 -1.03369137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:185.37, Y:19.59, Z:-103.38 [[ 9.05188774e-01 2.23510948e-01 3.61491549e-01 1.85365794e+02] [-1.72849738e-01 9.70632033e-01 -1.67321319e-01 1.95918055e+01] [-3.88273424e-01 8.89736604e-02 9.17239029e-01 -1.03384075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:185.37, Y:19.50, Z:-103.41 [[ 9.03491925e-01 1.88665118e-01 3.84847780e-01 1.85372456e+02] [-1.71398751e-01 9.82026383e-01 -7.90357587e-02 1.95003143e+01] [-3.92841964e-01 5.44574102e-03 9.19589873e-01 -1.03406255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:186.11, Y:20.26, Z:-102.55 [[ 8.67673916e-01 4.73092789e-01 -1.52725862e-01 1.86109699e+02] [-1.60724309e-01 -2.37592998e-02 -9.86713328e-01 2.02648593e+01] [-4.70435620e-01 8.80692176e-01 5.54221868e-02 -1.02545629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:185.49, Y:19.46, Z:-103.41 [[ 8.66724754e-01 1.89105737e-01 4.61548720e-01 1.85489981e+02] [-1.75742663e-01 9.81782340e-01 -7.22353999e-02 1.94579136e+01] [-4.66800511e-01 -1.85055918e-02 8.84169003e-01 -1.03405761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:185.55, Y:19.46, Z:-103.44 [[ 8.67360747e-01 2.00795813e-01 4.55374984e-01 1.85552937e+02] [-1.87266875e-01 9.79427611e-01 -7.51842501e-02 1.94564258e+01] [-4.61103516e-01 -2.00647829e-02 8.87119469e-01 -1.03437801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:186.36, Y:20.22, Z:-102.64 [[ 8.25104814e-01 5.44351821e-01 -1.51271747e-01 1.86360056e+02] [-1.64748325e-01 -2.42946026e-02 -9.86036390e-01 2.02181554e+01] [-5.40425791e-01 8.38505139e-01 6.96354571e-02 -1.02635912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:185.66, Y:19.37, Z:-103.45 [[ 8.32074275e-01 1.71217163e-01 5.27576615e-01 1.85661179e+02] [-1.88802720e-01 9.81793587e-01 -2.08538935e-02 1.93690469e+01] [-5.21541882e-01 -8.22559117e-02 8.49251453e-01 -1.03448346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59592 meters Centerline goodness : 0.971615 Centerline is valid? [True, True] Translation: X:185.75, Y:19.49, Z:-103.50 [[ 7.97174116e-01 2.96897950e-01 5.25704324e-01 1.85749707e+02] [-2.76044631e-01 9.53626798e-01 -1.19980384e-01 1.94906669e+01] [-5.36947661e-01 -4.94725995e-02 8.42163684e-01 -1.03497085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:186.91, Y:19.76, Z:-102.15 [[ 7.83840158e-01 3.19697708e-01 -5.32341978e-01 1.86906923e+02] [-1.42232276e-01 -7.42059027e-01 -6.55071278e-01 1.97557064e+01] [-6.04453957e-01 5.89187386e-01 -5.36184333e-01 -1.02153373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:186.73, Y:18.34, Z:-102.35 [[ 8.35554581e-01 -4.64586289e-01 -2.93271414e-01 1.86725385e+02] [-9.25237198e-02 -6.45160553e-01 7.58424171e-01 1.83385065e+01] [-5.41560619e-01 -6.06570228e-01 -5.82052107e-01 -1.02352970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:187.13, Y:18.93, Z:-102.13 [[ 8.42700907e-01 -3.74439757e-02 -5.37078327e-01 1.87126028e+02] [-1.65102977e-02 -9.98906677e-01 4.37362547e-02 1.89291101e+01] [-5.38128787e-01 -2.79892585e-02 -8.42397775e-01 -1.02134580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:187.20, Y:19.57, Z:-102.34 [[ 8.15097351e-01 4.03115959e-01 -4.16069504e-01 1.87202936e+02] [ 4.57514229e-02 -7.60747177e-01 -6.47433811e-01 1.95723961e+01] [-5.77514603e-01 5.08685812e-01 -6.38526137e-01 -1.02335518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:186.26, Y:19.12, Z:-103.83 [[ 7.97098351e-01 -2.20180040e-02 6.03447948e-01 1.86257461e+02] [ 1.45971839e-02 9.99745574e-01 1.71961988e-02 1.91172106e+01] [-6.03673041e-01 -4.89842101e-03 7.97216950e-01 -1.03834129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:186.29, Y:19.03, Z:-103.86 [[ 8.31979748e-01 -7.80773554e-02 5.49284649e-01 1.86289633e+02] [ 1.58766109e-02 9.92993207e-01 1.17100059e-01 1.90255569e+01] [-5.54578788e-01 -8.87040990e-02 8.27389842e-01 -1.03862496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:186.40, Y:19.24, Z:-103.91 [[ 8.17402211e-01 6.13594679e-02 5.72790225e-01 1.86396506e+02] [-1.61915592e-02 9.96365470e-01 -8.36282408e-02 1.92415881e+01] [-5.75839786e-01 5.90835421e-02 8.15424844e-01 -1.03909987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83592000000002 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:187.11, Y:20.03, Z:-103.22 [[ 7.53380121e-01 6.54132407e-01 6.72992346e-02 1.87106880e+02] [-3.62569205e-02 1.43507892e-01 -9.88984793e-01 2.00273009e+01] [-6.56584974e-01 7.42641420e-01 1.31832820e-01 -1.03221907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:187.84, Y:19.35, Z:-102.59 [[ 7.18639646e-01 3.54869100e-01 -5.98017543e-01 1.87844399e+02] [ 5.14175734e-02 -8.84746352e-01 -4.63227941e-01 1.93468010e+01] [-6.93479122e-01 3.02145353e-01 -6.54060313e-01 -1.02589427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89592000000002 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:187.73, Y:18.18, Z:-103.04 [[ 7.64306821e-01 -4.18020428e-01 -4.91013243e-01 1.87733867e+02] [ 1.25296964e-01 -6.50654270e-01 7.48965748e-01 1.81773789e+01] [-6.32562846e-01 -6.33962098e-01 -4.44922807e-01 -1.03040912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:186.80, Y:18.84, Z:-104.22 [[ 7.92930264e-01 -2.42495908e-01 5.58978829e-01 1.86799283e+02] [ 8.66942067e-02 9.52959751e-01 2.90433862e-01 1.88396715e+01] [-6.03113349e-01 -1.81833573e-01 7.76653617e-01 -1.04215704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:186.84, Y:19.15, Z:-104.25 [[ 7.88036207e-01 -4.67282363e-02 6.13852921e-01 1.86837714e+02] [ 6.55830465e-02 9.97813124e-01 -8.23612224e-03 1.91514207e+01] [-6.12125641e-01 4.67487072e-02 7.89377449e-01 -1.04247677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:187.60, Y:20.00, Z:-103.48 [[ 7.11353381e-01 6.91886468e-01 1.23569746e-01 1.87601343e+02] [ 8.91985843e-02 8.55211571e-02 -9.92335500e-01 2.00013139e+01] [-6.97151332e-01 7.16923460e-01 -8.79529175e-04 -1.03484852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:187.68, Y:18.07, Z:-103.84 [[ 7.71221370e-01 -6.28873022e-01 -9.86728014e-02 1.87678500e+02] [ 9.27663002e-02 -4.23220102e-02 9.94788048e-01 1.80698386e+01] [-6.29771397e-01 -7.76355312e-01 2.56985849e-02 -1.03840091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:187.11, Y:19.04, Z:-104.50 [[ 7.86257018e-01 -1.44736290e-01 6.00709005e-01 1.87106161e+02] [ 5.98195327e-02 9.85442367e-01 1.59138192e-01 1.90356006e+01] [-6.14997175e-01 -8.91893887e-02 7.83469034e-01 -1.04504710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:187.15, Y:19.10, Z:-104.53 [[ 7.82007269e-01 -1.06723498e-01 6.14064105e-01 1.87150128e+02] [ 5.16967033e-02 9.92942473e-01 1.06736570e-01 1.90984952e+01] [-6.21121632e-01 -5.17236839e-02 7.82005485e-01 -1.04533918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:187.25, Y:19.29, Z:-104.59 [[ 7.74750621e-01 1.96279714e-02 6.31962197e-01 1.87250912e+02] [ 2.29739399e-02 9.97984059e-01 -5.91609386e-02 1.92862364e+01] [-6.31849408e-01 6.03536354e-02 7.72737837e-01 -1.04586343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:187.30, Y:19.17, Z:-104.64 [[ 7.68116911e-01 -6.21604816e-02 6.37285247e-01 1.87295430e+02] [ 2.07370111e-02 9.97169564e-01 7.22691946e-02 1.91721269e+01] [-6.39973740e-01 -4.22957993e-02 7.67231828e-01 -1.04643377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:187.35, Y:19.23, Z:-104.68 [[ 7.62369565e-01 -1.80035097e-02 6.46891428e-01 1.87347717e+02] [ 1.15243476e-02 9.99832127e-01 1.42445473e-02 1.92343159e+01] [-6.47039284e-01 -3.40460770e-03 7.62449063e-01 -1.04675669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:188.07, Y:20.07, Z:-104.11 [[ 6.94782458e-01 6.96140489e-01 1.80736701e-01 1.88072551e+02] [-2.65138037e-02 2.75915652e-01 -9.60816096e-01 2.00735658e+01] [-7.18731072e-01 6.62766152e-01 2.10158688e-01 -1.04107128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters Centerline goodness : 0.958687 Centerline is valid? [True, True] Translation: X:188.58, Y:19.97, Z:-103.83 [[ 6.91717107e-01 6.89767437e-01 -2.13888586e-01 1.88581014e+02] [-7.59826526e-03 -2.89207696e-01 -9.57236217e-01 1.99724482e+01] [-7.22128597e-01 6.63761849e-01 -1.94808875e-01 -1.03825473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:189.05, Y:18.56, Z:-103.72 [[ 6.44837284e-01 -1.75825446e-01 -7.43821410e-01 1.89053779e+02] [ 1.15069151e-01 -9.39756029e-01 3.21897028e-01 1.85633074e+01] [-7.55608342e-01 -2.93162104e-01 -5.85757641e-01 -1.03718968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:188.34, Y:18.12, Z:-104.67 [[ 7.22165938e-01 -6.91619643e-01 1.17740152e-02 1.88340640e+02] [ 7.73709750e-02 9.76793101e-02 9.92205868e-01 1.81199364e+01] [-6.87379146e-01 -7.15626314e-01 1.24051957e-01 -1.04668376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31592 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:188.45, Y:18.12, Z:-104.81 [[ 7.70747169e-01 -6.35557954e-01 -4.48874981e-02 1.88447187e+02] [ 1.21248149e-01 7.71449817e-02 9.89619896e-01 1.81233102e+01] [-6.25497951e-01 -7.68189259e-01 1.36519502e-01 -1.04813413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters Centerline goodness : 0.820379 Centerline is valid? [True, False] Translation: X:188.28, Y:18.22, Z:-104.89 [[ 7.61359612e-01 -6.44400669e-01 7.12693379e-02 1.88275996e+02] [ 1.34354800e-01 2.64363278e-01 9.55018767e-01 1.82155049e+01] [-6.34255728e-01 -7.17537340e-01 2.87853846e-01 -1.04887290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37592 meters Centerline goodness : 0.998411 Centerline is valid? [False, True] Translation: X:188.12, Y:18.32, Z:-104.93 [[ 7.54057705e-01 -6.31839478e-01 1.79376287e-01 1.88121163e+02] [ 1.45256620e-01 4.26764901e-01 8.92620991e-01 1.83203794e+01] [-6.40544684e-01 -6.47032142e-01 4.13584229e-01 -1.04933252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:187.82, Y:19.16, Z:-105.20 [[ 7.46076359e-01 -2.07323457e-01 6.32761448e-01 1.87816135e+02] [ 1.56264756e-01 9.78268451e-01 1.36279727e-01 1.91641709e+01] [-6.47264546e-01 -2.79676898e-03 7.62260314e-01 -1.05203514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:187.85, Y:19.18, Z:-105.23 [[ 7.47438765e-01 -2.03355694e-01 6.32441108e-01 1.87852001e+02] [ 1.56516931e-01 9.79103014e-01 1.29845056e-01 1.91793957e+01] [-6.45629726e-01 1.93651329e-03 7.63648156e-01 -1.05234460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:187.89, Y:19.19, Z:-105.27 [[ 7.47634238e-01 -2.01031152e-01 6.32953017e-01 1.87888368e+02] [ 1.55361151e-01 9.79580471e-01 1.27612750e-01 1.91902338e+01] [-6.45682553e-01 2.92864827e-03 7.63600330e-01 -1.05265797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:187.93, Y:19.15, Z:-105.30 [[ 7.76297040e-01 -2.30491977e-01 5.86716588e-01 1.87926191e+02] [ 1.63579508e-01 9.72528067e-01 1.65622773e-01 1.91540262e+01] [-6.08773070e-01 -3.25976577e-02 7.92674424e-01 -1.05296568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:187.97, Y:19.21, Z:-105.34 [[ 7.75988333e-01 -1.85896129e-01 6.02731065e-01 1.87971190e+02] [ 1.25063673e-01 9.81956844e-01 1.41844398e-01 1.92083952e+01] [-6.18224219e-01 -3.46898377e-02 7.85235907e-01 -1.05342374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55592000000001 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:188.05, Y:19.26, Z:-105.39 [[ 7.69509673e-01 -1.74311722e-01 6.14386106e-01 1.88053058e+02] [ 1.37692705e-01 9.84687777e-01 1.06914453e-01 1.92566454e+01] [-6.23614932e-01 2.32477923e-03 7.81728222e-01 -1.05391165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters Centerline goodness : 0.972273 Centerline is valid? [True, True] Translation: X:188.70, Y:20.18, Z:-104.73 [[ 7.45458927e-01 6.09699648e-01 2.69364675e-01 1.88697527e+02] [ 1.23706652e-01 2.70545126e-01 -9.54726138e-01 2.01824019e+01] [-6.54971490e-01 7.45031324e-01 1.26256377e-01 -1.04729401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61592000000002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:188.29, Y:19.62, Z:-105.41 [[ 6.98677608e-01 8.33077486e-02 7.10569785e-01 1.88288607e+02] [ 6.88080531e-02 9.80768654e-01 -1.82642546e-01 1.96163307e+01] [-7.12120111e-01 1.76501180e-01 6.79508853e-01 -1.05407837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:189.29, Y:20.21, Z:-104.66 [[ 6.32731043e-01 7.74240784e-01 -1.42350159e-02 1.89294848e+02] [ 9.36874515e-02 -9.47857451e-02 -9.91079373e-01 2.02077867e+01] [-7.68683347e-01 6.25753044e-01 -1.32510529e-01 -1.04661690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67592000000002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:188.99, Y:18.37, Z:-105.30 [[ 6.73424393e-01 -7.38166392e-01 4.01243640e-02 1.88988590e+02] [ 9.30580862e-02 1.38491111e-01 9.85981949e-01 1.83699009e+01] [-7.33375606e-01 -6.60250400e-01 1.61955644e-01 -1.05300457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:188.51, Y:19.37, Z:-105.76 [[ 6.59687772e-01 -1.22181374e-01 7.41541472e-01 1.88510162e+02] [ 4.78917522e-02 9.91525178e-01 1.20765066e-01 1.93719708e+01] [-7.50012282e-01 -4.41535173e-02 6.59948516e-01 -1.05758158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.22, Y:18.34, Z:-105.41 [[ 7.26283517e-01 -6.86522667e-01 -3.46248541e-02 1.89222752e+02] [ 2.37311251e-02 -2.52992261e-02 9.99398210e-01 1.83430451e+01] [-6.86985507e-01 -7.26668134e-01 -2.08245557e-03 -1.05411675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:189.31, Y:18.35, Z:-105.58 [[ 7.73130717e-01 -6.33231988e-01 -3.58628353e-02 1.89310733e+02] [ 2.79021260e-02 -2.25316692e-02 9.99356691e-01 1.83497103e+01] [-6.33632674e-01 -7.73634004e-01 2.48593191e-04 -1.05580126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:189.60, Y:20.29, Z:-105.34 [[ 7.28900476e-01 6.82331947e-01 5.59214624e-02 1.89597699e+02] [ 1.43338150e-02 6.64546965e-02 -9.97686481e-01 2.02914343e+01] [-6.84469603e-01 7.28015719e-01 3.86584400e-02 -1.05342873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:190.35, Y:19.31, Z:-104.87 [[ 7.23425255e-01 2.58242193e-01 -6.40286553e-01 1.90354848e+02] [ 1.32868596e-01 -9.62149891e-01 -2.37935967e-01 1.93145958e+01] [-6.77496743e-01 8.70549127e-02 -7.30355807e-01 -1.04871955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:189.02, Y:19.26, Z:-106.31 [[ 7.28054865e-01 -2.50137645e-01 6.38253297e-01 1.89015775e+02] [ 1.25998857e-01 9.64017794e-01 2.34081141e-01 1.92562956e+01] [-6.73840041e-01 -9.00047278e-02 7.33374903e-01 -1.06309686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:189.69, Y:20.29, Z:-105.70 [[ 6.47350925e-01 6.84785637e-01 3.34672095e-01 1.89687741e+02] [ 1.13769951e-01 3.47357708e-01 -9.30805576e-01 2.02946549e+01] [-7.53653221e-01 6.40633479e-01 1.46954305e-01 -1.05703366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:190.08, Y:18.35, Z:-105.85 [[ 7.12663731e-01 -6.37874347e-01 -2.91936165e-01 1.90080729e+02] [ 9.50450002e-02 -3.24520727e-01 9.41091253e-01 1.83453854e+01] [-6.95037305e-01 -6.98428676e-01 -1.70647385e-01 -1.05847600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:190.18, Y:18.35, Z:-106.00 [[ 7.54047582e-01 -5.84695806e-01 -2.99237462e-01 1.90180950e+02] [ 1.15547914e-01 -3.30394221e-01 9.36743475e-01 1.83490355e+01] [-6.46576310e-01 -7.40925417e-01 -1.81572582e-01 -1.06002349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97592 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:189.99, Y:20.34, Z:-106.07 [[ 6.96304891e-01 6.28671928e-01 3.46310708e-01 1.89987575e+02] [ 1.41907043e-01 3.52390158e-01 -9.25031658e-01 2.03369959e+01] [-7.03577921e-01 6.93247996e-01 1.56158016e-01 -1.06074825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:190.17, Y:20.38, Z:-106.15 [[ 6.53999823e-01 6.79100865e-01 3.33326038e-01 1.90165744e+02] [ 1.19491322e-01 3.42354343e-01 -9.31941698e-01 2.03801497e+01] [-7.46998029e-01 6.49319274e-01 1.42753020e-01 -1.06148988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:190.36, Y:20.41, Z:-106.20 [[ 6.23234210e-01 7.33667953e-01 2.70759032e-01 1.90357777e+02] [ 6.08330725e-02 2.99692650e-01 -9.52094351e-01 2.04086803e+01] [-7.79665606e-01 6.09848875e-01 1.42147436e-01 -1.06199783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:191.37, Y:19.47, Z:-105.76 [[ 6.04517638e-01 3.34188427e-01 -7.23102012e-01 1.91372216e+02] [ 1.49832566e-01 -9.39244642e-01 -3.08819858e-01 1.94704446e+01] [-7.82373713e-01 7.83428212e-02 -6.17862262e-01 -1.05759104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:189.81, Y:19.43, Z:-106.98 [[ 5.56347328e-01 -2.68910022e-01 7.86234730e-01 1.89807481e+02] [ 1.67895520e-01 9.63050828e-01 2.10580618e-01 1.94269099e+01] [-8.13811247e-01 1.48493248e-02 5.80939543e-01 -1.06976083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:189.84, Y:19.44, Z:-107.02 [[ 5.56272898e-01 -2.65157290e-01 7.87560839e-01 1.89838080e+02] [ 1.67463201e-01 9.64052981e-01 2.06295727e-01 1.94407057e+01] [-8.13951190e-01 1.71307369e-02 5.80680634e-01 -1.07017405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:189.87, Y:19.38, Z:-107.06 [[ 5.96182864e-01 -3.23790707e-01 7.34660174e-01 1.89870424e+02] [ 1.83948370e-01 9.45814412e-01 2.67578205e-01 1.93775042e+01] [-7.81491516e-01 -2.43859998e-02 6.23439118e-01 -1.07061386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:189.90, Y:19.38, Z:-107.11 [[ 5.98970942e-01 -3.29368298e-01 7.29897482e-01 1.89904873e+02] [ 1.85548822e-01 9.43772649e-01 2.73614367e-01 1.93814084e+01] [-7.78977178e-01 -2.84554369e-02 6.26406293e-01 -1.07106813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:189.95, Y:19.54, Z:-107.15 [[ 5.96153672e-01 -2.13871746e-01 7.73860243e-01 1.89946130e+02] [ 1.68093247e-01 9.75753713e-01 1.40176142e-01 1.95387522e+01] [-7.85076722e-01 4.65141590e-02 6.17649555e-01 -1.07153205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:190.00, Y:19.53, Z:-107.23 [[ 5.88364066e-01 -2.26364936e-01 7.76264544e-01 1.90002119e+02] [ 1.56756147e-01 9.73733789e-01 1.65136363e-01 1.95346239e+01] [-7.93256098e-01 2.45239369e-02 6.08394066e-01 -1.07230549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:190.82, Y:20.49, Z:-106.76 [[ 5.36712112e-01 7.71928065e-01 3.40686323e-01 1.90824783e+02] [ 1.23970011e-01 3.27244628e-01 -9.36772325e-01 2.04931532e+01] [-8.34608618e-01 5.45011941e-01 7.99402251e-02 -1.06758804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:190.99, Y:20.53, Z:-106.89 [[ 4.84706067e-01 8.12806316e-01 3.23119051e-01 1.90991364e+02] [ 1.01867362e-01 3.14444193e-01 -9.43794411e-01 2.05306741e+01] [-8.68724967e-01 4.90378162e-01 6.96145731e-02 -1.06887775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33592000000002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:191.18, Y:20.56, Z:-107.01 [[ 4.35369378e-01 8.59029458e-01 2.69298895e-01 1.91182103e+02] [ 6.87898207e-02 2.66518666e-01 -9.61371812e-01 2.05643469e+01] [-8.97619889e-01 4.37076870e-01 5.69415834e-02 -1.07010290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:191.14, Y:20.57, Z:-107.23 [[ 3.89943809e-01 8.22433609e-01 4.14182067e-01 1.91141499e+02] [ 1.20115798e-02 4.45206685e-01 -8.95347268e-01 2.05650937e+01] [-9.20760310e-01 3.54110105e-01 1.63726864e-01 -1.07232568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39592000000002 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:192.18, Y:20.20, Z:-107.07 [[ 3.01997146e-01 7.68334021e-01 -5.64323096e-01 1.92176587e+02] [ 2.41324480e-02 -5.97934326e-01 -8.01181731e-01 2.02038696e+01] [-9.53003331e-01 2.28336098e-01 -1.99116241e-01 -1.07071924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:192.31, Y:18.99, Z:-107.34 [[ 3.13918977e-01 -3.03233878e-01 -8.99724453e-01 1.92311370e+02] [ 1.00599063e-01 -9.31669993e-01 3.49100060e-01 1.89850733e+01] [-9.44105240e-01 -2.00100571e-01 -2.61963847e-01 -1.07336525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45592 meters Centerline goodness : 0.743787 Centerline is valid? [True, False] Translation: X:192.57, Y:19.63, Z:-107.91 [[-4.52674073e-02 1.93014294e-01 -9.80151184e-01 1.92567807e+02] [-1.76414442e-01 9.64192082e-01 1.98019123e-01 1.96330134e+01] [ 9.83274533e-01 1.81876637e-01 -9.59596669e-03 -1.07910776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters Centerline goodness : 0.998909 Centerline is valid? [False, True] Translation: X:192.57, Y:19.72, Z:-107.94 [[-3.58061468e-02 1.17910725e-01 -9.92378446e-01 1.92565599e+02] [-1.67400419e-01 9.78276988e-01 1.22275240e-01 1.97160690e+01] [ 9.85238560e-01 1.70502772e-01 -1.52900248e-02 -1.07942088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:192.10, Y:20.48, Z:-107.97 [[ 3.25944875e-02 9.53865684e-01 -2.98459135e-01 1.92096245e+02] [ 2.40208381e-01 -2.97341442e-01 -9.24060604e-01 2.04832064e+01] [-9.70173971e-01 -4.15731038e-02 -2.38818223e-01 -1.07971671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:191.48, Y:18.67, Z:-108.27 [[-4.63252668e-02 -9.94321232e-01 -9.58084455e-02 1.91475005e+02] [ 2.25199117e-01 -1.03837822e-01 9.68763678e-01 1.86654419e+01] [-9.73210834e-01 2.33022585e-02 2.28730578e-01 -1.08269323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:191.50, Y:18.68, Z:-108.34 [[-3.33701469e-02 -9.92114624e-01 -1.20809796e-01 1.91497485e+02] [ 2.15494913e-01 -1.25176247e-01 9.68448682e-01 1.86785081e+01] [-9.75934617e-01 6.28337823e-03 2.17972804e-01 -1.08339166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters Centerline goodness : 0.874067 Centerline is valid? [True, False] Translation: X:192.05, Y:19.15, Z:-109.01 [[ 1.26869597e-01 9.42634209e-01 -3.08779618e-01 1.92049386e+02] [-4.93559240e-01 3.30014138e-01 8.04667599e-01 1.91466768e+01] [ 8.60408846e-01 5.03131798e-02 5.07114585e-01 -1.09011676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63592 meters Centerline goodness : 0.999058 Centerline is valid? [False, True] Translation: X:190.69, Y:19.48, Z:-108.59 [[-1.31819682e-01 -5.58698050e-01 8.18828468e-01 1.90691853e+02] [ 4.66438652e-01 6.93915601e-01 5.48558221e-01 1.94793139e+01] [-8.74676257e-01 4.54244017e-01 1.69126632e-01 -1.08588436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:191.64, Y:18.90, Z:-108.80 [[-1.14897487e-01 -9.64161215e-01 -2.39147902e-01 1.91644423e+02] [ 4.17539603e-01 -2.65317078e-01 8.69061291e-01 1.88952871e+01] [-9.01365213e-01 -7.62093840e-07 4.33059756e-01 -1.08798691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:190.65, Y:19.57, Z:-108.50 [[-7.37544544e-02 -4.65900511e-01 8.81757900e-01 1.90653915e+02] [ 4.18605453e-01 7.88041857e-01 4.51397283e-01 1.95656844e+01] [-9.05168358e-01 4.02401225e-01 1.36906897e-01 -1.08495742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:190.97, Y:20.55, Z:-108.16 [[-1.05344315e-01 6.05367319e-01 7.88944222e-01 1.90968663e+02] [ 3.82400498e-01 7.57016012e-01 -5.29808095e-01 2.05469561e+01] [-9.17971914e-01 2.45880392e-01 -3.11240097e-01 -1.08162074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:192.27, Y:20.63, Z:-108.51 [[-1.28768621e-01 8.40736993e-01 -5.25908691e-01 1.92273030e+02] [ 3.83589281e-01 -4.46815420e-01 -8.08217325e-01 2.06281239e+01] [-9.14482316e-01 -3.05805967e-01 -2.64961893e-01 -1.08505958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:191.80, Y:19.02, Z:-109.01 [[-1.82300860e-01 -8.99539061e-01 -3.96983468e-01 1.91798876e+02] [ 3.70005399e-01 -4.36832676e-01 8.19922690e-01 1.90223830e+01] [-9.10967837e-01 2.58658489e-03 4.12469282e-01 -1.09009483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:190.70, Y:19.51, Z:-108.73 [[-1.29395356e-01 -6.12305067e-01 7.79961119e-01 1.90700902e+02] [ 3.48709138e-01 7.08233448e-01 6.13846332e-01 1.95052209e+01] [-9.28255772e-01 3.51408434e-01 1.21874253e-01 -1.08726880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:190.96, Y:20.71, Z:-108.50 [[-1.63572347e-01 6.21670710e-01 7.66008888e-01 1.90962276e+02] [ 3.08610305e-01 7.69741687e-01 -5.58799977e-01 2.07123539e+01] [-9.37018552e-01 1.44994013e-01 -3.17762442e-01 -1.08502674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:191.85, Y:19.11, Z:-109.14 [[-1.73293007e-01 -8.56085374e-01 -4.86916179e-01 1.91849035e+02] [ 2.45884338e-01 -5.16347452e-01 8.20320791e-01 1.91077444e+01] [-9.53682560e-01 2.24307947e-02 2.99977388e-01 -1.09140335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:191.83, Y:19.11, Z:-109.16 [[-1.69001887e-01 -8.63023015e-01 -4.76056339e-01 1.91831386e+02] [ 2.48191282e-01 -5.04703215e-01 8.26846873e-01 1.91076987e+01] [-9.53855046e-01 2.15856484e-02 2.99490584e-01 -1.09158845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:191.88, Y:19.12, Z:-109.14 [[-1.51334459e-01 -8.39273159e-01 -5.22224517e-01 1.91882441e+02] [ 2.41019416e-01 -5.43693751e-01 8.03932054e-01 1.91157247e+01] [-9.58648801e-01 -4.20362611e-03 2.84560726e-01 -1.09140353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:190.64, Y:19.64, Z:-108.95 [[-1.40336958e-01 -5.93212254e-01 7.92719849e-01 1.90642229e+02] [ 2.37938284e-01 7.56973774e-01 6.08585308e-01 1.96355753e+01] [-9.61088399e-01 2.74025412e-01 3.49165094e-02 -1.08945962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:191.49, Y:21.00, Z:-108.68 [[-1.56343702e-01 9.42872961e-01 2.94189100e-01 1.91486416e+02] [ 2.45214682e-01 3.25579920e-01 -9.13163444e-01 2.10040245e+01] [-9.56779184e-01 -7.06278664e-02 -2.82108663e-01 -1.08677496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:20.28, Z:-109.24 [[-1.80215579e-01 3.75403364e-01 -9.09172514e-01 1.92494989e+02] [ 2.55475043e-01 -8.74721691e-01 -4.11818486e-01 2.02823959e+01] [-9.49870964e-01 -3.06486994e-01 6.17322852e-02 -1.09241051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05592000000001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.44, Y:20.44, Z:-109.30 [[-2.28835730e-01 4.99558663e-01 -8.35509037e-01 1.92437123e+02] [ 3.08889220e-01 -7.76666811e-01 -5.48977335e-01 2.04444543e+01] [-9.23158523e-01 -3.83705364e-01 2.34208307e-02 -1.09299612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:191.95, Y:19.31, Z:-109.61 [[-2.50916969e-01 -7.37780104e-01 -6.26674711e-01 1.91951343e+02] [ 3.27688712e-01 -6.73901797e-01 6.62175563e-01 1.93101010e+01] [-9.10857169e-01 -3.92031440e-02 4.10855608e-01 -1.09612293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:191.85, Y:19.26, Z:-109.62 [[-2.39026204e-01 -8.06477694e-01 -5.40795898e-01 1.91846211e+02] [ 3.24795452e-01 -5.91263980e-01 7.38183460e-01 1.92602613e+01] [-9.15081629e-01 7.97142104e-04 4.03267872e-01 -1.09620973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:191.77, Y:19.25, Z:-109.67 [[-2.14827375e-01 -8.45762515e-01 -4.88400417e-01 1.91768469e+02] [ 3.36288171e-01 -5.33553808e-01 7.76035180e-01 1.92543762e+01] [-9.16929368e-01 2.47031732e-03 3.99041893e-01 -1.09673884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:190.68, Y:19.55, Z:-109.34 [[-1.65290282e-01 -7.43159576e-01 6.48377180e-01 1.90682930e+02] [ 3.22880926e-01 5.80414710e-01 7.47573857e-01 1.95480169e+01] [-9.31894323e-01 3.32915318e-01 1.44015141e-01 -1.09341730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:190.66, Y:20.65, Z:-109.04 [[-1.81660856e-01 3.35570109e-01 9.24333292e-01 1.90662519e+02] [ 2.77868826e-01 9.19183066e-01 -2.79090319e-01 2.06507130e+01] [-9.43285879e-01 2.06143621e-01 -2.60224055e-01 -1.09036453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:191.90, Y:21.09, Z:-109.36 [[-2.08118134e-01 9.50006808e-01 -2.32752889e-01 1.91898777e+02] [ 2.78398829e-01 -1.70585269e-01 -9.45195619e-01 2.10862275e+01] [-9.37646487e-01 -2.61510481e-01 -2.28978895e-01 -1.09358329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:191.94, Y:19.41, Z:-109.84 [[-2.41207574e-01 -7.00114726e-01 -6.72055263e-01 1.91936563e+02] [ 2.52657915e-01 -7.13924779e-01 6.53050832e-01 1.94058264e+01] [-9.37007409e-01 -1.22792743e-02 3.49093591e-01 -1.09839252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:191.78, Y:19.35, Z:-109.91 [[-2.03850002e-01 -8.01952596e-01 -5.61531131e-01 1.91780290e+02] [ 2.66081067e-01 -5.97368328e-01 7.56539454e-01 1.93540683e+01] [-9.42149692e-01 4.80776702e-03 3.35157937e-01 -1.09908578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:190.55, Y:19.78, Z:-109.70 [[-1.39151140e-01 -6.66779333e-01 7.32149084e-01 1.90545799e+02] [ 2.46891713e-01 6.92635286e-01 6.77717377e-01 1.97762460e+01] [-9.59000231e-01 2.75066687e-01 6.82413019e-02 -1.09697061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:190.44, Y:19.99, Z:-109.72 [[-1.20938090e-01 -5.11473778e-01 8.50745880e-01 1.90437569e+02] [ 1.98756593e-01 8.27204321e-01 5.25574760e-01 1.99894244e+01] [-9.72558376e-01 2.32653360e-01 1.61827488e-03 -1.09715458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:190.72, Y:21.04, Z:-109.64 [[-1.36689072e-01 5.51912190e-01 8.22623263e-01 1.90716548e+02] [ 1.50014318e-01 8.32373058e-01 -5.33526754e-01 2.10362152e+01] [-9.79189360e-01 5.04779911e-02 -1.96571032e-01 -1.09643354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.01, Y:21.10, Z:-109.94 [[-1.65325838e-01 8.81570091e-01 -4.42155564e-01 1.92007766e+02] [ 1.56564401e-01 -4.19179841e-01 -8.94301878e-01 2.10984969e+01] [-9.73732487e-01 -2.17077029e-01 -6.87212351e-02 -1.09942335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:192.01, Y:19.62, Z:-110.20 [[-2.12519302e-01 -5.75161819e-01 -7.89952168e-01 1.92007804e+02] [ 1.49152442e-01 -8.18039626e-01 5.55486021e-01 1.96226312e+01] [-9.65706526e-01 2.28206875e-04 2.59636000e-01 -1.10196474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47592 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:192.11, Y:19.75, Z:-110.23 [[-1.99714026e-01 -4.49425710e-01 -8.70707092e-01 1.92112140e+02] [ 1.45412854e-01 -8.92363242e-01 4.27250450e-01 1.97512121e+01] [-9.69004339e-01 -4.12840962e-02 2.43569731e-01 -1.10225495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:192.22, Y:19.82, Z:-110.09 [[-1.79769518e-01 -3.14905337e-01 -9.31942889e-01 1.92219810e+02] [ 1.21494254e-01 -9.47231045e-01 2.96635288e-01 1.98156787e+01] [-9.76177272e-01 -5.98997235e-02 2.08542457e-01 -1.10094688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:192.02, Y:19.59, Z:-110.12 [[-1.82897642e-01 -5.78809577e-01 -7.94687314e-01 1.92019704e+02] [ 1.22892024e-01 -8.15442152e-01 5.65642685e-01 1.95908951e+01] [-9.75420936e-01 5.79398059e-03 2.20273528e-01 -1.10121742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:190.73, Y:19.57, Z:-110.11 [[-1.65245042e-01 -8.94006482e-01 4.16469070e-01 1.90734350e+02] [ 1.36259023e-01 3.97530072e-01 9.07415738e-01 1.95682477e+01] [-9.76794530e-01 2.06693621e-01 5.61265764e-02 -1.10107495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:190.47, Y:20.87, Z:-110.02 [[-1.61618818e-01 2.85740333e-01 9.44580235e-01 1.90472659e+02] [ 8.76850402e-02 9.57535975e-01 -2.74656494e-01 2.08675049e+01] [-9.82949994e-01 3.84358979e-02 -1.79810985e-01 -1.10023589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:191.86, Y:21.22, Z:-110.24 [[-1.91675382e-01 9.23239702e-01 -3.33000000e-01 1.91861267e+02] [ 7.91371704e-02 -3.23647816e-01 -9.42862344e-01 2.12199707e+01] [-9.78262672e-01 -2.07076178e-01 -1.10272589e-02 -1.10241061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:192.18, Y:19.94, Z:-110.50 [[-2.02057817e-01 -2.58981753e-01 -9.44511032e-01 1.92183115e+02] [ 5.79371849e-02 -9.65875074e-01 2.52445287e-01 1.99372190e+01] [-9.77658387e-01 -3.71376655e-03 2.10167283e-01 -1.10503433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:192.08, Y:21.00, Z:-110.48 [[-2.46675568e-01 7.32374250e-01 -6.34648818e-01 1.92081921e+02] [ 1.22485640e-01 -6.26072317e-01 -7.70084879e-01 2.09979038e+01] [-9.61326392e-01 -2.67696492e-01 6.47314158e-02 -1.10479211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71592 meters Centerline goodness : 0.719829 Centerline is valid? [True, False] Translation: X:192.04, Y:21.04, Z:-110.48 [[-2.63907969e-01 7.67910562e-01 -5.83665960e-01 1.92038042e+02] [ 1.15542623e-01 -5.75592919e-01 -8.09532392e-01 2.10394082e+01] [-9.57602468e-01 -2.81080345e-01 6.31771579e-02 -1.10484535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters Centerline goodness : 0.995632 Centerline is valid? [False, True] Translation: X:192.00, Y:21.08, Z:-110.45 [[-2.73451822e-01 8.03386426e-01 -5.28955906e-01 1.91997748e+02] [ 1.15343336e-01 -5.18560128e-01 -8.47225654e-01 2.10777902e+01] [-9.54945033e-01 -2.92686938e-01 4.91359416e-02 -1.10453410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:192.14, Y:19.99, Z:-110.81 [[-2.92362234e-01 -2.35089634e-01 -9.26961266e-01 1.92141708e+02] [ 1.40123524e-01 -9.69381935e-01 2.01653321e-01 1.99856296e+01] [-9.45986111e-01 -7.09332637e-02 3.16352256e-01 -1.10808087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:192.02, Y:19.75, Z:-110.74 [[-2.85234835e-01 -4.83909579e-01 -8.27328597e-01 1.92015610e+02] [ 1.52954096e-01 -8.75106869e-01 4.59122001e-01 1.97451447e+01] [-9.46174473e-01 4.41429058e-03 3.23626916e-01 -1.10740102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83592000000002 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:192.00, Y:19.74, Z:-110.76 [[-2.84729551e-01 -4.95915273e-01 -8.20364020e-01 1.92003878e+02] [ 1.57204094e-01 -8.68356734e-01 4.70365236e-01 1.97391669e+01] [-9.45629925e-01 4.96229974e-03 3.25206734e-01 -1.10755208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters Centerline goodness : 0.870812 Centerline is valid? [True, False] Translation: X:191.93, Y:20.37, Z:-111.37 [[ 5.19913174e-01 3.85947031e-01 -7.62059827e-01 1.91934095e+02] [-2.59366022e-01 9.21319939e-01 2.89652959e-01 2.03706748e+01] [ 8.13891614e-01 4.70580363e-02 5.79107920e-01 -1.11368783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89592000000002 meters Centerline goodness : 0.999056 Centerline is valid? [False, True] Translation: X:191.93, Y:20.44, Z:-111.38 [[ 5.26107936e-01 3.30302035e-01 -7.83652350e-01 1.91928886e+02] [-2.51942201e-01 9.40660874e-01 2.27337300e-01 2.04358221e+01] [ 8.12241077e-01 7.78311405e-02 5.78106172e-01 -1.11384714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:191.91, Y:20.30, Z:-111.38 [[ 5.51545557e-01 4.33960841e-01 -7.12373137e-01 1.91912186e+02] [-2.67942718e-01 9.00928004e-01 3.41372864e-01 2.02976649e+01] [ 7.89939364e-01 2.59250814e-03 6.13179485e-01 -1.11384225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95592 meters Centerline goodness : 0.653661 Centerline is valid? [True, False] Translation: X:191.92, Y:20.37, Z:-111.39 [[ 5.56945512e-01 3.71887171e-01 -7.42638289e-01 1.91918743e+02] [-2.56759679e-01 9.27447343e-01 2.71874774e-01 2.03725812e+01] [ 7.89864649e-01 3.92601333e-02 6.12023266e-01 -1.11391824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:191.92, Y:20.43, Z:-111.39 [[ 5.62816193e-01 3.19365139e-01 -7.62393495e-01 1.91922442e+02] [-2.42352984e-01 9.45566256e-01 2.17185373e-01 2.04252469e+01] [ 7.90254999e-01 6.25328939e-02 6.09579095e-01 -1.11387688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:191.90, Y:20.28, Z:-111.39 [[ 5.64787962e-01 4.29265915e-01 -7.04801626e-01 1.91899129e+02] [-2.46220218e-01 9.02815669e-01 3.52561303e-01 2.02772254e+01] [ 7.87648501e-01 -2.55859704e-02 6.15593369e-01 -1.11389830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters Centerline goodness : 0.731462 Centerline is valid? [True, False] Translation: X:191.90, Y:20.35, Z:-111.40 [[ 5.70768487e-01 3.72149862e-01 -7.31934297e-01 1.91902178e+02] [-2.37037695e-01 9.28122461e-01 2.87057185e-01 2.03473737e+01] [ 7.86152953e-01 9.65282369e-03 6.17956598e-01 -1.11403239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07592 meters Centerline goodness : 0.998661 Centerline is valid? [False, True] Translation: X:191.91, Y:20.40, Z:-111.40 [[ 5.77008686e-01 3.16924403e-01 -7.52741589e-01 1.91909369e+02] [-2.20905186e-01 9.47851050e-01 2.29737429e-01 2.04032973e+01] [ 7.86296303e-01 3.37240288e-02 6.16928533e-01 -1.11399680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:191.90, Y:20.31, Z:-111.39 [[ 5.76103641e-01 3.84601776e-01 -7.21239259e-01 1.91904566e+02] [-2.22995255e-01 9.22864559e-01 3.13997009e-01 2.03110222e+01] [ 7.86369958e-01 -2.00618880e-02 6.17430004e-01 -1.11390237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13592 meters Centerline goodness : 0.846963 Centerline is valid? [True, False] Translation: X:191.92, Y:20.37, Z:-111.38 [[ 5.83118222e-01 3.22386635e-01 -7.45680895e-01 1.91916550e+02] [-2.03508093e-01 9.46589623e-01 2.50105061e-01 2.03746342e+01] [ 7.86484327e-01 5.91127817e-03 6.17581947e-01 -1.11383345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters Centerline goodness : 0.998362 Centerline is valid? [False, True] Translation: X:191.92, Y:20.43, Z:-111.38 [[ 5.88329780e-01 2.67141645e-01 -7.63219111e-01 1.91921132e+02] [-1.87215908e-01 9.63207415e-01 1.92825517e-01 2.04304175e+01] [ 7.86650032e-01 2.94417646e-02 6.16696772e-01 -1.11379781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19592 meters Centerline goodness : 0.766187 Centerline is valid? [True, False] Translation: X:191.91, Y:20.49, Z:-111.40 [[ 6.02881665e-01 2.14949074e-01 -7.68329743e-01 1.91905210e+02] [-1.74231682e-01 9.75250522e-01 1.36123990e-01 2.04882589e+01] [ 7.78573708e-01 5.18007253e-02 6.25411597e-01 -1.11403714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters Centerline goodness : 0.751094 Centerline is valid? [False, False] Translation: X:191.90, Y:20.53, Z:-111.41 [[ 6.15519098e-01 1.66863557e-01 -7.70255018e-01 1.91900039e+02] [-1.55886326e-01 9.83797586e-01 8.85537283e-02 2.05320842e+01] [ 7.72551418e-01 6.55657143e-02 6.31557950e-01 -1.11406403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25592 meters Centerline goodness : 0.998510 Centerline is valid? [False, True] Translation: X:191.89, Y:20.57, Z:-111.41 [[ 6.27290056e-01 1.28178685e-01 -7.68164963e-01 1.91892264e+02] [-1.42694613e-01 9.88581077e-01 4.84324493e-02 2.05684949e+01] [ 7.65601354e-01 7.92318081e-02 6.38417487e-01 -1.11411245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:191.89, Y:20.38, Z:-111.42 [[ 5.92115878e-01 2.69231023e-01 -7.59548184e-01 1.91893042e+02] [-1.31793685e-01 9.62202036e-01 2.38322609e-01 2.03831563e+01] [ 7.95002649e-01 -4.10109464e-02 6.05218052e-01 -1.11415301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:191.92, Y:20.44, Z:-111.39 [[ 5.88826279e-01 2.24701103e-01 -7.76397467e-01 1.91915747e+02] [-1.32258874e-01 9.74418217e-01 1.81705059e-01 2.04372228e+01] [ 7.97365163e-01 -4.30725937e-03 6.03481768e-01 -1.11388923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:191.93, Y:20.40, Z:-111.37 [[ 5.91363675e-01 2.49785561e-01 -7.66743879e-01 1.91926120e+02] [-1.33279913e-01 9.68015754e-01 2.12560496e-01 2.04025691e+01] [ 7.95314698e-01 -2.35089983e-02 6.05740752e-01 -1.11369025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:191.95, Y:20.46, Z:-111.34 [[ 5.91084399e-01 1.96927174e-01 -7.82201330e-01 1.91949194e+02] [-1.32962724e-01 9.80261584e-01 1.46315209e-01 2.04630479e+01] [ 7.95575356e-01 1.75189824e-02 6.05601303e-01 -1.11341900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:191.96, Y:20.42, Z:-111.32 [[ 5.92906999e-01 2.27623785e-01 -7.72430387e-01 1.91960860e+02] [-1.34706326e-01 9.73737444e-01 1.83547258e-01 2.04221581e+01] [ 7.93924112e-01 -4.77519415e-03 6.07998110e-01 -1.11323953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43592 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:191.98, Y:20.42, Z:-111.30 [[ 5.97522032e-01 2.26024627e-01 -7.69337565e-01 1.91976540e+02] [-1.37797117e-01 9.74121030e-01 1.79165214e-01 2.04229909e+01] [ 7.89923652e-01 -1.04266434e-03 6.13204319e-01 -1.11300778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:191.99, Y:20.41, Z:-111.28 [[ 6.04067240e-01 2.37078654e-01 -7.60852470e-01 1.91991481e+02] [-1.40552264e-01 9.71453231e-01 1.91111696e-01 2.04057553e+01] [ 7.84441095e-01 -8.50477795e-03 6.20145013e-01 -1.11280822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:192.01, Y:20.43, Z:-111.26 [[ 5.98807053e-01 2.11401386e-01 -7.72489202e-01 1.92011366e+02] [-1.40002783e-01 9.77313100e-01 1.58928682e-01 2.04345188e+01] [ 7.88561560e-01 1.29830223e-02 6.14818759e-01 -1.11256170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:192.03, Y:20.47, Z:-111.23 [[ 6.36107529e-01 1.87333701e-01 -7.48514059e-01 1.92032068e+02] [-1.51963806e-01 9.81496164e-01 1.16500133e-01 2.04677956e+01] [ 7.56488079e-01 3.96404335e-02 6.52805042e-01 -1.11226663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55592000000001 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:192.05, Y:20.41, Z:-111.21 [[ 6.36230675e-01 2.34084055e-01 -7.35129365e-01 1.92045564e+02] [-1.54160085e-01 9.72215558e-01 1.76157818e-01 2.04052652e+01] [ 7.55939942e-01 1.25059752e-03 6.54639779e-01 -1.11213151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.06, Y:20.40, Z:-111.19 [[ 6.34642871e-01 2.34013420e-01 -7.36523011e-01 1.92063548e+02] [-1.54393511e-01 9.72231096e-01 1.75867393e-01 2.04019298e+01] [ 7.57225904e-01 2.10138641e-03 6.53149688e-01 -1.11191850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:192.07, Y:20.36, Z:-111.17 [[ 6.04600116e-01 2.67212418e-01 -7.50370724e-01 1.92073873e+02] [-1.48857549e-01 9.63358349e-01 2.23119076e-01 2.03595031e+01] [ 7.82496089e-01 -2.31994722e-02 6.22223155e-01 -1.11174518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:192.09, Y:20.37, Z:-111.15 [[ 6.12606668e-01 2.57194486e-01 -7.47371438e-01 1.92091824e+02] [-1.52587127e-01 9.66271579e-01 2.07452176e-01 2.03718050e+01] [ 7.75519335e-01 -1.30473256e-02 6.31188980e-01 -1.11152965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:192.12, Y:20.47, Z:-111.12 [[ 6.39866569e-01 1.81982997e-01 -7.46627727e-01 1.92116662e+02] [-1.56731623e-01 9.82039414e-01 1.05041840e-01 2.04669465e+01] [ 7.52333684e-01 4.98074135e-02 6.56896681e-01 -1.11117869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:192.12, Y:20.33, Z:-111.11 [[ 6.14385068e-01 2.86089494e-01 -7.35312035e-01 1.92120112e+02] [-1.51840694e-01 9.57398288e-01 2.45627608e-01 2.03286898e+01] [ 7.74257962e-01 -3.92596453e-02 6.31651240e-01 -1.11112842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73592 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:192.15, Y:20.43, Z:-111.08 [[ 6.09948443e-01 2.07952808e-01 -7.64668900e-01 1.92146761e+02] [-1.49717667e-01 9.77815977e-01 1.46494150e-01 2.04266160e+01] [ 7.78169337e-01 2.51305651e-02 6.27551542e-01 -1.11078949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:192.16, Y:20.36, Z:-111.06 [[ 6.09919516e-01 2.56539658e-01 -7.49790363e-01 1.92157443e+02] [-1.47741307e-01 9.66373627e-01 2.10462631e-01 2.03603196e+01] [ 7.78569644e-01 -1.75902579e-02 6.27311639e-01 -1.11064645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.18, Y:20.44, Z:-111.03 [[ 6.44011574e-01 1.84799893e-01 -7.42359813e-01 1.92182643e+02] [-1.49978536e-01 9.82053202e-01 1.14358848e-01 2.04438803e+01] [ 7.50170334e-01 3.76896163e-02 6.60169647e-01 -1.11031601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.20, Y:20.38, Z:-111.02 [[ 6.43558965e-01 2.26000406e-01 -7.31269906e-01 1.92196859e+02] [-1.47957294e-01 9.74125632e-01 1.70844643e-01 2.03826783e+01] [ 7.50959718e-01 -1.75188534e-03 6.60345692e-01 -1.11018825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.21, Y:20.38, Z:-111.00 [[ 6.44433268e-01 2.23392697e-01 -7.31301214e-01 1.92214433e+02] [-1.44692861e-01 9.74720735e-01 1.70245308e-01 2.03769835e+01] [ 7.50846015e-01 -3.89767588e-03 6.60465797e-01 -1.10997462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:192.21, Y:20.25, Z:-110.99 [[ 6.06422080e-01 3.14375195e-01 -7.30356419e-01 1.92211226e+02] [-1.30351174e-01 9.45400753e-01 2.98707193e-01 2.02500738e+01] [ 7.84385640e-01 -8.59398205e-02 6.14291067e-01 -1.10987640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:192.25, Y:20.50, Z:-110.93 [[ 6.49817936e-01 1.14867257e-01 -7.51360209e-01 1.92249023e+02] [-1.39232292e-01 9.89777515e-01 3.09004750e-02 2.05008874e+01] [ 7.47228893e-01 8.45339214e-02 6.59168413e-01 -1.10930123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:192.24, Y:20.24, Z:-110.94 [[ 6.12506916e-01 3.16317537e-01 -7.24415967e-01 1.92240431e+02] [-1.30921047e-01 9.44380861e-01 3.01669470e-01 2.02360488e+01] [ 7.79547918e-01 -8.99333398e-02 6.19852432e-01 -1.10942250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:192.28, Y:20.37, Z:-110.91 [[ 6.13335570e-01 2.12788163e-01 -7.60618614e-01 1.92276567e+02] [-1.35471595e-01 9.77095438e-01 1.64109572e-01 2.03696023e+01] [ 7.78117552e-01 2.38797863e-03 6.28114140e-01 -1.10907264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.30, Y:20.47, Z:-110.87 [[ 6.51364154e-01 1.30156587e-01 -7.47518562e-01 1.92298172e+02] [-1.41143141e-01 9.88767145e-01 4.91746638e-02 2.04701338e+01] [ 7.45522201e-01 7.34765042e-02 6.62418185e-01 -1.10869739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:192.31, Y:20.35, Z:-110.87 [[ 6.51044508e-01 2.20004003e-01 -7.26456665e-01 1.92312540e+02] [-1.43426885e-01 9.75488793e-01 1.66884220e-01 2.03482955e+01] [ 7.45365532e-01 -4.45563783e-03 6.66641111e-01 -1.10867811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.33, Y:20.34, Z:-110.85 [[ 6.51626450e-01 2.19233177e-01 -7.26167876e-01 1.92328817e+02] [-1.43009837e-01 9.75662260e-01 1.66226775e-01 2.03414181e+01] [ 7.44937015e-01 -4.46861351e-03 6.67119836e-01 -1.10845608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09592 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:192.33, Y:20.26, Z:-110.83 [[ 6.11658743e-01 2.78366812e-01 -7.40530553e-01 1.92332654e+02] [-1.32927214e-01 9.58905581e-01 2.50660012e-01 2.02614745e+01] [ 7.79874309e-01 -5.48817247e-02 6.23525507e-01 -1.10830488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:192.36, Y:20.34, Z:-110.80 [[ 6.22468527e-01 2.20953999e-01 -7.50807740e-01 1.92358750e+02] [-1.39490653e-01 9.75282301e-01 1.71367417e-01 2.03350130e+01] [ 7.70113816e-01 -1.94016148e-03 6.37903555e-01 -1.10802745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.38, Y:20.40, Z:-110.77 [[ 6.55627787e-01 1.68515808e-01 -7.36039828e-01 1.92380950e+02] [-1.43655024e-01 9.84812057e-01 9.75112633e-02 2.03961962e+01] [ 7.41293086e-01 4.18047256e-02 6.69878292e-01 -1.10773891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:192.39, Y:20.33, Z:-110.76 [[ 6.55146732e-01 2.18359750e-01 -7.23257754e-01 1.92394841e+02] [-1.44889904e-01 9.75865759e-01 1.63379729e-01 2.03268631e+01] [ 7.41478034e-01 -2.24494922e-03 6.70973386e-01 -1.10762269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:192.39, Y:20.23, Z:-110.75 [[ 6.26129423e-01 2.91782748e-01 -7.23066230e-01 1.92393923e+02] [-1.35361446e-01 9.53937285e-01 2.67732954e-01 2.02272259e+01] [ 7.67879694e-01 -6.97601896e-02 6.36784337e-01 -1.10754369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:192.43, Y:20.44, Z:-110.70 [[ 6.56354582e-01 1.26430436e-01 -7.43783575e-01 1.92431808e+02] [-1.45381565e-01 9.88576881e-01 3.97485916e-02 2.04431034e+01] [ 7.40312679e-01 8.20432502e-02 6.67237621e-01 -1.10700426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:192.44, Y:20.29, Z:-110.70 [[ 6.26432254e-01 2.39790509e-01 -7.41675901e-01 1.92439381e+02] [-1.40843073e-01 9.70664916e-01 1.94866235e-01 2.02911354e+01] [ 7.66645850e-01 -1.76105813e-02 6.41828644e-01 -1.10701476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:192.46, Y:20.31, Z:-110.68 [[ 6.26785629e-01 2.20861845e-01 -7.47234783e-01 1.92458188e+02] [-1.40764759e-01 9.75303960e-01 1.70198319e-01 2.03121876e+01] [ 7.66371357e-01 -1.49353593e-03 6.42396071e-01 -1.10676846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33592000000002 meters Centerline goodness : 0.904767 Centerline is valid? [True, False] Translation: X:192.43, Y:20.38, Z:-110.71 [[ 6.42811269e-01 1.67749985e-01 -7.47431345e-01 1.92432294e+02] [-1.28638007e-01 9.85510379e-01 1.10551145e-01 2.03754924e+01] [ 7.55146301e-01 2.50845567e-02 6.55076201e-01 -1.10708037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [False, True] Translation: X:192.42, Y:20.41, Z:-110.71 [[ 6.54197875e-01 1.28846350e-01 -7.45267575e-01 1.92423833e+02] [-1.15623256e-01 9.90837109e-01 6.98074869e-02 2.04138521e+01] [ 7.47433210e-01 4.05023537e-02 6.63101166e-01 -1.10713830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39592000000002 meters Centerline goodness : 0.809581 Centerline is valid? [True, False] Translation: X:192.40, Y:20.45, Z:-110.74 [[ 6.72971930e-01 9.35145029e-02 -7.33732799e-01 1.92396658e+02] [-1.04792666e-01 9.94024008e-01 3.05739886e-02 2.04525996e+01] [ 7.32207129e-01 5.63143802e-02 6.78749889e-01 -1.10739968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters Centerline goodness : 0.998859 Centerline is valid? [False, True] Translation: X:192.36, Y:20.49, Z:-110.77 [[ 6.93410712e-01 6.39166450e-02 -7.17702060e-01 1.92361685e+02] [-9.45168381e-02 9.95519711e-01 -2.65947130e-03 2.04858938e+01] [ 7.14316563e-01 6.96790353e-02 6.96345231e-01 -1.10774756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:192.38, Y:20.34, Z:-110.78 [[ 6.56446113e-01 1.72545920e-01 -7.34374840e-01 1.92379783e+02] [-8.87611950e-02 9.84394951e-01 1.51947459e-01 2.03384723e+01] [ 7.49132799e-01 -3.45613303e-02 6.61517622e-01 -1.10776070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:192.40, Y:20.43, Z:-110.74 [[ 6.93042281e-01 1.00533572e-01 -7.13852504e-01 1.92401635e+02] [-9.51450412e-02 9.94321787e-01 4.76613641e-02 2.04331262e+01] [ 7.14590665e-01 3.48881855e-02 6.98672310e-01 -1.10742694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51592 meters Centerline goodness : 0.975386 Centerline is valid? [True, True] Translation: X:192.43, Y:20.35, Z:-110.75 [[ 6.55271540e-01 2.26396297e-01 -7.20669082e-01 1.92428953e+02] [-1.58861230e-01 9.73996970e-01 1.61533313e-01 2.03530385e+01] [ 7.38500046e-01 8.63819414e-03 6.74198089e-01 -1.10747783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters Centerline goodness : 0.866551 Centerline is valid? [True, False] Translation: X:192.41, Y:20.41, Z:-110.77 [[ 6.68406963e-01 1.83183077e-01 -7.20885630e-01 1.92405215e+02] [-1.50292450e-01 9.82469147e-01 1.10302104e-01 2.04054079e+01] [ 7.28453369e-01 3.46169735e-02 6.84220253e-01 -1.10772989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57592 meters Centerline goodness : 0.999104 Centerline is valid? [False, True] Translation: X:192.38, Y:20.46, Z:-110.80 [[ 6.81228386e-01 1.41357724e-01 -7.18293728e-01 1.92380417e+02] [-1.41756186e-01 9.88080982e-01 6.00096305e-02 2.04564336e+01] [ 7.18215197e-01 6.09423159e-02 6.93147145e-01 -1.10797042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters Centerline goodness : 0.986039 Centerline is valid? [True, True] Translation: X:192.38, Y:20.28, Z:-110.82 [[ 6.37297300e-01 2.98293594e-01 -7.10544216e-01 1.92380148e+02] [-1.54913103e-01 9.52812402e-01 2.61056426e-01 2.02753427e+01] [ 7.54886801e-01 -5.62979459e-02 6.53434358e-01 -1.10820727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:192.41, Y:20.54, Z:-110.74 [[ 6.85464054e-01 7.63255183e-02 -7.24094915e-01 1.92412490e+02] [-1.43183403e-01 9.89201909e-01 -3.12745292e-02 2.05357846e+01] [ 7.13889028e-01 1.25115940e-01 6.88990898e-01 -1.10737585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:192.43, Y:20.36, Z:-110.75 [[ 6.74902741e-01 2.06963616e-01 -7.08288325e-01 1.92431128e+02] [-1.43904793e-01 9.78347441e-01 1.48753807e-01 2.03586131e+01] [ 7.23738696e-01 1.53173290e-03 6.90072426e-01 -1.10751469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:192.45, Y:20.35, Z:-110.73 [[ 6.75543624e-01 2.09190272e-01 -7.07022094e-01 1.92449519e+02] [-1.44100382e-01 9.77874796e-01 1.51644201e-01 2.03508635e+01] [ 7.23101578e-01 -5.60118918e-04 6.90741482e-01 -1.10730643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:192.47, Y:20.34, Z:-110.71 [[ 6.84888052e-01 2.13223985e-01 -6.96752387e-01 1.92466534e+02] [-1.44906115e-01 9.76983346e-01 1.56543154e-01 2.03392677e+01] [ 7.14094233e-01 -6.25085427e-03 7.00021680e-01 -1.10709476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:192.48, Y:20.34, Z:-110.69 [[ 6.86137403e-01 2.10039714e-01 -6.96490332e-01 1.92484484e+02] [-1.45275842e-01 9.77688494e-01 1.51723891e-01 2.03374190e+01] [ 7.12818627e-01 -2.92021704e-03 7.01342340e-01 -1.10687443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:192.50, Y:20.31, Z:-110.67 [[ 6.62411559e-01 2.29934105e-01 -7.12980529e-01 1.92498994e+02] [-1.38614174e-01 9.72917487e-01 1.84980199e-01 2.03050155e+01] [ 7.36204481e-01 -2.37038151e-02 6.76343915e-01 -1.10672657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:192.52, Y:20.37, Z:-110.64 [[ 6.86881911e-01 1.83189206e-01 -7.03302891e-01 1.92524689e+02] [-1.45626958e-01 9.82777744e-01 1.13757177e-01 2.03661703e+01] [ 7.12029515e-01 2.42821136e-02 7.01729541e-01 -1.10641264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:192.54, Y:20.33, Z:-110.62 [[ 6.87608953e-01 2.10358566e-01 -6.94941150e-01 1.92539892e+02] [-1.46660898e-01 9.77622681e-01 1.50812711e-01 2.03265700e+01] [ 7.11114976e-01 -1.77947740e-03 7.03073485e-01 -1.10624929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:192.56, Y:20.32, Z:-110.61 [[ 6.88249491e-01 2.09910462e-01 -6.94442392e-01 1.92558500e+02] [-1.46672630e-01 9.77719462e-01 1.50172545e-01 2.03228869e+01] [ 7.10492631e-01 -1.50048600e-03 7.03703041e-01 -1.10605102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:192.58, Y:20.32, Z:-110.58 [[ 6.88240491e-01 2.08982949e-01 -6.94730994e-01 1.92576865e+02] [-1.45834657e-01 9.77917787e-01 1.49696541e-01 2.03192830e+01] [ 7.10673821e-01 -1.71136413e-03 7.03519575e-01 -1.10584723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:192.60, Y:20.31, Z:-110.57 [[ 6.88904676e-01 2.07495637e-01 -6.94518472e-01 1.92596230e+02] [-1.44309114e-01 9.78232745e-01 1.49115981e-01 2.03148095e+01] [ 7.10341627e-01 -2.50135158e-03 7.03852624e-01 -1.10565425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:192.62, Y:20.31, Z:-110.55 [[ 6.88834019e-01 2.06552858e-01 -6.94869493e-01 1.92615539e+02] [-1.43434140e-01 9.78431634e-01 1.48654584e-01 2.03104705e+01] [ 7.10587322e-01 -2.73032655e-03 7.03603726e-01 -1.10546060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:192.63, Y:20.31, Z:-110.53 [[ 6.88066208e-01 2.05665708e-01 -6.95892599e-01 1.92634323e+02] [-1.42483063e-01 9.78617960e-01 1.48342394e-01 2.03069149e+01] [ 7.11521939e-01 -2.91647960e-03 7.02657829e-01 -1.10525130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:192.65, Y:20.27, Z:-110.51 [[ 6.64454854e-01 2.29985517e-01 -7.11060060e-01 1.92648635e+02] [-1.35385249e-01 9.72769852e-01 1.88121368e-01 2.02695186e+01] [ 7.34962979e-01 -2.87311126e-02 6.77498297e-01 -1.10510506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05592000000001 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:192.68, Y:20.35, Z:-110.48 [[ 6.90315913e-01 1.72577798e-01 -7.02624255e-01 1.92675163e+02] [-1.42069278e-01 9.84561824e-01 1.02246439e-01 2.03451315e+01] [ 7.09422483e-01 2.92389769e-02 7.04176698e-01 -1.10477458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.68, Y:20.26, Z:-110.47 [[ 6.64413200e-01 2.34247017e-01 -7.09706583e-01 1.92683617e+02] [-1.36408242e-01 9.71669007e-01 1.93008116e-01 2.02565938e+01] [ 7.34811466e-01 -3.14273127e-02 6.77542938e-01 -1.10469771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.71, Y:20.31, Z:-110.44 [[ 6.62207396e-01 1.94585543e-01 -7.23614422e-01 1.92706974e+02] [-1.38040661e-01 9.80845350e-01 1.37430619e-01 2.03077147e+01] [ 7.36495852e-01 8.88064022e-03 6.76383762e-01 -1.10441025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.73, Y:20.33, Z:-110.42 [[ 6.92603937e-01 1.77090056e-01 -6.99241660e-01 1.92729782e+02] [-1.44763675e-01 9.83797128e-01 1.05767150e-01 2.03285207e+01] [ 7.06642247e-01 2.79700477e-02 7.07017971e-01 -1.10416619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:192.75, Y:20.22, Z:-110.40 [[ 6.53946093e-01 2.87556031e-01 -6.99761414e-01 1.92751381e+02] [-1.71958862e-01 9.57235179e-01 2.32660617e-01 2.02166623e+01] [ 7.36739205e-01 -3.18173251e-02 6.75428013e-01 -1.10400751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.76, Y:20.28, Z:-110.38 [[ 6.94649250e-01 2.07970586e-01 -6.88629549e-01 1.92761152e+02] [-1.46923200e-01 9.78134491e-01 1.47195415e-01 2.02757273e+01] [ 7.04184630e-01 -1.07352749e-03 7.10016094e-01 -1.10381129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:20.28, Z:-110.36 [[ 6.94223203e-01 2.05214391e-01 -6.89884916e-01 1.92780515e+02] [-1.47464928e-01 9.78713478e-01 1.42737599e-01 2.02758684e+01] [ 7.04491475e-01 2.64207634e-03 7.09707532e-01 -1.10360181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:20.21, Z:-110.35 [[ 6.59609409e-01 2.51092301e-01 -7.08426484e-01 1.92790042e+02] [-1.40054589e-01 9.67100183e-01 2.12372192e-01 2.02124764e+01] [ 7.38444405e-01 -4.08643160e-02 6.73075009e-01 -1.10346586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:20.34, Z:-110.31 [[ 6.93649368e-01 1.56285342e-01 -7.03153928e-01 1.92822427e+02] [-1.48642818e-01 9.86224720e-01 7.25679955e-02 2.03394472e+01] [ 7.04809100e-01 5.41820368e-02 7.07324847e-01 -1.10309797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:192.84, Y:20.27, Z:-110.30 [[ 6.93591452e-01 2.08201882e-01 -6.89625169e-01 1.92838011e+02] [-1.52680813e-01 9.78060864e-01 1.41723375e-01 2.02680949e+01] [ 7.04002463e-01 6.99440995e-03 7.10163088e-01 -1.10299647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:192.85, Y:20.20, Z:-110.28 [[ 6.57245988e-01 2.55267513e-01 -7.09130600e-01 1.92846593e+02] [-1.43575369e-01 9.66071849e-01 2.14688835e-01 2.02004628e+01] [ 7.39874195e-01 -3.92896878e-02 6.71596975e-01 -1.10284538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:192.88, Y:20.33, Z:-110.25 [[ 6.95757676e-01 1.59937679e-01 -7.00243669e-01 1.92878325e+02] [-1.52582674e-01 9.85553927e-01 7.34981880e-02 2.03302993e+01] [ 7.01883027e-01 5.57081231e-02 7.10110429e-01 -1.10248266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.88, Y:20.24, Z:-110.25 [[ 6.59117483e-01 2.24047670e-01 -7.17890511e-01 1.92884621e+02] [-1.47625090e-01 9.74564537e-01 1.68614341e-01 2.02395691e+01] [ 7.37408283e-01 -5.15800887e-03 6.75427582e-01 -1.10254846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.91, Y:20.31, Z:-110.21 [[ 6.68355589e-01 1.73287979e-01 -7.23375478e-01 1.92913017e+02] [-1.51099460e-01 9.83838555e-01 9.60762808e-02 2.03118059e+01] [ 7.28333550e-01 4.50885251e-02 6.83737717e-01 -1.10211668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.93, Y:20.29, Z:-110.20 [[ 6.96381143e-01 1.86212850e-01 -6.93093124e-01 1.92933772e+02] [-1.54746261e-01 9.81994682e-01 1.08351457e-01 2.02936192e+01] [ 7.00790195e-01 3.17996577e-02 7.12658322e-01 -1.10195912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:192.95, Y:20.24, Z:-110.18 [[ 6.72485508e-01 2.25429374e-01 -7.04943146e-01 1.92947648e+02] [-1.50492433e-01 9.74235245e-01 1.67981293e-01 2.02384120e+01] [ 7.24648376e-01 -6.87637615e-03 6.89084499e-01 -1.10181728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:192.97, Y:20.25, Z:-110.16 [[ 6.73218771e-01 2.13069197e-01 -7.08080506e-01 1.92969632e+02] [-1.49796267e-01 9.77028829e-01 1.51577524e-01 2.02531316e+01] [ 7.24111569e-01 4.02298178e-03 6.89671118e-01 -1.10160936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:192.99, Y:20.27, Z:-110.14 [[ 6.77648214e-01 1.96886521e-01 -7.08539763e-01 1.92989387e+02] [-1.48830224e-01 9.80273257e-01 1.30053472e-01 2.02715310e+01] [ 7.20168357e-01 1.73216286e-02 6.93583087e-01 -1.10137658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:193.01, Y:20.27, Z:-110.12 [[ 6.99397559e-01 1.94992204e-01 -6.87619876e-01 1.93009086e+02] [-1.49222035e-01 9.80701172e-01 1.26324964e-01 2.02712430e+01] [ 6.98982001e-01 1.42566656e-02 7.14997139e-01 -1.10117862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters Centerline goodness : 0.894671 Centerline is valid? [True, False] Translation: X:193.00, Y:20.31, Z:-110.12 [[ 7.10538940e-01 1.55903912e-01 -6.86169356e-01 1.93000054e+02] [-1.35463845e-01 9.87212597e-01 8.40287738e-02 2.03118482e+01] [ 6.90495446e-01 3.32454232e-02 7.22572336e-01 -1.10121657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:192.97, Y:20.36, Z:-110.14 [[ 7.28301069e-01 1.16360410e-01 -6.75305714e-01 1.92972348e+02] [-1.21380790e-01 9.91800190e-01 3.99885818e-02 2.03556175e+01] [ 6.74421424e-01 5.28454141e-02 7.36453057e-01 -1.10143217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:192.99, Y:20.28, Z:-110.14 [[ 7.28578473e-01 1.64344318e-01 -6.64954400e-01 1.92992586e+02] [-1.19703929e-01 9.86399956e-01 1.12632569e-01 2.02818098e+01] [ 6.74421513e-01 -2.46401101e-03 7.38342435e-01 -1.10136963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:193.01, Y:20.21, Z:-110.13 [[ 6.93494706e-01 2.07463737e-01 -6.89944846e-01 1.93005843e+02] [-1.04538336e-01 9.76484050e-01 1.88548763e-01 2.02091936e+01] [ 7.12837169e-01 -5.86318826e-02 6.98874433e-01 -1.10130068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:193.03, Y:20.28, Z:-110.10 [[ 6.97381860e-01 1.55332864e-01 -6.99664379e-01 1.93028676e+02] [-1.04243374e-01 9.87833360e-01 1.15406113e-01 2.02752914e+01] [ 7.09078177e-01 -7.54675426e-03 7.05089488e-01 -1.10101006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:193.05, Y:20.29, Z:-110.08 [[ 6.97263119e-01 1.36329365e-01 -7.03731800e-01 1.93048385e+02] [-1.01355262e-01 9.90634893e-01 9.14856198e-02 2.02912031e+01] [ 7.09613453e-01 7.53737250e-03 7.04550875e-01 -1.10078279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:193.07, Y:20.33, Z:-110.05 [[ 7.22202808e-01 1.03401654e-01 -6.83908767e-01 1.93071092e+02] [-1.04889364e-01 9.93700039e-01 3.94772457e-02 2.03319003e+01] [ 6.83682182e-01 4.32241782e-02 7.28498692e-01 -1.10049389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83592000000002 meters Centerline goodness : 0.949541 Centerline is valid? [True, False] Translation: X:193.03, Y:20.36, Z:-110.08 [[ 7.42342639e-01 7.59137801e-02 -6.65706019e-01 1.93029809e+02] [-9.49474043e-02 9.95452983e-01 7.63864524e-03 2.03615748e+01] [ 6.63258921e-01 5.75365665e-02 7.46175011e-01 -1.10083710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:193.00, Y:20.38, Z:-110.11 [[ 7.53420097e-01 5.75478482e-02 -6.55016337e-01 1.92996119e+02] [-8.44829999e-02 9.96378327e-01 -9.63603645e-03 2.03776076e+01] [ 6.52089549e-01 6.25977287e-02 7.55553271e-01 -1.10111125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:193.02, Y:20.29, Z:-110.11 [[ 7.54804064e-01 1.17310370e-01 -6.45375164e-01 1.93018652e+02] [-8.44782112e-02 9.93069533e-01 8.17088420e-02 2.02865240e+01] [ 6.50487707e-01 -7.15402663e-03 7.59483089e-01 -1.10110036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:193.03, Y:20.23, Z:-110.10 [[ 7.33246031e-01 1.48187562e-01 -6.63619397e-01 1.93034900e+02] [-7.91899679e-02 9.87932683e-01 1.33108837e-01 2.02324592e+01] [ 6.75336366e-01 -4.50495275e-02 7.36132687e-01 -1.10097535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95592 meters Centerline goodness : 0.915077 Centerline is valid? [True, False] Translation: X:193.03, Y:20.27, Z:-110.10 [[ 7.43089242e-01 1.06060124e-01 -6.60734159e-01 1.93025574e+02] [-6.28063723e-02 9.94055761e-01 8.89297706e-02 2.02716099e+01] [ 6.66238500e-01 -2.45844402e-02 7.45333393e-01 -1.10102856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:192.99, Y:20.31, Z:-110.13 [[ 7.60554212e-01 7.15401190e-02 -6.45321084e-01 1.92991381e+02] [-5.09782966e-02 9.97422531e-01 5.04926450e-02 2.03064751e+01] [ 6.47270039e-01 -5.50502418e-03 7.62240901e-01 -1.10129947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01592 meters Centerline goodness : 0.974727 Centerline is valid? [True, True] Translation: X:193.03, Y:20.11, Z:-110.11 [[ 7.38455008e-01 1.42446581e-01 -6.59085103e-01 1.93033482e+02] [ 6.49730391e-03 9.75883507e-01 2.18195246e-01 2.01129530e+01] [ 6.74271449e-01 -1.65409648e-01 7.19720544e-01 -1.10112263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:193.03, Y:20.30, Z:-110.09 [[ 7.62265126e-01 6.54207465e-02 -6.43950311e-01 1.93025924e+02] [-4.69732673e-02 9.97846977e-01 4.57703182e-02 2.02951069e+01] [ 6.45558200e-01 -4.64066729e-03 7.63696978e-01 -1.10093063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:193.04, Y:20.16, Z:-110.09 [[ 7.35343913e-01 1.48103897e-01 -6.61312759e-01 1.93038867e+02] [-3.85291599e-02 9.83385909e-01 1.77391258e-01 2.01649714e+01] [ 6.76597985e-01 -1.04963757e-01 7.28833161e-01 -1.10088909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:193.06, Y:20.34, Z:-110.05 [[ 7.32166497e-01 2.78542975e-02 -6.80555919e-01 1.93059575e+02] [-4.50921649e-02 9.98953724e-01 -7.62585121e-03 2.03409339e+01] [ 6.79631457e-01 3.62711325e-02 7.32656459e-01 -1.10048002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:193.08, Y:20.23, Z:-110.04 [[ 7.35475967e-01 1.00774035e-01 -6.70014698e-01 1.93078130e+02] [-4.46367381e-02 9.93935690e-01 1.00495798e-01 2.02317795e+01] [ 6.76078888e-01 -4.40049737e-02 7.35514037e-01 -1.10044611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:193.09, Y:20.40, Z:-109.99 [[ 7.67822509e-01 -1.66310305e-02 -6.40446722e-01 1.93092358e+02] [-5.08369873e-02 9.94929219e-01 -8.67839266e-02 2.04049839e+01] [ 6.38642463e-01 9.91930341e-02 7.63083578e-01 -1.09993415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.11, Y:20.14, Z:-110.01 [[ 7.42051530e-01 1.60554398e-01 -6.50831631e-01 1.93114351e+02] [-4.83323042e-02 9.81181227e-01 1.86942206e-01 2.01389599e+01] [ 6.68598172e-01 -1.07264558e-01 7.35846995e-01 -1.10011751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:193.14, Y:20.34, Z:-109.97 [[ 7.37909818e-01 2.37466976e-02 -6.74481426e-01 1.93136399e+02] [-5.50225657e-02 9.98170735e-01 -2.50539632e-02 2.03413989e+01] [ 6.72652672e-01 5.55992641e-02 7.37866590e-01 -1.09968904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:193.16, Y:20.18, Z:-109.97 [[ 7.37890062e-01 1.28213037e-01 -6.62630873e-01 1.93156292e+02] [-5.08044209e-02 9.89556515e-01 1.34895569e-01 2.01835188e+01] [ 6.73006068e-01 -6.58735218e-02 7.36697707e-01 -1.09972033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:193.18, Y:20.34, Z:-109.93 [[ 7.38315244e-01 2.04151255e-02 -6.74146737e-01 1.93176265e+02] [-5.83586363e-02 9.97726725e-01 -3.36994207e-02 2.03437265e+01] [ 6.71926238e-01 6.42230802e-02 7.37828250e-01 -1.09932595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:193.20, Y:20.20, Z:-109.93 [[ 7.40609943e-01 1.17527563e-01 -6.61577043e-01 1.93198628e+02] [-5.59148804e-02 9.91949281e-01 1.13622844e-01 2.01976451e+01] [ 6.69604688e-01 -4.71582068e-02 7.41219040e-01 -1.09932834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:193.21, Y:20.39, Z:-109.88 [[ 7.76879797e-01 -1.18998309e-02 -6.29536477e-01 1.93212031e+02] [-6.14092789e-02 9.93622929e-01 -9.45641358e-02 2.03914333e+01] [ 6.26647175e-01 1.12124348e-01 7.71194819e-01 -1.09880407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37592 meters Centerline goodness : 0.865345 Centerline is valid? [True, False] Translation: X:193.17, Y:20.36, Z:-109.92 [[ 7.88369207e-01 1.00167251e-02 -6.15120848e-01 1.93172694e+02] [-5.82609745e-02 9.96589307e-01 -5.84415196e-02 2.03575600e+01] [ 6.12437468e-01 8.19110345e-02 7.86263906e-01 -1.09921545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters Centerline goodness : 0.891399 Centerline is valid? [False, False] Translation: X:193.14, Y:20.35, Z:-109.95 [[ 8.00484733e-01 2.74848305e-03 -5.99346842e-01 1.93142386e+02] [-4.34832639e-02 9.97620586e-01 -5.35011506e-02 2.03527980e+01] [ 5.97773701e-01 6.88884112e-02 7.98699561e-01 -1.09946655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43592 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:193.11, Y:20.35, Z:-109.97 [[ 8.12416411e-01 -4.25665406e-03 -5.83062138e-01 1.93110079e+02] [-2.86360304e-02 9.98475391e-01 -4.71897308e-02 2.03460483e+01] [ 5.82374066e-01 5.50342968e-02 8.11055900e-01 -1.09973405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:193.14, Y:20.29, Z:-109.96 [[ 8.03487815e-01 3.18302152e-02 -5.94469653e-01 1.93135818e+02] [-2.91987634e-02 9.99474869e-01 1.40505903e-02 2.02858861e+01] [ 5.94604712e-01 6.06830063e-03 8.03995282e-01 -1.09964490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.15, Y:20.25, Z:-109.96 [[ 8.15540037e-01 1.39049799e-03 -5.78698984e-01 1.93153184e+02] [ 1.51432477e-02 9.99603405e-01 2.37426913e-02 2.02540905e+01] [ 5.78502489e-01 -2.81264974e-02 8.15195541e-01 -1.09958408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters Centerline goodness : 0.955294 Centerline is valid? [True, True] Translation: X:193.17, Y:20.31, Z:-109.94 [[ 8.26283529e-01 -7.22599485e-02 -5.58600063e-01 1.93170961e+02] [ 5.20012166e-02 9.97287693e-01 -5.20877288e-02 2.03091705e+01] [ 5.60848824e-01 1.39913495e-02 8.27799999e-01 -1.09940908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55592000000001 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:193.20, Y:20.35, Z:-109.91 [[ 8.14702830e-01 7.66784726e-03 -5.79827994e-01 1.93198287e+02] [-4.27349502e-02 9.97987462e-01 -4.68481511e-02 2.03455874e+01] [ 5.78301843e-01 6.29462417e-02 8.13390895e-01 -1.09907461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:193.23, Y:20.22, Z:-109.91 [[ 8.07123285e-01 8.14738873e-02 -5.84734135e-01 1.93225950e+02] [-3.70907356e-02 9.95473164e-01 8.75069009e-02 2.02161054e+01] [ 5.89216667e-01 -4.89406381e-02 8.06491496e-01 -1.09909603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61592000000002 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:193.25, Y:20.44, Z:-109.87 [[ 8.01923672e-01 -1.99928518e-02 -5.97091878e-01 1.93249918e+02] [-6.50441607e-02 9.90577011e-01 -1.20525692e-01 2.04358480e+01] [ 5.93875140e-01 1.35489745e-01 7.93066735e-01 -1.09868749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:193.25, Y:20.26, Z:-109.90 [[ 8.05835929e-01 7.52549128e-02 -5.87337342e-01 1.93252787e+02] [-5.63636152e-02 9.97135867e-01 5.04302116e-02 2.02551833e+01] [ 5.89450251e-01 -7.53402050e-03 8.07769546e-01 -1.09897607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:193.29, Y:20.29, Z:-109.86 [[ 8.12467362e-01 6.29439131e-02 -5.79598870e-01 1.93287196e+02] [-6.19108143e-02 9.97848354e-01 2.15803804e-02 2.02919640e+01] [ 5.79710132e-01 1.83500833e-02 8.14616129e-01 -1.09857693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:193.31, Y:20.30, Z:-109.84 [[ 8.15548677e-01 5.62014669e-02 -5.75952906e-01 1.93309291e+02] [-6.28328252e-02 9.97988610e-01 8.41248702e-03 2.03042847e+01] [ 5.75267234e-01 2.93279556e-02 8.17439588e-01 -1.09840532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.33, Y:20.21, Z:-109.83 [[ 8.05331040e-01 1.08419739e-01 -5.82826798e-01 1.93332221e+02] [-5.66297208e-02 9.92707523e-01 1.06418269e-01 2.02109231e+01] [ 5.90114389e-01 -5.26966160e-02 8.05597961e-01 -1.09834305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.35, Y:20.30, Z:-109.81 [[ 8.13602406e-01 5.59544055e-02 -5.78722930e-01 1.93353259e+02] [-6.08914860e-02 9.98084918e-01 1.08960411e-02 2.03043819e+01] [ 5.78224310e-01 2.63742540e-02 8.15451437e-01 -1.09811118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79592 meters Centerline goodness : 0.945863 Centerline is valid? [True, False] Translation: X:193.32, Y:20.32, Z:-109.84 [[ 8.23846442e-01 3.87573078e-02 -5.65486437e-01 1.93315385e+02] [-5.08598097e-02 9.98689829e-01 -5.64848944e-03 2.03198639e+01] [ 5.64526633e-01 3.34140205e-02 8.24738252e-01 -1.09836372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters Centerline goodness : 0.963206 Centerline is valid? [False, True] Translation: X:193.29, Y:20.32, Z:-109.85 [[ 8.35178598e-01 2.07772627e-02 -5.49586222e-01 1.93290302e+02] [-3.29857858e-02 9.99379577e-01 -1.23450153e-02 2.03249881e+01] [ 5.48988750e-01 2.84388259e-02 8.35345788e-01 -1.09853595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:193.34, Y:20.34, Z:-109.80 [[ 8.46242289e-01 4.59728537e-02 -5.30811158e-01 1.93335029e+02] [-5.41255317e-02 9.98534120e-01 1.92439934e-04 2.03379122e+01] [ 5.30041900e-01 2.85675854e-02 8.47490104e-01 -1.09800163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters Centerline goodness : 0.910107 Centerline is valid? [True, False] Translation: X:193.31, Y:20.34, Z:-109.81 [[ 8.56508872e-01 2.68717380e-02 -5.15432307e-01 1.93310505e+02] [-3.55481488e-02 9.99343650e-01 -6.97124336e-03 2.03442148e+01] [ 5.14906673e-01 2.42935961e-02 8.56901942e-01 -1.09814559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:193.26, Y:20.35, Z:-109.85 [[ 8.68420674e-01 1.67165908e-02 -4.95546253e-01 1.93258558e+02] [-2.87442875e-02 9.99447987e-01 -1.66579213e-02 2.03532406e+01] [ 4.94994242e-01 2.87102072e-02 8.68421801e-01 -1.09846886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.28, Y:20.38, Z:-109.83 [[ 8.91563887e-01 1.64878413e-03 -4.52891949e-01 1.93281796e+02] [-2.54496545e-02 9.98595684e-01 -4.64647787e-02 2.03787417e+01] [ 4.52179335e-01 5.29522623e-02 8.90353810e-01 -1.09826298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:193.31, Y:20.20, Z:-109.84 [[ 8.67902577e-01 8.59361773e-02 -4.89244408e-01 1.93305892e+02] [-1.86564899e-02 9.89865849e-01 1.40774775e-01 2.01981116e+01] [ 4.96383977e-01 -1.13051207e-01 8.60710388e-01 -1.09835517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.33, Y:20.35, Z:-109.80 [[ 8.63913215e-01 1.10582464e-02 -5.03519287e-01 1.93331249e+02] [-2.42351334e-02 9.99513538e-01 -1.96302014e-02 2.03488902e+01] [ 5.03057268e-01 2.91616475e-02 8.63760953e-01 -1.09804784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03592 meters Centerline goodness : 0.838897 Centerline is valid? [True, False] Translation: X:193.30, Y:20.35, Z:-109.82 [[ 8.73734698e-01 -3.43217520e-03 -4.86390684e-01 1.93302172e+02] [-7.60265233e-03 9.99756580e-01 -2.07118294e-02 2.03458496e+01] [ 4.86343374e-01 2.17945033e-02 8.73495920e-01 -1.09822225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:193.27, Y:20.34, Z:-109.84 [[ 8.82718469e-01 -1.65881321e-02 -4.69609347e-01 1.93272875e+02] [ 8.55603694e-03 9.99778423e-01 -1.92327619e-02 2.03403103e+01] [ 4.69824328e-01 1.29591192e-02 8.82664807e-01 -1.09838948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:193.29, Y:20.31, Z:-109.83 [[ 8.81462683e-01 -5.43980877e-03 -4.72222349e-01 1.93294776e+02] [ 1.14176152e-02 9.99886850e-01 9.79413304e-03 2.03118822e+01] [ 4.72115639e-01 -1.40248159e-02 8.81425055e-01 -1.09832291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.32, Y:20.35, Z:-109.82 [[ 8.85529988e-01 -2.13189933e-02 -4.64092816e-01 1.93319196e+02] [ 9.89794063e-03 9.99585572e-01 -2.70317369e-02 2.03450028e+01] [ 4.64476772e-01 1.93438505e-02 8.85374013e-01 -1.09815471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.34, Y:20.31, Z:-109.81 [[ 8.85465775e-01 -5.10180892e-03 -4.64676589e-01 1.93344540e+02] [ 1.04364542e-02 9.99905851e-01 8.90898005e-03 2.03084391e+01] [ 4.64587388e-01 -1.27381729e-02 8.85435654e-01 -1.09808096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:193.36, Y:20.40, Z:-109.78 [[ 9.10896837e-01 -4.60885614e-02 -4.10052189e-01 1.93362704e+02] [ 1.11487484e-02 9.96128815e-01 -8.71956922e-02 2.03990922e+01] [ 4.12483525e-01 7.48547115e-02 9.07884417e-01 -1.09777788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.39, Y:20.26, Z:-109.79 [[ 8.91170835e-01 1.25668696e-02 -4.53493789e-01 1.93394877e+02] [ 1.22311305e-02 9.98587356e-01 5.17077509e-02 2.02646476e+01] [ 4.53502968e-01 -5.16271813e-02 8.89758221e-01 -1.09786059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:193.42, Y:20.26, Z:-109.77 [[ 8.80752794e-01 1.05188271e-02 -4.73459471e-01 1.93416979e+02] [ 1.49152454e-02 9.98641200e-01 4.99328445e-02 2.02631320e+01] [ 4.73341369e-01 -5.10402565e-02 8.79399136e-01 -1.09772370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:193.45, Y:20.34, Z:-109.75 [[ 8.95062528e-01 8.81499114e-03 -4.45853526e-01 1.93451438e+02] [-1.88435362e-02 9.99659238e-01 -1.80645781e-02 2.03413987e+01] [ 4.45542357e-01 2.45703841e-02 8.94923630e-01 -1.09749106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:193.46, Y:20.24, Z:-109.75 [[ 8.92953127e-01 1.65894261e-02 -4.49843867e-01 1.93461305e+02] [ 1.68506592e-02 9.97388426e-01 7.02309238e-02 2.02415027e+01] [ 4.49834157e-01 -7.02930887e-02 8.90341571e-01 -1.09749862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.48, Y:20.40, Z:-109.71 [[ 8.95741794e-01 -5.29847735e-02 -4.41405995e-01 1.93477737e+02] [ 1.13268892e-02 9.95270176e-01 -9.64830503e-02 2.03999733e+01] [ 4.44430355e-01 8.14241438e-02 8.92105245e-01 -1.09712862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.51, Y:20.27, Z:-109.72 [[ 8.91991100e-01 5.70633278e-03 -4.52016941e-01 1.93512363e+02] [ 1.53721740e-02 9.98959135e-01 4.29458144e-02 2.02661406e+01] [ 4.51791516e-01 -4.52557674e-02 8.90974939e-01 -1.09722763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.53, Y:20.40, Z:-109.69 [[ 9.16011466e-01 -5.38424254e-02 -3.97522310e-01 1.93527078e+02] [ 1.45507150e-02 9.94759083e-01 -1.01205942e-01 2.04041246e+01] [ 4.00888102e-01 8.69215698e-02 9.11994172e-01 -1.09687955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.56, Y:20.31, Z:-109.69 [[ 9.16682634e-01 -1.34533310e-02 -3.99389479e-01 1.93560998e+02] [ 1.29858893e-02 9.99908166e-01 -3.87630717e-03 2.03109773e+01] [ 3.99404950e-01 -1.63308409e-03 9.16773155e-01 -1.09692120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.59, Y:20.31, Z:-109.68 [[ 9.16148066e-01 -1.49767065e-02 -4.00560132e-01 1.93586749e+02] [ 1.45462401e-02 9.99885728e-01 -4.11545024e-03 2.03084414e+01] [ 4.00575995e-01 -2.05628209e-03 9.16261231e-01 -1.09681693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.65, Y:20.25, Z:-109.67 [[ 8.91658603e-01 1.30406712e-02 -4.52520581e-01 1.93653545e+02] [ 1.73491328e-02 9.97866408e-01 6.29415601e-02 2.02507489e+01] [ 4.52375886e-01 -6.39732232e-02 8.89529923e-01 -1.09669340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.63, Y:20.26, Z:-109.66 [[ 8.98532422e-01 1.26541625e-03 -4.38905326e-01 1.93631542e+02] [ 1.76250281e-02 9.99085216e-01 3.89626575e-02 2.02630996e+01] [ 4.38553126e-01 -4.27449297e-02 8.97688156e-01 -1.09659755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:193.72, Y:20.25, Z:-109.64 [[ 8.82275998e-01 1.76621730e-02 -4.70401011e-01 1.93724508e+02] [ 1.60210756e-02 9.97590268e-01 6.75054297e-02 2.02507065e+01] [ 4.70459763e-01 -6.70947506e-02 8.79866982e-01 -1.09644992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.67, Y:20.23, Z:-109.64 [[ 8.95491395e-01 9.37347450e-03 -4.44980110e-01 1.93673339e+02] [ 2.15366722e-02 9.97694490e-01 6.43574125e-02 2.02337985e+01] [ 4.44557457e-01 -6.72148999e-02 8.93224958e-01 -1.09643704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:193.70, Y:20.31, Z:-109.62 [[ 8.94647514e-01 -2.01574241e-02 -4.46317716e-01 1.93695118e+02] [ 1.74707121e-02 9.99796013e-01 -1.01344467e-02 2.03055354e+01] [ 4.46430957e-01 1.26926924e-03 8.94817182e-01 -1.09622618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.71, Y:20.41, Z:-109.59 [[ 9.22202561e-01 -6.20495475e-02 -3.81696594e-01 1.93712133e+02] [ 1.75393613e-02 9.92738622e-01 -1.19005878e-01 2.04102604e+01] [ 3.86309212e-01 1.03052811e-01 9.16594409e-01 -1.09592353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:20.30, Z:-109.60 [[ 9.22443203e-01 -1.62842734e-02 -3.85789270e-01 1.93747537e+02] [ 1.51169393e-02 9.99867373e-01 -6.05925548e-03 2.03037419e+01] [ 3.85836774e-01 -2.42633959e-04 9.22567030e-01 -1.09599872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.77, Y:20.25, Z:-109.59 [[ 9.04917022e-01 5.57099742e-03 -4.25551579e-01 1.93772118e+02] [ 1.60166148e-02 9.98760175e-01 4.71336465e-02 2.02529870e+01] [ 4.25286551e-01 -4.94679347e-02 9.03705855e-01 -1.09593003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:193.80, Y:20.23, Z:-109.58 [[ 9.02015854e-01 1.75517011e-02 -4.31345960e-01 1.93795436e+02] [ 1.83331961e-02 9.96714370e-01 7.88945981e-02 2.02250757e+01] [ 4.31313452e-01 -7.90721283e-02 8.98730385e-01 -1.09583814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:20.45, Z:-109.54 [[ 9.24247896e-01 -7.32057305e-02 -3.74708884e-01 1.93805839e+02] [ 1.61546482e-02 9.88064923e-01 -1.53188561e-01 2.04495676e+01] [ 3.81450985e-01 1.35530915e-01 9.14399539e-01 -1.09536584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.85, Y:20.25, Z:-109.56 [[ 9.04691295e-01 7.67499311e-03 -4.25998538e-01 1.93845687e+02] [ 1.80768292e-02 9.98246030e-01 5.63745631e-02 2.02496662e+01] [ 4.25684024e-01 -5.87022793e-02 9.02965755e-01 -1.09559813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.87, Y:20.31, Z:-109.54 [[ 9.05424146e-01 -1.85981906e-02 -4.24100486e-01 1.93867054e+02] [ 1.58288995e-02 9.99824186e-01 -1.00519878e-02 2.03140377e+01] [ 4.24212872e-01 2.38826848e-03 9.05559349e-01 -1.09541651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:20.37, Z:-109.52 [[ 9.25725893e-01 -4.29222834e-02 -3.75751578e-01 1.93889786e+02] [ 1.75928650e-02 9.97350620e-01 -7.05849206e-02 2.03738025e+01] [ 3.77785735e-01 5.87317418e-02 9.24028420e-01 -1.09519677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:20.31, Z:-109.52 [[ 9.25666196e-01 -1.91632939e-02 -3.77855609e-01 1.93920441e+02] [ 1.81137304e-02 9.99815884e-01 -6.33177750e-03 2.03128591e+01] [ 3.77907377e-01 -9.83262245e-04 9.25842885e-01 -1.09518442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.95, Y:20.31, Z:-109.51 [[ 9.26065445e-01 -2.11758769e-02 -3.76768328e-01 1.93946225e+02] [ 2.02078142e-02 9.99774527e-01 -6.52216136e-03 2.03136033e+01] [ 3.76821490e-01 -1.57371611e-03 9.26284561e-01 -1.09507136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.97, Y:20.32, Z:-109.50 [[ 9.26005562e-01 -2.15235122e-02 -3.76895790e-01 1.93971862e+02] [ 2.04968846e-02 9.99767234e-01 -6.73468140e-03 2.03150534e+01] [ 3.76953016e-01 -1.48883708e-03 9.26231185e-01 -1.09495863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:20.32, Z:-109.49 [[ 9.26083680e-01 -2.15951553e-02 -3.76699703e-01 1.93997071e+02] [ 2.04906864e-02 9.99765962e-01 -6.93924343e-03 2.03177989e+01] [ 3.76761395e-01 -1.29251537e-03 9.26309441e-01 -1.09485021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.02, Y:20.32, Z:-109.47 [[ 9.26202467e-01 -2.20867301e-02 -3.76379019e-01 1.94022924e+02] [ 2.09373834e-02 9.99755261e-01 -7.14457607e-03 2.03188758e+01] [ 3.76444704e-01 -1.26306781e-03 9.26438228e-01 -1.09474085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:194.05, Y:20.26, Z:-109.47 [[ 9.05665369e-01 2.68295317e-03 -4.23984718e-01 1.94051264e+02] [ 2.07613725e-02 9.98499815e-01 5.06664119e-02 2.02637147e+01] [ 4.23484598e-01 -5.46893193e-02 9.04251002e-01 -1.09468467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:20.38, Z:-109.44 [[ 9.26667070e-01 -4.39537794e-02 -3.73304442e-01 1.94070105e+02] [ 2.18522685e-02 9.97759462e-01 -6.32339694e-02 2.03771071e+01] [ 3.75247411e-01 5.04392883e-02 9.25551327e-01 -1.09442946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:20.33, Z:-109.44 [[ 9.26638935e-01 -2.33249803e-02 -3.75228236e-01 1.94100304e+02] [ 2.21200720e-02 9.99727047e-01 -7.51887389e-03 2.03280838e+01] [ 3.75301194e-01 -1.33279428e-03 9.26901957e-01 -1.09441067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.13, Y:20.33, Z:-109.43 [[ 9.26700697e-01 -2.33566215e-02 -3.75073708e-01 1.94125689e+02] [ 2.20707642e-02 9.99726570e-01 -7.72446173e-03 2.03299873e+01] [ 3.75151569e-01 -1.11989930e-03 9.26962807e-01 -1.09429715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:20.33, Z:-109.42 [[ 9.27020197e-01 -2.44582432e-02 -3.74212973e-01 1.94151065e+02] [ 2.31805669e-02 9.99699959e-01 -7.91541512e-03 2.03321984e+01] [ 3.74294291e-01 -1.33671919e-03 9.27309008e-01 -1.09419042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.18, Y:20.33, Z:-109.41 [[ 9.27118421e-01 -2.61493663e-02 -3.73855111e-01 1.94176687e+02] [ 2.49223636e-02 9.99656440e-01 -8.11651343e-03 2.03349873e+01] [ 3.73938911e-01 -1.79238388e-03 9.27451604e-01 -1.09407551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:194.20, Y:20.34, Z:-109.40 [[ 9.26829825e-01 -2.87797406e-02 -3.74377085e-01 1.94202613e+02] [ 2.76719940e-02 9.99582306e-01 -8.33515276e-03 2.03357926e+01] [ 3.74460594e-01 -2.63449226e-03 9.27239086e-01 -1.09396225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:20.34, Z:-109.39 [[ 9.27431369e-01 -3.12092920e-02 -3.72688927e-01 1.94229061e+02] [ 3.02174591e-02 9.99507173e-01 -8.50385296e-03 2.03374818e+01] [ 3.72770655e-01 -3.37497241e-03 9.27917371e-01 -1.09385980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:194.25, Y:20.34, Z:-109.37 [[ 9.27409172e-01 -3.17422375e-02 -3.72699152e-01 1.94254141e+02] [ 3.07096387e-02 9.99490410e-01 -8.70852919e-03 2.03387535e+01] [ 3.72785656e-01 -3.36908644e-03 9.27911366e-01 -1.09374532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:194.28, Y:20.34, Z:-109.36 [[ 9.27039113e-01 -3.34974394e-02 -3.73465399e-01 1.94279727e+02] [ 3.25152013e-02 9.99431335e-01 -8.93128851e-03 2.03403957e+01] [ 3.73552198e-01 -3.86364885e-03 9.27601114e-01 -1.09363399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.31, Y:20.34, Z:-109.35 [[ 9.26666892e-01 -3.45998750e-02 -3.74287751e-01 1.94305165e+02] [ 3.36167565e-02 9.99392848e-01 -9.15694498e-03 2.03405061e+01] [ 3.74377330e-01 -4.09690245e-03 9.27267399e-01 -1.09353014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.33, Y:20.34, Z:-109.34 [[ 9.26317554e-01 -3.76174431e-02 -3.74860931e-01 1.94331890e+02] [ 3.67869908e-02 9.99279164e-01 -9.37385433e-03 2.03390922e+01] [ 3.74943339e-01 -5.10683982e-03 9.27033663e-01 -1.09343514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:20.34, Z:-109.33 [[ 9.26571927e-01 -3.95677148e-02 -3.74030561e-01 1.94357484e+02] [ 3.88118481e-02 9.99200845e-01 -9.55570359e-03 2.03390319e+01] [ 3.74109750e-01 -5.66277063e-03 9.27367149e-01 -1.09332644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.38, Y:20.22, Z:-109.33 [[ 9.09808591e-01 6.35258612e-03 -4.14979485e-01 1.94384957e+02] [ 4.48758561e-02 9.92514828e-01 1.13580254e-01 2.02183337e+01] [ 4.12594821e-01 -1.21958850e-01 9.02713439e-01 -1.09331250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.39, Y:20.46, Z:-109.28 [[ 9.26268526e-01 -9.39807075e-02 -3.64957866e-01 1.94394074e+02] [ 4.59208947e-02 9.89336773e-01 -1.38217299e-01 2.04604256e+01] [ 3.74055997e-01 1.11267142e-01 9.20707192e-01 -1.09281454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.43, Y:20.34, Z:-109.30 [[ 9.27465283e-01 -4.64978122e-02 -3.71006877e-01 1.94433411e+02] [ 4.61803091e-02 9.98885589e-01 -9.74472807e-03 2.03373348e+01] [ 3.71046532e-01 -8.09531529e-03 9.28578988e-01 -1.09295910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:194.46, Y:20.30, Z:-109.29 [[ 9.13332611e-01 -3.03843376e-02 -4.06079220e-01 1.94459701e+02] [ 4.54335522e-02 9.98589637e-01 2.74686803e-02 2.03007715e+01] [ 4.04671884e-01 -4.35376629e-02 9.13424950e-01 -1.09287549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:194.48, Y:20.38, Z:-109.27 [[ 9.27348529e-01 -6.16139387e-02 -3.69091354e-01 1.94481734e+02] [ 4.66496518e-02 9.97691986e-01 -4.93407571e-02 2.03767318e+01] [ 3.71279564e-01 2.85380954e-02 9.28082465e-01 -1.09266471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.51, Y:20.34, Z:-109.26 [[ 9.27574624e-01 -4.63785730e-02 -3.70748357e-01 1.94510858e+02] [ 4.59362883e-02 9.98894035e-01 -1.00282158e-02 2.03396883e+01] [ 3.70803417e-01 -7.72888492e-03 9.28679218e-01 -1.09262228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.54, Y:20.34, Z:-109.25 [[ 9.27634857e-01 -4.62284823e-02 -3.70616377e-01 1.94536777e+02] [ 4.56961562e-02 9.98903085e-01 -1.02219613e-02 2.03398982e+01] [ 3.70682388e-01 -7.45349621e-03 9.28729784e-01 -1.09251121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:20.34, Z:-109.24 [[ 9.27736366e-01 -4.63888640e-02 -3.70342150e-01 1.94562457e+02] [ 4.57908067e-02 9.98896791e-01 -1.04116983e-02 2.03403380e+01] [ 3.70416572e-01 -7.29895472e-03 9.28837062e-01 -1.09240141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.59, Y:20.34, Z:-109.23 [[ 9.28285066e-01 -4.53357942e-02 -3.69095518e-01 1.94587177e+02] [ 4.45836091e-02 9.98949721e-01 -1.05714652e-02 2.03409769e+01] [ 3.69187130e-01 -6.64227699e-03 9.29331342e-01 -1.09228080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:194.62, Y:20.27, Z:-109.22 [[ 9.10796775e-01 -1.40640427e-02 -4.12615362e-01 1.94615814e+02] [ 4.44484094e-02 9.96950993e-01 6.41331105e-02 2.02687957e+01] [ 4.10455324e-01 -7.67523267e-02 9.08644874e-01 -1.09223732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:194.63, Y:20.34, Z:-109.21 [[ 9.07865792e-01 -4.26160471e-02 -4.17089410e-01 1.94634524e+02] [ 4.40294443e-02 9.99010769e-01 -6.23622560e-03 2.03359565e+01] [ 4.16942575e-01 -1.27025591e-02 9.08844065e-01 -1.09205826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:194.66, Y:20.33, Z:-109.20 [[ 9.10781955e-01 -3.74674380e-02 -4.11184170e-01 1.94659557e+02] [ 4.16132529e-02 9.99133152e-01 1.13243762e-03 2.03297999e+01] [ 4.10785306e-01 -1.81421146e-02 9.11551587e-01 -1.09196061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:194.68, Y:20.41, Z:-109.17 [[ 9.15708432e-01 -6.94396953e-02 -3.95798177e-01 1.94676455e+02] [ 3.95793438e-02 9.95752646e-01 -8.31272690e-02 2.04110847e+01] [ 3.99889414e-01 6.04549090e-02 9.14567472e-01 -1.09170970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:194.71, Y:20.33, Z:-109.17 [[ 9.14585739e-01 -3.09487130e-02 -4.03206030e-01 1.94712394e+02] [ 3.62539222e-02 9.99327314e-01 5.52924761e-03 2.03273239e+01] [ 4.02763676e-01 -1.96747710e-02 9.15092523e-01 -1.09172545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:194.73, Y:20.36, Z:-109.16 [[ 9.17876279e-01 -4.63648274e-02 -3.94149007e-01 1.94733993e+02] [ 3.75182802e-02 9.98841742e-01 -3.01256258e-02 2.03607834e+01] [ 3.95089250e-01 1.28638045e-02 9.18552670e-01 -1.09157936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:194.76, Y:20.37, Z:-109.15 [[ 9.31441387e-01 -5.10082898e-02 -3.60298623e-01 1.94761285e+02] [ 3.84388079e-02 9.98379130e-01 -4.19710610e-02 2.03728973e+01] [ 3.61855498e-01 2.52441337e-02 9.31892339e-01 -1.09145935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:194.79, Y:20.28, Z:-109.15 [[ 9.15327668e-01 -1.34980781e-02 -4.02483617e-01 1.94792973e+02] [ 3.69755417e-02 9.98033344e-01 5.06187169e-02 2.02838668e+01] [ 4.01008815e-01 -6.12147618e-02 9.14026632e-01 -1.09145754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:194.81, Y:20.34, Z:-109.13 [[ 9.19199244e-01 -3.77461077e-02 -3.91979567e-01 1.94812004e+02] [ 3.61036516e-02 9.99281151e-01 -1.15631656e-02 2.03435583e+01] [ 3.92134258e-01 -3.52304064e-03 9.19901251e-01 -1.09130245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:194.83, Y:20.40, Z:-109.11 [[ 9.33902285e-01 -5.97156951e-02 -3.52506111e-01 1.94833789e+02] [ 3.61972992e-02 9.96679066e-01 -7.29424029e-02 2.04031337e+01] [ 3.55691268e-01 5.53613076e-02 9.32962404e-01 -1.09106867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:194.87, Y:20.34, Z:-109.11 [[ 9.34113164e-01 -3.67214587e-02 -3.55083275e-01 1.94865660e+02] [ 3.51103013e-02 9.99323100e-01 -1.09822333e-02 2.03419731e+01] [ 3.55246202e-01 -2.20843208e-03 9.34770163e-01 -1.09107511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:194.89, Y:20.29, Z:-109.10 [[ 9.19048256e-01 -1.59034092e-02 -3.93824052e-01 1.94894129e+02] [ 3.62449086e-02 9.98362022e-01 4.42671293e-02 2.02873289e+01] [ 3.92474979e-01 -5.49577448e-02 9.18119294e-01 -1.09103024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:194.91, Y:20.39, Z:-109.08 [[ 9.34078349e-01 -5.84696783e-02 -3.52248399e-01 1.94912724e+02] [ 3.71136424e-02 9.97056767e-01 -6.70848717e-02 2.03939927e+01] [ 3.55134081e-01 4.95893051e-02 9.33499162e-01 -1.09077019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:194.94, Y:20.34, Z:-109.08 [[ 9.34427641e-01 -3.78025640e-02 -3.54141144e-01 1.94943890e+02] [ 3.61527613e-02 9.99282657e-01 -1.12760329e-02 2.03402259e+01] [ 3.54313367e-01 -2.26654343e-03 9.35124003e-01 -1.09075228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:194.97, Y:20.28, Z:-109.07 [[ 9.19355968e-01 -1.91710002e-02 -3.92959384e-01 1.94970557e+02] [ 3.90380299e-02 9.98328064e-01 4.26275562e-02 2.02849810e+01] [ 3.91485169e-01 -5.45302583e-02 9.18567261e-01 -1.09071382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:194.99, Y:20.39, Z:-109.04 [[ 9.34914310e-01 -5.98351225e-02 -3.49792782e-01 1.94989643e+02] [ 3.85951542e-02 9.96980185e-01 -6.73863806e-02 2.03910283e+01] [ 3.52768545e-01 4.95001852e-02 9.34400388e-01 -1.09044708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.02, Y:20.24, Z:-109.05 [[ 9.21080869e-01 -8.57805040e-04 -3.89370385e-01 1.95024609e+02] [ 3.78681912e-02 9.95454459e-01 8.73866167e-02 2.02397627e+01] [ 3.87525525e-01 -9.52348930e-02 9.16926541e-01 -1.09052204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:195.04, Y:20.37, Z:-109.02 [[ 9.21002485e-01 -5.33104946e-02 -3.85891713e-01 1.95039187e+02] [ 3.64228977e-02 9.98036930e-01 -5.09476167e-02 2.03729622e+01] [ 3.87850223e-01 3.28675872e-02 9.21136215e-01 -1.09023713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:195.07, Y:20.31, Z:-109.02 [[ 9.20819876e-01 -3.20454256e-02 -3.88669328e-01 1.95069505e+02] [ 3.99530697e-02 9.99126117e-01 1.22781982e-02 2.03113016e+01] [ 3.87936216e-01 -2.68345417e-02 9.21295501e-01 -1.09021929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.09, Y:20.42, Z:-108.99 [[ 9.37176085e-01 -7.31700186e-02 -3.41096958e-01 1.95089188e+02] [ 4.17874100e-02 9.94262215e-01 -9.84706039e-02 2.04170985e+01] [ 3.46344913e-01 7.80307366e-02 9.34856356e-01 -1.08994540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:195.12, Y:20.30, Z:-109.00 [[ 9.25435931e-01 -3.00638481e-02 -3.77709549e-01 1.95122847e+02] [ 4.24477050e-02 9.98798182e-01 2.45027285e-02 2.02953931e+01] [ 3.76518965e-01 -3.87086089e-02 9.25599866e-01 -1.09000066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:195.15, Y:20.37, Z:-108.98 [[ 9.37714518e-01 -5.75715924e-02 -3.42603262e-01 1.95146037e+02] [ 4.27905389e-02 9.97804235e-01 -5.05537196e-02 2.03685676e+01] [ 3.44761443e-01 3.27447786e-02 9.38119036e-01 -1.08980385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:195.18, Y:20.28, Z:-108.98 [[ 9.22017122e-01 -2.27249424e-02 -3.86481570e-01 1.95175742e+02] [ 4.27565589e-02 9.98146236e-01 4.33124498e-02 2.02751866e+01] [ 3.84780852e-01 -5.64594424e-02 9.21279560e-01 -1.08981379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:195.24, Y:20.33, Z:-108.97 [[ 9.18709178e-01 -4.07739380e-02 -3.92824301e-01 1.95240530e+02] [ 4.27370493e-02 9.99079314e-01 -3.75098619e-03 2.03257879e+01] [ 3.92615576e-01 -1.33420861e-02 9.19605893e-01 -1.08966329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:195.23, Y:20.26, Z:-108.96 [[ 9.23898780e-01 -2.14861588e-02 -3.82033230e-01 1.95227249e+02] [ 4.27983330e-02 9.97959853e-01 4.73754699e-02 2.02621219e+01] [ 3.80235909e-01 -6.01205243e-02 9.22933462e-01 -1.08959335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:195.25, Y:20.39, Z:-108.94 [[ 9.40150723e-01 -6.82587589e-02 -3.33852303e-01 1.95245687e+02] [ 4.42135136e-02 9.95885049e-01 -7.91083676e-02 2.03851770e+01] [ 3.37878356e-01 5.96130056e-02 9.39300009e-01 -1.08935441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:195.28, Y:20.26, Z:-108.94 [[ 9.25930389e-01 -1.80622200e-02 -3.77262072e-01 1.95279411e+02] [ 4.14646921e-02 9.97679510e-01 5.40025443e-02 2.02554408e+01] [ 3.75411233e-01 -6.56456525e-02 9.24530721e-01 -1.08938073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:195.30, Y:20.39, Z:-108.91 [[ 9.40881325e-01 -6.76269848e-02 -3.31917042e-01 1.95297855e+02] [ 4.29396144e-02 9.95775255e-01 -8.11654520e-02 2.03855862e+01] [ 3.36003752e-01 6.21146682e-02 9.39810218e-01 -1.08914737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:195.33, Y:20.32, Z:-108.91 [[ 9.40714297e-01 -4.32989955e-02 -3.36425041e-01 1.95330578e+02] [ 4.12609980e-02 9.99061097e-01 -1.32080870e-02 2.03204537e+01] [ 3.36681067e-01 -1.45619668e-03 9.41617618e-01 -1.08913892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55592000000001 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:195.40, Y:20.28, Z:-108.91 [[ 9.20751400e-01 -2.40540117e-02 -3.89407582e-01 1.95398249e+02] [ 4.09499557e-02 9.98542900e-01 3.51450949e-02 2.02821860e+01] [ 3.87994796e-01 -4.83061186e-02 9.20394784e-01 -1.08905136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:195.45, Y:20.24, Z:-108.90 [[ 9.19093817e-01 -7.24781183e-03 -3.93972111e-01 1.95454809e+02] [ 4.04558311e-02 9.96282904e-01 7.60506451e-02 2.02365168e+01] [ 3.91956479e-01 -8.58361469e-02 9.15970674e-01 -1.08895626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:195.42, Y:20.26, Z:-108.89 [[ 9.39581658e-01 -5.16037926e-02 -3.38412997e-01 1.95416085e+02] [ 6.33851069e-02 9.97704187e-01 2.38470862e-02 2.02642519e+01] [ 3.36405464e-01 -4.38566288e-02 9.40695466e-01 -1.08886064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters Centerline goodness : 0.969053 Centerline is valid? [True, True] Translation: X:195.42, Y:20.24, Z:-108.91 [[ 9.09631692e-01 -7.38003759e-02 -4.08807644e-01 1.95415411e+02] [ 8.42351910e-02 9.96417287e-01 7.55129953e-03 2.02435073e+01] [ 4.06785715e-01 -4.13048914e-02 9.12589331e-01 -1.08910384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67592000000002 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:195.46, Y:20.25, Z:-108.87 [[ 9.25916066e-01 -4.34653506e-02 -3.75220205e-01 1.95458204e+02] [ 6.06004471e-02 9.97583496e-01 3.39816754e-02 2.02546687e+01] [ 3.72836458e-01 -5.42026914e-02 9.26312606e-01 -1.08872744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:195.48, Y:20.31, Z:-108.86 [[ 9.27085591e-01 -6.55825532e-02 -3.69068065e-01 1.95477730e+02] [ 6.01171423e-02 9.97844727e-01 -2.63026509e-02 2.03143720e+01] [ 3.69997618e-01 2.19749129e-03 9.29030104e-01 -1.08857122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:195.49, Y:20.41, Z:-108.83 [[ 9.41963130e-01 -9.79460326e-02 -3.21110629e-01 1.95493165e+02] [ 6.02672655e-02 9.90290522e-01 -1.25269866e-01 2.04131334e+01] [ 3.30262499e-01 9.86471359e-02 9.38720099e-01 -1.08831722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:195.53, Y:20.32, Z:-108.84 [[ 9.41957793e-01 -6.06552396e-02 -3.30206689e-01 1.95532038e+02] [ 5.60734271e-02 9.98152573e-01 -2.33925659e-02 2.03191557e+01] [ 3.31015538e-01 3.51898908e-03 9.43618742e-01 -1.08837649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:195.56, Y:20.32, Z:-108.83 [[ 9.41897706e-01 -6.01143905e-02 -3.30476885e-01 1.95557606e+02] [ 5.54280969e-02 9.98183851e-01 -2.35950434e-02 2.03241733e+01] [ 3.31295092e-01 3.90641244e-03 9.43519105e-01 -1.08827505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:195.59, Y:20.20, Z:-108.82 [[ 9.26503005e-01 -1.52259464e-02 -3.75979192e-01 1.95588811e+02] [ 5.75220987e-02 9.93168286e-01 1.01528146e-01 2.02023925e+01] [ 3.71864748e-01 -1.15693244e-01 9.21049229e-01 -1.08823537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:195.60, Y:20.36, Z:-108.80 [[ 9.21134395e-01 -7.48541898e-02 -3.81979418e-01 1.95600929e+02] [ 5.47173062e-02 9.96491704e-01 -6.33269365e-02 2.03628661e+01] [ 3.85379608e-01 3.74317346e-02 9.21998603e-01 -1.08798535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters Centerline goodness : 0.937743 Centerline is valid? [True, False] Translation: X:195.56, Y:20.35, Z:-108.82 [[ 9.26752530e-01 -6.32156596e-02 -3.70315445e-01 1.95561323e+02] [ 5.01450561e-02 9.97735405e-01 -4.48278469e-02 2.03467666e+01] [ 3.72310652e-01 2.29748318e-02 9.27823763e-01 -1.08818885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91592 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:195.53, Y:20.34, Z:-108.83 [[ 9.30880562e-01 -5.71436912e-02 -3.60826797e-01 1.95529654e+02] [ 4.83843253e-02 9.98274511e-01 -3.32709836e-02 2.03371647e+01] [ 3.62105421e-01 1.35129507e-02 9.32039197e-01 -1.08832512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:195.54, Y:20.46, Z:-108.80 [[ 9.48906795e-01 -9.88473084e-02 -2.99674998e-01 1.95540238e+02] [ 5.24742977e-02 9.85877793e-01 -1.59032782e-01 2.04622627e+01] [ 3.11162888e-01 1.35182052e-01 9.40693080e-01 -1.08799590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:195.58, Y:20.33, Z:-108.81 [[ 9.48623434e-01 -5.36582496e-02 -3.11824266e-01 1.95583735e+02] [ 4.97763242e-02 9.98552008e-01 -2.04011229e-02 2.03338650e+01] [ 3.12467436e-01 3.83151749e-03 9.49920745e-01 -1.08814626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:195.61, Y:20.29, Z:-108.81 [[ 9.33449561e-01 -3.91546284e-02 -3.56565327e-01 1.95610615e+02] [ 5.11188438e-02 9.98399602e-01 2.41888266e-02 2.02908496e+01] [ 3.55047576e-01 -4.08062568e-02 9.33957209e-01 -1.08807619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03592 meters Centerline goodness : 0.879443 Centerline is valid? [True, False] Translation: X:195.55, Y:20.31, Z:-108.83 [[ 9.42577843e-01 -4.26349326e-02 -3.31254091e-01 1.95548985e+02] [ 4.47922107e-02 9.98995694e-01 -1.12291092e-03 2.03144161e+01] [ 3.30969286e-01 -1.37791721e-02 9.43540919e-01 -1.08826567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters Centerline goodness : 0.947889 Centerline is valid? [False, False] Translation: X:195.50, Y:20.33, Z:-108.84 [[ 9.50458784e-01 -4.55698114e-02 -3.07492264e-01 1.95499659e+02] [ 4.17516882e-02 9.98947577e-01 -1.89877750e-02 2.03322144e+01] [ 3.08033922e-01 5.20877641e-03 9.51361115e-01 -1.08838022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09592 meters Centerline goodness : 0.998857 Centerline is valid? [False, True] Translation: X:195.46, Y:20.34, Z:-108.85 [[ 9.56735571e-01 -4.43928126e-02 -2.87552299e-01 1.95460616e+02] [ 3.97701309e-02 9.98968821e-01 -2.19004917e-02 2.03369260e+01] [ 2.88228006e-01 9.51698685e-03 9.57514513e-01 -1.08848506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:195.49, Y:20.36, Z:-108.84 [[ 9.68117944e-01 -5.28650189e-02 -2.44852889e-01 1.95487208e+02] [ 4.32354136e-02 9.98071522e-01 -4.45413985e-02 2.03626770e+01] [ 2.46735377e-01 3.25350112e-02 9.68536590e-01 -1.08839618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:195.52, Y:20.28, Z:-108.84 [[ 9.52551902e-01 -3.13162904e-02 -3.02760903e-01 1.95517721e+02] [ 4.69073202e-02 9.97913737e-01 4.43607500e-02 2.02755802e+01] [ 3.00740050e-01 -5.64576194e-02 9.52033592e-01 -1.08839924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters Centerline goodness : 0.855200 Centerline is valid? [True, False] Translation: X:195.48, Y:20.31, Z:-108.84 [[ 9.55336184e-01 -4.16781277e-02 -2.92567444e-01 1.95481424e+02] [ 4.64650992e-02 9.98875415e-01 9.42870960e-03 2.03065184e+01] [ 2.91845456e-01 -2.26017628e-02 9.56198405e-01 -1.08844545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21592 meters Centerline goodness : 0.998957 Centerline is valid? [False, True] Translation: X:195.44, Y:20.31, Z:-108.85 [[ 9.61841382e-01 -4.12999771e-02 -2.70472675e-01 1.95442197e+02] [ 4.29185437e-02 9.99078572e-01 6.99118396e-05 2.03146692e+01] [ 2.70220567e-01 -1.16755374e-02 9.62727650e-01 -1.08854333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:195.47, Y:20.37, Z:-108.84 [[ 9.73669556e-01 -6.00194067e-02 -2.19921046e-01 1.95466500e+02] [ 4.77803913e-02 9.97020365e-01 -6.05592716e-02 2.03740121e+01] [ 2.22900493e-01 4.84568054e-02 9.73636127e-01 -1.08837204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27592 meters Centerline goodness : 0.865766 Centerline is valid? [True, False] Translation: X:195.43, Y:20.34, Z:-108.85 [[ 9.78915031e-01 -4.99081865e-02 -1.98077091e-01 1.95425022e+02] [ 4.42479998e-02 9.98478614e-01 -3.29024661e-02 2.03446416e+01] [ 1.99417842e-01 2.34442036e-02 9.79634061e-01 -1.08851804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters Centerline goodness : 0.765986 Centerline is valid? [False, False] Translation: X:195.43, Y:20.34, Z:-108.85 [[ 9.79252978e-01 -4.00670130e-02 -1.98640983e-01 1.95425619e+02] [ 3.62175696e-02 9.99079772e-01 -2.29760206e-02 2.03366856e+01] [ 1.99378769e-01 1.53050430e-02 9.79802971e-01 -1.08852384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33592000000002 meters Centerline goodness : 0.998610 Centerline is valid? [False, True] Translation: X:195.43, Y:20.33, Z:-108.85 [[ 9.79388265e-01 -3.50303456e-02 -1.98925868e-01 1.95426165e+02] [ 3.21320985e-02 9.99325471e-01 -1.77800725e-02 2.03318617e+01] [ 1.99414529e-01 1.10216888e-02 9.79853238e-01 -1.08852830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:195.45, Y:20.35, Z:-108.85 [[ 9.80585826e-01 -3.56035625e-02 -1.92831076e-01 1.95454995e+02] [ 2.90050563e-02 9.98896625e-01 -3.69355994e-02 2.03496803e+01] [ 1.93933350e-01 3.06254490e-02 9.80536556e-01 -1.08846591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39592000000002 meters Centerline goodness : 0.777921 Centerline is valid? [True, False] Translation: X:195.43, Y:20.33, Z:-108.86 [[ 9.84600641e-01 -2.75140225e-02 -1.72639960e-01 1.95425482e+02] [ 2.43766482e-02 9.99497383e-01 -2.02672086e-02 2.03332035e+01] [ 1.73110821e-01 1.57467230e-02 9.84776464e-01 -1.08855764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters Centerline goodness : 0.998807 Centerline is valid? [False, True] Translation: X:195.43, Y:20.33, Z:-108.86 [[ 9.84776378e-01 -2.30498033e-02 -1.72291009e-01 1.95425213e+02] [ 2.06542130e-02 9.99663646e-01 -1.56843320e-02 2.03295265e+01] [ 1.72594579e-01 1.18870245e-02 9.84921220e-01 -1.08856662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:195.49, Y:20.22, Z:-108.90 [[ 9.81285273e-01 1.45236955e-02 -1.92011134e-01 1.95486948e+02] [ 5.56058775e-03 9.94598391e-01 1.03649027e-01 2.02159717e+01] [ 1.92479331e-01 -1.02776958e-01 9.75903993e-01 -1.08897762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters Centerline goodness : 0.893137 Centerline is valid? [True, False] Translation: X:195.48, Y:20.24, Z:-108.90 [[ 9.83050321e-01 -2.10218181e-03 -1.83323887e-01 1.95483579e+02] [ 1.57009711e-02 9.97225943e-01 7.27591731e-02 2.02420917e+01] [ 1.82662383e-01 -7.44042915e-02 9.80356290e-01 -1.08896969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51592 meters Centerline goodness : 0.999253 Centerline is valid? [False, True] Translation: X:195.43, Y:20.28, Z:-108.90 [[ 9.85565286e-01 -1.15286206e-02 -1.68902806e-01 1.95429061e+02] [ 1.63771917e-02 9.99491991e-01 2.73413319e-02 2.02831270e+01] [ 1.68501794e-01 -2.97128212e-02 9.85253416e-01 -1.08903351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:195.46, Y:20.32, Z:-108.89 [[ 9.86475557e-01 -1.43192337e-02 -1.63281764e-01 1.95455881e+02] [ 1.27096472e-02 9.99859838e-01 -1.08981572e-02 2.03221962e+01] [ 1.63414931e-01 8.67551210e-03 9.86519283e-01 -1.08894257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:195.48, Y:20.34, Z:-108.89 [[ 9.91464327e-01 -1.39768231e-02 -1.29626915e-01 1.95483842e+02] [ 1.09652997e-02 9.99653811e-01 -2.39169543e-02 2.03373435e+01] [ 1.29916322e-01 2.22914090e-02 9.91274353e-01 -1.08887233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:195.51, Y:20.32, Z:-108.89 [[ 9.91492884e-01 -9.37887985e-03 -1.29822561e-01 1.95512252e+02] [ 9.11681883e-03 9.99955028e-01 -2.61277442e-03 2.03179946e+01] [ 1.29841228e-01 1.40697848e-03 9.91533800e-01 -1.08885243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:195.54, Y:20.31, Z:-108.88 [[ 9.86611037e-01 -7.34773805e-03 -1.62925360e-01 1.95540072e+02] [ 8.83515684e-03 9.99925631e-01 8.40674309e-03 2.03075370e+01] [ 1.62851473e-01 -9.73365663e-03 9.86602581e-01 -1.08883977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters Centerline goodness : 0.829602 Centerline is valid? [True, False] Translation: X:195.51, Y:20.32, Z:-108.89 [[ 9.89848523e-01 -7.74565812e-03 -1.41915139e-01 1.95505483e+02] [ 7.52192568e-03 9.99969478e-01 -2.11291542e-03 2.03165041e+01] [ 1.41927173e-01 1.02399108e-03 9.89876573e-01 -1.08887719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69592 meters Centerline goodness : 0.998609 Centerline is valid? [False, True] Translation: X:195.51, Y:20.32, Z:-108.89 [[ 9.89866547e-01 -7.84786400e-03 -1.41783746e-01 1.95505084e+02] [ 7.62352160e-03 9.99968682e-01 -2.12541440e-03 2.03161759e+01] [ 1.41795986e-01 1.02298516e-03 9.89895374e-01 -1.08887610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:195.55, Y:20.27, Z:-108.92 [[ 9.83276434e-01 -4.68186034e-02 -1.75998504e-01 1.95552405e+02] [ 5.55734673e-02 9.97433417e-01 4.51460719e-02 2.02678141e+01] [ 1.73433113e-01 -5.41719157e-02 9.83354645e-01 -1.08923863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:195.56, Y:20.35, Z:-108.87 [[ 9.88436746e-01 -1.50482072e-02 -1.50885221e-01 1.95558306e+02] [ 9.84265907e-03 9.99332249e-01 -3.51877593e-02 2.03454076e+01] [ 1.51313980e-01 3.32957625e-02 9.87924831e-01 -1.08873419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:195.59, Y:20.33, Z:-108.87 [[ 9.93767578e-01 -1.09878634e-02 -1.10929109e-01 1.95589012e+02] [ 8.61900235e-03 9.99724943e-01 -2.18117326e-02 2.03341533e+01] [ 1.11138262e-01 2.07196944e-02 9.93588940e-01 -1.08871214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:195.62, Y:20.30, Z:-108.87 [[ 9.89544738e-01 -8.66380821e-03 -1.43965793e-01 1.95617012e+02] [ 1.03428296e-02 9.99886902e-01 1.09183177e-02 2.03023991e+01] [ 1.43854917e-01 -1.22931775e-02 9.89522431e-01 -1.08872076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters Centerline goodness : 0.882869 Centerline is valid? [True, False] Translation: X:195.59, Y:20.31, Z:-108.88 [[ 9.92291371e-01 -6.29937099e-03 -1.23766526e-01 1.95589429e+02] [ 6.73754460e-03 9.99972429e-01 3.12208863e-03 2.03086617e+01] [ 1.23743447e-01 -3.93190410e-03 9.92306454e-01 -1.08875344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:195.56, Y:20.31, Z:-108.88 [[ 9.94601523e-01 -4.29544675e-03 -1.03679119e-01 1.95562517e+02] [ 3.99915659e-03 9.99987305e-01 -3.06546767e-03 2.03142337e+01] [ 1.03690970e-01 2.63428978e-03 9.94606074e-01 -1.08878073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.59, Y:20.32, Z:-108.87 [[ 9.94948012e-01 -4.16355432e-03 -1.00305125e-01 1.95590571e+02] [ 3.07144508e-03 9.99934342e-01 -1.10398424e-02 2.03234305e+01] [ 1.00344504e-01 1.06759875e-02 9.94895474e-01 -1.08873005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:195.62, Y:20.31, Z:-108.87 [[ 9.94808097e-01 -2.96292347e-03 -1.01725467e-01 1.95618273e+02] [ 3.18803470e-03 9.99992816e-01 2.05042607e-03 2.03118395e+01] [ 1.01718661e-01 -2.36408478e-03 9.94810397e-01 -1.08870773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:195.65, Y:20.29, Z:-108.87 [[ 9.94007920e-01 8.29846306e-05 -1.09308044e-01 1.95646522e+02] [ 2.95449323e-03 9.99613963e-01 2.76259839e-02 2.02884054e+01] [ 1.09268140e-01 -2.77833967e-02 9.93623951e-01 -1.08868537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:195.67, Y:20.35, Z:-108.86 [[ 9.95052433e-01 -3.78192557e-03 -9.92791622e-02 1.95672630e+02] [-3.95466714e-05 9.99260062e-01 -3.84620308e-02 2.03524908e+01] [ 9.93511623e-02 3.82756635e-02 9.94316006e-01 -1.08861183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:195.70, Y:20.30, Z:-108.86 [[ 9.95080548e-01 -6.14066116e-04 -9.90672765e-02 1.95702314e+02] [ 1.86019866e-03 9.99920307e-01 1.24867703e-02 2.03039607e+01] [ 9.90517138e-02 -1.26096270e-02 9.95002390e-01 -1.08862080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05592000000001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:195.73, Y:20.32, Z:-108.86 [[ 9.95218076e-01 -1.30936352e-03 -9.76691748e-02 1.95730339e+02] [ 9.69310273e-04 9.99993303e-01 -3.52905255e-03 2.03220316e+01] [ 9.76731415e-02 3.41750515e-03 9.95212680e-01 -1.08857474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:195.76, Y:20.33, Z:-108.85 [[ 9.95608507e-01 -1.71712503e-03 -9.35988906e-02 1.95757587e+02] [ 8.75840060e-04 9.99958858e-01 -9.02853189e-03 2.03298108e+01] [ 9.36105430e-02 8.90690550e-03 9.95569050e-01 -1.08853946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:195.78, Y:20.33, Z:-108.85 [[ 9.95749317e-01 -1.80097618e-03 -9.20872143e-02 1.95784525e+02] [ 1.26357234e-03 9.99981833e-01 -5.89378422e-03 2.03287387e+01] [ 9.20961560e-02 5.75237276e-03 9.95733503e-01 -1.08851697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:195.81, Y:20.35, Z:-108.85 [[ 9.98006506e-01 -1.80883588e-03 -6.30851930e-02 1.95813625e+02] [ 4.04254792e-04 9.99751900e-01 -2.22704905e-02 2.03471525e+01] [ 6.31098253e-02 2.22005919e-02 9.97759632e-01 -1.08848295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:20.33, Z:-108.85 [[ 9.98063777e-01 -1.96510275e-03 -6.21678057e-02 1.95842079e+02] [ 1.90442277e-03 9.99997651e-01 -1.03530681e-03 2.03293172e+01] [ 6.21696941e-02 9.14908439e-04 9.98065174e-01 -1.08849952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:195.87, Y:20.33, Z:-108.85 [[ 9.98086189e-01 -3.33406402e-03 -6.17482326e-02 1.95869967e+02] [ 3.27485053e-03 9.99994076e-01 -1.06013047e-03 2.03306591e+01] [ 6.17514013e-02 8.55885352e-04 9.98091194e-01 -1.08847925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.90, Y:20.30, Z:-108.85 [[ 9.95211606e-01 -1.37615761e-03 -9.77341592e-02 1.95897289e+02] [ 4.81813848e-03 9.99376030e-01 3.49905135e-02 2.02966019e+01] [ 9.76250235e-02 -3.52938618e-02 9.94597254e-01 -1.08847744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.92, Y:20.25, Z:-108.85 [[ 9.95045141e-01 6.23776762e-04 -9.94222197e-02 1.95923554e+02] [ 7.89792447e-03 9.96324389e-01 8.52955748e-02 2.02488214e+01] [ 9.91099877e-02 -8.56581764e-02 9.91382816e-01 -1.08848547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.95, Y:20.45, Z:-108.81 [[ 9.98406474e-01 -1.55425153e-02 -5.42488996e-02 1.95948311e+02] [ 8.84979510e-03 9.92552371e-01 -1.21496800e-01 2.04473089e+01] [ 5.57332397e-02 1.20823100e-01 9.91108261e-01 -1.08814417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:195.98, Y:20.29, Z:-108.84 [[ 9.95214755e-01 -6.35890708e-03 -9.75046494e-02 1.95978877e+02] [ 1.06064923e-02 9.99014173e-01 4.31066551e-02 2.02927854e+01] [ 9.71344156e-02 -4.39345615e-02 9.94301091e-01 -1.08839929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:196.01, Y:20.38, Z:-108.83 [[ 9.98256094e-01 -1.28935739e-02 -5.76066467e-02 1.96006504e+02] [ 1.03366200e-02 9.98957421e-01 -4.44660052e-02 2.03788930e+01] [ 5.81199129e-02 4.37930026e-02 9.97348609e-01 -1.08826914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:196.04, Y:20.31, Z:-108.83 [[ 9.95959869e-01 -1.12265143e-02 -8.90949244e-02 1.96035447e+02] [ 1.36075705e-02 9.99565079e-01 2.61626848e-02 2.03123301e+01] [ 8.87624594e-02 -2.72693496e-02 9.95679471e-01 -1.08833947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.06, Y:20.37, Z:-108.82 [[ 9.98411991e-01 -1.60328674e-02 -5.40041123e-02 1.96063206e+02] [ 1.45344388e-02 9.99501523e-01 -2.80259667e-02 2.03653943e+01] [ 5.44265291e-02 2.71965417e-02 9.98147334e-01 -1.08823138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.09, Y:20.32, Z:-108.83 [[ 9.96230911e-01 -1.50618426e-02 -8.54231414e-02 1.96091577e+02] [ 1.71084707e-02 9.99582644e-01 2.32774265e-02 2.03162572e+01] [ 8.50368886e-02 -2.46511511e-02 9.96072813e-01 -1.08826604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:196.11, Y:20.27, Z:-108.83 [[ 9.95875175e-01 -1.51497523e-02 -8.94601687e-02 1.96114540e+02] [ 2.19656400e-02 9.96888426e-01 7.57032196e-02 2.02663310e+01] [ 8.80349217e-02 -7.73560068e-02 9.93109209e-01 -1.08829900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:196.14, Y:20.44, Z:-108.80 [[ 9.98586625e-01 -2.63080816e-02 -4.61804923e-02 1.96141866e+02] [ 2.13851299e-02 9.94343737e-01 -1.04034652e-01 2.04396121e+01] [ 4.86562354e-02 1.02900036e-01 9.93500958e-01 -1.08800587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.17, Y:20.34, Z:-108.82 [[ 9.98577392e-01 -2.00071482e-02 -4.94257581e-02 1.96172826e+02] [ 1.99852246e-02 9.99799836e-01 -9.37772359e-04 2.03421361e+01] [ 4.94346270e-02 -5.13465986e-05 9.98777360e-01 -1.08819004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:196.20, Y:20.31, Z:-108.82 [[ 9.96278909e-01 -1.86349782e-02 -8.41491173e-02 1.96199479e+02] [ 2.10748737e-02 9.99380106e-01 2.82002447e-02 2.03132421e+01] [ 8.35714428e-02 -2.98687411e-02 9.96054051e-01 -1.08819650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:196.23, Y:20.37, Z:-108.81 [[ 9.98626371e-01 -2.06755836e-02 -4.81444857e-02 1.96227477e+02] [ 1.92537695e-02 9.99370098e-01 -2.98110576e-02 2.03686019e+01] [ 4.87305204e-02 2.88431454e-02 9.98395417e-01 -1.08810190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:196.26, Y:20.34, Z:-108.81 [[ 9.98624341e-01 -1.92916271e-02 -4.87571298e-02 1.96256684e+02] [ 1.92666374e-02 9.99813898e-01 -9.82498975e-04 2.03414342e+01] [ 4.87670100e-02 4.17614500e-05 9.98810181e-01 -1.08812841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:196.28, Y:20.28, Z:-108.82 [[ 9.95504195e-01 -1.48644603e-02 -9.35438117e-02 1.96284263e+02] [ 2.03437395e-02 9.98115304e-01 5.78962161e-02 2.02843944e+01] [ 9.25069141e-02 -5.95389570e-02 9.93930372e-01 -1.08815083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.31, Y:20.40, Z:-108.80 [[ 9.98718097e-01 -2.01980361e-02 -4.64133867e-02 1.96310624e+02] [ 1.74426868e-02 9.98104271e-01 -5.90221777e-02 2.03983126e+01] [ 4.75175316e-02 5.81369428e-02 9.97177106e-01 -1.08799097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:196.34, Y:20.34, Z:-108.81 [[ 9.98775242e-01 -1.64615045e-02 -4.66587066e-02 1.96340317e+02] [ 1.64335065e-02 9.99864477e-01 -9.83615669e-04 2.03434549e+01] [ 4.66685751e-02 2.15644821e-04 9.98910405e-01 -1.08807267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:196.37, Y:20.30, Z:-108.81 [[ 9.96039488e-01 -1.37094191e-02 -8.78486830e-02 1.96366490e+02] [ 1.77768514e-02 9.98797635e-01 4.56866337e-02 2.02976755e+01] [ 8.71167196e-02 -4.70673642e-02 9.95085595e-01 -1.08808221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:196.39, Y:20.35, Z:-108.80 [[ 9.96496423e-01 -1.62388268e-02 -8.20437627e-02 1.96392900e+02] [ 1.56214207e-02 9.99844667e-01 -8.16167562e-03 2.03496516e+01] [ 8.21635546e-02 6.85144043e-03 9.96595308e-01 -1.08799110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.42, Y:20.35, Z:-108.80 [[ 9.96595400e-01 -1.51487719e-02 -8.10439598e-02 1.96420913e+02] [ 1.48029692e-02 9.99878590e-01 -4.86602277e-03 2.03467017e+01] [ 8.11078345e-02 3.64976467e-03 9.96698650e-01 -1.08798044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.45, Y:20.38, Z:-108.79 [[ 9.98915243e-01 -1.62485028e-02 -4.36385471e-02 1.96449188e+02] [ 1.46434926e-02 9.99213484e-01 -3.68507934e-02 2.03784780e+01] [ 4.42029949e-02 3.61717985e-02 9.98367516e-01 -1.08791266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:196.48, Y:20.35, Z:-108.79 [[ 9.98963798e-01 -1.38215326e-02 -4.33623636e-02 1.96478446e+02] [ 1.37922616e-02 9.99904408e-01 -9.74147756e-04 2.03451027e+01] [ 4.33716827e-02 3.75073281e-04 9.99058935e-01 -1.08794037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.51, Y:20.35, Z:-108.79 [[ 9.98947251e-01 -1.25642053e-02 -4.41194944e-02 1.96506410e+02] [ 1.25316314e-02 9.99920961e-01 -1.01482317e-03 2.03457635e+01] [ 4.41287576e-02 4.60865575e-04 9.99025746e-01 -1.08792552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:196.53, Y:20.30, Z:-108.80 [[ 9.96385094e-01 -9.88717785e-03 -8.43741019e-02 1.96532508e+02] [ 1.43117254e-02 9.98544684e-01 5.19970094e-02 2.02959419e+01] [ 8.37372073e-02 -5.30165841e-02 9.95076541e-01 -1.08795589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:196.56, Y:20.40, Z:-108.78 [[ 9.99156371e-01 -1.10020191e-02 -3.95664192e-02 1.96559491e+02] [ 8.86655951e-03 9.98515183e-01 -5.37476913e-02 2.04028800e+01] [ 4.00990034e-02 5.33515302e-02 9.97770356e-01 -1.08779928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:196.59, Y:20.23, Z:-108.80 [[ 9.96253599e-01 -1.18191958e-03 -8.64717859e-02 1.96587443e+02] [ 1.22145171e-02 9.91805866e-01 1.27168899e-01 2.02311573e+01] [ 8.56129211e-02 -1.27748684e-01 9.88104600e-01 -1.08795487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:196.61, Y:20.48, Z:-108.76 [[ 9.99358025e-01 -1.12907795e-02 -3.40008144e-02 1.96612140e+02] [ 6.89068435e-03 9.91897842e-01 -1.26851053e-01 2.04790586e+01] [ 3.51575817e-02 1.26535329e-01 9.91338870e-01 -1.08756062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:196.64, Y:20.24, Z:-108.79 [[ 9.96465486e-01 1.65203610e-03 -8.39869359e-02 1.96643069e+02] [ 9.14912190e-03 9.91724556e-01 1.28057404e-01 2.02377305e+01] [ 8.35034621e-02 -1.28373190e-01 9.88204177e-01 -1.08789470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:196.67, Y:20.45, Z:-108.76 [[ 9.97426828e-01 -1.01213532e-02 -7.09738002e-02 1.96668035e+02] [ 4.04846149e-03 9.96356292e-01 -8.51924211e-02 2.04475605e+01] [ 7.15774550e-02 8.46858717e-02 9.93833473e-01 -1.08759470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:196.70, Y:20.41, Z:-108.77 [[ 9.99454405e-01 -8.49673176e-03 -3.19170488e-02 1.96697731e+02] [ 7.15029177e-03 9.99089274e-01 -4.20653854e-02 2.04112223e+01] [ 3.22453994e-02 4.18142185e-02 9.98604930e-01 -1.08768759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:196.73, Y:20.37, Z:-108.78 [[ 9.99466867e-01 -8.56958096e-03 -3.15046647e-02 1.96727395e+02] [ 8.54894616e-03 9.99963145e-01 -7.89619328e-04 2.03746950e+01] [ 3.15102703e-02 5.19866674e-04 9.99503293e-01 -1.08775128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:196.75, Y:20.38, Z:-108.77 [[ 9.99409467e-01 -1.23048018e-02 -3.20828358e-02 1.96754781e+02] [ 1.22847751e-02 9.99924202e-01 -8.21266706e-04 2.03794168e+01] [ 3.20905095e-02 4.26651299e-04 9.99484876e-01 -1.08773662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.78, Y:20.38, Z:-108.77 [[ 9.99341909e-01 -1.55471088e-02 -3.27725003e-02 1.96782839e+02] [ 1.55273702e-02 9.99879076e-01 -8.56723508e-04 2.03848585e+01] [ 3.27818569e-02 3.47288960e-04 9.99462470e-01 -1.08772806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:196.81, Y:20.39, Z:-108.77 [[ 9.99290379e-01 -1.81709371e-02 -3.29932582e-02 1.96810656e+02] [ 1.81517906e-02 9.99834856e-01 -8.79770374e-04 2.03872377e+01] [ 3.30037958e-02 2.80259356e-04 9.99455187e-01 -1.08770640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:196.84, Y:20.39, Z:-108.77 [[ 9.99204354e-01 -2.05948660e-02 -3.41542258e-02 1.96838049e+02] [ 2.05751319e-02 9.99787878e-01 -9.29197689e-04 2.03890603e+01] [ 3.41661176e-02 2.25730676e-04 9.99416142e-01 -1.08769545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:196.87, Y:20.39, Z:-108.77 [[ 9.99148059e-01 -2.41333490e-02 -3.34774061e-02 1.96865566e+02] [ 2.41158176e-02 9.99708741e-01 -9.27420609e-04 2.03924127e+01] [ 3.34900373e-02 1.19295484e-04 9.99439044e-01 -1.08767565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:196.89, Y:20.36, Z:-108.77 [[ 9.96816823e-01 -2.57411047e-02 -7.54560558e-02 1.96891292e+02] [ 2.83742776e-02 9.99017782e-01 3.40348543e-02 2.03603751e+01] [ 7.45058468e-02 -3.60675264e-02 9.96568117e-01 -1.08769619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:196.92, Y:20.40, Z:-108.76 [[ 9.97108549e-01 -2.88505363e-02 -7.03006916e-02 1.96917717e+02] [ 2.88409962e-02 9.99583349e-01 -1.15093992e-03 2.03991355e+01] [ 7.03046060e-02 -8.79929945e-04 9.97525182e-01 -1.08761135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:196.95, Y:20.44, Z:-108.75 [[ 9.99127315e-01 -3.09881227e-02 -2.80061499e-02 1.96945031e+02] [ 2.99727372e-02 9.98903078e-01 -3.59760532e-02 2.04358874e+01] [ 2.90902596e-02 3.51052364e-02 9.98960149e-01 -1.08753258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:196.97, Y:20.37, Z:-108.76 [[ 9.96609393e-01 -2.83021332e-02 -7.72574116e-02 1.96974351e+02] [ 3.08893534e-02 9.98994257e-01 3.25011039e-02 2.03718098e+01] [ 7.62598599e-02 -3.47773369e-02 9.96481295e-01 -1.08762452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:197.00, Y:20.44, Z:-108.75 [[ 9.98896110e-01 -3.59280534e-02 -3.02611478e-02 1.97001119e+02] [ 3.48825312e-02 9.98799310e-01 -3.43969182e-02 2.04395606e+01] [ 3.14606278e-02 3.33033624e-02 9.98950006e-01 -1.08750048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:197.03, Y:20.41, Z:-108.76 [[ 9.98822662e-01 -3.58968127e-02 -3.26298656e-02 1.97030345e+02] [ 3.58839919e-02 9.99355483e-01 -9.78621958e-04 2.04089795e+01] [ 3.26439645e-02 -1.93420040e-04 9.99467025e-01 -1.08756238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:197.06, Y:20.32, Z:-108.77 [[ 9.95845765e-01 -3.75394483e-02 -8.29578276e-02 1.97055585e+02] [ 4.52820852e-02 9.94587708e-01 9.35137674e-02 2.03184968e+01] [ 7.89983804e-02 -9.68817927e-02 9.92155821e-01 -1.08766618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:197.08, Y:20.43, Z:-108.74 [[ 9.96192108e-01 -4.36890151e-02 -7.54490151e-02 1.97080311e+02] [ 4.22061315e-02 9.98885276e-01 -2.11387630e-02 2.04315760e+01] [ 7.62884420e-02 1.78738578e-02 9.96925573e-01 -1.08744428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55592000000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:197.11, Y:20.49, Z:-108.73 [[ 9.98675134e-01 -4.52374784e-02 -2.45264410e-02 1.97111607e+02] [ 4.32521056e-02 9.96154617e-01 -7.61920846e-02 2.04888806e+01] [ 2.78788652e-02 7.50303201e-02 9.96791463e-01 -1.08731452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:197.14, Y:20.30, Z:-108.76 [[ 9.96048188e-01 -4.21125903e-02 -7.81955062e-02 1.97137649e+02] [ 5.10157537e-02 9.91985380e-01 1.15595839e-01 2.03039686e+01] [ 7.27007587e-02 -1.19128228e-01 9.90213646e-01 -1.08762604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:197.16, Y:20.48, Z:-108.73 [[ 9.96408196e-01 -4.78133785e-02 -6.98898230e-02 1.97164564e+02] [ 4.30611002e-02 9.96756249e-01 -6.79905946e-02 2.04813334e+01] [ 7.29139779e-02 6.47368531e-02 9.95234993e-01 -1.08727159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:197.20, Y:20.47, Z:-108.73 [[ 9.98735134e-01 -4.46174465e-02 -2.31822365e-02 1.97197396e+02] [ 4.34252048e-02 9.97824146e-01 -4.96107293e-02 2.04693328e+01] [ 2.53452994e-02 4.85412850e-02 9.98499554e-01 -1.08732056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:197.23, Y:20.42, Z:-108.74 [[ 9.98675456e-01 -4.49725434e-02 -2.49960973e-02 1.97227300e+02] [ 4.49677468e-02 9.98988155e-01 -7.54242345e-04 2.04235411e+01] [ 2.50047253e-02 -3.70774857e-04 9.99687264e-01 -1.08742696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:197.26, Y:20.42, Z:-108.74 [[ 9.98636683e-01 -4.62129629e-02 -2.42721364e-02 1.97255080e+02] [ 4.62084072e-02 9.98931540e-01 -7.48826942e-04 2.04241021e+01] [ 2.42808081e-02 -3.73770710e-04 9.99705108e-01 -1.08741059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:197.28, Y:20.38, Z:-108.74 [[ 9.96746420e-01 -4.77480498e-02 -6.49361111e-02 1.97280661e+02] [ 5.05788005e-02 9.97808111e-01 4.26703558e-02 2.03815291e+01] [ 6.27563521e-02 -4.58159150e-02 9.96976701e-01 -1.08743997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:197.31, Y:20.44, Z:-108.73 [[ 9.97117706e-01 -5.06259062e-02 -5.65092687e-02 1.97308112e+02] [ 4.97586793e-02 9.98622469e-01 -1.66504935e-02 2.04383542e+01] [ 5.72743717e-02 1.37906754e-02 9.98263224e-01 -1.08731989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:197.34, Y:20.45, Z:-108.73 [[ 9.98493016e-01 -5.13636427e-02 -1.93254733e-02 1.97339158e+02] [ 5.07581363e-02 9.98241574e-01 -3.06165325e-02 2.04514591e+01] [ 2.08640675e-02 2.95894689e-02 9.99344362e-01 -1.08731201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:197.37, Y:20.42, Z:-108.74 [[ 9.98460248e-01 -5.14527934e-02 -2.07302335e-02 1.97368556e+02] [ 5.14506262e-02 9.98675335e-01 -6.38229340e-04 2.04227532e+01] [ 2.07356115e-02 -4.29336868e-04 9.99784902e-01 -1.08735828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:197.39, Y:20.39, Z:-108.74 [[ 9.96954188e-01 -5.21166558e-02 -5.80189787e-02 1.97393578e+02] [ 5.38486439e-02 9.98136608e-01 2.86990395e-02 2.03936690e+01] [ 5.64151686e-02 -3.17358709e-02 9.97902883e-01 -1.08737245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:197.42, Y:20.45, Z:-108.73 [[ 9.98370303e-01 -5.43194213e-02 -1.74968196e-02 1.97424092e+02] [ 5.37553191e-02 9.98065315e-01 -3.12408836e-02 2.04519807e+01] [ 1.91599555e-02 3.02494233e-02 9.99358729e-01 -1.08725778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:197.45, Y:20.40, Z:-108.74 [[ 9.96812660e-01 -5.78235112e-02 -5.49632792e-02 1.97449606e+02] [ 5.91943338e-02 9.97966346e-01 2.36474827e-02 2.03970612e+01] [ 5.34841224e-02 -2.68256249e-02 9.98208312e-01 -1.08736084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:197.48, Y:20.40, Z:-108.74 [[ 9.97604694e-01 -3.90441112e-02 -5.71001960e-02 1.97479023e+02] [ 4.05515168e-02 9.98852440e-01 2.54828863e-02 2.04026403e+01] [ 5.60397134e-02 -2.77373466e-02 9.98043180e-01 -1.08738045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:197.51, Y:20.47, Z:-108.72 [[ 9.97898240e-01 -6.20368433e-02 -1.87225065e-02 1.97510169e+02] [ 6.09696427e-02 9.96730823e-01 -5.30129186e-02 2.04693220e+01] [ 2.19500534e-02 5.17599936e-02 9.98418298e-01 -1.08720093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:197.54, Y:20.42, Z:-108.73 [[ 9.97856181e-01 -6.25469334e-02 -1.92593677e-02 1.97539858e+02] [ 6.25470144e-02 9.98041839e-01 -5.98751158e-04 2.04174175e+01] [ 1.92591048e-02 -6.07148402e-04 9.99814342e-01 -1.08730113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:197.57, Y:20.42, Z:-108.73 [[ 9.97810062e-01 -6.30349169e-02 -2.00419265e-02 1.97568729e+02] [ 6.30347736e-02 9.98011126e-01 -6.39514455e-04 2.04165577e+01] [ 2.00423773e-02 -6.25224338e-04 9.99798936e-01 -1.08728890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.60, Y:20.42, Z:-108.73 [[ 9.97750536e-01 -6.36050702e-02 -2.11722370e-02 1.97597471e+02] [ 6.36049801e-02 9.97974923e-01 -6.78343284e-04 2.04154494e+01] [ 2.11725077e-02 -6.69842340e-04 9.99775613e-01 -1.08728213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:20.42, Z:-108.73 [[ 9.97720739e-01 -6.46416553e-02 -1.93592992e-02 1.97626003e+02] [ 6.46417374e-02 9.97908342e-01 -6.22180880e-04 2.04154541e+01] [ 1.93590250e-02 -6.30655969e-04 9.99812398e-01 -1.08726470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:20.41, Z:-108.73 [[ 9.97608411e-01 -6.67677596e-02 -1.78752607e-02 1.97654460e+02] [ 6.67681384e-02 9.97768352e-01 -5.76269775e-04 2.04128733e+01] [ 1.78738456e-02 -6.18606305e-04 9.99840059e-01 -1.08725367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:20.41, Z:-108.72 [[ 9.97491809e-01 -6.84580142e-02 -1.79886376e-02 1.97683799e+02] [ 6.84586334e-02 9.97653786e-01 -5.82089338e-04 2.04113704e+01] [ 1.79862811e-02 -6.50848201e-04 9.99838022e-01 -1.08723952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:20.41, Z:-108.72 [[ 9.97390821e-01 -7.00038895e-02 -1.76353745e-02 1.97713087e+02] [ 7.00046910e-02 9.97546498e-01 -5.72629702e-04 2.04097323e+01] [ 1.76321924e-02 -6.63423337e-04 9.99844321e-01 -1.08722678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.74, Y:20.35, Z:-108.73 [[ 9.95090113e-01 -7.43487871e-02 -6.53293588e-02 1.97739193e+02] [ 7.78624876e-02 9.95554787e-01 5.29914992e-02 2.03521975e+01] [ 6.10991022e-02 -5.78180233e-02 9.96455707e-01 -1.08727843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:20.41, Z:-108.72 [[ 9.95609876e-01 -7.60630728e-02 -5.45470804e-02 1.97765148e+02] [ 7.56487439e-02 9.97088086e-01 -9.62374449e-03 2.04119095e+01] [ 5.51202556e-02 5.45507694e-03 9.98464821e-01 -1.08716228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:20.38, Z:-108.72 [[ 9.95589953e-01 -7.41056504e-02 -5.75238982e-02 1.97794034e+02] [ 7.52683661e-02 9.96995132e-01 1.83133667e-02 2.03816583e+01] [ 5.59939225e-02 -2.25623337e-02 9.98176148e-01 -1.08720729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:20.37, Z:-108.72 [[ 9.96018653e-01 -7.18929929e-02 -5.27090179e-02 1.97822382e+02] [ 7.33916741e-02 9.96935771e-01 2.70689936e-02 2.03737077e+01] [ 5.06014344e-02 -3.08296256e-02 9.98242971e-01 -1.08718934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:20.41, Z:-108.71 [[ 9.96544580e-01 -6.55021037e-02 -5.10722459e-02 1.97854818e+02] [ 6.50912507e-02 9.97832475e-01 -9.66852399e-03 2.04072066e+01] [ 5.15948542e-02 6.31075882e-03 9.98648159e-01 -1.08711270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:20.47, Z:-108.70 [[ 9.97063398e-01 -7.06637376e-02 -2.95163901e-02 1.97878015e+02] [ 6.82300536e-02 9.94723939e-01 -7.66090418e-02 2.04687195e+01] [ 3.47741410e-02 7.43701666e-02 9.96624221e-01 -1.08698944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:20.37, Z:-108.72 [[ 9.97001640e-01 -5.74617138e-02 -5.18254948e-02 1.97914136e+02] [ 5.89914910e-02 9.97851953e-01 2.84865582e-02 2.03656830e+01] [ 5.00772848e-02 -3.14584084e-02 9.98249785e-01 -1.08715547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:20.35, Z:-108.72 [[ 9.97294607e-01 -5.81529830e-02 -4.49632969e-02 1.97939819e+02] [ 6.02318056e-02 9.97107701e-01 4.63504210e-02 2.03473228e+01] [ 4.21378343e-02 -4.89332455e-02 9.97912792e-01 -1.08716354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:20.47, Z:-108.70 [[ 9.98109137e-01 -6.12037661e-02 -5.67894866e-03 1.97966159e+02] [ 6.05325779e-02 9.94782770e-01 -8.21160596e-02 2.04677408e+01] [ 1.06751324e-02 8.16170280e-02 9.96606594e-01 -1.08695202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:20.39, Z:-108.71 [[ 9.98213735e-01 -5.91545565e-02 -8.37123454e-03 1.98000003e+02] [ 5.91544081e-02 9.98248809e-01 -2.65538811e-04 2.03911011e+01] [ 8.37228274e-03 -2.30130936e-04 9.99964925e-01 -1.08709678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:20.28, Z:-108.72 [[ 9.96619037e-01 -5.85076166e-02 -5.76832278e-02 1.98027915e+02] [ 6.45120055e-02 9.92010258e-01 1.08415171e-01 2.02843296e+01] [ 5.08792405e-02 -1.11769883e-01 9.92430751e-01 -1.08716213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:20.49, Z:-108.69 [[ 9.98285971e-01 -5.84668336e-02 -2.59797898e-03 1.98055314e+02] [ 5.78498154e-02 9.92525513e-01 -1.07454661e-01 2.04905759e+01] [ 8.86109423e-03 1.07120188e-01 9.94206591e-01 -1.08685428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:20.39, Z:-108.70 [[ 9.98514247e-01 -5.42645896e-02 -4.96514765e-03 1.98089772e+02] [ 5.42644921e-02 9.98526585e-01 -1.54441028e-04 2.03880086e+01] [ 4.96621260e-03 -1.15219649e-04 9.99987662e-01 -1.08704671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.12, Y:20.30, Z:-108.71 [[ 9.97925646e-01 -5.04793435e-02 -3.99529863e-02 1.98119524e+02] [ 5.38900751e-02 9.94529399e-01 8.94825941e-02 2.03000039e+01] [ 3.52173968e-02 -9.14500450e-02 9.95186728e-01 -1.08710595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:20.47, Z:-108.68 [[ 9.98750284e-01 -4.98401631e-02 3.71862254e-03 1.98146084e+02] [ 4.99733329e-02 9.94785116e-01 -8.89114105e-02 2.04705968e+01] [ 7.32128849e-04 8.89861285e-02 9.96032596e-01 -1.08684835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:198.18, Y:20.33, Z:-108.70 [[ 9.98097838e-01 -4.27776570e-02 -4.43934519e-02 1.98180943e+02] [ 4.52218478e-02 9.97428641e-01 5.55975743e-02 2.03305161e+01] [ 4.19009664e-02 -5.74993726e-02 9.97465855e-01 -1.08704522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:198.21, Y:20.44, Z:-108.69 [[ 9.98990517e-01 -4.46041820e-02 5.33052891e-03 1.98208115e+02] [ 4.48298341e-02 9.97486282e-01 -5.48762545e-02 2.04370297e+01] [-2.86941901e-03 5.50598246e-02 9.98478934e-01 -1.08689134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:198.24, Y:20.38, Z:-108.70 [[ 9.99085404e-01 -4.26632427e-02 2.86421959e-03 1.98242681e+02] [ 4.26631780e-02 9.99089509e-01 8.36963352e-05 2.03842577e+01] [-2.86518250e-03 3.85769234e-05 9.99995895e-01 -1.08698658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:198.27, Y:20.27, Z:-108.70 [[ 9.98302499e-01 -3.87424778e-02 -4.34872386e-02 1.98272800e+02] [ 4.36818775e-02 9.91924233e-01 1.19072287e-01 2.02665718e+01] [ 3.85228904e-02 -1.20769766e-01 9.91932785e-01 -1.08703745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:198.30, Y:20.44, Z:-108.69 [[ 9.98621886e-01 -3.81425942e-02 -3.60481889e-02 1.98301867e+02] [ 3.59995135e-02 9.97647611e-01 -5.83376304e-02 2.04371044e+01] [ 3.81885381e-02 5.69595172e-02 9.97645853e-01 -1.08685424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:198.33, Y:20.32, Z:-108.70 [[ 9.98761827e-01 -3.45091071e-02 -3.58320344e-02 1.98332593e+02] [ 3.66346563e-02 9.97497896e-01 6.04636209e-02 2.03226712e+01] [ 3.36558333e-02 -6.17014507e-02 9.97527050e-01 -1.08697760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:198.36, Y:20.49, Z:-108.67 [[ 9.99198998e-01 -3.76992673e-02 1.34211898e-02 1.98357140e+02] [ 3.89736539e-02 9.92869308e-01 -1.12656964e-01 2.04889251e+01] [-9.07840241e-03 1.13089798e-01 9.93543296e-01 -1.08671813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:198.39, Y:20.27, Z:-108.70 [[ 9.98823033e-01 -3.32746252e-02 -3.52894901e-02 1.98392970e+02] [ 3.71626289e-02 9.92559495e-01 1.15950800e-01 2.02692758e+01] [ 3.11686990e-02 -1.17125780e-01 9.92627858e-01 -1.08697531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:198.42, Y:20.40, Z:-108.68 [[ 9.98488763e-01 -3.35826248e-02 -4.35016917e-02 1.98420819e+02] [ 3.25665923e-02 9.99184770e-01 -2.38581717e-02 2.04024015e+01] [ 4.42674478e-02 2.24054145e-02 9.98768437e-01 -1.08683737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:198.45, Y:20.42, Z:-108.68 [[ 9.99028291e-01 -3.34730546e-02 -2.86710394e-02 1.98448304e+02] [ 3.23930558e-02 9.98777489e-01 -3.73392221e-02 2.04151520e+01] [ 2.98858465e-02 3.63741967e-02 9.98891262e-01 -1.08681308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:198.48, Y:20.34, Z:-108.69 [[ 9.98410310e-01 -3.30031183e-02 -4.56907689e-02 1.98477850e+02] [ 3.49488795e-02 9.98486605e-01 4.24626279e-02 2.03382147e+01] [ 4.42202216e-02 -4.39919667e-02 9.98052744e-01 -1.08689746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:198.50, Y:20.43, Z:-108.68 [[ 9.99207909e-01 -3.26438505e-02 -2.27581429e-02 1.98503855e+02] [ 3.14843908e-02 9.98274401e-01 -4.95676677e-02 2.04273544e+01] [ 2.43369510e-02 4.88118793e-02 9.98511449e-01 -1.08678482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:198.53, Y:20.42, Z:-108.68 [[ 9.99240587e-01 -3.28888155e-02 2.08943838e-02 1.98531426e+02] [ 3.37038481e-02 9.98633778e-01 -3.99327839e-02 2.04203819e+01] [-1.95524955e-02 4.06066796e-02 9.98983882e-01 -1.08680735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05592000000001 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:198.57, Y:20.33, Z:-108.69 [[ 9.99259735e-01 -2.93684488e-02 -2.48490749e-02 1.98566035e+02] [ 3.06089732e-02 9.98223869e-01 5.11096639e-02 2.03334395e+01] [ 2.33039281e-02 -5.18324338e-02 9.98383857e-01 -1.08689336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:198.59, Y:20.39, Z:-108.68 [[ 9.99347117e-01 -2.89735165e-02 -2.15841394e-02 1.98592402e+02] [ 2.88185700e-02 9.99556854e-01 -7.45557748e-03 2.03913898e+01] [ 2.17905887e-02 6.82868583e-03 9.99739236e-01 -1.08683823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:198.62, Y:20.30, Z:-108.69 [[ 9.99084269e-01 -3.09717428e-02 -2.95190578e-02 1.98616234e+02] [ 3.34174690e-02 9.95706830e-01 8.63202277e-02 2.03019422e+01] [ 2.67188396e-02 -8.72276338e-02 9.95830027e-01 -1.08689866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:198.64, Y:20.51, Z:-108.66 [[ 9.99141919e-01 -2.61290554e-02 3.21356334e-02 1.98642656e+02] [ 3.01620343e-02 9.90763621e-01 -1.32203252e-01 2.05142718e+01] [-2.83844704e-02 1.33059087e-01 9.90701570e-01 -1.08657640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17592000000002 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:198.69, Y:20.34, Z:-108.70 [[ 9.99190124e-01 4.00245878e-02 -4.13872119e-03 1.98686341e+02] [-3.95689503e-02 9.96043486e-01 7.95718085e-02 2.03424272e+01] [ 7.30717511e-03 -7.93436003e-02 9.96820545e-01 -1.08699072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:198.71, Y:20.47, Z:-108.67 [[ 9.99213853e-01 -2.53490691e-02 3.04811615e-02 1.98706615e+02] [ 2.76480528e-02 9.96606410e-01 -7.75322369e-02 2.04673552e+01] [-2.84123509e-02 7.83140299e-02 9.96523783e-01 -1.08669091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:198.74, Y:20.36, Z:-108.68 [[ 9.99652905e-01 -2.46457405e-02 -9.30893894e-03 1.98739476e+02] [ 2.49633763e-02 9.99050560e-01 3.57044708e-02 2.03640125e+01] [ 8.42013754e-03 -3.59244605e-02 9.99319035e-01 -1.08683868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:198.77, Y:20.41, Z:-108.68 [[ 9.99695222e-01 -2.33920154e-02 -7.89156207e-03 1.98767446e+02] [ 2.33638023e-02 9.99720371e-01 -3.64855051e-03 2.04050457e+01] [ 7.97470231e-03 3.46306162e-03 9.99962205e-01 -1.08680455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:198.79, Y:20.40, Z:-108.68 [[ 9.99650043e-01 -2.42580246e-02 -1.05518118e-02 1.98794469e+02] [ 2.43620097e-02 9.99654770e-01 9.84039974e-03 2.03973307e+01] [ 1.03094604e-02 -1.00940194e-02 9.99895907e-01 -1.08680514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:198.82, Y:20.45, Z:-108.67 [[ 9.99221552e-01 -2.33479485e-02 3.17987799e-02 1.98823294e+02] [ 2.46290192e-02 9.98875565e-01 -4.05094657e-02 2.04497957e+01] [-3.08172113e-02 4.12611040e-02 9.98673030e-01 -1.08674934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:198.86, Y:20.38, Z:-108.68 [[ 9.99669274e-01 -2.47889083e-02 -6.84487418e-03 1.98855168e+02] [ 2.50099808e-02 9.99096497e-01 3.43611719e-02 2.03821064e+01] [ 5.98691388e-03 -3.45209979e-02 9.99386040e-01 -1.08682564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:198.88, Y:20.42, Z:-108.68 [[ 9.99677524e-01 -2.52880341e-02 -2.31571840e-03 1.98883068e+02] [ 2.52808615e-02 9.99675656e-01 -3.07594407e-03 2.04210706e+01] [ 2.39275189e-03 3.01640879e-03 9.99992588e-01 -1.08677804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41592 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:198.91, Y:20.45, Z:-108.67 [[ 9.99151394e-01 -2.50110231e-02 3.27252218e-02 1.98914011e+02] [ 2.59848484e-02 9.99221679e-01 -2.96786687e-02 2.04513975e+01] [-3.19574572e-02 3.05038432e-02 9.99023642e-01 -1.08674062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:198.95, Y:20.40, Z:-108.68 [[ 9.99612830e-01 -2.72763995e-02 -5.49430708e-03 1.98945795e+02] [ 2.74232199e-02 9.99211737e-01 2.87031615e-02 2.04001962e+01] [ 4.70705723e-03 -2.88427201e-02 9.99572879e-01 -1.08681931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:198.98, Y:20.46, Z:-108.67 [[ 9.99155505e-01 -2.61311681e-02 3.17086603e-02 1.98975263e+02] [ 2.69890430e-02 9.99272773e-01 -2.69354181e-02 2.04581717e+01] [-3.09817470e-02 2.77684577e-02 9.99134147e-01 -1.08674897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters Centerline goodness : 0.899098 Centerline is valid? [True, False] Translation: X:199.00, Y:20.45, Z:-108.67 [[ 9.99653591e-01 -2.41060373e-02 1.05639330e-02 1.99003295e+02] [ 2.42551336e-02 9.99604655e-01 -1.42204910e-02 2.04530394e+01] [-1.02169569e-02 1.44717945e-02 9.99843078e-01 -1.08674873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53592 meters Centerline goodness : 0.999157 Centerline is valid? [False, True] Translation: X:199.01, Y:20.46, Z:-108.67 [[ 9.99930983e-01 -1.03351802e-02 5.58689949e-03 1.99006019e+02] [ 1.04483761e-02 9.99732655e-01 -2.06264348e-02 2.04637973e+01] [-5.37222794e-03 2.06833853e-02 9.99771642e-01 -1.08673595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:199.04, Y:20.45, Z:-108.68 [[ 9.99889496e-01 -1.37717656e-02 5.59762636e-03 1.99039609e+02] [ 1.37716140e-02 9.99905165e-01 6.56236321e-05 2.04487304e+01] [-5.59799926e-03 1.14719692e-05 9.99984331e-01 -1.08677081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:199.07, Y:20.45, Z:-108.68 [[ 9.99864491e-01 -1.60319472e-02 3.73851510e-03 1.99072957e+02] [ 1.60319203e-02 9.99871480e-01 3.71630501e-05 2.04503711e+01] [-3.73863042e-03 2.27775621e-05 9.99993011e-01 -1.08677274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:199.11, Y:20.45, Z:-108.68 [[ 9.99826849e-01 -1.80427442e-02 4.55308306e-03 1.99105916e+02] [ 1.80427298e-02 9.99837216e-01 4.42443820e-05 2.04517510e+01] [-4.55314017e-03 3.79133261e-05 9.99989634e-01 -1.08677029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:199.14, Y:20.45, Z:-108.68 [[ 9.99717308e-01 -2.32437740e-02 5.00302309e-03 1.99139284e+02] [ 2.32438304e-02 9.99729825e-01 4.68785344e-05 2.04535811e+01] [-5.00276103e-03 6.94241380e-05 9.99987484e-01 -1.08677652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:199.17, Y:20.45, Z:-108.68 [[ 9.99611583e-01 -2.75560719e-02 4.16488314e-03 1.99172392e+02] [ 2.75561606e-02 9.99620256e-01 3.60953747e-05 2.04544842e+01] [-4.16429620e-03 7.86868341e-05 9.99991326e-01 -1.08677829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:199.21, Y:20.46, Z:-108.68 [[ 9.99563066e-01 -2.93270510e-02 3.68807371e-03 1.99205556e+02] [ 2.93271415e-02 9.99569866e-01 2.95436673e-05 2.04551692e+01] [-3.68735377e-03 7.86299009e-05 9.99993199e-01 -1.08677442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:199.24, Y:20.46, Z:-108.68 [[ 9.99534682e-01 -3.03939643e-02 2.57406031e-03 1.99238972e+02] [ 3.03940198e-02 9.99537995e-01 1.75405968e-05 2.04557585e+01] [-2.57340421e-03 6.07036053e-05 9.99996687e-01 -1.08677028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:199.27, Y:20.45, Z:-108.68 [[ 9.99500986e-01 -3.14729715e-02 2.68922723e-03 1.99272251e+02] [ 3.14730389e-02 9.99504601e-01 1.72666989e-05 2.04548758e+01] [-2.68843843e-03 6.73800707e-05 9.99996384e-01 -1.08676475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:199.30, Y:20.35, Z:-108.69 [[ 9.98609468e-01 -3.69006781e-02 -3.76493140e-02 1.99297796e+02] [ 4.07437473e-02 9.93421927e-01 1.07017861e-01 2.03488283e+01] [ 3.34526224e-02 -1.08403023e-01 9.93544013e-01 -1.08686170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83592000000002 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:199.33, Y:20.55, Z:-108.65 [[ 9.99345528e-01 -3.54914658e-02 6.99076602e-03 1.99331055e+02] [ 3.60291699e-02 9.93837117e-01 -1.04831689e-01 2.05504314e+01] [-3.22705246e-03 1.05014951e-01 9.94465407e-01 -1.08650863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:199.36, Y:20.45, Z:-108.67 [[ 9.99341505e-01 -3.59290081e-02 5.06580128e-03 1.99364727e+02] [ 3.59292715e-02 9.99354335e-01 3.90359778e-05 2.04494743e+01] [-5.06393299e-03 1.43000276e-04 9.99987168e-01 -1.08673766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89592000000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:199.39, Y:20.39, Z:-108.68 [[ 9.98629238e-01 -4.03463687e-02 -3.33438985e-02 1.99391197e+02] [ 4.20311294e-02 9.97789480e-01 5.14736582e-02 2.03940900e+01] [ 3.11934160e-02 -5.28045818e-02 9.98117552e-01 -1.08677816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:199.42, Y:20.45, Z:-108.67 [[ 9.98663989e-01 -4.16135296e-02 -3.06357882e-02 1.99418851e+02] [ 4.14595262e-02 9.99124235e-01 -5.64536110e-03 2.04465401e+01] [ 3.08438819e-02 4.36767357e-03 9.99514671e-01 -1.08668366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:199.45, Y:20.48, Z:-108.66 [[ 9.99162907e-01 -3.96603278e-02 1.00271639e-02 1.99451304e+02] [ 4.00742278e-02 9.98176302e-01 -4.51456217e-02 2.04808472e+01] [-8.21838726e-03 4.55096615e-02 9.98930092e-01 -1.08662038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:20.35, Z:-108.68 [[ 9.98793036e-01 -3.89935877e-02 -2.98658911e-02 1.99478294e+02] [ 4.16386442e-02 9.94722589e-01 9.37720318e-02 2.03456207e+01] [ 2.60517686e-02 -9.49024275e-02 9.95145635e-01 -1.08676444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:20.52, Z:-108.65 [[ 9.99304342e-01 -3.42183284e-02 1.48303414e-02 1.99509874e+02] [ 3.54258592e-02 9.95245002e-01 -9.07325384e-02 2.05183054e+01] [-1.16551074e-02 9.11947972e-02 9.95764866e-01 -1.08649675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:20.43, Z:-108.67 [[ 9.99373245e-01 -3.20627783e-02 1.50031818e-02 1.99543350e+02] [ 3.20648522e-02 9.99485785e-01 1.02367003e-04 2.04304399e+01] [-1.49987492e-02 3.78771964e-04 9.99887441e-01 -1.08666811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:199.57, Y:20.39, Z:-108.67 [[ 9.99275428e-01 -3.05504154e-02 -2.27000351e-02 1.99573456e+02] [ 3.14959554e-02 9.98598423e-01 4.25346323e-02 2.03876183e+01] [ 2.13687686e-02 -4.32187722e-02 9.98837081e-01 -1.08669205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:20.46, Z:-108.66 [[ 9.99498479e-01 -2.74963715e-02 1.57079377e-02 1.99603832e+02] [ 2.81243145e-02 9.98752457e-01 -4.12620067e-02 2.04636116e+01] [-1.45537859e-02 4.16830879e-02 9.99024878e-01 -1.08659796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:20.42, Z:-108.67 [[ 9.99582512e-01 -2.43337870e-02 1.55778228e-02 1.99637091e+02] [ 2.43351928e-02 9.99703850e-01 9.93390009e-05 2.04211874e+01] [-1.55756267e-02 2.79791792e-04 9.99878653e-01 -1.08666119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:199.67, Y:20.36, Z:-108.67 [[ 9.99581883e-01 -2.28098141e-02 -1.77699536e-02 1.99666927e+02] [ 2.38854295e-02 9.97735568e-01 6.28746596e-02 2.03597821e+01] [ 1.62955554e-02 -6.32728137e-02 9.97863220e-01 -1.08670881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:20.48, Z:-108.66 [[ 9.99623346e-01 -2.26391507e-02 1.55123916e-02 1.99696487e+02] [ 2.35496539e-02 9.97843318e-01 -6.12709229e-02 2.04776912e+01] [-1.40918147e-02 6.16131564e-02 9.98000621e-01 -1.08655005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:199.72, Y:20.30, Z:-108.67 [[ 9.99538036e-01 -2.11352504e-02 -2.18407088e-02 1.99724028e+02] [ 2.35453294e-02 9.92883801e-01 1.16736345e-01 2.03033362e+01] [ 1.92180341e-02 -1.17196664e-01 9.92922761e-01 -1.08670973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:20.52, Z:-108.64 [[ 9.99546387e-01 -1.95696542e-02 2.28920965e-02 1.99756057e+02] [ 2.20293967e-02 9.93388849e-01 -1.12664544e-01 2.05215412e+01] [-2.05359473e-02 1.13117737e-01 9.93369343e-01 -1.08642056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:199.78, Y:20.31, Z:-108.67 [[ 9.99614230e-01 -1.99661921e-02 -1.93065263e-02 1.99783451e+02] [ 2.19096721e-02 9.94088388e-01 1.06340220e-01 2.03103777e+01] [ 1.70691844e-02 -1.06722197e-01 9.94142352e-01 -1.08667879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:199.82, Y:20.51, Z:-108.64 [[ 9.99539066e-01 -1.71499691e-02 2.50506396e-02 1.99815315e+02] [ 1.96371767e-02 9.94520905e-01 -1.02676920e-01 2.05077044e+01] [-2.31524788e-02 1.03121516e-01 9.94399274e-01 -1.08643473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:199.85, Y:20.41, Z:-108.66 [[ 9.99557172e-01 -1.65938228e-02 2.47002919e-02 1.99849158e+02] [ 1.65956503e-02 9.99862274e-01 1.31014295e-04 2.04067304e+01] [-2.46990641e-02 2.78961129e-04 9.99694893e-01 -1.08662191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:199.88, Y:20.40, Z:-108.66 [[ 9.99607357e-01 -1.63610346e-02 2.27474721e-02 1.99882374e+02] [ 1.63626329e-02 9.99866116e-01 1.15876758e-04 2.04045884e+01] [-2.27463224e-02 2.56377275e-04 9.99741236e-01 -1.08661930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:199.91, Y:20.31, Z:-108.67 [[ 9.99738056e-01 -1.64482549e-02 -1.59146022e-02 1.99911526e+02] [ 1.78465736e-02 9.95586935e-01 9.21311828e-02 2.03141620e+01] [ 1.43289728e-02 -9.23910707e-02 9.95619692e-01 -1.08665256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:199.94, Y:20.40, Z:-108.66 [[ 9.99789406e-01 -1.58761120e-02 -1.30035426e-02 1.99939250e+02] [ 1.59169373e-02 9.99868690e-01 3.04209265e-03 2.03998557e+01] [ 1.29535385e-02 -3.24842858e-03 9.99910823e-01 -1.08658573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:199.97, Y:20.48, Z:-108.64 [[ 9.99377343e-01 -1.47825219e-02 3.20375214e-02 1.99970130e+02] [ 1.75919316e-02 9.95852726e-01 -8.92629361e-02 2.04844961e+01] [-3.05851217e-02 8.97709578e-02 9.95492705e-01 -1.08644668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:200.00, Y:20.32, Z:-108.66 [[ 9.99644415e-01 -1.68901268e-02 -2.06341431e-02 1.99998444e+02] [ 1.84884263e-02 9.96631605e-01 7.98975687e-02 2.03210663e+01] [ 1.92151591e-02 -8.02506511e-02 9.96589490e-01 -1.08662799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:200.02, Y:20.35, Z:-108.66 [[ 9.99785887e-01 -1.75999422e-02 -1.08822396e-02 2.00021990e+02] [ 1.81260604e-02 9.98569481e-01 5.03034502e-02 2.03477181e+01] [ 9.98133452e-03 -5.04899317e-02 9.98674692e-01 -1.08660979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55592000000001 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:200.05, Y:20.47, Z:-108.65 [[ 9.99921620e-01 -1.24735056e-02 -1.07945778e-03 2.00054096e+02] [ 1.23558286e-02 9.97047162e-01 -7.57910927e-02 2.04677697e+01] [ 2.02165094e-03 7.57718146e-02 9.97123134e-01 -1.08647176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:200.08, Y:20.32, Z:-108.66 [[ 9.99871338e-01 -1.59793173e-02 -1.40318801e-03 2.00079394e+02] [ 1.60400700e-02 9.96831641e-01 7.79063198e-02 2.03196471e+01] [ 1.53852404e-04 -7.79188034e-02 9.96959696e-01 -1.08660750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61592000000002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:200.11, Y:20.51, Z:-108.64 [[ 9.98931711e-01 -9.26883559e-03 4.52716795e-02 2.00112029e+02] [ 1.48935792e-02 9.91977354e-01 -1.25535292e-01 2.05115265e+01] [-4.37449149e-02 1.26075441e-01 9.91055682e-01 -1.08635019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:200.15, Y:20.39, Z:-108.66 [[ 9.98917714e-01 -1.09342634e-02 4.52088815e-02 2.00145545e+02] [ 1.09378624e-02 9.99940166e-01 1.67770251e-04 2.03891763e+01] [-4.52080109e-02 3.26899847e-04 9.98977542e-01 -1.08655859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:200.18, Y:20.39, Z:-108.66 [[ 9.98946849e-01 -9.53374504e-03 4.48809615e-02 2.00179077e+02] [ 9.53691064e-03 9.99954512e-01 1.43591882e-04 2.03877929e+01] [-4.48802889e-02 2.84585061e-04 9.98992332e-01 -1.08657341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:200.21, Y:20.39, Z:-108.66 [[ 9.99005218e-01 -7.96006659e-03 4.38772266e-02 2.00211766e+02] [ 7.96255960e-03 9.99968291e-01 1.17956458e-04 2.03867180e+01] [-4.38767743e-02 2.31535915e-04 9.99036924e-01 -1.08658645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:200.24, Y:20.38, Z:-108.66 [[ 9.98955786e-01 -6.16834471e-03 4.52690653e-02 2.00244770e+02] [ 6.17023560e-03 9.99980959e-01 9.79631641e-05 2.03829261e+01] [-4.52688076e-02 1.81459929e-04 9.98974826e-01 -1.08658337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:200.28, Y:20.38, Z:-108.66 [[ 9.98971430e-01 -4.31154281e-03 4.51385907e-02 2.00277443e+02] [ 4.31257309e-03 9.99990698e-01 7.45570047e-05 2.03812321e+01] [-4.51384923e-02 1.20183154e-04 9.98980732e-01 -1.08658283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:200.31, Y:20.38, Z:-108.66 [[ 9.98973272e-01 -2.86757745e-04 4.53025273e-02 2.00310734e+02] [ 2.84722257e-04 9.99999958e-01 5.13836320e-05 2.03802296e+01] [-4.53025402e-02 -3.84322372e-05 9.98973312e-01 -1.08658270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:200.34, Y:20.32, Z:-108.66 [[ 9.99997017e-01 -1.29705811e-03 -2.06947502e-03 2.00339212e+02] [ 1.42750096e-03 9.97927750e-01 6.43285982e-02 2.03190083e+01] [ 1.98174862e-03 -6.43313605e-02 9.97926625e-01 -1.08660716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:200.37, Y:20.39, Z:-108.66 [[ 9.99986794e-01 3.73496656e-03 3.53025462e-03 2.00368868e+02] [-3.71354396e-03 9.99974770e-01 -6.05548478e-03 2.03864400e+01] [-3.55278259e-03 6.04229506e-03 9.99975434e-01 -1.08658098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:200.40, Y:20.37, Z:-108.66 [[ 9.99940254e-01 6.42084296e-03 8.84648909e-03 2.00397800e+02] [-6.55592034e-03 9.99861063e-01 1.53256026e-02 2.03663232e+01] [-8.74685670e-03 -1.53826838e-02 9.99843421e-01 -1.08661192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:200.43, Y:20.39, Z:-108.66 [[ 9.99948894e-01 8.14301448e-03 5.99171098e-03 2.00429789e+02] [-8.10094131e-03 9.99942595e-01 -7.01297467e-03 2.03889969e+01] [-6.04847378e-03 6.96407777e-03 9.99957458e-01 -1.08659284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:200.46, Y:20.40, Z:-108.66 [[ 9.99863720e-01 1.16501896e-02 1.16967506e-02 2.00460606e+02] [-1.14200179e-02 9.99743542e-01 -1.95558817e-02 2.04027529e+01] [-1.19215806e-02 1.94196396e-02 9.99740343e-01 -1.08657130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:200.49, Y:20.38, Z:-108.66 [[ 9.99868581e-01 1.14203093e-02 1.15063977e-02 2.00490049e+02] [-1.15149273e-02 9.99900155e-01 8.19066595e-03 2.03770051e+01] [-1.14117089e-02 -8.32208488e-03 9.99900253e-01 -1.08661335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:200.52, Y:20.38, Z:-108.66 [[ 9.99855079e-01 1.36245473e-02 1.02074434e-02 2.00520276e+02] [-1.37002886e-02 9.99878857e-01 7.38738550e-03 2.03801019e+01] [-1.01055570e-02 -7.52615984e-03 9.99920614e-01 -1.08660393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:200.55, Y:20.45, Z:-108.65 [[ 9.98390499e-01 1.79837978e-02 5.37865581e-02 2.00553021e+02] [-1.47490902e-02 9.98092809e-01 -5.99433743e-02 2.04456227e+01] [-5.47619864e-02 5.90535926e-02 9.96751623e-01 -1.08653994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:200.58, Y:20.35, Z:-108.66 [[ 9.99742203e-01 1.45713507e-02 1.74127361e-02 2.00582168e+02] [-1.53957658e-02 9.98719572e-01 4.81890742e-02 2.03457875e+01] [-1.66882605e-02 -4.84447336e-02 9.98686442e-01 -1.08664563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:200.62, Y:20.44, Z:-108.66 [[ 9.98305007e-01 1.78540264e-02 5.53926551e-02 2.00615696e+02] [-1.52531260e-02 9.98777178e-01 -4.70264885e-02 2.04370307e+01] [-5.61645319e-02 4.61018678e-02 9.97356588e-01 -1.08656413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:200.65, Y:20.35, Z:-108.67 [[ 9.99720336e-01 1.50455411e-02 1.82450559e-02 2.00645473e+02] [-1.58865057e-02 9.98775164e-01 4.68592752e-02 2.03495136e+01] [-1.75176855e-02 -4.71360205e-02 9.98734863e-01 -1.08665493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:200.67, Y:20.34, Z:-108.67 [[ 9.99889465e-01 1.28306467e-02 7.51219757e-03 2.00672190e+02] [-1.32236274e-02 9.98407734e-01 5.48373179e-02 2.03430551e+01] [-6.79663790e-03 -5.49305950e-02 9.98467043e-01 -1.08665762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:200.71, Y:20.45, Z:-108.65 [[ 9.99617194e-01 1.86175491e-02 2.04658939e-02 2.00705752e+02] [-1.75031821e-02 9.98422857e-01 -5.33426375e-02 2.04474709e+01] [-2.14267254e-02 5.29639993e-02 9.98366521e-01 -1.08654658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:200.73, Y:20.32, Z:-108.66 [[ 9.99673489e-01 8.62897599e-03 2.40510974e-02 2.00728029e+02] [-1.05535721e-02 9.96651794e-01 8.10791232e-02 2.03206216e+01] [-2.32709396e-02 -8.13064750e-02 9.96417443e-01 -1.08664611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:200.76, Y:20.46, Z:-108.65 [[ 9.99648464e-01 1.49375601e-02 2.19047436e-02 2.00760552e+02] [-1.34890828e-02 9.97804158e-01 -6.48452576e-02 2.04610939e+01] [-2.28252742e-02 6.45269873e-02 9.97654888e-01 -1.08653254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:200.79, Y:20.46, Z:-108.65 [[ 9.97562177e-01 1.09477635e-02 6.89191524e-02 2.00791199e+02] [-6.59527869e-03 9.97987497e-01 -6.30670916e-02 2.04566278e+01] [-6.94708960e-02 6.24588041e-02 9.95626784e-01 -1.08654959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:200.82, Y:20.36, Z:-108.67 [[ 9.99499867e-01 3.39469895e-03 3.14402919e-02 2.00820212e+02] [-4.62982109e-03 9.99216904e-01 3.92955955e-02 2.03576886e+01] [-3.12822744e-02 -3.94215054e-02 9.98732879e-01 -1.08668477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33592000000002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:200.85, Y:20.39, Z:-108.67 [[ 9.99634976e-01 2.84681176e-04 2.70154277e-02 2.00851195e+02] [-5.32000259e-04 9.99958015e-01 9.14798928e-03 2.03860449e+01] [-2.70116892e-02 -9.15902226e-03 9.99593158e-01 -1.08665442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:200.88, Y:20.39, Z:-108.66 [[ 9.99594715e-01 -7.74744041e-04 2.84570670e-02 2.00881519e+02] [ 5.10450903e-04 9.99956684e-01 9.29352477e-03 2.03858005e+01] [-2.84630344e-02 -9.27523231e-03 9.99551812e-01 -1.08664413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39592000000002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:200.92, Y:20.45, Z:-108.66 [[ 9.97303712e-01 -1.61392037e-03 7.33669002e-02 2.00915806e+02] [ 5.85944836e-03 9.98317422e-01 -5.76887501e-02 2.04454739e+01] [-7.31503496e-02 5.79630941e-02 9.95635127e-01 -1.08660173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:200.95, Y:20.39, Z:-108.67 [[ 9.97245116e-01 -5.60783424e-03 7.39643857e-02 2.00948441e+02] [ 5.65328797e-03 9.99983938e-01 -4.05190304e-04 2.03884574e+01] [-7.39609254e-02 8.22216023e-04 9.97260801e-01 -1.08668851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:200.98, Y:20.38, Z:-108.67 [[ 9.97240461e-01 -8.98808675e-03 7.36931291e-02 2.00981360e+02] [ 9.04521033e-03 9.99958994e-01 -4.41445991e-04 2.03835015e+01] [-7.36861395e-02 1.10679766e-03 9.97280867e-01 -1.08671827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:201.01, Y:20.38, Z:-108.67 [[ 9.97262944e-01 -1.01910970e-02 7.32308861e-02 2.01014057e+02] [ 1.02534790e-02 9.99947318e-01 -4.75955105e-04 2.03807766e+01] [-7.32221777e-02 1.22552375e-03 9.97314901e-01 -1.08673195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:201.04, Y:20.31, Z:-108.68 [[ 9.99530261e-01 -1.52281360e-02 2.65962744e-02 2.01044635e+02] [ 1.34364795e-02 9.97709860e-01 6.62910007e-02 2.03135714e+01] [-2.75448536e-02 -6.59025009e-02 9.97445809e-01 -1.08676311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:201.08, Y:20.43, Z:-108.67 [[ 9.97001620e-01 -9.82259262e-03 7.67547153e-02 2.01076868e+02] [ 1.48860858e-02 9.97729772e-01 -6.56788127e-02 2.04327526e+01] [-7.59353283e-02 6.66244600e-02 9.94884419e-01 -1.08668190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:201.10, Y:20.27, Z:-108.68 [[ 9.99434637e-01 -1.89366012e-02 2.77814956e-02 2.01103911e+02] [ 1.60455489e-02 9.94774414e-01 1.00828592e-01 2.02695724e+01] [-2.95456719e-02 -1.00325818e-01 9.94515854e-01 -1.08675666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:20.32, Z:-108.68 [[ 9.99389423e-01 -1.75211177e-02 3.02289791e-02 2.01130189e+02] [ 1.61887899e-02 9.98910462e-01 4.37699988e-02 2.03166210e+01] [-3.09629427e-02 -4.32539033e-02 9.98584196e-01 -1.08677137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:20.37, Z:-108.68 [[ 9.99243138e-01 -1.20544116e-02 3.69843541e-02 2.01161120e+02] [ 1.25415288e-02 9.99837267e-01 -1.29672851e-02 2.03668764e+01] [-3.68220225e-02 1.34213110e-02 9.99231708e-01 -1.08675009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:20.41, Z:-108.67 [[ 9.99141492e-01 -5.94981169e-03 4.09985240e-02 2.01193143e+02] [ 8.53408996e-03 9.97967577e-01 -6.31496933e-02 2.04058536e+01] [-4.05394689e-02 6.34453638e-02 9.97161590e-01 -1.08670152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:20.28, Z:-108.68 [[ 9.98985922e-01 -1.51782788e-02 4.23880600e-02 2.01214806e+02] [ 1.23978950e-02 9.97801533e-01 6.51029379e-02 2.02791961e+01] [-4.32830218e-02 -6.45113957e-02 9.96977863e-01 -1.08676929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:201.25, Y:20.47, Z:-108.66 [[ 9.95590892e-01 2.40047066e-03 9.37710665e-02 2.01250579e+02] [ 1.01895992e-02 9.90989136e-01 -1.33554122e-01 2.04654564e+01] [-9.32467010e-02 1.33920757e-01 9.86595299e-01 -1.08663847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:201.28, Y:20.33, Z:-108.68 [[ 9.95494659e-01 -3.91717882e-03 9.47366907e-02 2.01281434e+02] [ 4.02252225e-03 9.99991485e-01 -9.21015310e-04 2.03336477e+01] [-9.47322763e-02 1.29794627e-03 9.95501939e-01 -1.08680478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:20.33, Z:-108.68 [[ 9.95535665e-01 -1.57909282e-03 9.43729137e-02 2.01314532e+02] [ 1.67769561e-03 9.99998127e-01 -9.65488425e-04 2.03312200e+01] [-9.43712123e-02 1.11950718e-03 9.95536449e-01 -1.08683627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:20.33, Z:-108.69 [[ 9.95298766e-01 3.21535596e-03 9.67989048e-02 2.01347126e+02] [-3.12928265e-03 9.99994562e-01 -1.04099647e-03 2.03262764e+01] [-9.68017256e-02 7.33191370e-04 9.95303415e-01 -1.08685367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:20.22, Z:-108.69 [[ 9.97558000e-01 -3.04152071e-02 6.28725107e-02 2.01366924e+02] [ 2.41989707e-02 9.94954076e-01 9.73693809e-02 2.02175011e+01] [-6.55167707e-02 -9.56101548e-02 9.93260415e-01 -1.08687935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:20.41, Z:-108.68 [[ 9.95223124e-01 1.76105955e-02 9.60249941e-02 2.01410143e+02] [-8.67512589e-03 9.95657343e-01 -9.26887096e-02 2.04113520e+01] [-9.72402939e-02 9.14129183e-02 9.91053986e-01 -1.08681732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:20.32, Z:-108.69 [[ 9.95104880e-01 1.50419445e-02 9.76730096e-02 2.01441871e+02] [-1.49884374e-02 9.99886846e-01 -1.28157524e-03 2.03220551e+01] [-9.76812349e-02 -1.88664016e-04 9.95217735e-01 -1.08689974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.47, Y:20.24, Z:-108.69 [[ 9.97476281e-01 1.08775697e-02 7.01622878e-02 2.01468493e+02] [-1.69283651e-02 9.96131351e-01 8.62308605e-02 2.02383935e+01] [-6.89528723e-02 -8.72009709e-02 9.93801536e-01 -1.08688773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:20.35, Z:-108.69 [[ 9.97922272e-01 2.48505161e-02 5.94440221e-02 2.01505354e+02] [-2.29495877e-02 9.99209836e-01 -3.24502851e-02 2.03520338e+01] [-6.02034579e-02 3.10186464e-02 9.97704058e-01 -1.08690816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:20.33, Z:-108.69 [[ 9.97458384e-01 2.45125432e-02 6.69022251e-02 2.01534876e+02] [-2.39844647e-02 9.99674603e-01 -8.68523408e-03 2.03287169e+01] [-6.70933525e-02 7.05854549e-03 9.97721734e-01 -1.08693673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:20.36, Z:-108.70 [[ 9.94541488e-01 2.79994343e-02 1.00514971e-01 2.01566966e+02] [-2.36236788e-02 9.98731679e-01 -4.44629620e-02 2.03615967e+01] [-1.01632424e-01 4.18457271e-02 9.93941540e-01 -1.08697794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:201.60, Y:20.28, Z:-108.70 [[ 9.97557021e-01 2.34176746e-02 6.58149154e-02 2.01598159e+02] [-2.59415929e-02 9.98950080e-01 3.77593779e-02 2.02844389e+01] [-6.48615782e-02 -3.93744762e-02 9.97117158e-01 -1.08700581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:20.31, Z:-108.70 [[ 9.97484274e-01 2.58926552e-02 6.59901030e-02 2.01629782e+02] [-2.64416788e-02 9.99622523e-01 7.45986772e-03 2.03135051e+01] [-6.57720375e-02 -9.18598984e-03 9.97792392e-01 -1.08702470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:20.33, Z:-108.70 [[ 9.97221786e-01 2.63589910e-02 6.96700253e-02 2.01660181e+02] [-2.56021887e-02 9.99603347e-01 -1.17335294e-02 2.03317471e+01] [-6.99516745e-02 9.91722605e-03 9.97501084e-01 -1.08704214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:20.32, Z:-108.71 [[ 9.97184838e-01 2.35347571e-02 7.11935021e-02 2.01691067e+02] [-2.33508865e-02 9.99721502e-01 -3.41397331e-03 2.03229873e+01] [-7.12540218e-02 1.74193103e-03 9.97456681e-01 -1.08706277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:20.30, Z:-108.71 [[ 9.97403111e-01 2.05236328e-02 6.90348742e-02 2.01721810e+02] [-2.16182913e-02 9.99651549e-01 1.51469772e-02 2.03043644e+01] [-6.86999479e-02 -1.66000582e-02 9.97499251e-01 -1.08709406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:20.37, Z:-108.71 [[ 9.93637791e-01 2.22289579e-02 1.10407492e-01 2.01755070e+02] [-1.64592739e-02 9.98464302e-01 -5.28973553e-02 2.03658036e+01] [-1.11413792e-01 5.07435841e-02 9.92477736e-01 -1.08709385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:20.32, Z:-108.72 [[ 9.93580688e-01 1.67147700e-02 1.11884017e-01 2.01786781e+02] [-1.66231273e-02 9.99860291e-01 -1.75196251e-03 2.03152092e+01] [-1.11897670e-01 -1.19146141e-04 9.93719728e-01 -1.08715143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:20.31, Z:-108.72 [[ 9.93528477e-01 1.59627817e-02 1.12456013e-01 2.01819475e+02] [-1.58585523e-02 9.99872586e-01 -1.82137402e-03 2.03133831e+01] [-1.12470758e-01 2.61974034e-05 9.93655035e-01 -1.08717324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:20.31, Z:-108.72 [[ 9.93524748e-01 1.61993224e-02 1.12455130e-01 2.01852850e+02] [-1.60905977e-02 9.99868781e-01 -1.87443386e-03 2.03129584e+01] [-1.12470739e-01 5.28261703e-05 9.93655036e-01 -1.08720307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:20.31, Z:-108.72 [[ 9.93465050e-01 1.67762351e-02 1.12897089e-01 2.01886103e+02] [-1.66665421e-02 9.99859269e-01 -1.91543568e-03 2.03124450e+01] [-1.12913335e-01 2.13143147e-05 9.93604840e-01 -1.08723709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:20.31, Z:-108.73 [[ 9.93534547e-01 1.68756486e-02 1.12268951e-01 2.01919297e+02] [-1.67610933e-02 9.99857594e-01 -1.96421346e-03 2.03103855e+01] [-1.12286111e-01 6.97635610e-05 9.93675915e-01 -1.08727353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:20.31, Z:-108.73 [[ 9.93535224e-01 1.68373838e-02 1.12268705e-01 2.01952417e+02] [-1.67158582e-02 9.99858232e-01 -2.02374178e-03 2.03080476e+01] [-1.12286863e-01 1.33990990e-04 9.93675824e-01 -1.08730723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:20.31, Z:-108.73 [[ 9.93713613e-01 1.71321702e-02 1.10633377e-01 2.01985528e+02] [-1.70095848e-02 9.99853221e-01 -2.05181903e-03 2.03059775e+01] [-1.10652291e-01 1.57092697e-04 9.93859168e-01 -1.08733883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:20.30, Z:-108.74 [[ 9.93695572e-01 1.85690073e-02 1.10563570e-01 2.02017970e+02] [-1.84489490e-02 9.99827580e-01 -2.10889258e-03 2.03032675e+01] [-1.10583666e-01 5.58155513e-05 9.93866817e-01 -1.08737416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:20.26, Z:-108.74 [[ 9.97294800e-01 1.47410345e-02 7.20123875e-02 2.02046737e+02] [-1.80385387e-02 9.98807959e-01 4.53571723e-02 2.02567744e+01] [-7.12579341e-02 -4.65334703e-02 9.96371890e-01 -1.08738039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:202.08, Y:20.30, Z:-108.74 [[ 9.97023919e-01 2.30787559e-02 7.35572957e-02 2.02079233e+02] [-2.27257939e-02 9.99725872e-01 -5.63192601e-03 2.03024538e+01] [-7.36671094e-02 3.94351700e-03 9.97275090e-01 -1.08742087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:20.30, Z:-108.74 [[ 9.96733516e-01 2.52807309e-02 7.67019107e-02 2.02110048e+02] [-2.46979845e-02 9.99658508e-01 -8.53679932e-03 2.03043040e+01] [-7.68915341e-02 6.61453140e-03 9.97017522e-01 -1.08744023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:20.33, Z:-108.75 [[ 9.93189086e-01 3.44596243e-02 1.11301278e-01 2.02144032e+02] [-3.04907007e-02 9.98843792e-01 -3.71671445e-02 2.03305608e+01] [-1.12453356e-01 3.35203483e-02 9.93091450e-01 -1.08747543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:20.26, Z:-108.75 [[ 9.96581661e-01 2.95980853e-02 7.71294130e-02 2.02172192e+02] [-3.23967500e-02 9.98851871e-01 3.52900926e-02 2.02607982e+01] [-7.59963393e-02 -3.76682014e-02 9.96396338e-01 -1.08748166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:20.29, Z:-108.75 [[ 9.96316112e-01 3.69026058e-02 7.74106124e-02 2.02203081e+02] [-3.67575744e-02 9.99318770e-01 -3.29803742e-03 2.02949323e+01] [-7.74795841e-02 4.40461475e-04 9.96993842e-01 -1.08753382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:20.30, Z:-108.76 [[ 9.95675933e-01 4.01714432e-02 8.37597255e-02 2.02234933e+02] [-3.90870461e-02 9.99129914e-01 -1.45470810e-02 2.03047600e+01] [-8.42712246e-02 1.12102582e-02 9.96379792e-01 -1.08755370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:202.26, Y:20.24, Z:-108.76 [[ 9.95958975e-01 9.74178940e-03 8.92794413e-02 2.02257662e+02] [-1.33989850e-02 9.99091472e-01 4.04561295e-02 2.02404670e+01] [-8.88042133e-02 -4.14888991e-02 9.95184648e-01 -1.08760985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:202.29, Y:20.27, Z:-108.76 [[ 9.95350954e-01 4.12164839e-02 8.70498691e-02 2.02292982e+02] [-4.36683926e-02 9.98695830e-01 2.64520286e-02 2.02676254e+01] [-8.58460817e-02 -3.01303797e-02 9.95852705e-01 -1.08757601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:202.32, Y:20.30, Z:-108.77 [[ 9.94799211e-01 1.44869259e-03 1.01845134e-01 2.02316576e+02] [ 1.29593285e-03 9.99637890e-01 -2.68776804e-02 2.02989663e+01] [-1.01847193e-01 2.68698797e-02 9.94437107e-01 -1.08765312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:20.36, Z:-108.76 [[ 9.90955770e-01 5.70777420e-02 1.21444607e-01 2.02358098e+02] [-4.90959967e-02 9.96494821e-01 -6.77322223e-02 2.03577728e+01] [-1.24884924e-01 6.11571925e-02 9.90284582e-01 -1.08761280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:202.39, Y:20.26, Z:-108.77 [[ 9.94675760e-01 4.65444363e-02 9.19442603e-02 2.02385002e+02] [-4.99325733e-02 9.98142686e-01 3.48986623e-02 2.02623062e+01] [-9.01491524e-02 -3.93038670e-02 9.95152419e-01 -1.08766467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:20.33, Z:-108.77 [[ 9.90901861e-01 5.56935537e-02 1.22522369e-01 2.02419433e+02] [-5.12104783e-02 9.97908722e-01 -3.94419793e-02 2.03344253e+01] [-1.24462804e-01 3.28087016e-02 9.91681703e-01 -1.08769860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:20.27, Z:-108.77 [[ 9.94073836e-01 4.84467991e-02 9.73145188e-02 2.02447820e+02] [-5.12408085e-02 9.98336833e-01 2.64187004e-02 2.02728844e+01] [-9.58727670e-02 -3.12486135e-02 9.94902979e-01 -1.08772913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:20.33, Z:-108.78 [[ 9.92038123e-01 5.59111939e-02 1.12846360e-01 2.02482313e+02] [-5.25560162e-02 9.98089189e-01 -3.24936178e-02 2.03318277e+01] [-1.14447489e-01 2.63041525e-02 9.93080996e-01 -1.08775560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:20.26, Z:-108.78 [[ 9.94704581e-01 4.65814120e-02 9.16131494e-02 2.02510561e+02] [-5.09651318e-02 9.97635570e-01 4.61066629e-02 2.02597137e+01] [-8.92488231e-02 -5.05315850e-02 9.94726699e-01 -1.08775404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:20.31, Z:-108.78 [[ 9.94896495e-01 5.03443332e-02 8.74437630e-02 2.02543763e+02] [-5.05438925e-02 9.98721838e-01 6.81190115e-05 2.03069141e+01] [-8.73285664e-02 -4.48751953e-03 9.96169455e-01 -1.08779414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:20.33, Z:-108.78 [[ 9.93935533e-01 5.24605825e-02 9.66438960e-02 2.02576483e+02] [-5.00809881e-02 9.98383178e-01 -2.68872596e-02 2.03326619e+01] [-9.78981614e-02 2.18841809e-02 9.94955794e-01 -1.08782437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:20.30, Z:-108.79 [[ 9.94548703e-01 4.72430950e-02 9.29567986e-02 2.02606702e+02] [-4.79773549e-02 9.98832280e-01 5.67885034e-03 2.03021592e+01] [-9.25799647e-02 -1.01077146e-02 9.95653948e-01 -1.08786542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:202.64, Y:20.31, Z:-108.79 [[ 9.94665596e-01 4.41009872e-02 9.32494269e-02 2.02638370e+02] [-4.41352006e-02 9.99024127e-01 -1.69636145e-03 2.03125286e+01] [-9.32332385e-02 -2.42826979e-03 9.95641334e-01 -1.08788811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07592 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:202.67, Y:20.29, Z:-108.80 [[ 9.89558442e-01 9.18252299e-02 1.11095534e-01 2.02670647e+02] [-9.75309554e-02 9.94119599e-01 4.70524719e-02 2.02899124e+01] [-1.06121643e-01 -5.73964243e-02 9.92695244e-01 -1.08801511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:20.35, Z:-108.79 [[ 9.95639224e-01 4.12091783e-02 8.36919337e-02 2.02697252e+02] [-3.82462934e-02 9.98594073e-01 -3.67028358e-02 2.03464077e+01] [-8.50867626e-02 3.33418767e-02 9.95815526e-01 -1.08791725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:20.31, Z:-108.80 [[ 9.95489223e-01 3.67315920e-02 8.74756889e-02 2.02729268e+02] [-3.66376751e-02 9.99325023e-01 -2.67946788e-03 2.03145154e+01] [-8.75150659e-02 -5.37524471e-04 9.96163051e-01 -1.08797004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:20.36, Z:-108.80 [[ 9.90195707e-01 3.99946726e-02 1.33839038e-01 2.02762884e+02] [-3.27036813e-02 9.97881608e-01 -5.62384749e-02 2.03647175e+01] [-1.35804754e-01 5.13100671e-02 9.89406057e-01 -1.08797746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:20.31, Z:-108.80 [[ 9.90261104e-01 3.25909666e-02 1.35354257e-01 2.02793644e+02] [-3.23261819e-02 9.99468739e-01 -4.15422229e-03 2.03134709e+01] [-1.35417739e-01 -2.61721586e-04 9.90788558e-01 -1.08803873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:20.29, Z:-108.81 [[ 9.94047072e-01 2.67105241e-02 1.05626541e-01 2.02823425e+02] [-2.88887890e-02 9.99399252e-01 1.91461187e-02 2.02898005e+01] [-1.05051683e-01 -2.20835660e-02 9.94221535e-01 -1.08807764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:20.30, Z:-108.81 [[ 9.94504150e-01 2.64452592e-02 1.01302237e-01 2.02854938e+02] [-2.77293742e-02 9.99551723e-01 1.12887270e-02 2.02962064e+01] [-1.00958292e-01 -1.40357334e-02 9.94791647e-01 -1.08809740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:20.34, Z:-108.81 [[ 9.90331714e-01 3.17821863e-02 1.35029582e-01 2.02888999e+02] [-2.65702710e-02 9.98837224e-01 -4.02271017e-02 2.03437745e+01] [-1.36151078e-01 3.62504020e-02 9.90024642e-01 -1.08812174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:202.92, Y:20.28, Z:-108.82 [[ 9.94316534e-01 2.25556716e-02 1.04047455e-01 2.02917344e+02] [-2.57981134e-02 9.99219226e-01 2.99231735e-02 2.02763145e+01] [-1.03291280e-01 -3.24373342e-02 9.94122091e-01 -1.08817269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:20.34, Z:-108.82 [[ 9.90190410e-01 3.01284481e-02 1.36437638e-01 2.02951658e+02] [-2.53175827e-02 9.98999682e-01 -3.68599348e-02 2.03370168e+01] [-1.37411690e-01 3.30440828e-02 9.89962684e-01 -1.08817962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:20.21, Z:-108.82 [[ 9.94374748e-01 1.38502060e-02 1.05009679e-01 2.02973655e+02] [-2.38364352e-02 9.95244341e-01 9.44485332e-02 2.02110689e+01] [-1.03202157e-01 -9.64202928e-02 9.89975980e-01 -1.08817718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:20.39, Z:-108.82 [[ 9.89343629e-01 4.05680264e-02 1.39833540e-01 2.03013999e+02] [-2.68347823e-02 9.94751990e-01 -9.87338523e-02 2.03936066e+01] [-1.43105129e-01 9.39293052e-02 9.85240178e-01 -1.08815556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:20.21, Z:-108.82 [[ 9.94259093e-01 1.95878878e-02 1.05191115e-01 2.03035450e+02] [-2.92889546e-02 9.95375550e-01 9.14859084e-02 2.02128352e+01] [-1.02912649e-01 -9.40416341e-02 9.90234900e-01 -1.08822190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:20.36, Z:-108.82 [[ 9.93014578e-01 4.12923393e-02 1.10530497e-01 2.03073528e+02] [-3.46569599e-02 9.97517822e-01 -6.12951006e-02 2.03580791e+01] [-1.12787159e-01 5.70362775e-02 9.91980806e-01 -1.08823797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:20.34, Z:-108.83 [[ 9.88548382e-01 4.05451500e-02 1.45355386e-01 2.03103868e+02] [-3.54119545e-02 9.98660286e-01 -3.77309776e-02 2.03379863e+01] [-1.46690459e-01 3.21515785e-02 9.88659792e-01 -1.08829668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:20.31, Z:-108.84 [[ 9.88464676e-01 3.76169958e-02 1.46705645e-01 2.03135205e+02] [-3.72876173e-02 9.99292089e-01 -4.99553881e-03 2.03082520e+01] [-1.46789708e-01 -5.32390306e-04 9.89167578e-01 -1.08836172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:20.28, Z:-108.84 [[ 9.92635855e-01 3.42215756e-02 1.16202163e-01 2.03166100e+02] [-3.76307544e-02 9.98919505e-01 2.72717531e-02 2.02777469e+01] [-1.15143325e-01 -3.14436951e-02 9.92851101e-01 -1.08841848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:20.34, Z:-108.84 [[ 9.88577827e-01 4.08887163e-02 1.45058586e-01 2.03199542e+02] [-3.59863880e-02 9.98694205e-01 -3.62610649e-02 2.03356488e+01] [-1.46351838e-01 3.06267502e-02 9.88758384e-01 -1.08842421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:20.27, Z:-108.85 [[ 9.92778637e-01 3.25910527e-02 1.15448698e-01 2.03228988e+02] [-3.63571990e-02 9.98868199e-01 3.06671655e-02 2.02722926e+01] [-1.14318558e-01 -3.46430980e-02 9.92839928e-01 -1.08846288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters Centerline goodness : 0.885396 Centerline is valid? [True, False] Translation: X:203.23, Y:20.28, Z:-108.85 [[ 9.93009340e-01 2.56416463e-02 1.15216997e-01 2.03229265e+02] [-2.81288131e-02 9.99403952e-01 2.00127721e-02 2.02824816e+01] [-1.14635162e-01 -2.31137870e-02 9.93138728e-01 -1.08846311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:203.27, Y:20.29, Z:-108.85 [[ 9.95717448e-01 2.14271820e-02 8.99313024e-02 2.03273496e+02] [-2.23856031e-02 9.99702720e-01 9.66208049e-03 2.02908848e+01] [-8.96975365e-02 -1.16338686e-02 9.95901102e-01 -1.08849097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:20.30, Z:-108.85 [[ 9.95798610e-01 2.07537086e-02 8.91875082e-02 2.03306872e+02] [-2.06353321e-02 9.99784539e-01 -2.24921646e-03 2.03009966e+01] [-8.92149713e-02 3.99352771e-04 9.96012314e-01 -1.08852239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:20.30, Z:-108.86 [[ 9.95871321e-01 2.03580515e-02 8.84638988e-02 2.03340122e+02] [-2.02359473e-02 9.99792639e-01 -2.27697967e-03 2.02997481e+01] [-8.84919098e-02 4.77427960e-04 9.96076781e-01 -1.08855016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:20.30, Z:-108.86 [[ 9.95842278e-01 2.00322105e-02 8.88643190e-02 2.03372810e+02] [-1.99035375e-02 9.99799181e-01 -2.33393473e-03 2.02982210e+01] [-8.88932272e-02 5.55516575e-04 9.96041006e-01 -1.08858099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:20.29, Z:-108.86 [[ 9.95865686e-01 1.79439028e-02 8.90480266e-02 2.03405369e+02] [-1.78022078e-02 9.99838683e-01 -2.38523222e-03 2.02940489e+01] [-8.90764620e-02 7.90119452e-04 9.96024477e-01 -1.08859034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.44, Y:20.29, Z:-108.86 [[ 9.96534369e-01 1.62687140e-02 8.15756091e-02 2.03438022e+02] [-1.64025509e-02 9.99864998e-01 9.70731362e-04 2.02863672e+01] [-8.15488037e-02 -2.30541525e-03 9.96666683e-01 -1.08861810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:20.25, Z:-108.86 [[ 9.98380965e-01 1.30298376e-02 5.53685146e-02 2.03467188e+02] [-1.49780323e-02 9.99277938e-01 3.49179156e-02 2.02515289e+01] [-5.48735603e-02 -3.56906937e-02 9.97855233e-01 -1.08861552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:20.29, Z:-108.86 [[ 9.98323430e-01 1.61105661e-02 5.55947683e-02 2.03499398e+02] [-1.59114155e-02 9.99865312e-01 -4.02299160e-03 2.02855966e+01] [-5.56520930e-02 3.13165532e-03 9.98445310e-01 -1.08862867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:20.23, Z:-108.86 [[ 9.98365460e-01 1.09613464e-02 5.60915097e-02 2.03525749e+02] [-1.34426146e-02 9.98938808e-01 4.40517251e-02 2.02340551e+01] [-5.55491196e-02 -4.47337373e-02 9.97453351e-01 -1.08863995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:20.35, Z:-108.86 [[ 9.95417280e-01 2.05196480e-02 9.33990486e-02 2.03561774e+02] [-1.25045338e-02 9.96250629e-01 -8.56056174e-02 2.03533384e+01] [-9.48054580e-02 8.40453993e-02 9.91941680e-01 -1.08863805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.59, Y:20.27, Z:-108.87 [[ 9.95056158e-01 1.55015191e-02 9.80966136e-02 2.03592243e+02] [-1.52949663e-02 9.99878943e-01 -2.85730681e-03 2.02682524e+01] [-9.81290309e-02 1.34279633e-03 9.95172794e-01 -1.08870645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:20.27, Z:-108.87 [[ 9.95175491e-01 1.64343301e-02 9.67246355e-02 2.03624641e+02] [-1.62337588e-02 9.99864133e-01 -2.86026723e-03 2.02652849e+01] [-9.67585003e-02 1.27626344e-03 9.95307070e-01 -1.08873503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:20.26, Z:-108.88 [[ 9.95086322e-01 1.96590443e-02 9.70398555e-02 2.03657688e+02] [-1.94696643e-02 9.99806248e-01 -2.89817710e-03 2.02607883e+01] [-9.70780291e-02 9.94602983e-04 9.95276277e-01 -1.08876191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:20.21, Z:-108.88 [[ 9.98097385e-01 1.71721724e-02 5.92176128e-02 2.03686078e+02] [-2.02714997e-02 9.98433978e-01 5.21407443e-02 2.02064085e+01] [-5.82295069e-02 -5.32419704e-02 9.96882449e-01 -1.08875587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:20.30, Z:-108.88 [[ 9.95772706e-01 2.57825438e-02 8.81588205e-02 2.03720634e+02] [-2.14531719e-02 9.98533336e-01 -4.97085410e-02 2.02997216e+01] [-8.93111337e-02 4.76071220e-02 9.94865359e-01 -1.08880654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:20.26, Z:-108.88 [[ 9.94685729e-01 2.74060713e-02 9.92431722e-02 2.03752739e+02] [-2.66713610e-02 9.99606200e-01 -8.72258163e-03 2.02567200e+01] [-9.94431420e-02 6.02927700e-03 9.95024979e-01 -1.08882623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:20.20, Z:-108.88 [[ 9.97527297e-01 2.83869387e-02 6.42920899e-02 2.03781488e+02] [-3.15078535e-02 9.98347349e-01 4.80606391e-02 2.02027151e+01] [-6.28215431e-02 -4.99675051e-02 9.96773145e-01 -1.08881963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:20.22, Z:-108.89 [[ 9.97410618e-01 3.30319338e-02 6.38823101e-02 2.03810798e+02] [-3.51682741e-02 9.98849183e-01 3.26113743e-02 2.02171896e+01] [-6.27315765e-02 -3.47735617e-02 9.97424458e-01 -1.08886340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.85, Y:20.33, Z:-108.89 [[ 9.94031244e-01 4.56925897e-02 9.90660071e-02 2.03847821e+02] [-3.72492855e-02 9.95644668e-01 -8.54645302e-02 2.03287608e+01] [-1.02539638e-01 8.12642752e-02 9.91403924e-01 -1.08886196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.88, Y:20.25, Z:-108.89 [[ 9.94004059e-01 3.93890185e-02 1.02002141e-01 2.03878387e+02] [-3.92561590e-02 9.99223697e-01 -3.31031637e-03 2.02490150e+01] [-1.02053346e-01 -7.13744340e-04 9.94778671e-01 -1.08892153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.91, Y:20.20, Z:-108.89 [[ 9.96879258e-01 4.10322810e-02 6.74395859e-02 2.03907024e+02] [-4.41256330e-02 9.98010311e-01 4.50371785e-02 2.02045444e+01] [-6.54574240e-02 -4.78724435e-02 9.96706353e-01 -1.08892191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters Centerline goodness : 0.863822 Centerline is valid? [True, False] Translation: X:203.94, Y:20.22, Z:-108.89 [[ 9.98316698e-01 3.64164649e-02 4.51399094e-02 2.03939281e+02] [-3.75747908e-02 9.98978960e-01 2.50833220e-02 2.02216814e+01] [-4.41803738e-02 -2.67372219e-02 9.98665718e-01 -1.08891995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:203.94, Y:20.23, Z:-108.89 [[ 9.98578003e-01 2.87276272e-02 4.49076277e-02 2.03939368e+02] [-2.94107779e-02 9.99460394e-01 1.46262524e-02 2.02312544e+01] [-4.44632177e-02 -1.59262222e-02 9.98884066e-01 -1.08892164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:203.97, Y:20.20, Z:-108.89 [[ 9.99525676e-01 2.81081531e-02 1.25839415e-02 2.03967275e+02] [-2.87335380e-02 9.98200422e-01 5.26336432e-02 2.01973948e+01] [-1.10818612e-02 -5.29702589e-02 9.98534598e-01 -1.08887758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.00, Y:20.24, Z:-108.89 [[ 9.99470472e-01 3.13375739e-02 8.75966075e-03 2.03998055e+02] [-3.14627503e-02 9.99399197e-01 1.45375229e-02 2.02387431e+01] [-8.29882723e-03 -1.48054279e-02 9.99855954e-01 -1.08889349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:20.30, Z:-108.89 [[ 9.98248961e-01 3.41032045e-02 4.83320177e-02 2.04031331e+02] [-3.17873832e-02 9.98346229e-01 -4.78995802e-02 2.02990114e+01] [-4.98856168e-02 4.62793578e-02 9.97682137e-01 -1.08888577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.06, Y:20.18, Z:-108.89 [[ 9.99419139e-01 3.10310341e-02 1.40875442e-02 2.04057061e+02] [-3.20134349e-02 9.96601239e-01 7.59019780e-02 2.01822257e+01] [-1.16843472e-02 -7.63088802e-02 9.97015763e-01 -1.08888286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:204.09, Y:20.24, Z:-108.89 [[ 9.99462507e-01 3.13489527e-02 9.58854470e-03 2.04089542e+02] [-3.15094457e-02 9.99357647e-01 1.70718317e-02 2.02414698e+01] [-9.04720143e-03 -1.73647854e-02 9.99808288e-01 -1.08888571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.12, Y:20.32, Z:-108.89 [[ 9.99235327e-01 3.15948456e-02 2.30331590e-02 2.04122258e+02] [-3.00025951e-02 9.97337116e-01 -6.64719607e-02 2.03230462e+01] [-2.50719957e-02 6.57300768e-02 9.97522407e-01 -1.08885451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:20.25, Z:-108.89 [[ 9.99327694e-01 2.89197325e-02 2.25346076e-02 2.04152430e+02] [-2.92001334e-02 9.99498948e-01 1.22149816e-02 2.02482189e+01] [-2.21700626e-02 -1.28647829e-02 9.99671439e-01 -1.08888261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:20.26, Z:-108.89 [[ 9.99370251e-01 2.75027009e-02 2.24210558e-02 2.04183944e+02] [-2.75104478e-02 9.99621515e-01 3.70884500e-05 2.02605207e+01] [-2.24115497e-02 -6.53878379e-04 9.99748616e-01 -1.08889064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:20.27, Z:-108.89 [[ 9.99379341e-01 2.52078746e-02 2.46068233e-02 2.04216154e+02] [-2.49549880e-02 9.99633109e-01 -1.05306809e-02 2.02719608e+01] [-2.48632514e-02 9.91008192e-03 9.99641740e-01 -1.08890618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:20.26, Z:-108.89 [[ 9.99323737e-01 2.31610118e-02 2.85593385e-02 2.04246790e+02] [-2.31058529e-02 9.99730470e-01 -2.25992325e-03 2.02635897e+01] [-2.86039830e-02 1.59850707e-03 9.99589544e-01 -1.08891670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:20.26, Z:-108.89 [[ 9.99443705e-01 2.00248370e-02 2.66699660e-02 2.04277621e+02] [-2.01364904e-02 9.99789538e-01 3.92448921e-03 2.02570730e+01] [-2.65857657e-02 -4.45934554e-03 9.99636590e-01 -1.08890544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:20.26, Z:-108.89 [[ 9.99499803e-01 1.96319053e-02 2.47938040e-02 2.04309618e+02] [-1.97520504e-02 9.99794280e-01 4.61017807e-03 2.02562875e+01] [-2.46981968e-02 -5.09760053e-03 9.99681956e-01 -1.08891018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:204.30, Y:20.21, Z:-108.90 [[ 9.96982024e-01 -6.63478530e-02 4.03088888e-02 2.04303982e+02] [ 6.60043433e-02 9.97771256e-01 9.79528082e-03 2.02124071e+01] [-4.08689464e-02 -7.10515717e-03 9.99139253e-01 -1.08899201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:20.25, Z:-108.89 [[ 9.99594097e-01 1.90066527e-02 2.12223485e-02 2.04364690e+02] [-1.93272773e-02 9.99700588e-01 1.50063696e-02 2.02460214e+01] [-2.09307734e-02 -1.54104487e-02 9.99662153e-01 -1.08892530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:20.30, Z:-108.89 [[ 9.97994463e-01 2.01177466e-02 6.00193972e-02 2.04399867e+02] [-1.73250846e-02 9.98759066e-01 -4.66922931e-02 2.03025448e+01] [-6.08842608e-02 4.55588089e-02 9.97104559e-01 -1.08894263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81592 meters Centerline goodness : 0.977049 Centerline is valid? [True, True] Translation: X:204.48, Y:20.26, Z:-108.92 [[ 9.99550522e-01 2.98630568e-02 2.63672231e-03 2.04475664e+02] [-2.99086134e-02 9.99364891e-01 1.93723842e-02 2.02624895e+01] [-2.05652909e-03 -1.94425374e-02 9.99808861e-01 -1.08920782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:20.26, Z:-108.90 [[ 9.99104761e-01 1.01134413e-02 4.10779237e-02 2.04452050e+02] [-9.32986979e-03 9.99771701e-01 -1.92223719e-02 2.02642169e+01] [-4.12629499e-02 1.88219116e-02 9.98971023e-01 -1.08898408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:204.51, Y:20.27, Z:-108.92 [[ 9.99590229e-01 1.01703938e-02 2.67569858e-02 2.04513784e+02] [-9.82553131e-03 9.99867367e-01 -1.29887482e-02 2.02699433e+01] [-2.68855376e-02 1.27205242e-02 9.99557580e-01 -1.08915532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:20.23, Z:-108.90 [[ 9.99256855e-01 3.49112342e-03 3.83868413e-02 2.04509398e+02] [-3.93358262e-03 9.99926631e-01 1.14568459e-02 2.02292915e+01] [-3.83440276e-02 -1.15993296e-02 9.99197273e-01 -1.08900721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:20.25, Z:-108.90 [[ 9.98246569e-01 2.94838564e-03 5.91193258e-02 2.04544327e+02] [-2.33447284e-03 9.99942665e-01 -1.04506788e-02 2.02458104e+01] [-5.91467488e-02 1.02943418e-02 9.98196218e-01 -1.08900254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:20.23, Z:-108.90 [[ 9.99183907e-01 -2.58017908e-03 4.03095749e-02 2.04575988e+02] [ 2.60920848e-03 9.99996373e-01 -6.67568535e-04 2.02304030e+01] [-4.03077063e-02 7.72199822e-04 9.99187016e-01 -1.08904763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:204.65, Y:20.25, Z:-108.93 [[ 9.99645539e-01 -1.20248802e-02 2.37528575e-02 2.04648619e+02] [ 1.23323050e-02 9.99841527e-01 -1.28388394e-02 2.02468507e+01] [-2.35947078e-02 1.31272161e-02 9.99635417e-01 -1.08926769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:204.67, Y:20.23, Z:-108.93 [[ 9.99332316e-01 -1.83470723e-02 3.15959848e-02 2.04674454e+02] [ 1.85730280e-02 9.99803884e-01 -6.87280273e-03 2.02346918e+01] [-3.14636925e-02 7.45504698e-03 9.99477092e-01 -1.08927972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05592000000001 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:204.69, Y:20.23, Z:-108.94 [[ 9.98194510e-01 4.44189627e-02 4.04311209e-02 2.04693834e+02] [-4.43852753e-02 9.99012989e-01 -1.73090669e-03 2.02270786e+01] [-4.04681000e-02 -6.67648818e-05 9.99180829e-01 -1.08937672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters Centerline goodness : 0.795120 Centerline is valid? [True, False] Translation: X:204.70, Y:20.22, Z:-108.94 [[ 9.98982050e-01 3.05958573e-02 3.31475110e-02 2.04696807e+02] [-3.07351218e-02 9.99520717e-01 3.69987718e-03 2.02174180e+01] [-3.30184230e-02 -4.71490367e-03 9.99443622e-01 -1.08938012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11592000000002 meters Centerline goodness : 0.977653 Centerline is valid? [False, True] Translation: X:204.71, Y:20.22, Z:-108.94 [[ 9.99508490e-01 2.62490711e-02 1.71395907e-02 2.04708945e+02] [-2.62632400e-02 9.99654880e-01 6.02074520e-04 2.02163650e+01] [-1.71178716e-02 -1.05191978e-03 9.99852925e-01 -1.08937839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:20.18, Z:-108.91 [[ 9.98657811e-01 1.35022997e-02 5.00026496e-02 2.04694220e+02] [-1.39374661e-02 9.99867883e-01 8.36442827e-03 2.01772326e+01] [-4.98831043e-02 -9.05011186e-03 9.98714059e-01 -1.08913541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17592 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:204.77, Y:20.20, Z:-108.96 [[ 9.96034701e-01 8.69501462e-02 1.88294158e-02 2.04768824e+02] [-8.70164080e-02 9.96203145e-01 2.72726158e-03 2.01981512e+01] [-1.85207875e-02 -4.35491531e-03 9.99818991e-01 -1.08955249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters Centerline goodness : 0.958112 Centerline is valid? [True, True] Translation: X:204.75, Y:20.20, Z:-108.95 [[ 9.99763597e-01 -1.35298632e-02 1.70203784e-02 2.04752365e+02] [ 1.36804826e-02 9.99868007e-01 -8.76426699e-03 2.02035205e+01] [-1.68995525e-02 8.99504208e-03 9.99816730e-01 -1.08951423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:20.20, Z:-108.91 [[ 9.97476502e-01 4.89116430e-02 5.14614273e-02 2.04761745e+02] [-4.84094937e-02 9.98767439e-01 -1.09601293e-02 2.02031130e+01] [-5.19340759e-02 8.44124979e-03 9.98614839e-01 -1.08913851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters Centerline goodness : 0.837772 Centerline is valid? [True, False] Translation: X:204.77, Y:20.19, Z:-108.91 [[ 9.98327635e-01 3.72155489e-02 4.42372797e-02 2.04766165e+02] [-3.71418645e-02 9.99306909e-01 -2.48671308e-03 2.01930741e+01] [-4.42991637e-02 8.39499336e-04 9.99017957e-01 -1.08914284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:204.79, Y:20.19, Z:-108.91 [[ 9.99152444e-01 3.23586712e-02 2.54422947e-02 2.04785537e+02] [-3.22943142e-02 9.99474089e-01 -2.93646931e-03 2.01916552e+01] [-2.55239346e-02 2.11233903e-03 9.99671980e-01 -1.08914858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters Centerline goodness : 0.980043 Centerline is valid? [True, True] Translation: X:204.77, Y:20.12, Z:-108.93 [[ 9.97540435e-01 6.43749912e-02 -2.77298030e-02 2.04767690e+02] [-6.18745983e-02 9.94613949e-01 8.31542336e-02 2.01156929e+01] [ 3.29335019e-02 -8.12339399e-02 9.96150808e-01 -1.08930319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.84, Y:20.26, Z:-108.91 [[ 9.98932204e-01 3.90031089e-02 2.47630711e-02 2.04836839e+02] [-3.69852534e-02 9.96322486e-01 -7.72890315e-02 2.02594926e+01] [-2.76865171e-02 7.62906341e-02 9.96701157e-01 -1.08911974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:20.14, Z:-108.91 [[ 9.99204737e-01 3.98516151e-02 -1.31994622e-03 2.04862793e+02] [-3.97540864e-02 9.98226807e-01 4.43041218e-02 2.01409786e+01] [ 3.08319651e-03 -4.42164151e-02 9.99017218e-01 -1.08909892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:20.22, Z:-108.92 [[ 9.99066562e-01 3.76758223e-02 2.11314153e-02 2.04896257e+02] [-3.66337083e-02 9.98189418e-01 -4.77059460e-02 2.02247940e+01] [-2.28905159e-02 4.68872934e-02 9.98637875e-01 -1.08915801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:20.06, Z:-108.90 [[ 9.99328734e-01 3.66083993e-02 -1.38098914e-03 2.04917502e+02] [-3.62083529e-02 9.92736407e-01 1.14731778e-01 2.00647340e+01] [ 5.57110494e-03 -1.14604759e-01 9.93395547e-01 -1.08901076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:20.24, Z:-108.91 [[ 9.99262981e-01 3.83309766e-02 -2.05701270e-03 2.04956697e+02] [-3.83761619e-02 9.96346836e-01 -7.62905789e-02 2.02405066e+01] [-8.74794295e-04 7.63132915e-02 9.97083505e-01 -1.08911279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.98, Y:20.17, Z:-108.91 [[ 9.99375563e-01 3.52447548e-02 2.50831580e-03 2.04983927e+02] [-3.52239089e-02 9.99348069e-01 -7.91919564e-03 2.01691780e+01] [-2.78579066e-03 7.82589791e-03 9.99965497e-01 -1.08912619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:205.01, Y:20.18, Z:-108.91 [[ 9.98809046e-01 3.42803603e-02 3.47180974e-02 2.05013975e+02] [-3.34931248e-02 9.99174069e-01 -2.30084910e-02 2.01775463e+01] [-3.54781620e-02 2.18182714e-02 9.99132255e-01 -1.08913137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:20.13, Z:-108.91 [[ 9.99381592e-01 3.46489860e-02 5.99004754e-03 2.05042903e+02] [-3.47550459e-02 9.99222473e-01 1.86154822e-02 2.01314217e+01] [-5.34038253e-03 -1.88121546e-02 9.99808773e-01 -1.08909826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:20.12, Z:-108.91 [[ 9.99339870e-01 3.61890779e-02 -3.18992358e-03 2.05073838e+02] [-3.60909140e-02 9.98989641e-01 2.67795374e-02 2.01199802e+01] [ 4.15582737e-03 -2.66467321e-02 9.99636274e-01 -1.08907580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:20.16, Z:-108.91 [[ 9.99233656e-01 3.89349523e-02 4.02113010e-03 2.05104091e+02] [-3.88543145e-02 9.99073797e-01 -1.84903017e-02 2.01563795e+01] [-4.73732473e-03 1.83198935e-02 9.99820954e-01 -1.08910476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:20.13, Z:-108.91 [[ 9.99189606e-01 4.00864349e-02 3.63433322e-03 2.05133356e+02] [-4.01209679e-02 9.99144917e-01 9.98708052e-03 2.01253432e+01] [-3.23087911e-03 -1.01248000e-02 9.99943523e-01 -1.08908942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:20.14, Z:-108.91 [[ 9.99014090e-01 4.40499591e-02 5.51804223e-03 2.05165596e+02] [-4.39831589e-02 9.98963844e-01 -1.16927328e-02 2.01404461e+01] [-6.02738908e-03 1.14385039e-02 9.99916412e-01 -1.08911167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:20.11, Z:-108.91 [[ 9.98930597e-01 4.62135151e-02 1.40463034e-03 2.05195765e+02] [-4.62306384e-02 9.98788779e-01 1.68434900e-02 2.01095634e+01] [-6.24532140e-04 -1.68904144e-02 9.99857152e-01 -1.08908945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:20.13, Z:-108.91 [[ 9.98800134e-01 4.87857421e-02 4.27123555e-03 2.05227994e+02] [-4.87520089e-02 9.98781428e-01 -7.67462746e-03 2.01294729e+01] [-4.64044314e-03 7.45718762e-03 9.99961428e-01 -1.08910079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:20.14, Z:-108.91 [[ 9.98400743e-01 5.40598299e-02 1.65375513e-02 2.05260462e+02] [-5.36792986e-02 9.98301348e-01 -2.26484240e-02 2.01404255e+01] [-1.77338297e-02 2.17244792e-02 9.99606702e-01 -1.08913144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:20.12, Z:-108.91 [[ 9.98310431e-01 5.62242390e-02 1.46668793e-02 2.05292366e+02] [-5.62272975e-02 9.98417973e-01 -2.04074002e-04 2.01172908e+01] [-1.46551498e-02 -6.20949781e-04 9.99892415e-01 -1.08911363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:205.31, Y:20.04, Z:-108.91 [[ 9.99709814e-01 1.68966219e-02 1.71694840e-02 2.05306509e+02] [-1.78441967e-02 9.98236113e-01 5.66237385e-02 2.00428496e+01] [-1.61824490e-02 -5.69136827e-02 9.98247946e-01 -1.08910069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:20.16, Z:-108.91 [[ 9.97711373e-01 6.62563108e-02 1.34950943e-02 2.05356991e+02] [-6.55470181e-02 9.96715839e-01 -4.75512833e-02 2.01589408e+01] [-1.66013468e-02 4.65578929e-02 9.98777632e-01 -1.08912072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:20.14, Z:-108.92 [[ 9.96999938e-01 6.86812735e-02 3.56932173e-02 2.05387929e+02] [-6.75004793e-02 9.97163469e-01 -3.32971718e-02 2.01435079e+01] [-3.78788645e-02 3.07879689e-02 9.98807936e-01 -1.08917366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:20.05, Z:-108.90 [[ 9.97607573e-01 6.86895636e-02 7.80223059e-03 2.05413370e+02] [-6.90396015e-02 9.95729217e-01 6.12932339e-02 2.00534103e+01] [-3.55870346e-03 -6.16852572e-02 9.98089307e-01 -1.08904820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:20.14, Z:-108.92 [[ 9.97151970e-01 7.31469070e-02 1.83705687e-02 2.05450369e+02] [-7.25016012e-02 9.96801147e-01 -3.36302243e-02 2.01426738e+01] [-2.07717508e-02 3.22025488e-02 9.99265495e-01 -1.08915468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:205.45, Y:20.03, Z:-108.92 [[ 9.99756966e-01 2.99732116e-03 2.18409099e-02 2.05450983e+02] [-4.09184306e-03 9.98728675e-01 5.02423216e-02 2.00300530e+01] [-2.16625507e-02 -5.03194806e-02 9.98498214e-01 -1.08915679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:20.19, Z:-108.92 [[ 9.96229223e-01 7.85838040e-02 3.67684714e-02 2.05511165e+02] [-7.50593735e-02 9.93198085e-01 -8.90149128e-02 2.01932886e+01] [-4.35135059e-02 8.59194390e-02 9.95351408e-01 -1.08918156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:205.54, Y:20.08, Z:-108.91 [[ 9.96681756e-01 7.75746092e-02 2.46506908e-02 2.05538281e+02] [-7.82062062e-02 9.96603764e-01 2.57822965e-02 2.00835712e+01] [-2.25669197e-02 -2.76245816e-02 9.99363606e-01 -1.08911962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:20.11, Z:-108.91 [[ 9.96545996e-01 7.99516896e-02 2.24456169e-02 2.05572057e+02] [-8.00711186e-02 9.96779121e-01 4.47204000e-03 2.01061791e+01] [-2.20157751e-02 -6.25383921e-03 9.99738063e-01 -1.08913543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:20.11, Z:-108.91 [[ 9.96539674e-01 7.99450863e-02 2.27477770e-02 2.05605219e+02] [-7.99262298e-02 9.96799266e-01 -1.73837844e-03 2.01102352e+01] [-2.28139423e-02 -8.57809716e-05 9.99739724e-01 -1.08914553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:20.13, Z:-108.92 [[ 9.95540715e-01 7.91754865e-02 5.12828118e-02 2.05635565e+02] [-7.80807154e-02 9.96681381e-01 -2.30135979e-02 2.01291338e+01] [-5.29347365e-02 1.89067751e-02 9.98418974e-01 -1.08917954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:20.10, Z:-108.92 [[ 9.96282358e-01 8.00009862e-02 3.19578585e-02 2.05667308e+02] [-8.04092232e-02 9.96693289e-01 1.16980436e-02 2.00995653e+01] [-3.09163280e-02 -1.42242610e-02 9.99420758e-01 -1.08917856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19592 meters Centerline goodness : 0.905733 Centerline is valid? [True, False] Translation: X:205.67, Y:20.10, Z:-108.92 [[ 9.97404091e-01 6.47414521e-02 3.15217806e-02 2.05667801e+02] [-6.52618322e-02 9.97743579e-01 1.57684735e-02 2.00957287e+01] [-3.04297803e-02 -1.77847092e-02 9.99378673e-01 -1.08918627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:205.67, Y:20.10, Z:-108.92 [[ 9.98415734e-01 4.87079690e-02 2.81701103e-02 2.05670708e+02] [-4.92307724e-02 9.98622095e-01 1.81725839e-02 2.00959177e+01] [-2.72461449e-02 -1.95306300e-02 9.99437943e-01 -1.08919912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25592 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:205.67, Y:20.03, Z:-108.93 [[ 9.98797245e-01 -4.11623004e-02 2.66407142e-02 2.05666923e+02] [ 3.99245669e-02 9.98169215e-01 4.54339793e-02 2.00310142e+01] [-2.84621078e-02 -4.43157144e-02 9.98612050e-01 -1.08926653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:205.73, Y:20.16, Z:-108.92 [[ 9.98181611e-01 5.28974413e-02 2.89020964e-02 2.05726589e+02] [-5.16632825e-02 9.97785266e-01 -4.18983071e-02 2.01620371e+01] [-3.10543991e-02 4.03289425e-02 9.98703760e-01 -1.08920999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:20.10, Z:-108.92 [[ 9.98537880e-01 5.06157843e-02 1.89774970e-02 2.05755384e+02] [-5.11689983e-02 9.98242423e-01 2.98964535e-02 2.00955284e+01] [-1.74309101e-02 -3.08238008e-02 9.99372832e-01 -1.08919888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:20.14, Z:-108.92 [[ 9.98456002e-01 5.17694068e-02 2.01380293e-02 2.05789196e+02] [-5.14605720e-02 9.98553748e-01 -1.55634982e-02 2.01401211e+01] [-2.09146177e-02 1.45031537e-02 9.99676066e-01 -1.08920457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:20.16, Z:-108.92 [[ 9.97859183e-01 5.02713295e-02 4.18311426e-02 2.05820851e+02] [-4.89681188e-02 9.98299802e-01 -3.16169054e-02 2.01571599e+01] [-4.33494453e-02 2.95008270e-02 9.98624317e-01 -1.08924919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:20.13, Z:-108.92 [[ 9.97318345e-01 4.68935214e-02 5.61882209e-02 2.05852600e+02] [-4.72044833e-02 9.98876336e-01 4.21918203e-03 2.01254707e+01] [-5.59272319e-02 -6.86020358e-03 9.98411279e-01 -1.08923776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:20.10, Z:-108.92 [[ 9.98597217e-01 4.64947847e-02 2.53344343e-02 2.05883904e+02] [-4.72822880e-02 9.98387084e-01 3.14263437e-02 2.01017429e+01] [-2.38324109e-02 -3.25801294e-02 9.99184944e-01 -1.08922852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:20.12, Z:-108.92 [[ 9.98815568e-01 4.57868029e-02 1.64629707e-02 2.05914462e+02] [-4.59731678e-02 9.98880717e-01 1.11256494e-02 2.01218654e+01] [-1.59351360e-02 -1.18693268e-02 9.99802576e-01 -1.08924588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:205.95, Y:20.18, Z:-108.93 [[ 9.97893072e-01 4.80505922e-02 4.35953720e-02 2.05949139e+02] [-4.57944686e-02 9.97630083e-01 -5.13525439e-02 2.01826667e+01] [-4.59595748e-02 4.92479209e-02 9.97728600e-01 -1.08927779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:20.10, Z:-108.92 [[ 9.98676410e-01 4.52796269e-02 2.43963730e-02 2.05976612e+02] [-4.62770546e-02 9.98045239e-01 4.20015973e-02 2.00951046e+01] [-2.24468673e-02 -4.30749967e-02 9.98819645e-01 -1.08923719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:20.15, Z:-108.92 [[ 9.98427308e-01 4.76430557e-02 2.95474046e-02 2.06011173e+02] [-4.72785146e-02 9.98798235e-01 -1.29161896e-02 2.01533900e+01] [-3.01272623e-02 1.14989190e-02 9.99479926e-01 -1.08923274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:20.17, Z:-108.93 [[ 9.97745406e-01 4.74880176e-02 4.74235418e-02 2.06043489e+02] [-4.63451534e-02 9.98614719e-01 -2.49152494e-02 2.01676536e+01] [-4.85410227e-02 2.26612243e-02 9.98564088e-01 -1.08928235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:20.16, Z:-108.93 [[ 9.97426658e-01 4.82502398e-02 5.30280735e-02 2.06077046e+02] [-4.73376714e-02 9.98710688e-01 -1.83332089e-02 2.01622354e+01] [-5.38442855e-02 1.57758058e-02 9.98424718e-01 -1.08930525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:20.14, Z:-108.93 [[ 9.97529471e-01 4.84390422e-02 5.08784277e-02 2.06109740e+02] [-4.87206663e-02 9.98803149e-01 4.30895022e-03 2.01416687e+01] [-5.06088124e-02 -6.77713573e-03 9.98695558e-01 -1.08930753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:206.14, Y:20.14, Z:-108.93 [[ 9.97854800e-01 4.93680765e-02 4.29952560e-02 2.06142644e+02] [-5.00104903e-02 9.98650626e-01 1.39956675e-02 2.01376330e+01] [-4.22463002e-02 -1.61158578e-02 9.98977242e-01 -1.08929905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:206.18, Y:20.16, Z:-108.93 [[ 9.96932211e-01 5.30623976e-02 5.75373663e-02 2.06177036e+02] [-5.27494870e-02 9.98583628e-01 -6.94468488e-03 2.01625118e+01] [-5.78243737e-02 3.88831350e-03 9.98319199e-01 -1.08929104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:206.21, Y:20.16, Z:-108.93 [[ 9.97553707e-01 5.43180377e-02 4.40017336e-02 2.06208730e+02] [-5.44753977e-02 9.98512267e-01 2.38417897e-03 2.01575505e+01] [-4.38067668e-02 -4.77535851e-03 9.99028610e-01 -1.08932284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:206.24, Y:20.17, Z:-108.93 [[ 9.96828867e-01 5.60551304e-02 5.64803699e-02 2.06241876e+02] [-5.58070072e-02 9.98423774e-01 -5.96205448e-03 2.01679426e+01] [-5.67255478e-02 2.79114760e-03 9.98385908e-01 -1.08932358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:206.28, Y:20.17, Z:-108.93 [[ 9.96740371e-01 5.68887241e-02 5.72040641e-02 2.06275484e+02] [-5.68596317e-02 9.98379895e-01 -2.13740063e-03 2.01706170e+01] [-5.72329815e-02 -1.12216852e-03 9.98360219e-01 -1.08933644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:206.31, Y:20.17, Z:-108.94 [[ 9.97281225e-01 5.68461852e-02 4.68899694e-02 2.06307718e+02] [-5.67544900e-02 9.98382758e-01 -3.28564707e-03 2.01745842e+01] [-4.70009135e-02 6.15497835e-04 9.98894657e-01 -1.08935914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:206.34, Y:20.12, Z:-108.93 [[ 9.98603347e-01 4.97921620e-02 1.76662103e-02 2.06335354e+02] [-5.07716269e-02 9.96895558e-01 6.01788056e-02 2.01185466e+01] [-1.46149337e-02 -6.09916989e-02 9.98031270e-01 -1.08933245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:206.37, Y:20.19, Z:-108.93 [[ 9.98590311e-01 5.02601181e-02 1.70678159e-02 2.06369101e+02] [-5.00860199e-02 9.98689929e-01 -1.04793490e-02 2.01875097e+01] [-1.75721492e-02 9.60971739e-03 9.99799416e-01 -1.08933192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:206.40, Y:20.23, Z:-108.93 [[ 9.97122264e-01 4.85634784e-02 5.82132221e-02 2.06403885e+02] [-4.57087241e-02 9.97732241e-01 -4.94073610e-02 2.02267266e+01] [-6.04806019e-02 4.66043275e-02 9.97080806e-01 -1.08933753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:206.44, Y:20.18, Z:-108.94 [[ 9.97176431e-01 4.49535267e-02 6.01526954e-02 2.06435525e+02] [-4.48915765e-02 9.98989026e-01 -2.38157057e-03 2.01826064e+01] [-6.01989425e-02 -3.25503286e-04 9.98186346e-01 -1.08938722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:206.46, Y:20.15, Z:-108.94 [[ 9.98828443e-01 4.06217689e-02 2.62985439e-02 2.06461901e+02] [-4.14434428e-02 9.98644438e-01 3.14917030e-02 2.01518771e+01] [-2.49836460e-02 -3.25447109e-02 9.99157975e-01 -1.08936527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:206.49, Y:20.18, Z:-108.94 [[ 9.98987565e-01 3.86378028e-02 2.30426777e-02 2.06494546e+02] [-3.87153800e-02 9.99245983e-01 2.92995286e-03 2.01797845e+01] [-2.29120962e-02 -3.81909249e-03 9.99730189e-01 -1.08936662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:206.53, Y:20.20, Z:-108.94 [[ 9.98751668e-01 3.63504899e-02 3.42599865e-02 2.06526045e+02] [-3.55322196e-02 9.99075533e-01 -2.41979502e-02 2.02048703e+01] [-3.51079217e-02 2.29504098e-02 9.99119969e-01 -1.08937628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:206.56, Y:20.17, Z:-108.94 [[ 9.99155968e-01 3.38801163e-02 2.32269199e-02 2.06556014e+02] [-3.42288885e-02 9.99304632e-01 1.47863368e-02 2.01676147e+01] [-2.27098058e-02 -1.55688883e-02 9.99620865e-01 -1.08938772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:206.59, Y:20.21, Z:-108.94 [[ 9.97532250e-01 3.62798209e-02 6.01097733e-02 2.06592304e+02] [-3.44554341e-02 9.98921769e-01 -3.11146768e-02 2.02084724e+01] [-6.11737959e-02 2.89667852e-02 9.97706716e-01 -1.08940433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:206.62, Y:20.18, Z:-108.94 [[ 9.97591375e-01 3.26790081e-02 6.11844044e-02 2.06623897e+02] [-3.25785412e-02 9.99465694e-01 -2.63916643e-03 2.01775991e+01] [-6.12379585e-02 6.39511028e-04 9.98122990e-01 -1.08944517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:206.66, Y:20.18, Z:-108.95 [[ 9.97700267e-01 3.12310200e-02 6.01564659e-02 2.06656599e+02] [-3.11294318e-02 9.99511914e-01 -2.62538998e-03 2.01756400e+01] [-6.02090979e-02 7.46715680e-04 9.98185507e-01 -1.08946331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:206.69, Y:20.17, Z:-108.95 [[ 9.97783512e-01 2.90813786e-02 5.98526302e-02 2.06689337e+02] [-2.89751132e-02 9.99576640e-01 -2.64276726e-03 2.01731276e+01] [-5.99041462e-02 9.02672869e-04 9.98203726e-01 -1.08947048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:206.72, Y:20.17, Z:-108.95 [[ 9.97710666e-01 2.78296478e-02 6.16355202e-02 2.06721890e+02] [-2.77125757e-02 9.99612140e-01 -2.75362908e-03 2.01701826e+01] [-6.16882468e-02 1.03924609e-03 9.98094925e-01 -1.08947064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:206.75, Y:20.16, Z:-108.95 [[ 9.97851153e-01 2.56216524e-02 6.03042833e-02 2.06754328e+02] [-2.55037322e-02 9.99671014e-01 -2.72442665e-03 2.01633536e+01] [-6.03542484e-02 1.18058798e-03 9.98176323e-01 -1.08948842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:206.78, Y:20.15, Z:-108.95 [[ 9.99056433e-01 2.32083190e-02 3.67098990e-02 2.06782685e+02] [-2.36609006e-02 9.99648707e-01 1.19425247e-02 2.01470292e+01] [-3.64198371e-02 -1.27998454e-02 9.99254602e-01 -1.08948035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:206.82, Y:20.15, Z:-108.95 [[ 9.99119995e-01 2.33820520e-02 3.48211972e-02 2.06815347e+02] [-2.34169707e-02 9.99725608e-01 5.95255220e-04 2.01517459e+01] [-3.47977243e-02 -1.41013835e-03 9.99393381e-01 -1.08949068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:206.85, Y:20.14, Z:-108.95 [[ 9.99490664e-01 2.28126409e-02 2.23158373e-02 2.06845356e+02] [-2.30471744e-02 9.99681219e-01 1.03095832e-02 2.01385321e+01] [-2.20735346e-02 -1.08186491e-02 9.99697812e-01 -1.08948888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:206.88, Y:20.15, Z:-108.95 [[ 9.99225446e-01 2.49850587e-02 3.04015676e-02 2.06878152e+02] [-2.47219156e-02 9.99653845e-01 -9.00094879e-03 2.01474712e+01] [-3.06159332e-02 8.24239208e-03 9.99497237e-01 -1.08948825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39592000000002 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:206.91, Y:20.15, Z:-108.95 [[ 9.97804256e-01 2.63307392e-02 6.07730038e-02 2.06912402e+02] [-2.50936743e-02 9.99463883e-01 -2.10298612e-02 2.01528220e+01] [-6.12941541e-02 1.94586670e-02 9.97930051e-01 -1.08951892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:206.94, Y:20.12, Z:-108.95 [[ 9.99109562e-01 2.51019768e-02 3.39112622e-02 2.06941710e+02] [-2.54576335e-02 9.99624909e-01 1.00970520e-02 2.01158685e+01] [-3.36450864e-02 -1.09513617e-02 9.99373842e-01 -1.08950964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45592 meters Centerline goodness : 0.816826 Centerline is valid? [True, False] Translation: X:206.96, Y:20.11, Z:-108.95 [[ 9.99730934e-01 1.69506331e-02 1.58346461e-02 2.06960834e+02] [-1.70561967e-02 9.99833042e-01 6.55552713e-03 2.01142217e+01] [-1.57208820e-02 -6.82384210e-03 9.99853134e-01 -1.08949238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters Centerline goodness : 0.998704 Centerline is valid? [False, True] Translation: X:206.98, Y:20.11, Z:-108.95 [[ 9.99943052e-01 1.02461070e-02 -2.98481110e-03 2.06981978e+02] [-1.02253776e-02 9.99924055e-01 6.87934169e-03 2.01051242e+01] [ 3.05507089e-03 -6.84842911e-03 9.99971882e-01 -1.08948338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:207.01, Y:20.11, Z:-108.95 [[ 9.99911977e-01 1.16093946e-02 -6.42339768e-03 2.07010477e+02] [-1.16065043e-02 9.99932524e-01 4.87055423e-04 2.01067930e+01] [ 6.42861867e-03 -4.12459359e-04 9.99979251e-01 -1.08948172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters Centerline goodness : 0.919207 Centerline is valid? [True, False] Translation: X:207.01, Y:20.09, Z:-108.95 [[ 9.99988857e-01 2.95123123e-03 3.68458219e-03 2.07006139e+02] [-2.98749669e-03 9.99946767e-01 9.87609109e-03 2.00910329e+01] [-3.65523942e-03 -9.88698871e-03 9.99944442e-01 -1.08947536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57592 meters Centerline goodness : 0.966561 Centerline is valid? [False, True] Translation: X:207.01, Y:20.09, Z:-108.95 [[ 9.99992459e-01 -1.22898847e-03 3.68391342e-03 2.07006203e+02] [ 1.20947619e-03 9.99985254e-01 5.29417382e-03 2.00925674e+01] [-3.69036558e-03 -5.28967829e-03 9.99979200e-01 -1.08947478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:206.99, Y:20.07, Z:-108.92 [[ 9.99264938e-01 -1.31467669e-02 3.60103660e-02 2.06991575e+02] [ 1.33550855e-02 9.99895411e-01 -5.55053525e-03 2.00662768e+01] [-3.59336281e-02 6.02737677e-03 9.99336002e-01 -1.08923361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63592 meters Centerline goodness : 0.950905 Centerline is valid? [True, True] Translation: X:207.07, Y:20.05, Z:-108.94 [[ 9.99364009e-01 1.18214778e-02 -3.36426891e-02 2.07071533e+02] [-1.01251545e-02 9.98690225e-01 5.01529271e-02 2.00457013e+01] [ 3.41915064e-02 -4.97803928e-02 9.98174761e-01 -1.08944708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters Centerline goodness : 0.866087 Centerline is valid? [True, False] Translation: X:207.07, Y:20.07, Z:-108.95 [[ 9.99551408e-01 9.35818070e-03 -2.84501000e-02 2.07066684e+02] [-8.63556995e-03 9.99639640e-01 2.54168631e-02 2.00673731e+01] [ 2.86777033e-02 -2.51597784e-02 9.99272022e-01 -1.08945113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69592 meters Centerline goodness : 0.999302 Centerline is valid? [False, True] Translation: X:207.04, Y:20.08, Z:-108.95 [[ 9.99926846e-01 8.09665902e-03 -8.98597547e-03 2.07044962e+02] [-7.94196169e-03 9.99821906e-01 1.71196063e-02 2.00758492e+01] [ 9.12298674e-03 -1.70469877e-02 9.99813068e-01 -1.08947054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:207.07, Y:20.09, Z:-108.95 [[ 9.99924155e-01 9.40957139e-03 -7.94636698e-03 2.07073260e+02] [-9.42521992e-03 9.99953711e-01 -1.93411999e-03 2.00940190e+01] [ 7.92779991e-03 2.00886955e-03 9.99966557e-01 -1.08947881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:207.10, Y:20.09, Z:-108.95 [[ 9.99910304e-01 1.14593292e-02 -6.93306783e-03 2.07100371e+02] [-1.14687293e-02 9.99933364e-01 -1.31760574e-03 2.00922645e+01] [ 6.91750696e-03 1.39700103e-03 9.99975098e-01 -1.08946587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters Centerline goodness : 0.969518 Centerline is valid? [True, True] Translation: X:207.10, Y:20.08, Z:-108.96 [[ 9.97340195e-01 7.24472030e-02 -7.99610468e-03 2.07096369e+02] [-7.21022087e-02 9.96701610e-01 3.72447535e-02 2.00771609e+01] [ 1.06680086e-02 -3.65691529e-02 9.99274182e-01 -1.08961838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:207.16, Y:20.12, Z:-108.94 [[ 9.99751132e-01 1.94901655e-02 1.08538921e-02 2.07155340e+02] [-1.92420615e-02 9.99561378e-01 -2.25120997e-02 2.01167114e+01] [-1.12878958e-02 2.22976459e-02 9.99687650e-01 -1.08943395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:207.19, Y:20.08, Z:-108.94 [[ 9.99405931e-01 2.31189763e-02 -2.55596995e-02 2.07186581e+02] [-2.26238622e-02 9.99553987e-01 1.94932972e-02 2.00784278e+01] [ 2.59989646e-02 -1.89034577e-02 9.99483223e-01 -1.08943873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:207.22, Y:20.11, Z:-108.94 [[ 9.99711654e-01 2.14708009e-02 1.07523441e-02 2.07215364e+02] [-2.12690889e-02 9.99601954e-01 -1.85353575e-02 2.01144903e+01] [-1.11460332e-02 1.83013204e-02 9.99770387e-01 -1.08942599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters Centerline goodness : 0.961804 Centerline is valid? [True, True] Translation: X:207.29, Y:20.00, Z:-108.95 [[ 9.99097962e-01 -2.62930768e-02 -3.33457073e-02 2.07292018e+02] [ 2.88321196e-02 9.96528496e-01 7.81003547e-02 2.00049132e+01] [ 3.11764489e-02 -7.89913326e-02 9.96387675e-01 -1.08954990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.27, Y:20.16, Z:-108.94 [[ 9.99681878e-01 2.24036215e-02 1.15853730e-02 2.07267830e+02] [-2.15348864e-02 9.97290755e-01 -7.03377402e-02 2.01637105e+01] [-1.31298055e-02 7.00658745e-02 9.97455955e-01 -1.08935538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.30, Y:20.10, Z:-108.94 [[ 9.99642142e-01 2.28160926e-02 1.39647525e-02 2.07299828e+02] [-2.28163322e-02 9.99739663e-01 -1.42186383e-04 2.00980644e+01] [-1.39643611e-02 -1.76488931e-04 9.99902478e-01 -1.08937801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:20.10, Z:-108.94 [[ 9.99640596e-01 2.26148806e-02 1.43960229e-02 2.07333181e+02] [-2.26150674e-02 9.99744235e-01 -1.49839362e-04 2.00986509e+01] [-1.43957295e-02 -1.75781518e-04 9.99896361e-01 -1.08936683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.37, Y:20.10, Z:-108.94 [[ 9.99640201e-01 2.09301115e-02 1.67749801e-02 2.07365868e+02] [-2.09299474e-02 9.99780927e-01 -1.85361784e-04 2.01011875e+01] [-1.67751848e-02 -1.65804361e-04 9.99859273e-01 -1.08935163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.40, Y:20.10, Z:-108.93 [[ 9.99632356e-01 2.13015379e-02 1.67749215e-02 2.07399379e+02] [-2.13013380e-02 9.99773083e-01 -1.90615594e-04 2.01010031e+01] [-1.67751754e-02 -1.66782757e-04 9.99859273e-01 -1.08934961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.43, Y:20.10, Z:-108.93 [[ 9.99644786e-01 2.06648651e-02 1.68305031e-02 2.07432741e+02] [-2.06644054e-02 9.99786448e-01 -2.01235941e-04 2.01024009e+01] [-1.68310674e-02 -1.46627880e-04 9.99858337e-01 -1.08934312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:20.11, Z:-108.93 [[ 9.99651745e-01 2.07133193e-02 1.63507442e-02 2.07465693e+02] [-2.07127488e-02 9.99785447e-01 -2.04253453e-04 2.01059867e+01] [-1.63514669e-02 -1.34486537e-04 9.99866297e-01 -1.08932709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:20.11, Z:-108.93 [[ 9.99620023e-01 2.06248029e-02 1.82873713e-02 2.07498649e+02] [-2.06240507e-02 9.99787275e-01 -2.29748099e-04 2.01074848e+01] [-1.82882196e-02 -1.47498873e-04 9.99832746e-01 -1.08933237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:20.12, Z:-108.94 [[ 9.99782735e-01 2.02467057e-02 4.95513975e-03 2.07532454e+02] [-2.02128733e-02 9.99772675e-01 -6.78514966e-03 2.01166370e+01] [-5.09139025e-03 6.68351788e-03 9.99964704e-01 -1.08935099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:20.08, Z:-108.93 [[ 9.99655183e-01 2.10382830e-02 -1.57132231e-02 2.07563857e+02] [-2.04888173e-02 9.99199934e-01 3.43467733e-02 2.00784958e+01] [ 1.64232486e-02 -3.40129846e-02 9.99286442e-01 -1.08932045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.59, Y:20.14, Z:-108.93 [[ 9.99663991e-01 1.84296677e-02 1.82277664e-02 2.07592737e+02] [-1.79322866e-02 9.99472305e-01 -2.70840246e-02 2.01359234e+01] [-1.87172973e-02 2.67480587e-02 9.99466960e-01 -1.08932159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:20.03, Z:-108.93 [[ 9.99736565e-01 1.80980635e-02 -1.41159835e-02 2.07621863e+02] [-1.68530978e-02 9.96338733e-01 8.38158820e-02 2.00344675e+01] [ 1.55812063e-02 -8.35559039e-02 9.96381271e-01 -1.08928232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:207.65, Y:20.15, Z:-108.93 [[ 9.99699000e-01 1.76041593e-02 -1.70880736e-02 2.07653327e+02] [-1.82090222e-02 9.99189070e-01 -3.59114659e-02 2.01489974e+01] [ 1.64420252e-02 3.62118136e-02 9.99208869e-01 -1.08928604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:20.13, Z:-108.93 [[ 9.99715569e-01 1.17722771e-02 -2.07411134e-02 2.07692613e+02] [-1.19783219e-02 9.99879859e-01 -9.83805220e-03 2.01271561e+01] [ 2.06228053e-02 1.00836977e-02 9.99736475e-01 -1.08932617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:20.03, Z:-108.92 [[ 9.99888199e-01 9.66567945e-03 -1.14089696e-02 2.07702654e+02] [-8.63513134e-03 9.96157174e-01 8.71568635e-02 2.00341076e+01] [ 1.22075572e-02 -8.70486013e-02 9.96129267e-01 -1.08923065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:20.23, Z:-108.91 [[ 9.99557844e-01 8.16865211e-03 2.85900422e-02 2.07736503e+02] [-4.50982625e-03 9.92048737e-01 -1.25773470e-01 2.02345670e+01] [-2.93901149e-02 1.25588922e-01 9.91646935e-01 -1.08913849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:207.76, Y:20.07, Z:-108.92 [[ 9.99932297e-01 5.75974711e-03 -1.01106900e-02 2.07764558e+02] [-5.19972525e-03 9.98496549e-01 5.45674327e-02 2.00655613e+01] [ 1.04097837e-02 -5.45111656e-02 9.98458897e-01 -1.08924488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:207.80, Y:20.17, Z:-108.92 [[ 9.99511523e-01 1.87270646e-03 3.11963011e-02 2.07796530e+02] [-2.03198197e-04 9.98571382e-01 -5.34336468e-02 2.01659111e+01] [-3.12517990e-02 5.34012067e-02 9.98083983e-01 -1.08920272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:20.12, Z:-108.92 [[ 9.99508138e-01 -5.31510141e-04 3.13560130e-02 2.07828580e+02] [ 5.42797604e-04 9.99999791e-01 -3.51466635e-04 2.01157513e+01] [-3.13558197e-02 3.68313730e-04 9.99508218e-01 -1.08923063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:19.99, Z:-108.91 [[ 9.99929111e-01 -3.94481085e-03 -1.12343976e-02 2.07854378e+02] [ 5.40920232e-03 9.91039275e-01 1.33461217e-01 1.99876573e+01] [ 1.06072500e-02 -1.33512525e-01 9.90990359e-01 -1.08914093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:20.12, Z:-108.92 [[ 9.99977526e-01 -2.20395166e-03 -6.33159840e-03 2.07886825e+02] [ 2.17675247e-03 9.99988388e-01 -4.29946985e-03 2.01158767e+01] [ 6.34100071e-03 4.28559090e-03 9.99970712e-01 -1.08919352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:20.16, Z:-108.92 [[ 9.99956813e-01 -2.84602190e-03 -8.84713602e-03 2.07914292e+02] [ 2.40602396e-03 9.98778540e-01 -4.93521913e-02 2.01558744e+01] [ 8.97678702e-03 4.93287735e-02 9.98742254e-01 -1.08916129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:207.94, Y:20.17, Z:-108.92 [[ 9.99204015e-01 -2.16521509e-03 3.98327621e-02 2.07943849e+02] [ 4.90279957e-03 9.97621301e-01 -6.87582827e-02 2.01692314e+01] [-3.95891355e-02 6.88988442e-02 9.96837825e-01 -1.08917966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:20.01, Z:-108.92 [[ 9.99985075e-01 -2.12333096e-04 5.45938863e-03 2.07972570e+02] [-3.25299685e-04 9.95157825e-01 9.82893522e-02 2.00097678e+01] [-5.45382340e-03 -9.82896611e-02 9.95142903e-01 -1.08915954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.01, Y:20.15, Z:-108.92 [[ 9.99994641e-01 3.07778727e-03 1.11544056e-03 2.08005420e+02] [-3.01724179e-03 9.98707912e-01 -5.07287215e-02 2.01495875e+01] [-1.27013153e-03 5.07250841e-02 9.98711847e-01 -1.08918735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.04, Y:20.14, Z:-108.92 [[ 9.99137831e-01 1.91372065e-03 4.14720620e-02 2.08035248e+02] [ 2.64760561e-05 9.98907451e-01 -4.67322565e-02 2.01447250e+01] [-4.15161842e-02 4.66930635e-02 9.98046173e-01 -1.08919527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.06, Y:20.05, Z:-108.92 [[ 9.99967791e-01 5.25513530e-03 6.06639737e-03 2.08064327e+02] [-5.58729306e-03 9.98409413e-01 5.61019209e-02 2.00459627e+01] [-5.76192505e-03 -5.61340087e-02 9.98406617e-01 -1.08919807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:208.10, Y:20.11, Z:-108.92 [[ 9.99945554e-01 8.70274496e-03 5.75778481e-03 2.08097120e+02] [-8.64663480e-03 9.99915577e-01 -9.69925475e-03 2.01081321e+01] [-5.84170886e-03 9.64894120e-03 9.99936384e-01 -1.08920009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.13, Y:20.10, Z:-108.92 [[ 9.99947943e-01 1.01395630e-02 -1.14061415e-03 2.08129568e+02] [-1.01361183e-02 9.99944169e-01 2.98635363e-03 2.00962744e+01] [ 1.17083079e-03 -2.97463677e-03 9.99994890e-01 -1.08919345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.16, Y:20.10, Z:-108.92 [[ 9.99935801e-01 8.97584349e-03 6.91580720e-03 2.08158023e+02] [-8.93263920e-03 9.99940553e-01 -6.25294562e-03 2.01044924e+01] [-6.97152153e-03 6.19076777e-03 9.99956535e-01 -1.08919532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.19, Y:20.10, Z:-108.92 [[ 9.99926607e-01 9.36729921e-03 7.68333770e-03 2.08188994e+02] [-9.39096029e-03 9.99951255e-01 3.04925670e-03 2.00957033e+01] [-7.65439988e-03 -3.12118682e-03 9.99965834e-01 -1.08919406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:20.10, Z:-108.92 [[ 9.99904654e-01 8.95375171e-03 1.05125533e-02 2.08221513e+02] [-8.95586012e-03 9.99959884e-01 1.53501932e-04 2.00986767e+01] [-1.05107571e-02 -2.47636253e-04 9.99944730e-01 -1.08918843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89592000000002 meters Centerline goodness : 0.852139 Centerline is valid? [True, False] Translation: X:208.22, Y:20.11, Z:-108.92 [[ 9.99944055e-01 7.99507110e-04 1.05473943e-02 2.08221449e+02] [-6.88473828e-04 9.99944358e-01 -1.05265158e-02 2.01085350e+01] [-1.05552234e-02 1.05186653e-02 9.99888966e-01 -1.08918779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters Centerline goodness : 0.945869 Centerline is valid? [False, False] Translation: X:208.22, Y:20.11, Z:-108.92 [[ 9.99941654e-01 -3.11627295e-03 1.03429668e-02 2.08222039e+02] [ 3.27834921e-03 9.99871524e-01 -1.56904067e-02 2.01131090e+01] [-1.02927424e-02 1.57233991e-02 9.99823401e-01 -1.08918808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:208.22, Y:20.11, Z:-108.92 [[ 9.99946963e-01 1.07153585e-03 1.02431508e-02 2.08222334e+02] [-9.56176980e-04 9.99936143e-01 -1.12603204e-02 2.01123488e+01] [-1.02545626e-02 1.12499289e-02 9.99884135e-01 -1.08919120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.25, Y:20.05, Z:-108.92 [[ 9.99806585e-01 -7.72507936e-04 1.96518744e-02 2.08250964e+02] [-3.40737786e-04 9.98397898e-01 5.65819910e-02 2.00502483e+01] [-1.96641001e-02 -5.65777433e-02 9.98204529e-01 -1.08918649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.28, Y:20.16, Z:-108.92 [[ 9.99901778e-01 3.00346164e-03 1.36899391e-02 2.08282938e+02] [-2.22922784e-03 9.98415727e-01 -5.62233662e-02 2.01589125e+01] [-1.38371152e-02 5.61873258e-02 9.98324355e-01 -1.08916227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:20.10, Z:-108.92 [[ 9.99885236e-01 1.33874258e-03 1.50904486e-02 2.08313667e+02] [-1.42252284e-03 9.99983628e-01 5.54250684e-03 2.01049633e+01] [-1.50827816e-02 -5.56333727e-03 9.99870771e-01 -1.08921386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:20.11, Z:-108.92 [[ 9.99902145e-01 1.35406298e-03 1.39236367e-02 2.08343757e+02] [-1.32275399e-03 9.99996577e-01 -2.25758498e-03 2.01140549e+01] [-1.39266460e-02 2.23894652e-03 9.99900513e-01 -1.08921693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters Centerline goodness : 0.943355 Centerline is valid? [True, False] Translation: X:208.36, Y:20.14, Z:-108.92 [[ 9.99988262e-01 4.08393291e-03 2.60726149e-03 2.08356996e+02] [-4.02075151e-03 9.99708778e-01 -2.37948013e-02 2.01365015e+01] [-2.70367857e-03 2.37840388e-02 9.99713464e-01 -1.08919458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13592 meters Centerline goodness : 0.938725 Centerline is valid? [False, False] Translation: X:208.36, Y:20.12, Z:-108.92 [[ 9.99994063e-01 -2.04371959e-03 2.77436549e-03 2.08359715e+02] [ 2.06495351e-03 9.99968434e-01 -7.67244783e-03 2.01238511e+01] [-2.75859758e-03 7.67813121e-03 9.99966718e-01 -1.08920726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:208.38, Y:20.14, Z:-108.92 [[ 9.99978000e-01 -5.21784645e-03 -4.09553424e-03 2.08382109e+02] [ 5.13015924e-03 9.99763435e-01 -2.11366110e-02 2.01391098e+01] [ 4.20485297e-03 2.11151353e-02 9.99768208e-01 -1.08916760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:20.13, Z:-108.92 [[ 9.99988019e-01 -4.88116414e-03 -3.68502247e-04 2.08409066e+02] [ 4.87738206e-03 9.99941563e-01 -9.64790630e-03 2.01301552e+01] [ 4.15573727e-04 9.64599339e-03 9.99953390e-01 -1.08916083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:20.17, Z:-108.92 [[ 9.99133348e-01 -6.08223794e-03 4.11771689e-02 2.08439035e+02] [ 8.00364580e-03 9.98878805e-01 -4.66591297e-02 2.01710645e+01] [-4.08472093e-02 4.69482599e-02 9.98061805e-01 -1.08915692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.47, Y:20.13, Z:-108.92 [[ 9.99196599e-01 -5.57532895e-03 3.96871914e-02 2.08472343e+02] [ 5.57776870e-03 9.99984443e-01 4.92525755e-05 2.01300029e+01] [-3.96868486e-02 1.72152968e-04 9.99212152e-01 -1.08920001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:20.13, Z:-108.92 [[ 9.99221068e-01 -6.25617282e-03 3.89630252e-02 2.08505026e+02] [ 6.25982599e-03 9.99980407e-01 2.82375807e-05 2.01342083e+01] [-3.89624384e-02 2.15686172e-04 9.99240653e-01 -1.08920904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:208.54, Y:20.09, Z:-108.92 [[ 9.99970148e-01 -6.20143130e-03 -4.60936838e-03 2.08536060e+02] [ 6.41873787e-03 9.98791412e-01 4.87290026e-02 2.00903247e+01] [ 4.30160799e-03 -4.87571342e-02 9.98801401e-01 -1.08922035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.56, Y:20.14, Z:-108.92 [[ 9.99983619e-01 -5.71606509e-03 2.95801631e-04 2.08562922e+02] [ 5.71558457e-03 9.99982385e-01 1.60056370e-03 2.01379300e+01] [-3.04945347e-04 -1.59884680e-03 9.99998675e-01 -1.08921069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.59, Y:20.15, Z:-108.92 [[ 9.99963655e-01 -8.50774131e-03 -5.53777451e-04 2.08592248e+02] [ 8.50171586e-03 9.99912854e-01 -1.00997862e-02 2.01534454e+01] [ 6.39655559e-04 1.00947111e-02 9.99948843e-01 -1.08919587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.62, Y:20.19, Z:-108.92 [[ 9.98981202e-01 -1.03665408e-02 4.39214469e-02 2.08623054e+02] [ 1.21509202e-02 9.99103365e-01 -4.05563857e-02 2.01860754e+01] [-4.34616360e-02 4.10487529e-02 9.98211444e-01 -1.08917875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:20.15, Z:-108.92 [[ 9.99443614e-01 -1.15186138e-02 3.13015100e-02 2.08654161e+02] [ 1.15810108e-02 9.99931295e-01 -1.81284728e-03 2.01518709e+01] [-3.12784779e-02 2.17434176e-03 9.99508344e-01 -1.08923283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.69, Y:20.15, Z:-108.92 [[ 9.98945148e-01 -1.13296750e-02 4.44997754e-02 2.08688422e+02] [ 1.12523055e-02 9.99934713e-01 1.98875936e-03 2.01509151e+01] [-4.45194022e-02 -1.48593644e-03 9.99007415e-01 -1.08922973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.72, Y:20.16, Z:-108.92 [[ 9.98948062e-01 -1.24045428e-02 4.41463067e-02 2.08721557e+02] [ 1.24190898e-02 9.99922879e-01 -5.52618581e-05 2.01561507e+01] [-4.41422166e-02 6.03460675e-04 9.99025075e-01 -1.08924262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.75, Y:20.11, Z:-108.93 [[ 9.99881029e-01 -1.52302644e-02 2.44283818e-03 2.08750464e+02] [ 1.50965769e-02 9.98749334e-01 4.76640539e-02 2.01115728e+01] [-3.16571914e-03 -4.76215047e-02 9.98860436e-01 -1.08926078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:20.20, Z:-108.92 [[ 9.98839409e-01 -1.82092988e-02 4.45898627e-02 2.08784935e+02] [ 2.03217680e-02 9.98669729e-01 -4.73898583e-02 2.02033209e+01] [-4.36676100e-02 4.82410029e-02 9.97880727e-01 -1.08920403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:20.02, Z:-108.92 [[ 9.99514920e-01 -2.94060333e-02 -1.02571951e-02 2.08807893e+02] [ 3.05616454e-02 9.89486556e-01 1.41358907e-01 2.00232120e+01] [ 5.99255187e-03 -1.41603814e-01 9.89905273e-01 -1.08922215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.85, Y:20.29, Z:-108.91 [[ 9.98646043e-01 -2.46655324e-02 4.58005794e-02 2.08846249e+02] [ 3.07656206e-02 9.90001156e-01 -1.37663316e-01 2.02855138e+01] [-4.19470875e-02 1.38886009e-01 9.89419587e-01 -1.08905754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:20.16, Z:-108.93 [[ 9.98477008e-01 -2.99730924e-02 4.63171570e-02 2.08878086e+02] [ 3.00112138e-02 9.99549554e-01 -1.27724773e-04 2.01554839e+01] [-4.62924653e-02 1.51756435e-03 9.98926776e-01 -1.08926000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.91, Y:20.09, Z:-108.93 [[ 9.99414749e-01 -3.41511567e-02 -1.96409269e-03 2.08905624e+02] [ 3.42055287e-02 9.97075705e-01 6.83375463e-02 2.00900303e+01] [-3.75457150e-04 -6.83647346e-02 9.97660324e-01 -1.08926426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:20.22, Z:-108.92 [[ 9.98344617e-01 -3.29717253e-02 4.71263364e-02 2.08941034e+02] [ 3.61290895e-02 9.97044804e-01 -6.77963718e-02 2.02169706e+01] [-4.47517055e-02 6.93867745e-02 9.96585551e-01 -1.08919857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.97, Y:20.04, Z:-108.92 [[ 9.99199336e-01 -3.99433687e-02 -2.28326390e-03 2.08966298e+02] [ 3.99450222e-02 9.92770875e-01 1.13182975e-01 2.00409361e+01] [-2.25415139e-03 -1.13183558e-01 9.93571538e-01 -1.08922572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:209.00, Y:20.25, Z:-108.91 [[ 9.98250961e-01 -3.46181404e-02 4.79228984e-02 2.09001416e+02] [ 3.97255832e-02 9.93127305e-01 -1.10091028e-01 2.02503464e+01] [-4.37823923e-02 1.11802240e-01 9.92765512e-01 -1.08913496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.03, Y:20.02, Z:-108.92 [[ 9.99081228e-01 -4.27380567e-02 3.18725444e-03 2.09026808e+02] [ 4.19699452e-02 9.90749380e-01 1.29051112e-01 2.00220353e+01] [-8.67316410e-03 -1.28798775e-01 9.91632821e-01 -1.08921955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:209.08, Y:20.13, Z:-108.94 [[ 9.98499205e-01 -5.20281661e-02 1.70999088e-02 2.09079067e+02] [ 5.19986811e-02 9.98644807e-01 2.16470101e-03 2.01283585e+01] [-1.71893605e-02 -1.27227954e-03 9.99851443e-01 -1.08943850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:20.21, Z:-108.92 [[ 9.97613134e-01 -4.63354093e-02 5.11963278e-02 2.09087949e+02] [ 5.06805861e-02 9.94907951e-01 -8.71185768e-02 2.02142331e+01] [-4.68989587e-02 8.95052964e-02 9.94881546e-01 -1.08919598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.12, Y:20.13, Z:-108.93 [[ 9.97427670e-01 -5.14139566e-02 4.99464560e-02 2.09121117e+02] [ 5.14717162e-02 9.98674444e-01 1.29950791e-04 2.01278466e+01] [-4.98869305e-02 2.44121329e-03 9.98751888e-01 -1.08928417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.15, Y:20.13, Z:-108.93 [[ 9.97438230e-01 -5.12086366e-02 4.99464981e-02 2.09154618e+02] [ 5.12670555e-02 9.98684974e-01 1.11615287e-04 2.01280158e+01] [-4.98865328e-02 2.44928053e-03 9.98751889e-01 -1.08929434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:209.18, Y:20.05, Z:-108.92 [[ 9.98505469e-01 -5.43487206e-02 5.74843982e-03 2.09180678e+02] [ 5.36862270e-02 9.95107020e-01 8.29446105e-02 2.00472064e+01] [-1.02282463e-02 -8.25120352e-02 9.96537579e-01 -1.08924724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:20.20, Z:-108.92 [[ 9.97366062e-01 -4.81619910e-02 5.42343157e-02 2.09215968e+02] [ 5.24403400e-02 9.95378757e-01 -8.04433994e-02 2.01953701e+01] [-5.01093715e-02 8.30755824e-02 9.95282622e-01 -1.08923608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:209.24, Y:20.06, Z:-108.93 [[ 9.98527418e-01 -5.22764677e-02 1.44971369e-02 2.09242802e+02] [ 5.12537091e-02 9.96652979e-01 6.36859197e-02 2.00556521e+01] [-1.77778896e-02 -6.28491049e-02 9.97864689e-01 -1.08925050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:209.28, Y:20.17, Z:-108.93 [[ 9.97343321e-01 -4.69066055e-02 5.57321309e-02 2.09277492e+02] [ 5.03322292e-02 9.96822304e-01 -6.17410806e-02 2.01696635e+01] [-5.26589666e-02 6.43821768e-02 9.96534981e-01 -1.08925927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:209.31, Y:20.11, Z:-108.93 [[ 9.97296186e-01 -4.76901425e-02 5.59103507e-02 2.09310216e+02] [ 4.77635311e-02 9.98858671e-01 2.36983827e-05 2.01086333e+01] [-5.58476688e-02 2.64684147e-03 9.98435793e-01 -1.08931074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:209.38, Y:20.05, Z:-108.95 [[ 9.98403032e-01 -5.31726512e-02 -1.90801972e-02 2.09381896e+02] [ 5.40619937e-02 9.97305141e-01 4.95959244e-02 2.00509483e+01] [ 1.63916320e-02 -5.05482348e-02 9.98587097e-01 -1.08954588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:209.36, Y:20.08, Z:-108.93 [[ 9.98527553e-01 -4.89359612e-02 2.34093510e-02 2.09359585e+02] [ 4.85386737e-02 9.98672353e-01 1.72490226e-02 2.00793589e+01] [-2.42223691e-02 -1.60873655e-02 9.99577147e-01 -1.08925696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:209.39, Y:20.19, Z:-108.92 [[ 9.97023523e-01 -4.26496655e-02 6.42269387e-02 2.09392684e+02] [ 4.91186029e-02 9.93492162e-01 -1.02765199e-01 2.01893626e+01] [-5.94260588e-02 1.05614058e-01 9.92629948e-01 -1.08923219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:209.42, Y:20.03, Z:-108.93 [[ 9.98548021e-01 -4.92374665e-02 2.18522527e-02 2.09420987e+02] [ 4.77306634e-02 9.96755176e-01 6.48143734e-02 2.00280262e+01] [-2.49726415e-02 -6.36772418e-02 9.97658046e-01 -1.08926740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:209.45, Y:20.15, Z:-108.93 [[ 9.96858499e-01 -4.27211510e-02 6.66935965e-02 2.09454503e+02] [ 4.69343963e-02 9.96913113e-01 -6.29397193e-02 2.01475846e+01] [-6.37988636e-02 6.58722179e-02 9.95786401e-01 -1.08927992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:209.48, Y:20.02, Z:-108.93 [[ 9.98613585e-01 -4.32293240e-02 3.00355226e-02 2.09482475e+02] [ 4.10629452e-02 9.96747511e-01 6.93414318e-02 2.00182257e+01] [-3.29354156e-02 -6.80119488e-02 9.97140729e-01 -1.08929148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:209.52, Y:20.14, Z:-108.93 [[ 9.97140730e-01 -3.92343704e-02 6.45834953e-02 2.09518553e+02] [ 4.36645291e-02 9.96682880e-01 -6.86778435e-02 2.01427551e+01] [-6.16747322e-02 7.13014829e-02 9.95546245e-01 -1.08931748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:209.55, Y:19.97, Z:-108.92 [[ 9.98572196e-01 -4.47436867e-02 2.91817156e-02 2.09548180e+02] [ 4.12241912e-02 9.92884974e-01 1.11713895e-01 1.99695129e+01] [-3.39725785e-02 -1.10351397e-01 9.93311851e-01 -1.08924317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:209.58, Y:20.18, Z:-108.93 [[ 9.97061330e-01 -3.49109032e-02 6.81904233e-02 2.09581244e+02] [ 4.22200475e-02 9.93158983e-01 -1.08870120e-01 2.01758169e+01] [-6.39231772e-02 1.11429190e-01 9.91714356e-01 -1.08929772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:209.61, Y:20.07, Z:-108.94 [[ 9.96900686e-01 -3.80634716e-02 6.88490691e-02 2.09614261e+02] [ 3.81582365e-02 9.99271707e-01 -6.13217229e-05 2.00693043e+01] [-6.87965927e-02 2.68829073e-03 9.97627086e-01 -1.08935394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:209.64, Y:19.97, Z:-108.93 [[ 9.98680756e-01 -4.08144363e-02 3.11597294e-02 2.09642058e+02] [ 3.74208676e-02 9.94013262e-01 1.02651421e-01 1.99703852e+01] [-3.51628442e-02 -1.01349975e-01 9.94229228e-01 -1.08926599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:209.67, Y:20.06, Z:-108.93 [[ 9.98827178e-01 -3.60689239e-02 3.23001779e-02 2.09669767e+02] [ 3.61573317e-02 9.99343782e-01 -2.15697605e-03 2.00642312e+01] [-3.22011821e-02 3.32233454e-03 9.99475886e-01 -1.08934400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:20.15, Z:-108.93 [[ 9.96913594e-01 -2.69947849e-02 7.37195203e-02 2.09703386e+02] [ 3.42698306e-02 9.94469653e-01 -9.92758176e-02 2.01538094e+01] [-7.06318965e-02 1.01495768e-01 9.92325423e-01 -1.08934529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.74, Y:20.05, Z:-108.94 [[ 9.96699126e-01 -3.07681894e-02 7.51277012e-02 2.09736118e+02] [ 3.08683714e-02 9.99523443e-01 -1.72402297e-04 2.00543097e+01] [-7.50865940e-02 2.49090300e-03 9.97173906e-01 -1.08937351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:209.77, Y:20.05, Z:-108.94 [[ 9.96720062e-01 -2.93483183e-02 7.54174697e-02 2.09769515e+02] [ 2.94468922e-02 9.99566327e-01 -1.95147455e-04 2.00516592e+01] [-7.53790360e-02 2.41531749e-03 9.97152028e-01 -1.08938240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:20.05, Z:-108.94 [[ 9.96664433e-01 -2.52148791e-02 7.76158393e-02 2.09802768e+02] [ 2.53098847e-02 9.99679625e-01 -2.40427821e-04 2.00456309e+01] [-7.75849107e-02 2.20407380e-03 9.96983312e-01 -1.08939929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:20.04, Z:-108.94 [[ 9.96734961e-01 -2.27491319e-02 7.74718952e-02 2.09836140e+02] [ 2.28393578e-02 9.99739109e-01 -2.78675136e-04 2.00428604e+01] [-7.74453438e-02 2.04717358e-03 9.96994497e-01 -1.08942241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:209.86, Y:19.96, Z:-108.93 [[ 9.98846118e-01 -2.38003716e-02 4.17130009e-02 2.09862331e+02] [ 2.01059156e-02 9.96018249e-01 8.68527462e-02 1.99586432e+01] [-4.36140377e-02 -8.59138503e-02 9.95347490e-01 -1.08933336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:209.89, Y:20.02, Z:-108.94 [[ 9.98962476e-01 -1.48808386e-02 4.30410590e-02 2.09892995e+02] [ 1.41825502e-02 9.99763540e-01 1.64838995e-02 2.00214953e+01] [-4.32761757e-02 -1.58563650e-02 9.98937309e-01 -1.08941542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:209.93, Y:20.05, Z:-108.94 [[ 9.99452741e-01 -5.38021645e-03 3.26384998e-02 2.09925885e+02] [ 5.81003115e-03 9.99897463e-01 -1.30884318e-02 2.00464141e+01] [-3.25647345e-02 1.32708998e-02 9.99381519e-01 -1.08942266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:20.11, Z:-108.94 [[ 9.96409494e-01 -4.37675899e-04 8.46636161e-02 2.09955502e+02] [ 7.36511888e-03 9.96643827e-01 -8.15281429e-02 2.01100266e+01] [-8.43437875e-02 8.18589732e-02 9.93068595e-01 -1.08944736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:209.98, Y:19.92, Z:-108.93 [[ 9.98718710e-01 -9.44570578e-03 4.97163705e-02 2.09984398e+02] [ 3.51478268e-03 9.93000724e-01 1.18055952e-01 1.99222090e+01] [-5.04835137e-02 -1.17729946e-01 9.91761602e-01 -1.08930824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:20.06, Z:-108.95 [[ 9.98551731e-01 6.84315486e-03 5.33630272e-02 2.10016276e+02] [-5.31540745e-03 9.99573395e-01 -2.87188773e-02 2.00623810e+01] [-5.35367900e-02 2.83936384e-02 9.98162118e-01 -1.08946047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.05, Y:20.11, Z:-108.95 [[ 9.95771405e-01 1.05771177e-02 9.12547748e-02 2.10045885e+02] [-3.06696470e-03 9.96623536e-01 -8.20495002e-02 2.01129855e+01] [-9.18145036e-02 8.14226709e-02 9.92441659e-01 -1.08948626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.08, Y:20.04, Z:-108.95 [[ 9.95615904e-01 8.15469298e-03 9.31797833e-02 2.10078226e+02] [-8.15186441e-03 9.99966689e-01 -4.10984768e-04 2.00374995e+01] [-9.31800308e-02 -3.50405988e-04 9.95649215e-01 -1.08950645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.11, Y:19.94, Z:-108.94 [[ 9.98181703e-01 6.01550865e-04 6.02737500e-02 2.10107286e+02] [-6.78721950e-03 9.94712501e-01 1.02474264e-01 1.99408228e+01] [-5.98934091e-02 -1.02697026e-01 9.92907901e-01 -1.08940727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:20.03, Z:-108.95 [[ 9.98470109e-01 5.85223582e-03 5.49835718e-02 2.10138582e+02] [-6.29401518e-03 9.99949262e-01 7.86502436e-03 2.00305894e+01] [-5.49347540e-02 -8.19905917e-03 9.98456283e-01 -1.08950243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.17, Y:20.14, Z:-108.95 [[ 9.95253261e-01 1.25593634e-02 9.65049652e-02 2.10169623e+02] [-2.32979223e-03 9.94428244e-01 -1.05389939e-01 2.01372489e+01] [-9.72908936e-02 1.04664844e-01 9.89737214e-01 -1.08952040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:19.99, Z:-108.95 [[ 9.98240101e-01 -3.02130609e-04 5.93010154e-02 2.10198779e+02] [-2.77276564e-03 9.98655538e-01 5.17631990e-02 1.99884152e+01] [-5.92369266e-02 -5.18365288e-02 9.96897167e-01 -1.08949316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.23, Y:20.04, Z:-108.96 [[ 9.98221243e-01 2.36285353e-03 5.95715339e-02 2.10230409e+02] [-2.25853615e-03 9.99995796e-01 -1.81839924e-03 2.00383824e+01] [-5.95755801e-02 1.68062029e-03 9.98222383e-01 -1.08955467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:210.26, Y:20.04, Z:-108.96 [[ 9.98006986e-01 2.60722287e-03 6.30496557e-02 2.10260593e+02] [-2.53987211e-03 9.99996115e-01 -1.14834304e-03 2.00369398e+01] [-6.30524047e-02 9.85916314e-04 9.98009731e-01 -1.08957461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.29, Y:20.08, Z:-108.96 [[ 9.94766633e-01 4.99788890e-03 1.02050802e-01 2.10293260e+02] [ 1.30017485e-04 9.98740172e-01 -5.01801981e-02 2.00819967e+01] [-1.02173031e-01 4.99308551e-02 9.93512749e-01 -1.08960766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.32, Y:19.98, Z:-108.95 [[ 9.98146860e-01 -2.97686095e-03 6.07781544e-02 2.10322660e+02] [-6.02065373e-04 9.98270661e-01 5.87820188e-02 1.99786237e+01] [-6.08480342e-02 -5.87096799e-02 9.96418933e-01 -1.08954388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.35, Y:20.00, Z:-108.96 [[ 9.97110392e-01 -5.00462870e-04 7.59645743e-02 2.10349220e+02] [-1.97595335e-03 9.99469100e-01 3.25209588e-02 2.00014415e+01] [-7.59405203e-02 -3.25770885e-02 9.96580037e-01 -1.08959996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:210.38, Y:20.06, Z:-108.96 [[ 9.97607442e-01 5.13276194e-03 6.89423471e-02 2.10379539e+02] [-2.73514113e-03 9.99389625e-01 -3.48266629e-02 2.00639781e+01] [-6.90790234e-02 3.45547710e-02 9.97012566e-01 -1.08964110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.41, Y:20.03, Z:-108.97 [[ 9.97403700e-01 3.69111632e-03 7.19182546e-02 2.10411165e+02] [-3.47814730e-03 9.99989189e-01 -3.08627382e-03 2.00323760e+01] [-7.19288689e-02 2.82811864e-03 9.97405755e-01 -1.08966212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.44, Y:20.02, Z:-108.97 [[ 9.96123867e-01 1.87457557e-03 8.79416110e-02 2.10439298e+02] [-3.12292334e-03 9.99896280e-01 1.40597531e-02 2.00158929e+01] [-8.79061336e-02 -1.42798905e-02 9.96026403e-01 -1.08966481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.47, Y:20.10, Z:-108.97 [[ 9.93397212e-01 9.35771692e-03 1.14343393e-01 2.10470636e+02] [-1.09687165e-03 9.97397076e-01 -7.20962537e-02 2.00961917e+01] [-1.14720422e-01 7.14947974e-02 9.90821739e-01 -1.08971462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.50, Y:19.95, Z:-108.96 [[ 9.96972056e-01 -5.72265881e-03 7.75497897e-02 2.10498412e+02] [-1.03455610e-03 9.96223927e-01 8.68148473e-02 1.99450834e+01] [-7.77537678e-02 -8.66322064e-02 9.93201496e-01 -1.08962604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.53, Y:20.11, Z:-108.98 [[ 9.92926582e-01 1.11929335e-02 1.18201186e-01 2.10531105e+02] [-9.86023981e-04 9.96289498e-01 -8.60596500e-02 2.01065744e+01] [-1.18725860e-01 8.53343649e-02 9.89253363e-01 -1.08975838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:210.56, Y:20.03, Z:-108.98 [[ 9.92800071e-01 2.80799377e-03 1.19750295e-01 2.10563466e+02] [-2.70917363e-03 9.99995842e-01 -9.88008571e-04 2.00253793e+01] [-1.19752572e-01 6.56470637e-04 9.92803551e-01 -1.08978571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:210.59, Y:19.99, Z:-108.98 [[ 9.96491253e-01 4.84558803e-04 8.36955646e-02 2.10593550e+02] [-3.27258092e-03 9.99444118e-01 3.31774907e-02 1.99932074e+01] [-8.36329633e-02 -3.33349797e-02 9.95938907e-01 -1.08976802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.63, Y:20.05, Z:-108.98 [[ 9.92593496e-01 6.42358504e-03 1.21313184e-01 2.10626312e+02] [-2.31179005e-03 9.99419009e-01 -3.40044262e-02 2.00543530e+01] [-1.21461133e-01 3.34721216e-02 9.92031658e-01 -1.08984805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.66, Y:20.02, Z:-108.99 [[ 9.92521626e-01 3.72465406e-03 1.22012087e-01 2.10658546e+02] [-3.61192339e-03 9.99992821e-01 -1.14509348e-03 2.00222945e+01] [-1.22015476e-01 6.95831733e-04 9.92527954e-01 -1.08986619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:210.69, Y:19.99, Z:-108.98 [[ 9.96230487e-01 -6.09059687e-05 8.67456855e-02 2.10687907e+02] [-3.22396897e-03 9.99282872e-01 3.77272766e-02 1.99851887e+01] [-8.66857755e-02 -3.78647285e-02 9.95515866e-01 -1.08984879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters Centerline goodness : 0.896148 Centerline is valid? [True, False] Translation: X:210.72, Y:19.99, Z:-108.99 [[ 9.97827498e-01 4.06738326e-04 6.58795737e-02 2.10717138e+02] [-2.35499608e-03 9.99562063e-01 2.94980605e-02 1.99929627e+01] [-6.58387246e-02 -2.95891220e-02 9.97391471e-01 -1.08988009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:210.75, Y:20.00, Z:-108.99 [[ 9.99012069e-01 -4.00538948e-04 4.44378903e-02 2.10746291e+02] [-3.83425716e-04 9.99844473e-01 1.76318805e-02 2.00015593e+01] [-4.44380413e-02 -1.76315000e-02 9.98856542e-01 -1.08989535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:20.02, Z:-108.99 [[ 9.98874495e-01 1.15993501e-03 4.74172709e-02 2.10778042e+02] [-8.65577832e-04 9.99980232e-01 -6.22786716e-03 2.00225673e+01] [-4.74235574e-02 6.17981433e-03 9.98855753e-01 -1.08992476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:210.81, Y:20.05, Z:-109.00 [[ 9.96284536e-01 3.26164382e-03 8.60609328e-02 2.10810196e+02] [-1.24540380e-04 9.99336114e-01 -3.64323359e-02 2.00489927e+01] [-8.61226274e-02 3.62862548e-02 9.95623524e-01 -1.08996641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:210.84, Y:19.98, Z:-108.99 [[ 9.98548647e-01 3.24399740e-04 5.38562345e-02 2.10840500e+02] [-2.04961040e-03 9.99486360e-01 3.19814891e-02 1.99840428e+01] [-5.38181970e-02 -3.20454570e-02 9.98036417e-01 -1.08992278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.87, Y:20.01, Z:-109.00 [[ 9.98465791e-01 4.04534526e-03 5.52240794e-02 2.10872062e+02] [-4.02546768e-03 9.99991787e-01 -4.71175988e-04 2.00132476e+01] [-5.52255319e-02 2.48150359e-04 9.98473875e-01 -1.08998437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.90, Y:20.02, Z:-109.00 [[ 9.98236757e-01 6.80547476e-03 5.89666221e-02 2.10903457e+02] [-6.31419538e-03 9.99943821e-01 -8.51380829e-03 2.00203266e+01] [-5.90212500e-02 8.12646961e-03 9.98223649e-01 -1.09001806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.93, Y:20.01, Z:-109.00 [[ 9.98393551e-01 9.34602596e-03 5.58835388e-02 2.10934866e+02] [-9.78680292e-03 9.99923082e-01 7.61894904e-03 2.00052815e+01] [-5.58080335e-02 -8.15363077e-03 9.98408224e-01 -1.09000893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.97, Y:20.04, Z:-109.01 [[ 9.95926126e-01 1.29098965e-02 8.92439681e-02 2.10967311e+02] [-9.98559823e-03 9.99400946e-01 -3.31366328e-02 2.00438533e+01] [-8.96182967e-02 3.21104839e-02 9.95458426e-01 -1.09005739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.00, Y:19.99, Z:-109.00 [[ 9.98418063e-01 1.05670231e-02 5.52241685e-02 2.10996888e+02] [-1.22312972e-02 9.99478472e-01 2.98861184e-02 1.99858556e+01] [-5.48795603e-02 -3.05143037e-02 9.98026608e-01 -1.09002701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.03, Y:20.04, Z:-109.01 [[ 9.95784656e-01 1.64303534e-02 9.02383688e-02 2.11029161e+02] [-1.37011870e-02 9.99432254e-01 -3.07806255e-02 2.00427475e+01] [-9.06928729e-02 2.94145018e-02 9.95444418e-01 -1.09009086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.06, Y:19.98, Z:-109.01 [[ 9.98292390e-01 1.33340663e-02 5.68727252e-02 2.11058953e+02] [-1.52029866e-02 9.99354267e-01 3.25563764e-02 1.99840357e+01] [-5.64018917e-02 -3.33654181e-02 9.97850478e-01 -1.09005582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.09, Y:20.05, Z:-109.01 [[ 9.95575289e-01 1.76510708e-02 9.22945474e-02 2.11091864e+02] [-1.46214423e-02 9.99335124e-01 -3.33994640e-02 2.00467713e+01] [-9.28227192e-02 3.19022017e-02 9.95171439e-01 -1.09012106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.12, Y:19.97, Z:-109.01 [[ 9.98493823e-01 1.18309902e-02 5.35734368e-02 2.11120678e+02] [-1.45888589e-02 9.98572437e-01 5.13833885e-02 1.99686917e+01] [-5.28890410e-02 -5.20875714e-02 9.97241011e-01 -1.09008001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.15, Y:20.02, Z:-109.01 [[ 9.98373428e-01 1.58643963e-02 5.47614676e-02 2.11152866e+02] [-1.58740991e-02 9.99873965e-01 -2.57809813e-04 2.00173963e+01] [-5.47586558e-02 -6.11898498e-04 9.98499432e-01 -1.09013987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.19, Y:20.07, Z:-109.02 [[ 9.95541618e-01 1.87511902e-02 9.24406817e-02 2.11185897e+02] [-1.40038820e-02 9.98562451e-01 -5.17389855e-02 2.00662946e+01] [-9.32779612e-02 5.02137849e-02 9.94373068e-01 -1.09018659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:20.02, Z:-109.02 [[ 9.95393985e-01 1.32622872e-02 9.49469639e-02 2.11218335e+02] [-1.32058267e-02 9.99912051e-01 -1.22300177e-03 2.00178657e+01] [-9.49548333e-02 -3.64845545e-05 9.95481581e-01 -1.09019279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:19.89, Z:-109.00 [[ 9.98751892e-01 -1.42878438e-04 4.99463501e-02 2.11243619e+02] [-6.57612236e-03 9.90914285e-01 1.34334039e-01 1.98901167e+01] [-4.95117452e-02 -1.34494829e-01 9.89676578e-01 -1.09001183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:20.02, Z:-109.02 [[ 9.97843099e-01 1.18722016e-02 6.45616085e-02 2.11276883e+02] [-1.14108155e-02 9.99906688e-01 -7.51050565e-03 2.00249486e+01] [-6.46447504e-02 6.75760563e-03 9.97885460e-01 -1.09020115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.31, Y:20.09, Z:-109.02 [[ 9.98103009e-01 1.37354207e-02 6.00143440e-02 2.11307216e+02] [-9.42025500e-03 9.97388770e-01 -7.16023733e-02 2.00854203e+01] [-6.08411215e-02 7.09011938e-02 9.95626124e-01 -1.09023347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.34, Y:20.06, Z:-109.03 [[ 9.94909366e-01 1.03090258e-02 1.00245087e-01 2.11338283e+02] [-5.54573547e-03 9.98847289e-01 -4.76795269e-02 2.00605807e+01] [-1.00621063e-01 4.68808751e-02 9.93819695e-01 -1.09027960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.37, Y:20.01, Z:-109.03 [[ 9.94833736e-01 4.41693412e-03 1.01421539e-01 2.11370853e+02] [-4.29302938e-03 9.99989748e-01 -1.43991489e-03 2.00149648e+01] [-1.01426859e-01 9.97070267e-04 9.94842499e-01 -1.09029220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.40, Y:20.01, Z:-109.03 [[ 9.94832810e-01 1.48779903e-03 1.01515841e-01 2.11403446e+02] [-1.34298775e-03 9.99997981e-01 -1.49481837e-03 2.00121507e+01] [-1.01517860e-01 1.35075983e-03 9.94832800e-01 -1.09032250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:20.01, Z:-109.03 [[ 9.94896230e-01 -2.93042243e-03 1.00860815e-01 2.11436318e+02] [ 3.10132475e-03 9.99994009e-01 -1.53767765e-03 2.00071394e+01] [-1.00855705e-01 1.84263184e-03 9.94899357e-01 -1.09034841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:20.00, Z:-109.04 [[ 9.94751610e-01 -4.88453839e-03 1.02202623e-01 2.11469526e+02] [ 5.07584096e-03 9.99985819e-01 -1.61181624e-03 2.00049017e+01] [-1.02193300e-01 2.12212106e-03 9.94762296e-01 -1.09037156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:19.93, Z:-109.03 [[ 9.98057709e-01 -1.16533899e-02 6.11964697e-02 2.11497585e+02] [ 6.93170008e-03 9.97021721e-01 7.68091068e-02 1.99298054e+01] [-6.19092961e-02 -7.62357256e-02 9.95165993e-01 -1.09027439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.53, Y:20.01, Z:-109.04 [[ 9.98016964e-01 -6.14669076e-03 6.26446953e-02 2.11528270e+02] [ 6.68066102e-03 9.99943089e-01 -8.31789637e-03 2.00069592e+01] [-6.25900026e-02 8.71990965e-03 9.98001230e-01 -1.09038075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:20.06, Z:-109.05 [[ 9.94361936e-01 1.29459851e-03 1.06031427e-01 2.11561276e+02] [ 6.13702050e-03 9.97546845e-01 -6.97325541e-02 2.00605524e+01] [-1.05861592e-01 6.99901146e-02 9.91914667e-01 -1.09045860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.59, Y:19.99, Z:-109.04 [[ 9.94243798e-01 -2.39855058e-03 1.07114507e-01 2.11593316e+02] [ 2.61139567e-03 9.99994885e-01 -1.84686124e-03 1.99940522e+01] [-1.07109530e-01 2.11594869e-03 9.94244976e-01 -1.09044648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.63, Y:19.99, Z:-109.05 [[ 9.94247041e-01 3.85568919e-04 1.07110559e-01 2.11625916e+02] [-1.82903763e-04 9.99998175e-01 -1.90192910e-03 1.99931168e+01] [-1.07111097e-01 1.87139646e-03 9.94245297e-01 -1.09047190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.66, Y:19.99, Z:-109.05 [[ 9.94339101e-01 5.03474079e-03 1.06133899e-01 2.11659044e+02] [-4.85633215e-03 9.99986327e-01 -1.93935221e-03 1.99925680e+01] [-1.06142212e-01 1.41295227e-03 9.94349956e-01 -1.09049017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.69, Y:19.99, Z:-109.05 [[ 9.94413831e-01 6.61541298e-03 1.05344049e-01 2.11691879e+02] [-6.44269397e-03 9.99977286e-01 -1.97978649e-03 1.99924955e+01] [-1.05354753e-01 1.29002760e-03 9.94433865e-01 -1.09052680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:19.95, Z:-109.05 [[ 9.97479340e-01 7.98453786e-03 7.05068298e-02 2.11722309e+02] [-1.13467678e-02 9.98810799e-01 4.74156026e-02 1.99479417e+01] [-7.00443913e-02 -4.80961086e-02 9.96383735e-01 -1.09046799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:211.75, Y:20.00, Z:-109.05 [[ 9.97154315e-01 1.54509416e-02 7.37871257e-02 2.11753410e+02] [-1.50619269e-02 9.99869591e-01 -5.82569455e-03 1.99991941e+01] [-7.38675157e-02 4.69774016e-03 9.97256999e-01 -1.09054367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.78, Y:20.00, Z:-109.06 [[ 9.96877951e-01 2.01432858e-02 7.63452627e-02 2.11784470e+02] [-1.95797942e-02 9.99775305e-01 -8.12224064e-03 2.00029453e+01] [-7.64917169e-02 6.60205807e-03 9.97048359e-01 -1.09057488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.82, Y:20.01, Z:-109.06 [[ 9.96520330e-01 2.27644472e-02 8.01811170e-02 2.11815500e+02] [-2.20698208e-02 9.99710924e-01 -9.53892231e-03 2.00052071e+01] [-8.03750869e-02 7.73614712e-03 9.96734668e-01 -1.09059980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:211.89, Y:19.99, Z:-109.07 [[ 9.92693449e-01 7.68752162e-02 9.30049337e-02 2.11894566e+02] [-8.02957002e-02 9.96204392e-01 3.36066844e-02 1.99927370e+01] [-9.00684023e-02 -4.08290317e-02 9.95098323e-01 -1.09068612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:20.04, Z:-109.07 [[ 9.96557041e-01 2.78016316e-02 7.81097497e-02 2.11867464e+02] [-2.42295035e-02 9.98633055e-01 -4.63136292e-02 2.00404082e+01] [-7.92905725e-02 4.42616128e-02 9.95868422e-01 -1.09065964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:211.90, Y:19.99, Z:-109.07 [[ 9.96785841e-01 2.30314842e-02 7.67302982e-02 2.11896705e+02] [-2.37925101e-02 9.99676237e-01 9.01872766e-03 1.99882127e+01] [-7.64977411e-02 -1.08153464e-02 9.97011095e-01 -1.09065166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.93, Y:20.04, Z:-109.07 [[ 9.92963603e-01 2.62847686e-02 1.15465990e-01 2.11928157e+02] [-2.06754028e-02 9.98559494e-01 -4.95122654e-02 2.00407617e+01] [-1.16601079e-01 4.67765715e-02 9.92076681e-01 -1.09072745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:19.95, Z:-109.07 [[ 9.96719105e-01 1.62769138e-02 7.92848481e-02 2.11957972e+02] [-1.98677144e-02 9.98802266e-01 4.47136149e-02 1.99508794e+01] [-7.84620863e-02 -4.61421230e-02 9.95848686e-01 -1.09066908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.99, Y:19.99, Z:-109.07 [[ 9.96686156e-01 2.02161501e-02 7.87909456e-02 2.11989718e+02] [-2.04689385e-02 9.99787604e-01 2.40194342e-03 1.99904144e+01] [-7.87256527e-02 -4.00675077e-03 9.96888267e-01 -1.09073185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:212.02, Y:20.00, Z:-109.08 [[ 9.96364935e-01 2.11464223e-02 8.25211827e-02 2.12021107e+02] [-2.03096780e-02 9.99733595e-01 -1.09661282e-02 2.00018214e+01] [-8.27310930e-02 9.25028701e-03 9.96528975e-01 -1.09077579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.05, Y:20.03, Z:-109.08 [[ 9.92715038e-01 2.27779530e-02 1.18313222e-01 2.12053318e+02] [-1.78026366e-02 9.98919021e-01 -4.29401329e-02 2.00265667e+01] [-1.19163416e-01 4.05210283e-02 9.92047442e-01 -1.09083272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.08, Y:19.94, Z:-109.08 [[ 9.96693815e-01 1.65572694e-02 7.95443067e-02 2.12081882e+02] [-2.06071933e-02 9.98518208e-01 5.03659823e-02 1.99360525e+01] [-7.85925154e-02 -5.18386479e-02 9.95558120e-01 -1.09075506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.12, Y:19.97, Z:-109.08 [[ 9.96169830e-01 3.22581612e-02 8.12716505e-02 2.12119622e+02] [-3.39762672e-02 9.99225566e-01 1.98464392e-02 1.99685060e+01] [-8.05685013e-02 -2.25317313e-02 9.96494374e-01 -1.09082377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters Centerline goodness : 0.882651 Centerline is valid? [True, False] Translation: X:212.12, Y:19.97, Z:-109.08 [[ 9.96306742e-01 2.85316682e-02 8.09865387e-02 2.12120090e+02] [-2.98360605e-02 9.99443120e-01 1.49418495e-02 1.99719433e+01] [-8.05151231e-02 -1.73029847e-02 9.96603192e-01 -1.09082826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:212.12, Y:19.97, Z:-109.08 [[ 9.96322447e-01 2.83666162e-02 8.08512006e-02 2.12120580e+02] [-2.97003009e-02 9.99441121e-01 1.53406972e-02 1.99703369e+01] [-8.03708509e-02 -1.76855860e-02 9.96608121e-01 -1.09082972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.15, Y:19.96, Z:-109.08 [[ 9.96900615e-01 2.96130682e-02 7.28850457e-02 2.12151508e+02] [-3.12768897e-02 9.99273140e-01 2.17933184e-02 1.99626533e+01] [-7.21867014e-02 -2.40053901e-02 9.97102212e-01 -1.09083094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:20.03, Z:-109.09 [[ 9.93196332e-01 4.14674695e-02 1.08818631e-01 2.12183677e+02] [-3.65732615e-02 9.98244184e-01 -4.65934097e-02 2.00250131e+01] [-1.10559676e-01 4.22965514e-02 9.92969063e-01 -1.09091827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.21, Y:19.94, Z:-109.09 [[ 9.96743121e-01 3.58323851e-02 7.22439740e-02 2.12211890e+02] [-3.90643651e-02 9.98274897e-01 4.38315673e-02 1.99401652e+01] [-7.05487561e-02 -4.65109781e-02 9.96423405e-01 -1.09085426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.25, Y:19.99, Z:-109.09 [[ 9.95913971e-01 4.81134943e-02 7.64228662e-02 2.12245707e+02] [-4.75275851e-02 9.98825052e-01 -9.46807495e-03 1.99943167e+01] [-7.67886155e-02 5.79719384e-03 9.97030542e-01 -1.09093076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:20.02, Z:-109.10 [[ 9.92781994e-01 5.36915271e-02 1.07243331e-01 2.12277223e+02] [-4.96616757e-02 9.97968703e-01 -3.99022124e-02 2.00241698e+01] [-1.09167899e-01 3.42883144e-02 9.93431770e-01 -1.09099988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:19.95, Z:-109.10 [[ 9.95315293e-01 5.26164359e-02 8.11108967e-02 2.12306916e+02] [-5.60775464e-02 9.97584254e-01 4.09995666e-02 1.99515009e+01] [-7.87577023e-02 -4.53559958e-02 9.95861465e-01 -1.09097755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.34, Y:20.04, Z:-109.10 [[ 9.92089241e-01 6.41623039e-02 1.07898734e-01 2.12339971e+02] [-5.95120903e-02 9.97177150e-01 -4.57825473e-02 2.00354117e+01] [-1.10531665e-01 3.89990935e-02 9.93107155e-01 -1.09104893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:20.00, Z:-109.10 [[ 9.91837417e-01 6.40814729e-02 1.10236581e-01 2.12372782e+02] [-6.41641712e-02 9.97935426e-01 -2.80075959e-03 2.00005830e+01] [-1.10188466e-01 -4.29534068e-03 9.93901430e-01 -1.09104025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.41, Y:19.98, Z:-109.10 [[ 9.94754757e-01 6.35865374e-02 8.01231964e-02 2.12405554e+02] [-6.60171715e-02 9.97423899e-01 2.80588320e-02 1.99754038e+01] [-7.81326270e-02 -3.32011634e-02 9.96389972e-01 -1.09102912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.43, Y:19.96, Z:-109.10 [[ 9.96115504e-01 6.09835989e-02 6.35208912e-02 2.12434913e+02] [-6.42692440e-02 9.96626829e-01 5.10335974e-02 1.99596442e+01] [-6.01944119e-02 -5.49177973e-02 9.96674806e-01 -1.09101684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:212.47, Y:20.05, Z:-109.11 [[ 9.94971404e-01 6.83796942e-02 7.31855329e-02 2.12467643e+02] [-6.54394206e-02 9.96978608e-01 -4.18489831e-02 2.00494514e+01] [-7.58260313e-02 3.68493226e-02 9.96439933e-01 -1.09110449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.50, Y:20.06, Z:-109.11 [[ 9.91410502e-01 6.58813456e-02 1.12981703e-01 2.12496989e+02] [-6.09829861e-02 9.97065297e-01 -4.62803300e-02 2.00578300e+01] [-1.15699146e-01 3.89928436e-02 9.92518648e-01 -1.09114430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.53, Y:20.02, Z:-109.12 [[ 9.91712742e-01 6.09115007e-02 1.13117759e-01 2.12528949e+02] [-6.09741235e-02 9.98135107e-01 -2.90928807e-03 2.00189536e+01] [-1.13084016e-01 -4.01207816e-03 9.93577329e-01 -1.09116875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.56, Y:20.02, Z:-109.12 [[ 9.91688981e-01 6.00103556e-02 1.13805635e-01 2.12562230e+02] [-6.00613027e-02 9.98190230e-01 -2.98419890e-03 2.00219821e+01] [-1.13778756e-01 -3.87591755e-03 9.93498552e-01 -1.09120304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:20.03, Z:-109.12 [[ 9.91830152e-01 5.67575769e-02 1.14243281e-01 2.12594781e+02] [-5.67808003e-02 9.98382000e-01 -3.05342518e-03 2.00289150e+01] [-1.14231740e-01 -3.45834576e-03 9.93448111e-01 -1.09124245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:20.01, Z:-109.12 [[ 9.95354802e-01 4.99341035e-02 8.23128417e-02 2.12626949e+02] [-5.22655444e-02 9.98283788e-01 2.64157404e-02 2.00071571e+01] [-8.08525291e-02 -3.05951595e-02 9.96256395e-01 -1.09123744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.66, Y:20.06, Z:-109.13 [[ 9.91952866e-01 5.25213594e-02 1.15199908e-01 2.12659605e+02] [-4.91984210e-02 9.98292080e-01 -3.15029966e-02 2.00620022e+01] [-1.16657736e-01 2.55818342e-02 9.92842657e-01 -1.09129683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:20.04, Z:-109.13 [[ 9.92188136e-01 4.43647072e-02 1.16595346e-01 2.12691668e+02] [-4.42915674e-02 9.99013459e-01 -3.21944121e-03 2.00382528e+01] [-1.16623150e-01 -1.96989927e-03 9.93174285e-01 -1.09132597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:20.04, Z:-109.14 [[ 9.92159461e-01 4.19414851e-02 1.17730694e-01 2.12724805e+02] [-4.18425977e-02 9.99118724e-01 -3.31259336e-03 2.00394789e+01] [-1.17765876e-01 -1.63953723e-03 9.93040035e-01 -1.09135870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:20.01, Z:-109.14 [[ 9.96014621e-01 3.62156945e-02 8.15064280e-02 2.12753871e+02] [-3.90416395e-02 9.98680943e-01 3.33485345e-02 2.00073940e+01] [-8.01911760e-02 -3.63977725e-02 9.96114741e-01 -1.09135269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.79, Y:20.04, Z:-109.14 [[ 9.96147565e-01 3.49004006e-02 8.04486901e-02 2.12785592e+02] [-3.51773581e-02 9.99379029e-01 2.02751830e-03 2.00395220e+01] [-8.03279725e-02 -4.84967980e-03 9.96756689e-01 -1.09137855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:20.08, Z:-109.14 [[ 9.92422936e-01 3.53547964e-02 1.17672231e-01 2.12818559e+02] [-3.06003871e-02 9.98650212e-01 -4.19686857e-02 2.00803424e+01] [-1.18997193e-01 3.80498705e-02 9.92165246e-01 -1.09142138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:20.04, Z:-109.15 [[ 9.92418886e-01 2.99349434e-02 1.19200059e-01 2.12850059e+02] [-2.97279472e-02 9.99551848e-01 -3.51469362e-03 2.00430054e+01] [-1.19251852e-01 -5.55247529e-05 9.92864035e-01 -1.09146199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:20.04, Z:-109.15 [[ 9.92422316e-01 2.98141555e-02 1.19201777e-01 2.12883035e+02] [-2.95985409e-02 9.99555459e-01 -3.57922058e-03 2.00417765e+01] [-1.19255498e-01 2.38997152e-05 9.92863599e-01 -1.09148592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:20.04, Z:-109.15 [[ 9.92263320e-01 2.76550479e-02 1.21031821e-01 2.12915383e+02] [-2.74087009e-02 9.99617463e-01 -3.70002059e-03 2.00405923e+01] [-1.21087846e-01 3.54069735e-04 9.92641732e-01 -1.09152214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.95, Y:20.04, Z:-109.16 [[ 9.92231562e-01 2.80152113e-02 1.21209219e-01 2.12948141e+02] [-2.77628899e-02 9.99607426e-01 -3.77032087e-03 2.00407519e+01] [-1.21267261e-01 3.75913169e-04 9.92619821e-01 -1.09155106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:212.98, Y:20.04, Z:-109.16 [[ 9.92200527e-01 2.91980941e-02 1.21184099e-01 2.12981566e+02] [-2.89467784e-02 9.99573601e-01 -3.83412673e-03 2.00422131e+01] [-1.21244375e-01 2.96333296e-04 9.92622644e-01 -1.09156816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:213.01, Y:20.04, Z:-109.16 [[ 9.92078748e-01 2.99288300e-02 1.22000096e-01 2.13014215e+02] [-2.96716367e-02 9.99551995e-01 -3.92476343e-03 2.00422045e+01] [-1.22062903e-01 2.73731867e-04 9.92522329e-01 -1.09160180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:213.05, Y:20.04, Z:-109.16 [[ 9.92071813e-01 3.01654718e-02 1.21998202e-01 2.13047541e+02] [-2.99029199e-02 9.99544873e-01 -3.98283488e-03 2.00412522e+01] [-1.22062821e-01 3.03155760e-04 9.92522330e-01 -1.09163501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:213.08, Y:20.04, Z:-109.17 [[ 9.92432710e-01 3.05816392e-02 1.18920479e-01 2.13080236e+02] [-3.03312241e-02 9.99532233e-01 -3.91551759e-03 2.00417320e+01] [-1.18984595e-01 2.78884033e-04 9.92896061e-01 -1.09167046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:20.04, Z:-109.17 [[ 9.92272646e-01 3.20372290e-02 1.19869143e-01 2.13112672e+02] [-3.17856100e-02 9.99486662e-01 -4.01097155e-03 2.00410933e+01] [-1.19936110e-01 1.69863518e-04 9.92781598e-01 -1.09170803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:213.15, Y:20.04, Z:-109.17 [[ 9.92138907e-01 3.03490621e-02 1.21405617e-01 2.13145929e+02] [-3.00702762e-02 9.99539262e-01 -4.12821189e-03 2.00401435e+01] [-1.21474968e-01 4.45059200e-04 9.92594396e-01 -1.09173083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:19.93, Z:-109.17 [[ 9.96050865e-01 1.76665433e-02 8.70090111e-02 2.13169220e+02] [-2.78433500e-02 9.92720661e-01 1.17176946e-01 1.99256734e+01] [-8.43055315e-02 -1.19136821e-01 9.89292169e-01 -1.09166227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.21, Y:20.11, Z:-109.17 [[ 9.96078017e-01 3.89335693e-02 7.94528839e-02 2.13208646e+02] [-3.25672824e-02 9.96270207e-01 -7.99064901e-02 2.01130780e+01] [-8.22675859e-02 7.70055337e-02 9.93630813e-01 -1.09173235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:20.04, Z:-109.18 [[ 9.96024291e-01 3.09371584e-02 8.35374369e-02 2.13235126e+02] [-3.10278974e-02 9.99518496e-01 -2.12150358e-04 2.00362238e+01] [-8.35037766e-02 -2.38068411e-03 9.96504617e-01 -1.09178704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.27, Y:20.04, Z:-109.18 [[ 9.95699544e-01 3.30468625e-02 8.65466492e-02 2.13266799e+02] [-3.25223849e-02 9.99443141e-01 -7.46344605e-03 2.00405223e+01] [-8.67450984e-02 4.61664639e-03 9.96219842e-01 -1.09181719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:213.30, Y:20.03, Z:-109.19 [[ 9.95561496e-01 3.44063728e-02 8.75985721e-02 2.13298122e+02] [-3.42930334e-02 9.99407902e-01 -2.79887216e-03 2.00349058e+01] [-8.76430042e-02 -2.17571407e-04 9.96151924e-01 -1.09185353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:20.03, Z:-109.19 [[ 9.95502913e-01 3.57481739e-02 8.77269478e-02 2.13330199e+02] [-3.60350341e-02 9.99349102e-01 1.68791957e-03 2.00294594e+01] [-8.76095064e-02 -4.84157241e-03 9.96143129e-01 -1.09187454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:20.04, Z:-109.19 [[ 9.95291667e-01 3.62211977e-02 8.99028520e-02 2.13361242e+02] [-3.57765311e-02 9.99338329e-01 -6.55316140e-03 2.00359655e+01] [-9.00807293e-02 3.30589475e-03 9.95928980e-01 -1.09191267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:213.39, Y:20.02, Z:-109.19 [[ 9.95842211e-01 3.45323285e-02 8.42959632e-02 2.13390407e+02] [-3.57756413e-02 9.99271565e-01 1.32831954e-02 2.00150369e+01] [-8.37758594e-02 -1.62437088e-02 9.96352221e-01 -1.09192289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.42, Y:20.04, Z:-109.20 [[ 9.95025902e-01 3.82986121e-02 9.19601588e-02 2.13422526e+02] [-3.70288974e-02 9.99194374e-01 -1.54745892e-02 2.00400362e+01] [-9.24787286e-02 1.19924338e-02 9.95642439e-01 -1.09195591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:213.45, Y:20.01, Z:-109.20 [[ 9.95253612e-01 3.39688751e-02 9.11940971e-02 2.13451364e+02] [-3.49103661e-02 9.99352156e-01 8.74836680e-03 2.00138423e+01] [-9.08378454e-02 -1.18904630e-02 9.95794709e-01 -1.09198807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:20.03, Z:-109.20 [[ 9.94902095e-01 3.53786750e-02 9.44360620e-02 2.13481998e+02] [-3.46831911e-02 9.99357865e-01 -8.99632558e-03 2.00290156e+01] [-9.46936994e-02 5.67511919e-03 9.95490279e-01 -1.09202923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.51, Y:20.01, Z:-109.21 [[ 9.94837892e-01 3.36687819e-02 9.57286860e-02 2.13512638e+02] [-3.41791345e-02 9.99408888e-01 3.69605225e-03 2.00147845e+01] [-9.55476580e-02 -6.94889646e-03 9.95400602e-01 -1.09206138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.55, Y:20.07, Z:-109.21 [[ 9.89978802e-01 3.68889470e-02 1.36312795e-01 2.13545539e+02] [-2.84331741e-02 9.97578803e-01 -6.34672044e-02 2.00727858e+01] [-1.38323993e-01 5.89553816e-02 9.88630738e-01 -1.09209528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.58, Y:20.01, Z:-109.21 [[ 9.89926422e-01 2.98318767e-02 1.38404258e-01 2.13576575e+02] [-2.93971173e-02 9.99554364e-01 -5.18480671e-03 2.00147462e+01] [-1.38497253e-01 1.06389094e-03 9.90362246e-01 -1.09213572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:213.61, Y:19.96, Z:-109.21 [[ 9.95015562e-01 2.58272195e-02 9.63171114e-02 2.13605854e+02] [-3.06601788e-02 9.98326127e-01 4.90397496e-02 1.99609163e+01] [-9.48893285e-02 -5.17484138e-02 9.94141900e-01 -1.09212102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:213.64, Y:20.01, Z:-109.22 [[ 9.94751969e-01 3.32622439e-02 9.67581657e-02 2.13637260e+02] [-3.24571799e-02 9.99424264e-01 -9.88288662e-03 2.00125571e+01] [-9.70311856e-02 6.69052373e-03 9.95258854e-01 -1.09218050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.67, Y:20.01, Z:-109.22 [[ 9.94382484e-01 3.42145153e-02 1.00164078e-01 2.13669280e+02] [-3.38278727e-02 9.99412227e-01 -5.55649219e-03 2.00063365e+01] [-1.00295317e-01 2.13694082e-03 9.94955418e-01 -1.09221061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.70, Y:20.05, Z:-109.23 [[ 9.89427724e-01 3.91480127e-02 1.39643158e-01 2.13701179e+02] [-3.23121054e-02 9.98181455e-01 -5.08891918e-02 2.00459201e+01] [-1.41381422e-01 4.58390128e-02 9.88893361e-01 -1.09227386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.73, Y:19.94, Z:-109.22 [[ 9.95307575e-01 2.94778863e-02 9.21622753e-02 2.13727105e+02] [-3.54413774e-02 9.97336122e-01 6.37539657e-02 1.99362189e+01] [-9.00374341e-02 -6.67211630e-02 9.93700934e-01 -1.09222773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:213.76, Y:20.02, Z:-109.23 [[ 9.93987744e-01 4.40396839e-02 1.00244056e-01 2.13763143e+02] [-4.17985859e-02 9.98829316e-01 -2.43490269e-02 2.00158059e+01] [-1.01199026e-01 2.00125745e-02 9.94664895e-01 -1.09231265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:213.79, Y:20.04, Z:-109.24 [[ 9.88727045e-01 4.72250651e-02 1.42086680e-01 2.13794569e+02] [-4.06498364e-02 9.97979582e-01 -4.88297572e-02 2.00353380e+01] [-1.44105594e-01 4.25035012e-02 9.88649094e-01 -1.09236586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:213.83, Y:19.99, Z:-109.24 [[ 9.88680378e-01 4.32445562e-02 1.43669824e-01 2.13825297e+02] [-4.28704218e-02 9.99064379e-01 -5.70022863e-03 1.99925575e+01] [-1.43781907e-01 -5.23481741e-04 9.89609261e-01 -1.09239533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters Centerline goodness : 0.869708 Centerline is valid? [True, False] Translation: X:213.87, Y:19.98, Z:-109.24 [[ 9.92020607e-01 3.88013101e-02 1.19956550e-01 2.13871296e+02] [-3.98255932e-02 9.99187705e-01 6.15237043e-03 1.99789566e+01] [-1.19620390e-01 -1.08806190e-02 9.92760079e-01 -1.09244691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:213.90, Y:19.97, Z:-109.25 [[ 9.94187313e-01 3.55565944e-02 1.01623396e-01 2.13899080e+02] [-3.70489182e-02 9.99231028e-01 1.28347626e-02 1.99724128e+01] [-1.01088890e-01 -1.65251950e-02 9.94740144e-01 -1.09248408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:213.93, Y:20.06, Z:-109.25 [[ 9.93916800e-01 4.86233398e-02 9.88188477e-02 2.13933429e+02] [-4.12009171e-02 9.96270511e-01 -7.58126208e-02 2.00562950e+01] [-1.02136567e-01 7.12800104e-02 9.92213325e-01 -1.09252176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59592 meters Centerline goodness : 0.918058 Centerline is valid? [True, False] Translation: X:213.95, Y:20.02, Z:-109.25 [[ 9.95442578e-01 4.13189624e-02 8.59465977e-02 2.13949153e+02] [-3.85747003e-02 9.98699043e-01 -3.33498847e-02 2.00162061e+01] [-8.72127675e-02 2.98825309e-02 9.95741416e-01 -1.09253710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:213.97, Y:19.99, Z:-109.26 [[ 9.96595277e-01 3.51302175e-02 7.45903544e-02 2.13972109e+02] [-3.44465145e-02 9.99352082e-01 -1.04332841e-02 1.99941989e+01] [-7.49085495e-02 7.82838398e-03 9.97159679e-01 -1.09256625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:214.00, Y:19.95, Z:-109.26 [[ 9.98693336e-01 3.35495473e-02 3.85492983e-02 2.14001740e+02] [-3.49882567e-02 9.98692405e-01 3.72733307e-02 1.99500386e+01] [-3.72483881e-02 -3.85733997e-02 9.98561290e-01 -1.09256014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:214.03, Y:19.98, Z:-109.26 [[ 9.98626870e-01 3.62081316e-02 3.78595395e-02 2.14034512e+02] [-3.64308945e-02 9.99322591e-01 5.21047850e-03 1.99818507e+01] [-3.76452315e-02 -6.58258073e-03 9.99269486e-01 -1.09256493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:214.06, Y:19.99, Z:-109.26 [[ 9.98611118e-01 3.75747085e-02 3.69320514e-02 2.14064770e+02] [-3.76758669e-02 9.99287917e-01 2.04666052e-03 1.99850013e+01] [-3.68288500e-02 -3.43526500e-03 9.99315683e-01 -1.09259327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:214.09, Y:19.92, Z:-109.25 [[ 9.98778530e-01 3.35015050e-02 3.63193743e-02 2.14092102e+02] [-3.59623209e-02 9.96942907e-01 6.93653523e-02 1.99220979e+01] [-3.38844989e-02 -7.05867536e-02 9.96929963e-01 -1.09254800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:214.13, Y:20.04, Z:-109.26 [[ 9.98472884e-01 4.21124056e-02 3.57553417e-02 2.14127573e+02] [-4.02393172e-02 9.97857765e-01 -5.15817695e-02 2.00379789e+01] [-3.78509778e-02 5.00642276e-02 9.98028495e-01 -1.09259687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.16, Y:20.05, Z:-109.26 [[ 9.95595652e-01 4.15326041e-02 8.40496326e-02 2.14156761e+02] [-3.60209971e-02 9.97165109e-01 -6.60623417e-02 2.00530142e+01] [-8.65551021e-02 6.27438286e-02 9.94269293e-01 -1.09262600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:214.19, Y:19.95, Z:-109.26 [[ 9.98195521e-01 3.57669316e-02 4.82330555e-02 2.14186103e+02] [-3.78603654e-02 9.98348345e-01 4.32108277e-02 1.99508409e+01] [-4.66078724e-02 -4.49589758e-02 9.97900995e-01 -1.09258932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:214.22, Y:19.98, Z:-109.26 [[ 9.98424920e-01 3.91022343e-02 4.02329987e-02 2.14217611e+02] [-3.97154762e-02 9.99104982e-01 1.45573044e-02 1.99804739e+01] [-3.96277663e-02 -1.61322481e-02 9.99084276e-01 -1.09261939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:214.25, Y:20.02, Z:-109.26 [[ 9.97759258e-01 4.29061846e-02 5.13373341e-02 2.14250386e+02] [-4.14370320e-02 9.98709999e-01 -2.93481012e-02 2.00233728e+01] [-5.25303239e-02 2.71550729e-02 9.98250052e-01 -1.09264780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:214.28, Y:19.99, Z:-109.27 [[ 9.98015353e-01 4.01966197e-02 4.84725363e-02 2.14279876e+02] [-4.05674705e-02 9.99154398e-01 6.69098589e-03 1.99934179e+01] [-4.81625928e-02 -8.64411483e-03 9.98802104e-01 -1.09266095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:214.31, Y:19.99, Z:-109.27 [[ 9.98145039e-01 3.98946692e-02 4.59880058e-02 2.14309230e+02] [-4.07108823e-02 9.99027184e-01 1.69502056e-02 1.99856945e+01] [-4.52670451e-02 -1.87909759e-02 9.98798175e-01 -1.09266683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:214.34, Y:20.04, Z:-109.27 [[ 9.97319995e-01 4.48064821e-02 5.78377702e-02 2.14341897e+02] [-4.28516713e-02 9.98481869e-01 -3.46076866e-02 2.00377429e+01] [-5.93006136e-02 3.20364927e-02 9.97725965e-01 -1.09268201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.37, Y:19.99, Z:-109.27 [[ 9.97663526e-01 4.09213184e-02 5.47077227e-02 2.14371226e+02] [-4.19014058e-02 9.98978993e-01 1.68891486e-02 1.99909134e+01] [-5.39607395e-02 -1.91420180e-02 9.98359565e-01 -1.09268611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:214.40, Y:20.01, Z:-109.27 [[ 9.97676055e-01 4.16675817e-02 5.39101235e-02 2.14401745e+02] [-4.19187977e-02 9.99114760e-01 3.53708805e-03 2.00076423e+01] [-5.37150182e-02 -5.78871561e-03 9.98539527e-01 -1.09269328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07592 meters Centerline goodness : 0.885994 Centerline is valid? [True, False] Translation: X:214.41, Y:20.01, Z:-109.27 [[ 9.98592945e-01 3.65821611e-02 3.83911003e-02 2.14411581e+02] [-3.65230753e-02 9.99330301e-01 -2.23949448e-03 2.00146161e+01] [-3.84473154e-02 8.34182342e-04 9.99260280e-01 -1.09269176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:214.42, Y:20.01, Z:-109.27 [[ 9.99271237e-01 2.24687341e-02 3.08569375e-02 2.14417300e+02] [-2.25403111e-02 9.99743987e-01 1.97371374e-03 2.00127790e+01] [-3.08046909e-02 -2.66780034e-03 9.99521863e-01 -1.09270117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:214.45, Y:19.96, Z:-109.27 [[ 9.99829940e-01 1.68148868e-02 -7.57297583e-03 2.14445901e+02] [-1.63611350e-02 9.98271541e-01 5.64468134e-02 1.99617136e+01] [ 8.50903303e-03 -5.63133115e-02 9.98376886e-01 -1.09268025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters Centerline goodness : 0.939373 Centerline is valid? [True, False] Translation: X:214.43, Y:19.99, Z:-109.27 [[ 9.99940345e-01 1.09225656e-02 -6.03059255e-05 2.14432868e+02] [-1.09182163e-02 9.99670452e-01 2.32331571e-02 1.99933425e+01] [ 3.14051734e-04 -2.32311127e-02 9.99730072e-01 -1.09268116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19592 meters Centerline goodness : 0.999305 Centerline is valid? [False, True] Translation: X:214.43, Y:20.00, Z:-109.27 [[ 9.99996306e-01 2.71641080e-03 -9.94047578e-05 2.14432790e+02] [-2.71490213e-03 9.99913073e-01 1.29025127e-02 2.00021022e+01] [ 1.34444642e-04 -1.29021952e-02 9.99916754e-01 -1.09268227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.46, Y:20.05, Z:-109.27 [[ 9.99145122e-01 1.22500854e-03 4.13221959e-02 2.14463604e+02] [ 3.23769986e-04 9.99298336e-01 -3.74530482e-02 2.00512634e+01] [-4.13390819e-02 3.74344093e-02 9.98443662e-01 -1.09269523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:214.50, Y:20.02, Z:-109.27 [[ 9.99154882e-01 2.09098305e-04 4.11032676e-02 2.14496033e+02] [-2.02782795e-04 9.99999967e-01 -1.57819044e-04 2.00159770e+01] [-4.11032992e-02 1.49350633e-04 9.99154891e-01 -1.09271497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:214.53, Y:19.97, Z:-109.28 [[ 9.98333577e-01 5.59431103e-02 1.41576278e-02 2.14526674e+02] [-5.68172406e-02 9.95814225e-01 7.15949036e-02 1.99744820e+01] [-1.00931256e-02 -7.22799935e-02 9.97333310e-01 -1.09280189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:214.56, Y:20.06, Z:-109.27 [[ 9.99992691e-01 -2.31798459e-03 3.04038741e-03 2.14555880e+02] [ 2.44327753e-03 9.99119884e-01 -4.18746574e-02 2.00565747e+01] [-2.94064671e-03 4.18817799e-02 9.99118246e-01 -1.09268196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.59, Y:20.02, Z:-109.27 [[ 9.99979413e-01 -2.87601137e-03 5.73596762e-03 2.14585957e+02] [ 2.88121274e-03 9.99995445e-01 -8.98742484e-04 2.00202582e+01] [-5.73335670e-03 9.15250525e-04 9.99983145e-01 -1.09270629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:214.62, Y:20.05, Z:-109.27 [[ 9.98934918e-01 6.60892513e-04 4.61366810e-02 2.14619406e+02] [ 8.26058017e-04 9.99481016e-01 -3.22027438e-02 2.00507254e+01] [-4.61340194e-02 3.22065568e-02 9.98415940e-01 -1.09271392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:214.64, Y:19.89, Z:-109.26 [[ 9.99981914e-01 -5.58114728e-03 2.24093347e-03 2.14644581e+02] [ 5.23345219e-03 9.91098370e-01 1.33028688e-01 1.98946713e+01] [-2.96343821e-03 -1.33014555e-01 9.91109654e-01 -1.09264861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:214.68, Y:20.11, Z:-109.26 [[ 9.99997264e-01 1.34846499e-04 2.33518120e-03 2.14678523e+02] [ 8.56019214e-05 9.95558346e-01 -9.41465461e-02 2.01121667e+01] [-2.33750447e-03 9.41464885e-02 9.95555611e-01 -1.09262664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:214.70, Y:19.97, Z:-109.27 [[ 9.99892150e-01 -5.27186790e-03 1.37075317e-02 2.14702202e+02] [ 4.44169276e-03 9.98194267e-01 5.99038988e-02 1.99661277e+01] [-1.39985850e-02 -5.98365535e-02 9.98110027e-01 -1.09269612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:214.74, Y:20.11, Z:-109.27 [[ 9.98635147e-01 2.33802597e-04 5.22282359e-02 2.14737985e+02] [ 4.85742716e-03 9.95240099e-01 -9.73321638e-02 2.01141604e+01] [-5.20023912e-02 9.74530145e-02 9.93880607e-01 -1.09266782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.77, Y:19.99, Z:-109.27 [[ 9.99906323e-01 -6.78499655e-03 1.18873536e-02 2.14767018e+02] [ 6.41795168e-03 9.99509647e-01 3.06476155e-02 1.99932852e+01] [-1.20894686e-02 -3.05684521e-02 9.99459561e-01 -1.09270083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:214.80, Y:20.05, Z:-109.27 [[ 9.98414016e-01 -4.73578400e-03 5.60983580e-02 2.14801652e+02] [ 6.48798615e-03 9.99495419e-01 -3.10936354e-02 2.00502174e+01] [-5.59227990e-02 3.14082868e-02 9.97940960e-01 -1.09273108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:214.83, Y:19.98, Z:-109.27 [[ 9.99863787e-01 -9.89560694e-03 1.32092450e-02 2.14830240e+02] [ 9.31404757e-03 9.99015017e-01 4.33848453e-02 1.99780153e+01] [-1.36255535e-02 -4.32559042e-02 9.98971106e-01 -1.09271096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:214.86, Y:20.01, Z:-109.27 [[ 9.99895543e-01 -8.28573559e-03 1.18427251e-02 2.14862794e+02] [ 8.27050427e-03 9.99964908e-01 1.33453013e-03 2.00140281e+01] [-1.18533671e-02 -1.23644542e-03 9.99928982e-01 -1.09271825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:214.90, Y:20.06, Z:-109.27 [[ 9.98541640e-01 -4.71687135e-03 5.37805237e-02 2.14896991e+02] [ 7.12650276e-03 9.98974966e-01 -4.47015608e-02 2.00552941e+01] [-5.35145454e-02 4.50196369e-02 9.97551716e-01 -1.09274652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:214.93, Y:20.01, Z:-109.28 [[ 9.98515030e-01 -5.92631603e-03 5.41536099e-02 2.14930116e+02] [ 5.95781503e-03 9.99982164e-01 -4.20240120e-04 2.00133058e+01] [-5.41501535e-02 7.42253267e-04 9.98532528e-01 -1.09277221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:214.96, Y:20.01, Z:-109.28 [[ 9.98565375e-01 -4.58357030e-03 5.33496301e-02 2.14963320e+02] [ 4.61338923e-03 9.99989263e-01 -4.35797922e-04 2.00096550e+01] [-5.33470598e-02 6.81295325e-04 9.98575799e-01 -1.09279735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:214.99, Y:19.96, Z:-109.28 [[ 9.99934553e-01 -5.25637476e-03 1.01617218e-02 2.14992786e+02] [ 4.72831439e-03 9.98671634e-01 5.13089655e-02 1.99596948e+01] [-1.04179224e-02 -5.12575596e-02 9.98631128e-01 -1.09275913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:215.02, Y:20.02, Z:-109.28 [[ 9.99876218e-01 -2.18093695e-04 1.57321735e-02 2.15024743e+02] [ 3.91922731e-04 9.99938903e-01 -1.10470335e-02 2.00170330e+01] [-1.57288031e-02 1.10518319e-02 9.99815214e-01 -1.09277150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:215.06, Y:20.00, Z:-109.28 [[ 9.99883010e-01 2.53777529e-03 1.50839385e-02 2.15056718e+02] [-2.64641068e-03 9.99970675e-01 7.18646562e-03 1.99986484e+01] [-1.50652585e-02 -7.22554317e-03 9.99860405e-01 -1.09276763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:215.09, Y:20.00, Z:-109.28 [[ 9.99826475e-01 4.71973476e-03 1.80206737e-02 2.15087031e+02] [-4.70426024e-03 9.99988529e-01 -9.01003503e-04 2.00045042e+01] [-1.80247195e-02 8.16073217e-04 9.99837209e-01 -1.09277442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:215.12, Y:20.04, Z:-109.28 [[ 9.98247447e-01 1.05561359e-02 5.82288855e-02 2.15120054e+02] [-7.80756941e-03 9.98853530e-01 -4.72299499e-02 2.00447805e+01] [-5.86606936e-02 4.66925508e-02 9.97185403e-01 -1.09280148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.15, Y:20.00, Z:-109.28 [[ 9.98229927e-01 1.26897421e-02 5.81032192e-02 2.15152722e+02] [-1.26745121e-02 9.99919476e-01 -6.30653181e-04 1.99995937e+01] [-5.81065434e-02 -1.06893075e-04 9.98310382e-01 -1.09283218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:215.18, Y:19.96, Z:-109.28 [[ 9.99694690e-01 1.28871965e-02 2.10818927e-02 2.15182423e+02] [-1.36635639e-02 9.99217902e-01 3.71064837e-02 1.99644030e+01] [-2.05872061e-02 -3.73832085e-02 9.99088916e-01 -1.09280714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:215.21, Y:19.99, Z:-109.28 [[ 9.99635924e-01 1.76998022e-02 2.03650919e-02 2.15214985e+02] [-1.78306804e-02 9.99821405e-01 6.26304859e-03 1.99948276e+01] [-2.02506001e-02 -6.62389180e-03 9.99772993e-01 -1.09281344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:215.25, Y:20.00, Z:-109.28 [[ 9.99521528e-01 2.20213625e-02 2.17203962e-02 2.15245442e+02] [-2.21856932e-02 9.99726820e-01 7.35397484e-03 1.99961607e+01] [-2.15525181e-02 -7.83233822e-03 9.99737037e-01 -1.09281496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters Centerline goodness : 0.825685 Centerline is valid? [True, False] Translation: X:215.25, Y:20.00, Z:-109.28 [[ 9.99783464e-01 1.95139309e-02 7.22715537e-03 2.15254312e+02] [-1.95471144e-02 9.99798585e-01 4.54968719e-03 1.99993025e+01] [-7.13691743e-03 -4.68997205e-03 9.99963534e-01 -1.09279511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:215.26, Y:19.99, Z:-109.28 [[ 9.99966722e-01 8.15761100e-03 8.97899379e-05 2.15258819e+02] [-8.15809855e-03 9.99891356e-01 1.22768409e-02 1.99913044e+01] [ 1.03695096e-05 -1.22771649e-02 9.99924633e-01 -1.09280258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters Centerline goodness : 0.882613 Centerline is valid? [True, False] Translation: X:215.23, Y:20.01, Z:-109.28 [[ 9.99955541e-01 5.17952369e-03 7.87967103e-03 2.15234140e+02] [-5.16824846e-03 9.99985592e-01 -1.45061774e-03 2.00077867e+01] [-7.88707101e-03 1.40982915e-03 9.99967903e-01 -1.09282218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09592 meters Centerline goodness : 0.894645 Centerline is valid? [False, False] Translation: X:215.26, Y:20.00, Z:-109.28 [[ 9.99993741e-01 2.76488131e-03 2.20763305e-03 2.15256501e+02] [-2.77681710e-03 9.99981446e-01 5.42196530e-03 2.00029743e+01] [-2.19260100e-03 -5.42806155e-03 9.99982864e-01 -1.09278928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:215.26, Y:20.01, Z:-109.28 [[ 9.99996485e-01 -1.32599424e-03 2.29598577e-03 2.15256306e+02] [ 1.32594649e-03 9.99999121e-01 2.23180935e-05 2.00083263e+01] [-2.29601334e-03 -1.92736608e-05 9.99997364e-01 -1.09278958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15592 meters Centerline goodness : 0.884249 Centerline is valid? [True, False] Translation: X:215.23, Y:20.02, Z:-109.28 [[ 9.99965484e-01 -2.29327477e-03 7.98566010e-03 2.15232818e+02] [ 2.40027334e-03 9.99907132e-01 -1.34151333e-02 2.00240798e+01] [-7.95415390e-03 1.34338380e-02 9.99878124e-01 -1.09282113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:215.21, Y:20.03, Z:-109.28 [[ 9.99944064e-01 2.88333536e-03 1.01762049e-02 2.15210304e+02] [-2.67811453e-03 9.99793924e-01 -2.01230661e-02 2.00317451e+01] [-1.02321294e-02 2.00946875e-02 9.99745721e-01 -1.09283816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:215.24, Y:20.01, Z:-109.28 [[ 9.99934733e-01 3.23369677e-04 1.14204211e-02 2.15243595e+02] [-3.25388648e-04 9.99999932e-01 1.74928401e-04 2.00144035e+01] [-1.14203638e-02 -1.78633060e-04 9.99934770e-01 -1.09284890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:215.28, Y:20.02, Z:-109.28 [[ 9.99934829e-01 -6.67383065e-04 1.13969955e-02 2.15276316e+02] [ 6.65532175e-04 9.99999765e-01 1.66193453e-04 2.00158263e+01] [-1.13971038e-02 -1.58597555e-04 9.99935038e-01 -1.09284903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:215.31, Y:19.96, Z:-109.28 [[ 9.99591823e-01 -6.07065345e-03 -2.79165748e-02 2.15305660e+02] [ 7.72562602e-03 9.98194687e-01 5.95624137e-02 1.99614731e+01] [ 2.75045938e-02 -5.97537746e-02 9.97834146e-01 -1.09283026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.34, Y:20.07, Z:-109.28 [[ 9.99886275e-01 -6.22216581e-03 1.37376268e-02 2.15335094e+02] [ 7.00517401e-03 9.98309088e-01 -5.77052113e-02 2.00737792e+01] [-1.33553463e-02 5.77948833e-02 9.98239143e-01 -1.09279368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:215.37, Y:20.02, Z:-109.28 [[ 9.99863268e-01 -9.43052754e-03 1.35834316e-02 2.15369131e+02] [ 9.42879025e-03 9.99955530e-01 1.91934196e-04 2.00185367e+01] [-1.35846375e-02 -6.38326254e-05 9.99907723e-01 -1.09283438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:215.40, Y:20.02, Z:-109.28 [[ 9.99864617e-01 -1.06231877e-02 1.25656879e-02 2.15402366e+02] [ 1.06219014e-02 9.99943572e-01 1.69106350e-04 2.00192462e+01] [-1.25667753e-02 -3.56119582e-05 9.99921034e-01 -1.09282701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:215.44, Y:20.02, Z:-109.28 [[ 9.99760552e-01 -1.44127418e-02 1.64654765e-02 2.15435867e+02] [ 1.44111781e-02 9.99896131e-01 2.13618270e-04 2.00198136e+01] [-1.64668450e-02 2.37197954e-05 9.99864412e-01 -1.09282109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:215.47, Y:20.02, Z:-109.28 [[ 9.99750227e-01 -1.54908382e-02 1.61095520e-02 2.15468479e+02] [ 1.54896202e-02 9.99880009e-01 2.00387314e-04 2.00198994e+01] [-1.61107232e-02 4.91935791e-05 9.99870213e-01 -1.09281408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:215.50, Y:20.02, Z:-109.28 [[ 9.99750505e-01 -1.64762455e-02 1.50818004e-02 2.15501909e+02] [ 1.64754107e-02 9.99864255e-01 1.79600758e-04 2.00195559e+01] [-1.50827123e-02 6.89229081e-05 9.99886247e-01 -1.09281265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:215.54, Y:20.02, Z:-109.28 [[ 9.99768964e-01 -1.72357336e-02 1.28431935e-02 2.15535066e+02] [ 1.72352828e-02 9.99851451e-01 1.45791482e-04 2.00187716e+01] [-1.28437985e-02 7.55982728e-05 9.99917512e-01 -1.09282690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:215.56, Y:19.93, Z:-109.28 [[ 9.99599017e-01 -1.87302579e-02 -2.12363427e-02 2.15562284e+02] [ 2.06430447e-02 9.95381236e-01 9.37553140e-02 1.99286335e+01] [ 1.93821959e-02 -9.41561025e-02 9.95368755e-01 -1.09276387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:215.59, Y:20.07, Z:-109.28 [[ 9.99604192e-01 -1.70698815e-02 -2.23624310e-02 2.15594203e+02] [ 1.57377181e-02 9.98166262e-01 -5.84502977e-02 2.00726607e+01] [ 2.33191638e-02 5.80752290e-02 9.98039821e-01 -1.09275997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:215.62, Y:20.05, Z:-109.28 [[ 9.99752262e-01 -1.53900663e-02 1.60798314e-02 2.15623570e+02] [ 1.58917512e-02 9.99375759e-01 -3.15522654e-02 2.00475703e+01] [-1.55842023e-02 3.17999854e-02 9.99372750e-01 -1.09278485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:215.66, Y:20.02, Z:-109.28 [[ 9.99778838e-01 -1.18852151e-02 1.73498473e-02 2.15656688e+02] [ 1.18835785e-02 9.99929368e-01 1.97427298e-04 2.00174265e+01] [-1.73509683e-02 8.79463743e-06 9.99849461e-01 -1.09278945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:215.69, Y:19.97, Z:-109.28 [[ 9.99611896e-01 -1.17082001e-02 -2.52779579e-02 2.15686727e+02] [ 1.29517673e-02 9.98684884e-01 4.96059962e-02 1.99703228e+01] [ 2.46639175e-02 -4.99141381e-02 9.98448932e-01 -1.09275087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:215.72, Y:20.06, Z:-109.28 [[ 9.99756906e-01 -8.48021726e-03 2.03522791e-02 2.15715984e+02] [ 9.45169443e-03 9.98796767e-01 -4.81215491e-02 2.00624346e+01] [-1.99197094e-02 4.83022145e-02 9.98634118e-01 -1.09275457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:215.75, Y:19.98, Z:-109.27 [[ 9.99738212e-01 -9.92523524e-03 -2.06154731e-02 2.15745770e+02] [ 1.07524088e-02 9.99125389e-01 4.04084554e-02 1.99800718e+01] [ 2.01963792e-02 -4.06195430e-02 9.98970550e-01 -1.09273795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:215.78, Y:20.06, Z:-109.27 [[ 9.99765564e-01 -6.13656969e-03 2.07644019e-02 2.15775805e+02] [ 6.95145308e-03 9.99199243e-01 -3.94024166e-02 2.00582914e+01] [-2.05059790e-02 3.95375220e-02 9.99007652e-01 -1.09274412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.81, Y:20.02, Z:-109.28 [[ 9.99757061e-01 -5.72106933e-03 2.12858782e-02 2.15809544e+02] [ 5.71771712e-03 9.99983630e-01 2.18342842e-04 2.00210580e+01] [-2.12867789e-02 -9.65831680e-05 9.99773406e-01 -1.09275842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:20.02, Z:-109.28 [[ 9.99768520e-01 -6.17090007e-03 2.06113310e-02 2.15842590e+02] [ 6.16807794e-03 9.99980957e-01 2.00492141e-04 2.00205868e+01] [-2.06121757e-02 -7.33134353e-05 9.99787544e-01 -1.09275309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.88, Y:20.02, Z:-109.28 [[ 9.99757045e-01 -6.46397652e-03 2.10729236e-02 2.15875458e+02] [ 6.46132790e-03 9.99979107e-01 1.93773625e-04 2.00209193e+01] [-2.10737359e-02 -5.75674768e-05 9.99777923e-01 -1.09275802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.90, Y:19.99, Z:-109.27 [[ 9.99746179e-01 -8.95853493e-03 -2.06717905e-02 2.15904946e+02] [ 9.73922220e-03 9.99231058e-01 3.79794796e-02 1.99850899e+01] [ 2.03156546e-02 -3.81711668e-02 9.99064681e-01 -1.09272409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.94, Y:20.06, Z:-109.27 [[ 9.99716907e-01 -8.38160487e-03 2.22677747e-02 2.15935217e+02] [ 9.19653533e-03 9.99282168e-01 -3.67501280e-02 2.00553868e+01] [-2.19437652e-02 3.69445106e-02 9.99076361e-01 -1.09273946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:19.99, Z:-109.27 [[ 9.99763961e-01 -1.09554732e-02 -1.87616420e-02 2.15964337e+02] [ 1.16293103e-02 9.99277209e-01 3.61914258e-02 1.99862626e+01] [ 1.83515870e-02 -3.64010682e-02 9.99168745e-01 -1.09271988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:20.05, Z:-109.27 [[ 9.99632532e-01 -1.18765328e-02 2.43669689e-02 2.15994707e+02] [ 1.27292983e-02 9.99301137e-01 -3.51454448e-02 2.00519488e+01] [-2.39325337e-02 3.54427044e-02 9.99085106e-01 -1.09272408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.03, Y:20.02, Z:-109.27 [[ 9.99600762e-01 -1.28572681e-02 2.51596183e-02 2.16027687e+02] [ 1.28562442e-02 9.99917335e-01 2.02455977e-04 2.00173980e+01] [-2.51601415e-02 1.21083048e-04 9.99683426e-01 -1.09273989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.06, Y:20.01, Z:-109.27 [[ 9.99660750e-01 -1.36731068e-02 2.21682518e-02 2.16060532e+02] [ 1.36727653e-02 9.99906509e-01 1.66983289e-04 2.00142844e+01] [-2.21684625e-02 1.36174665e-04 9.99754240e-01 -1.09273898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:20.01, Z:-109.27 [[ 9.99675308e-01 -1.36122280e-02 2.15403180e-02 2.16093968e+02] [ 1.36121333e-02 9.99907339e-01 1.51023998e-04 2.00133087e+01] [-2.15403779e-02 1.42234719e-04 9.99767969e-01 -1.09274888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.12, Y:19.97, Z:-109.27 [[ 9.99744253e-01 -1.47979023e-02 -1.71011624e-02 2.16123964e+02] [ 1.55984020e-02 9.98741561e-01 4.76653386e-02 1.99661416e+01] [ 1.63742946e-02 -4.79198991e-02 9.98716960e-01 -1.09269776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:20.05, Z:-109.27 [[ 9.99542933e-01 -1.43555377e-02 2.66053252e-02 2.16154154e+02] [ 1.55719979e-02 9.98815731e-01 -4.60939133e-02 2.00532269e+01] [-2.59121144e-02 4.64871434e-02 9.98582750e-01 -1.09271145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.19, Y:20.01, Z:-109.27 [[ 9.99534852e-01 -1.40428073e-02 2.70717361e-02 2.16187954e+02] [ 1.40434961e-02 9.99901372e-01 1.64688512e-04 2.00066911e+01] [-2.70713787e-02 2.15569914e-04 9.99633480e-01 -1.09271940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:20.00, Z:-109.27 [[ 9.99565045e-01 -1.39977608e-02 2.59573578e-02 2.16221160e+02] [ 1.39987277e-02 9.99902003e-01 1.44476803e-04 2.00049085e+01] [-2.59568364e-02 2.18956020e-04 9.99663041e-01 -1.09273308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:20.00, Z:-109.27 [[ 9.99560858e-01 -1.33237177e-02 2.64682908e-02 2.16254536e+02] [ 1.33248532e-02 9.99911211e-01 1.33481120e-04 2.00033682e+01] [-2.64677192e-02 2.19263587e-04 9.99649645e-01 -1.09271830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:19.91, Z:-109.26 [[ 9.99889013e-01 -1.36505309e-02 -5.96868557e-03 2.16283521e+02] [ 1.41895303e-02 9.94656311e-01 1.02261824e-01 1.99052840e+01] [ 4.54086258e-03 -1.02335167e-01 9.94739611e-01 -1.09264005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:216.31, Y:20.02, Z:-109.27 [[ 9.99911620e-01 -1.22902799e-02 -5.06971705e-03 2.16310406e+02] [ 1.22110614e-02 9.99807285e-01 -1.53715027e-02 2.00157368e+01] [ 5.25766011e-03 1.53082376e-02 9.99868999e-01 -1.09268111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:216.34, Y:20.08, Z:-109.27 [[ 9.99353145e-01 -1.13440700e-02 3.41262752e-02 2.16339970e+02] [ 1.41322633e-02 9.96482265e-01 -8.26037186e-02 2.00789154e+01] [-3.30691657e-02 8.30325675e-02 9.95998004e-01 -1.09266652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:216.37, Y:19.92, Z:-109.26 [[ 9.99901178e-01 -1.28859416e-02 -5.62013384e-03 2.16369914e+02] [ 1.33411387e-02 9.95821656e-01 9.03395993e-02 1.99151983e+01] [ 4.43254019e-03 -9.04056508e-02 9.95895161e-01 -1.09261929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.40, Y:19.98, Z:-109.27 [[ 9.99938976e-01 -1.10467125e-02 -1.17546743e-04 2.16398667e+02] [ 1.10465742e-02 9.99688132e-01 2.23967028e-02 1.99785021e+01] [-1.29899853e-04 -2.23966345e-02 9.99749155e-01 -1.09266136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:216.43, Y:20.02, Z:-109.27 [[ 9.99940086e-01 -8.28023769e-03 7.15977440e-03 2.16425200e+02] [ 8.39386766e-03 9.99836935e-01 -1.59889493e-02 2.00154873e+01] [-7.02621459e-03 1.60480896e-02 9.99846534e-01 -1.09265184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:20.03, Z:-109.26 [[ 9.99974674e-01 -7.02928757e-03 -1.11406278e-03 2.16457549e+02] [ 6.98639080e-03 9.99373076e-01 -3.47079906e-02 2.00349498e+01] [ 1.35733679e-03 3.46993283e-02 9.99396875e-01 -1.09264935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.49, Y:20.05, Z:-109.27 [[ 9.99073481e-01 -6.18128008e-03 4.25907505e-02 2.16486420e+02] [ 8.46413893e-03 9.98525013e-01 -5.36298128e-02 2.00528119e+01] [-4.21964288e-02 5.39406178e-02 9.97652179e-01 -1.09266121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:20.00, Z:-109.27 [[ 9.99090220e-01 -5.26671063e-03 4.23201323e-02 2.16519823e+02] [ 5.26234755e-03 9.99986131e-01 2.14498630e-04 2.00032873e+01] [-4.23206750e-02 8.39976100e-06 9.99104079e-01 -1.09267595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.55, Y:20.00, Z:-109.27 [[ 9.99147765e-01 -3.94332027e-03 4.10876345e-02 2.16552670e+02] [ 3.93897377e-03 9.99992225e-01 1.86741615e-04 2.00043457e+01] [-4.10880515e-02 -2.47393526e-05 9.99155529e-01 -1.09268407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.59, Y:20.01, Z:-109.27 [[ 9.99056497e-01 -2.63811476e-03 4.33492270e-02 2.16585816e+02] [ 2.63307319e-03 9.99996518e-01 1.73398657e-04 2.00059437e+01] [-4.33495335e-02 -5.90933680e-05 9.99059965e-01 -1.09267302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.62, Y:20.01, Z:-109.27 [[ 9.99053119e-01 -2.41356099e-03 4.34400800e-02 2.16618681e+02] [ 2.40929390e-03 9.99997086e-01 1.50583665e-04 2.00070602e+01] [-4.34403169e-02 -4.57811603e-05 9.99056023e-01 -1.09267863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.65, Y:20.01, Z:-109.27 [[ 9.99053658e-01 -2.17794167e-03 4.34401304e-02 2.16652179e+02] [ 2.17413753e-03 9.99997627e-01 1.34816704e-04 2.00072614e+01] [-4.34403209e-02 -4.02443037e-05 9.99056023e-01 -1.09268488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.68, Y:20.01, Z:-109.27 [[ 9.99088753e-01 -1.56754878e-03 4.26521515e-02 2.16684858e+02] [ 1.56405697e-03 9.99998770e-01 1.15237444e-04 2.00089094e+01] [-4.26522797e-02 -4.84220393e-05 9.99089976e-01 -1.09269459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.72, Y:19.92, Z:-109.26 [[ 9.99860089e-01 -1.28181491e-03 -1.66781096e-02 2.16715746e+02] [ 2.79869650e-03 9.95824275e-01 9.12479028e-02 1.99238363e+01] [ 1.64915035e-02 -9.12818132e-02 9.95688536e-01 -1.09262490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:19.99, Z:-109.27 [[ 9.99966975e-01 4.24653361e-04 8.11597472e-03 2.16740951e+02] [-6.11511338e-04 9.99734475e-01 2.30348842e-02 1.99875428e+01] [-8.10403789e-03 -2.30390864e-02 9.99701718e-01 -1.09267932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.77, Y:20.11, Z:-109.26 [[ 9.98691627e-01 7.34720428e-04 5.11321209e-02 2.16770032e+02] [ 4.92599638e-03 9.93864646e-01 -1.10493441e-01 2.01133317e+01] [-5.08995890e-02 1.10600751e-01 9.92560681e-01 -1.09263265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.80, Y:19.96, Z:-109.26 [[ 9.99941661e-01 -3.29638576e-03 1.02863523e-02 2.16802293e+02] [ 2.78167878e-03 9.98762454e-01 4.96570431e-02 1.99635455e+01] [-1.04373112e-02 -4.96255328e-02 9.98713357e-01 -1.09264075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.83, Y:20.06, Z:-109.27 [[ 9.98596177e-01 -2.78848587e-03 5.28951853e-02 2.16833087e+02] [ 5.34285399e-03 9.98822865e-01 -4.82113846e-02 2.00557987e+01] [-5.26984837e-02 4.84263156e-02 9.97435593e-01 -1.09267407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.87, Y:20.01, Z:-109.27 [[ 9.98621063e-01 -5.65528825e-03 5.21918664e-02 2.16866232e+02] [ 5.65524223e-03 9.99983998e-01 1.48562521e-04 2.00104762e+01] [-5.21918714e-02 1.46799984e-04 9.98637065e-01 -1.09271103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:216.90, Y:20.01, Z:-109.27 [[ 9.98683743e-01 -5.45428765e-03 5.10003079e-02 2.16899251e+02] [ 5.45534620e-03 9.99985112e-01 1.18448022e-04 2.00107195e+01] [-5.10001947e-02 1.59932222e-04 9.98698631e-01 -1.09272747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:216.93, Y:20.01, Z:-109.27 [[ 9.98655308e-01 -4.96638299e-03 5.16033964e-02 2.16931822e+02] [ 4.96823821e-03 9.99987654e-01 9.23237116e-05 2.00114720e+01] [-5.16032179e-02 1.64178401e-04 9.98667653e-01 -1.09273609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:216.96, Y:19.93, Z:-109.27 [[ 9.99875341e-01 -8.28084640e-03 1.34435957e-02 2.16959785e+02] [ 7.13626098e-03 9.96518853e-01 8.30617191e-02 1.99329860e+01] [-1.40846179e-02 -8.29554277e-02 9.96453722e-01 -1.09268479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.99, Y:20.09, Z:-109.27 [[ 9.98436923e-01 -3.84758993e-03 5.57575797e-02 2.16992683e+02] [ 8.41744454e-03 9.96600239e-01 -8.19579760e-02 2.00877841e+01] [-5.52526766e-02 8.22992057e-02 9.95074863e-01 -1.09270764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:217.02, Y:19.91, Z:-109.27 [[ 9.99754097e-01 -1.14130613e-02 1.90128141e-02 2.17022558e+02] [ 9.41059971e-03 9.94712241e-01 1.02269248e-01 1.99114474e+01] [-2.00794841e-02 -1.02065177e-01 9.94575042e-01 -1.09266862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:217.06, Y:20.10, Z:-109.27 [[ 9.98284118e-01 -5.03603067e-03 5.83391581e-02 2.17055356e+02] [ 1.08250853e-02 9.94994189e-01 -9.93447562e-02 2.01003709e+01] [-5.75468201e-02 9.98058187e-02 9.93341413e-01 -1.09271257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:217.09, Y:20.00, Z:-109.28 [[ 9.98103958e-01 -1.00127930e-02 6.07308292e-02 2.17088507e+02] [ 1.00294993e-02 9.99949703e-01 2.97460905e-05 2.00047406e+01] [-6.07280724e-02 5.79410116e-04 9.98154179e-01 -1.09275527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:217.12, Y:20.00, Z:-109.28 [[ 9.98080474e-01 -9.45119959e-03 6.12049219e-02 2.17121879e+02] [ 9.46907537e-03 9.99955167e-01 -2.01561602e-06 2.00038806e+01] [-6.12021588e-02 5.81565765e-04 9.98125221e-01 -1.09276333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:217.15, Y:20.00, Z:-109.28 [[ 9.98088442e-01 -9.03520597e-03 6.11377694e-02 2.17154772e+02] [ 9.05420127e-03 9.99959009e-01 -3.36620269e-05 2.00032161e+01] [-6.11349592e-02 5.87151349e-04 9.98129336e-01 -1.09277275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:217.18, Y:19.91, Z:-109.27 [[ 9.99629230e-01 -1.22856545e-02 2.42994989e-02 2.17180831e+02] [ 9.90798423e-03 9.95365107e-01 9.56563410e-02 1.99129993e+01] [-2.53620741e-02 -9.53801154e-02 9.95117781e-01 -1.09270165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:217.21, Y:20.09, Z:-109.28 [[ 9.97891288e-01 -3.11989850e-03 6.48324204e-02 2.17214802e+02] [ 9.22026260e-03 9.95528592e-01 -9.40096255e-02 2.00914739e+01] [-6.42492277e-02 9.44091583e-02 9.93458075e-01 -1.09275662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:217.25, Y:20.00, Z:-109.28 [[ 9.97863151e-01 -5.65470378e-03 6.50934395e-02 2.17247503e+02] [ 5.67458590e-03 9.99983892e-01 -1.20556980e-04 2.00028050e+01] [-6.50917092e-02 4.89677682e-04 9.97879166e-01 -1.09280177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:217.28, Y:19.95, Z:-109.28 [[ 9.99712361e-01 -8.55616590e-03 2.24050690e-02 2.17276879e+02] [ 7.31920690e-03 9.98474888e-01 5.47204378e-02 1.99513573e+01] [-2.28390960e-02 -5.45407107e-02 9.98250313e-01 -1.09275741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:217.31, Y:20.05, Z:-109.28 [[ 9.97765937e-01 -4.81900286e-03 6.66326620e-02 2.17309963e+02] [ 8.39254842e-03 9.98534985e-01 -5.34551057e-02 2.00533368e+01] [-6.62774438e-02 5.38949015e-02 9.96344639e-01 -1.09280606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:217.34, Y:19.96, Z:-109.28 [[ 9.99662803e-01 -1.05151934e-02 2.37426116e-02 2.17338212e+02] [ 9.32201744e-03 9.98714816e-01 4.98178309e-02 1.99557030e+01] [-2.42359421e-02 -4.95797035e-02 9.98476075e-01 -1.09277542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:217.37, Y:20.00, Z:-109.28 [[ 9.99609561e-01 -8.27604066e-03 2.66876910e-02 2.17369707e+02] [ 8.08972611e-03 9.99942201e-01 7.08171993e-03 1.99955966e+01] [-2.67447570e-02 -6.86305884e-03 9.99618736e-01 -1.09280396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.40, Y:20.05, Z:-109.28 [[ 9.97480155e-01 -3.45300850e-03 7.08619574e-02 2.17403452e+02] [ 7.36857299e-03 9.98455336e-01 -5.50694718e-02 2.00545679e+01] [-7.05623441e-02 5.54528568e-02 9.95964827e-01 -1.09283761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:217.43, Y:19.96, Z:-109.28 [[ 9.99588362e-01 -8.72762383e-03 2.73301297e-02 2.17431855e+02] [ 7.34883608e-03 9.98714680e-01 5.01495984e-02 1.99565164e+01] [-2.77326885e-02 -4.99281103e-02 9.98367709e-01 -1.09279905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:217.46, Y:20.00, Z:-109.28 [[ 9.99550617e-01 -5.40335578e-03 2.94850541e-02 2.17463477e+02] [ 5.34913794e-03 9.99983855e-01 1.91739232e-03 2.00023753e+01] [-2.94949384e-02 -1.75881105e-03 9.99563382e-01 -1.09282442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:217.50, Y:20.05, Z:-109.29 [[ 9.97309549e-01 2.20891671e-04 7.33049376e-02 2.17497153e+02] [ 3.50449056e-03 9.98708397e-01 -5.06878308e-02 2.00529650e+01] [-7.32214532e-02 5.08083541e-02 9.96020647e-01 -1.09286047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:217.53, Y:20.01, Z:-109.29 [[ 9.97292281e-01 -7.84795550e-04 7.35356453e-02 2.17529751e+02] [ 8.18162113e-04 9.99999576e-01 -4.23625070e-04 2.00060358e+01] [-7.35352817e-02 4.82642091e-04 9.97292499e-01 -1.09288002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:217.56, Y:20.01, Z:-109.29 [[ 9.97357209e-01 -3.09658808e-05 7.26539532e-02 2.17562613e+02] [ 6.42788548e-05 9.99999894e-01 -4.56177541e-04 2.00059935e+01] [-7.26539314e-02 4.59642072e-04 9.97357105e-01 -1.09289281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:217.59, Y:19.97, Z:-109.29 [[ 9.99539107e-01 -4.10608008e-03 3.00784546e-02 2.17592201e+02] [ 2.81579365e-03 9.99079058e-01 4.28147912e-02 1.99653532e+01] [-3.02265550e-02 -4.27103634e-02 9.98630152e-01 -1.09286458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:217.62, Y:20.02, Z:-109.29 [[ 9.99405296e-01 -1.62981294e-03 3.44441265e-02 2.17622972e+02] [ 1.98104456e-03 9.99946368e-01 -1.01654747e-02 2.00158411e+01] [-3.44257114e-02 1.02276646e-02 9.99354925e-01 -1.09289750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:217.65, Y:19.93, Z:-109.29 [[ 9.99212328e-01 -5.66758934e-03 3.92759620e-02 2.17650338e+02] [ 2.58388436e-03 9.96940294e-01 7.81240972e-02 1.99333582e+01] [-3.95985644e-02 -7.79610765e-02 9.96169676e-01 -1.09285885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55592000000001 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:217.68, Y:20.08, Z:-109.29 [[ 9.99111138e-01 2.56011221e-03 4.20758734e-02 2.17684010e+02] [ 9.67588605e-04 9.96498259e-01 -8.36079119e-02 2.00846766e+01] [-4.21425802e-02 8.35743082e-02 9.95610033e-01 -1.09288691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:217.71, Y:20.00, Z:-109.29 [[ 9.99056899e-01 -1.49355673e-03 4.33944901e-02 2.17714933e+02] [ 1.31643730e-03 9.99990688e-01 4.10990108e-03 2.00016268e+01] [-4.34002243e-02 -4.04889890e-03 9.99049562e-01 -1.09291827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:217.75, Y:20.04, Z:-109.29 [[ 9.96616338e-01 1.48438196e-03 8.21807258e-02 2.17749065e+02] [ 1.17754789e-03 9.99476451e-01 -3.23332297e-02 2.00363196e+01] [-8.21856950e-02 3.23205967e-02 9.96092812e-01 -1.09294829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:217.78, Y:19.98, Z:-109.29 [[ 9.98981312e-01 -2.50995698e-03 4.50559413e-02 2.17778355e+02] [ 1.34793132e-03 9.99666148e-01 2.58026089e-02 1.99832298e+01] [-4.51056628e-02 -2.57155918e-02 9.98651184e-01 -1.09294241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:217.81, Y:20.03, Z:-109.30 [[ 9.96616519e-01 2.31227600e-03 8.21594061e-02 2.17813543e+02] [-1.19199352e-04 9.99643809e-01 -2.66878310e-02 2.00323427e+01] [-8.21918513e-02 2.65877399e-02 9.96261809e-01 -1.09298613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:217.84, Y:19.98, Z:-109.30 [[ 9.98983710e-01 -3.08872921e-03 4.49667379e-02 2.17843093e+02] [ 1.68597106e-03 9.99511739e-01 3.12000280e-02 1.99766629e+01] [-4.50411508e-02 -3.10925071e-02 9.98501152e-01 -1.09296453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73592 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:217.88, Y:20.01, Z:-109.30 [[ 9.98913643e-01 -1.44459570e-03 4.65773281e-02 2.17875568e+02] [ 1.60069822e-03 9.99993226e-01 -3.31434591e-03 2.00091929e+01] [-4.65722247e-02 3.38530159e-03 9.98909189e-01 -1.09298663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:217.91, Y:20.03, Z:-109.30 [[ 9.96474719e-01 -3.27876884e-04 8.38929544e-02 2.17909801e+02] [ 2.77985351e-03 9.99572282e-01 -2.91123029e-02 2.00322410e+01] [-8.38475266e-02 2.92428839e-02 9.96049419e-01 -1.09302102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:217.94, Y:19.94, Z:-109.30 [[ 9.98612202e-01 -7.31229766e-03 5.21555336e-02 2.17938237e+02] [ 3.62299912e-03 9.97506382e-01 7.04832681e-02 1.99372300e+01] [-5.25408723e-02 -7.01964922e-02 9.96148538e-01 -1.09298610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:217.97, Y:20.07, Z:-109.30 [[ 9.96349610e-01 6.86573182e-04 8.53638340e-02 2.17973323e+02] [ 5.41678398e-03 9.97444069e-01 -7.12459676e-02 2.00688370e+01] [-8.51945655e-02 7.14482894e-02 9.93799290e-01 -1.09304811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:218.01, Y:20.00, Z:-109.31 [[ 9.96360582e-01 -3.44475555e-03 8.51688027e-02 2.18005616e+02] [ 3.54823662e-03 9.99993139e-01 -1.06366636e-03 2.00022265e+01] [-8.51645543e-02 1.36199430e-03 9.96365969e-01 -1.09307775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:218.04, Y:19.98, Z:-109.31 [[ 9.98816676e-01 -6.50587077e-03 4.81967044e-02 2.18035293e+02] [ 5.27923183e-03 9.99660004e-01 2.55344018e-02 1.99754810e+01] [-4.83464413e-02 -2.52497448e-02 9.98511428e-01 -1.09307046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:218.07, Y:20.02, Z:-109.31 [[ 9.96646991e-01 -1.48186925e-03 8.18081902e-02 2.18069144e+02] [ 3.65238228e-03 9.99645092e-01 -2.63884640e-02 2.00222752e+01] [-8.17400515e-02 2.65987780e-02 9.96298685e-01 -1.09312060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:218.10, Y:20.00, Z:-109.31 [[ 9.96434918e-01 -2.31339512e-03 8.43332768e-02 2.18101646e+02] [ 2.41937495e-03 9.99996407e-01 -1.15450125e-03 1.99951909e+01] [-8.43303029e-02 1.35441918e-03 9.96436935e-01 -1.09313337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:218.13, Y:19.99, Z:-109.32 [[ 9.96485690e-01 -3.03487191e-03 8.37081840e-02 2.18134739e+02] [ 3.14539023e-03 9.99994347e-01 -1.18843335e-03 1.99937496e+01] [-8.37041040e-02 1.44755173e-03 9.96489602e-01 -1.09315828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:218.17, Y:19.99, Z:-109.32 [[ 9.96475438e-01 -3.48454695e-03 8.38126431e-02 2.18167609e+02] [ 3.60053583e-03 9.99992758e-01 -1.23279497e-03 1.99916400e+01] [-8.38077404e-02 1.53022034e-03 9.96480768e-01 -1.09317612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:218.20, Y:19.98, Z:-109.32 [[ 9.98532655e-01 -6.74037655e-03 5.37317866e-02 2.18198162e+02] [ 6.08356773e-03 9.99904883e-01 1.23780435e-02 1.99777143e+01] [-5.38101084e-02 -1.20329996e-02 9.98478682e-01 -1.09316746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters Centerline goodness : 0.870739 Centerline is valid? [True, False] Translation: X:218.25, Y:19.99, Z:-109.32 [[ 9.99610645e-01 -3.69180316e-03 2.76573609e-02 2.18245570e+02] [ 3.62538705e-03 9.99990424e-01 2.45114923e-03 1.99867185e+01] [-2.76661452e-02 -2.34992622e-03 9.99614457e-01 -1.09317862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09592 meters Centerline goodness : 0.998413 Centerline is valid? [False, True] Translation: X:218.27, Y:19.99, Z:-109.32 [[ 9.99956389e-01 -1.04554231e-03 9.28046891e-03 2.18268982e+02] [ 1.04179620e-03 9.99999374e-01 4.08480337e-04 1.99896063e+01] [-9.28089019e-03 -3.98794166e-04 9.99956852e-01 -1.09318056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:218.30, Y:20.03, Z:-109.32 [[ 9.99939353e-01 3.53777615e-03 1.04294858e-02 2.18299577e+02] [-3.11047925e-03 9.99166351e-01 -4.07053887e-02 2.00284253e+01] [-1.05647978e-02 4.06704793e-02 9.99116759e-01 -1.09317433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15592 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:218.33, Y:20.03, Z:-109.32 [[ 9.98914508e-01 6.24735285e-03 4.61603303e-02 2.18333047e+02] [-4.25087545e-03 9.99056398e-01 -4.32231888e-02 2.00296532e+01] [-4.63868038e-02 4.29800486e-02 9.97998487e-01 -1.09319710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:218.36, Y:19.91, Z:-109.31 [[ 9.99891907e-01 2.64518893e-03 1.44629291e-02 2.18359334e+02] [-3.88451981e-03 9.96257672e-01 8.63455907e-02 1.99077504e+01] [-1.41804037e-02 -8.63924389e-02 9.96160260e-01 -1.09311845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:218.40, Y:20.07, Z:-109.32 [[ 9.98827646e-01 1.13935500e-02 4.70480643e-02 2.18397111e+02] [-7.27728525e-03 9.96203312e-01 -8.67525296e-02 2.00721735e+01] [-4.78578568e-02 8.63084428e-02 9.95118324e-01 -1.09318098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:218.42, Y:19.93, Z:-109.31 [[ 9.99767495e-01 7.26857049e-03 2.03008293e-02 2.18423321e+02] [-8.52568889e-03 9.98005994e-01 6.25407807e-02 1.99325095e+01] [-1.98057673e-02 -6.26993182e-02 9.97835922e-01 -1.09314820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:218.45, Y:19.97, Z:-109.32 [[ 9.99691116e-01 9.98345930e-03 2.27596937e-02 2.18454535e+02] [-1.05375212e-02 9.99647824e-01 2.43554654e-02 1.99692300e+01] [-2.25085265e-02 -2.45877731e-02 9.99444249e-01 -1.09317776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:218.49, Y:20.07, Z:-109.32 [[ 9.98568303e-01 1.59874222e-02 5.10465100e-02 2.18490078e+02] [-1.15268143e-02 9.96184174e-01 -8.65114101e-02 2.00738514e+01] [-5.22348198e-02 8.57991483e-02 9.94942224e-01 -1.09319294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:218.52, Y:20.00, Z:-109.32 [[ 9.98576036e-01 1.36759412e-02 5.15642161e-02 2.18521124e+02] [-1.36383277e-02 9.99906409e-01 -1.08125494e-03 1.99954178e+01] [-5.15741773e-02 3.76465600e-04 9.98669096e-01 -1.09321035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:218.55, Y:20.00, Z:-109.32 [[ 9.98465144e-01 1.49151603e-02 5.33375456e-02 2.18553829e+02] [-1.48751514e-02 9.99888701e-01 -1.14703448e-03 1.99963460e+01] [-5.33487174e-02 3.51869880e-04 9.98575881e-01 -1.09322464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39592000000002 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:218.59, Y:20.00, Z:-109.32 [[ 9.98507004e-01 1.53756145e-02 5.24152034e-02 2.18586340e+02] [-1.53361824e-02 9.99881727e-01 -1.15444500e-03 1.99964590e+01] [-5.24267544e-02 3.48872304e-04 9.98624711e-01 -1.09324212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:218.61, Y:19.91, Z:-109.32 [[ 9.99685133e-01 1.05582194e-02 2.27630893e-02 2.18609959e+02] [-1.25674899e-02 9.95861142e-01 9.00146898e-02 1.99124898e+01] [-2.17184813e-02 -9.02724221e-02 9.95680269e-01 -1.09317311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:218.64, Y:20.00, Z:-109.32 [[ 9.99610091e-01 1.45598603e-02 2.38259547e-02 2.18643531e+02] [-1.46112326e-02 9.99891283e-01 1.98347590e-03 1.99952113e+01] [-2.37944853e-02 -2.33082909e-03 9.99714154e-01 -1.09322615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:218.68, Y:20.01, Z:-109.32 [[ 9.99518305e-01 1.58231571e-02 2.66980301e-02 2.18675431e+02] [-1.54113134e-02 9.99760131e-01 -1.55618874e-02 2.00149018e+01] [-2.69378643e-02 1.51429396e-02 9.99522407e-01 -1.09322151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:218.71, Y:20.07, Z:-109.32 [[ 9.97800942e-01 2.02603550e-02 6.31094209e-02 2.18710338e+02] [-1.53024851e-02 9.96830005e-01 -7.80754396e-02 2.00734357e+01] [-6.44912005e-02 7.69380162e-02 9.94947952e-01 -1.09322308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:218.74, Y:20.00, Z:-109.33 [[ 9.97769743e-01 1.72390554e-02 6.44853073e-02 2.18741876e+02] [-1.71728480e-02 9.99851286e-01 -1.58088137e-03 2.00017433e+01] [-6.45029703e-02 4.69959218e-04 9.97917404e-01 -1.09325499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:218.77, Y:19.93, Z:-109.32 [[ 9.99513059e-01 8.02396025e-03 3.01539641e-02 2.18766043e+02] [-1.03761989e-02 9.96845974e-01 7.86793356e-02 1.99292339e+01] [-2.94275378e-02 -7.89539069e-02 9.96443827e-01 -1.09323466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:218.80, Y:20.04, Z:-109.33 [[ 9.99632690e-01 1.01055730e-02 2.51468261e-02 2.18801223e+02] [-9.07279476e-03 9.99124079e-01 -4.08504454e-02 2.00448294e+01] [-2.55376166e-02 4.06072886e-02 9.98848776e-01 -1.09327700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:218.83, Y:20.02, Z:-109.33 [[ 9.99488975e-01 7.92153290e-03 3.09683414e-02 2.18831397e+02] [-7.61666050e-03 9.99921486e-01 -9.95025066e-03 2.00154051e+01] [-3.10447312e-02 9.70929049e-03 9.99470837e-01 -1.09328873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:218.87, Y:20.04, Z:-109.33 [[ 9.97578902e-01 1.05539607e-02 6.87382523e-02 2.18867041e+02] [-8.28733909e-03 9.99415140e-01 -3.31767746e-02 2.00361010e+01] [-6.90481964e-02 3.25267932e-02 9.97082922e-01 -1.09331595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69592 meters Centerline goodness : 0.972565 Centerline is valid? [True, True] Translation: X:218.88, Y:19.86, Z:-109.33 [[ 9.95774777e-01 -7.88855953e-02 4.70069730e-02 2.18883199e+02] [ 7.34996716e-02 9.91540064e-01 1.06986447e-01 1.98649810e+01] [-5.50489866e-02 -1.03079408e-01 9.93148652e-01 -1.09328607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:218.93, Y:20.11, Z:-109.33 [[ 9.97669196e-01 8.83434271e-03 6.76618778e-02 2.18932273e+02] [-1.47545368e-03 9.94144791e-01 -1.08046087e-01 2.01086395e+01] [-6.82202195e-02 1.07694420e-01 9.91840669e-01 -1.09328996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:218.96, Y:19.97, Z:-109.33 [[ 9.99482981e-01 -2.14098640e-03 3.20809563e-02 2.18955725e+02] [ 7.50438974e-04 9.99062074e-01 4.32944490e-02 1.99661487e+01] [-3.21435595e-02 -4.32479902e-02 9.98547146e-01 -1.09331777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:218.99, Y:20.05, Z:-109.34 [[ 9.97438897e-01 4.93332310e-03 7.13534098e-02 2.18993660e+02] [-1.72581438e-03 9.98987999e-01 -4.49443999e-02 2.00481114e+01] [-7.15029253e-02 4.47061499e-02 9.96438002e-01 -1.09337293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.03, Y:20.01, Z:-109.34 [[ 9.97267793e-01 3.96367839e-03 7.37647471e-02 2.19025829e+02] [-3.81994395e-03 9.99990521e-01 -2.08953123e-03 2.00068035e+01] [-7.37723301e-02 1.80204500e-03 9.97273481e-01 -1.09340472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:219.05, Y:19.93, Z:-109.34 [[ 9.99145082e-01 -1.45300113e-03 4.13157857e-02 2.19051488e+02] [-1.96769709e-03 9.96578110e-01 8.26329194e-02 1.99267181e+01] [-4.12944734e-02 -8.26435720e-02 9.95723258e-01 -1.09335584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:219.08, Y:19.98, Z:-109.34 [[ 9.99128373e-01 2.74834615e-03 4.16526193e-02 2.19083267e+02] [-3.79714282e-03 9.99677195e-01 2.51214490e-02 1.99801059e+01] [-4.15701312e-02 -2.52577134e-02 9.98816285e-01 -1.09336672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:20.10, Z:-109.34 [[ 9.97393506e-01 1.08646694e-02 7.13312941e-02 2.19121492e+02] [-3.23750051e-03 9.94341398e-01 -1.06182407e-01 2.01026418e+01] [-7.20812954e-02 1.05674709e-01 9.91784827e-01 -1.09335200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:219.15, Y:19.92, Z:-109.34 [[ 9.98771089e-01 2.39457770e-03 4.95033187e-02 2.19145178e+02] [-6.88131335e-03 9.95857710e-01 9.06645914e-02 1.99171675e+01] [-4.90811582e-02 -9.08938205e-02 9.94650367e-01 -1.09336445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.18, Y:20.09, Z:-109.34 [[ 9.97110268e-01 1.19673621e-02 7.50192995e-02 2.19183466e+02] [-5.01553510e-03 9.95729804e-01 -9.21791810e-02 2.00889025e+01] [-7.58020940e-02 9.15365460e-02 9.92912435e-01 -1.09339044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:219.21, Y:20.00, Z:-109.34 [[ 9.96785007e-01 8.17604767e-03 7.97044655e-02 2.19214126e+02] [-8.01064796e-03 9.99965047e-01 -2.39469782e-03 2.00013478e+01] [-7.97212588e-02 1.74851447e-03 9.96815662e-01 -1.09344359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:219.25, Y:20.00, Z:-109.35 [[ 9.96787973e-01 8.65222852e-03 7.96170568e-02 2.19247304e+02] [-8.48552256e-03 9.99961040e-01 -2.43194872e-03 2.00002496e+01] [-7.96349967e-02 1.74854491e-03 9.96822557e-01 -1.09345441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.27, Y:19.93, Z:-109.34 [[ 9.99192694e-01 5.68942442e-03 3.97692259e-02 2.19274869e+02] [-8.47114661e-03 9.97501748e-01 7.01320413e-02 1.99314048e+01] [-3.92708614e-02 -7.04123142e-02 9.96744654e-01 -1.09344317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:20.01, Z:-109.35 [[ 9.99142078e-01 9.40175710e-03 4.03325604e-02 2.19304238e+02] [-8.98596760e-03 9.99904728e-01 -1.04779621e-02 2.00063922e+01] [-4.04272290e-02 1.01065458e-02 9.99131371e-01 -1.09347657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.34, Y:20.05, Z:-109.35 [[ 9.96592036e-01 1.48342271e-02 8.11434502e-02 2.19339972e+02] [-9.57983667e-03 9.97854594e-01 -6.47644720e-02 2.00536358e+01] [-8.19300954e-02 6.37664160e-02 9.94596050e-01 -1.09349135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:219.36, Y:19.90, Z:-109.35 [[ 9.98878625e-01 5.65285491e-03 4.70057116e-02 2.19363632e+02] [-1.00203051e-02 9.95596639e-01 9.32036790e-02 1.99033218e+01] [-4.62718617e-02 -9.35701743e-02 9.94536846e-01 -1.09346018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:20.08, Z:-109.35 [[ 9.96828694e-01 1.68353953e-02 7.77761181e-02 2.19403839e+02] [-9.26172641e-03 9.95267463e-01 -9.67310619e-02 2.00816807e+01] [-7.90365454e-02 9.57039570e-02 9.92267090e-01 -1.09349717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.43, Y:19.89, Z:-109.35 [[ 9.98676555e-01 5.28623563e-03 5.11585152e-02 2.19425143e+02] [-1.04983327e-02 9.94712988e-01 1.02156043e-01 1.98928009e+01] [-5.03480186e-02 -1.02557924e-01 9.93452037e-01 -1.09346782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:19.99, Z:-109.35 [[ 9.98345196e-01 1.14844768e-02 5.63469248e-02 2.19458992e+02] [-1.12329412e-02 9.99925489e-01 -4.77875543e-03 1.99914002e+01] [-5.63976079e-02 4.13790583e-03 9.98399813e-01 -1.09352866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.49, Y:20.08, Z:-109.35 [[ 9.96428925e-01 1.74499698e-02 8.26129238e-02 2.19494683e+02] [-9.10081573e-03 9.94907423e-01 -1.00381248e-01 2.00784931e+01] [-8.39438609e-02 9.92709343e-02 9.91513343e-01 -1.09351485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:19.92, Z:-109.35 [[ 9.98748045e-01 6.85534838e-03 4.95514644e-02 2.19517720e+02] [-9.93449987e-03 9.98016512e-01 6.21638832e-02 1.99214008e+01] [-4.90270245e-02 -6.25783259e-02 9.96835144e-01 -1.09354362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:19.96, Z:-109.36 [[ 9.98728574e-01 9.20387778e-03 4.95633352e-02 2.19547232e+02] [-9.99225045e-03 9.99827098e-01 1.56821497e-02 1.99639602e+01] [-4.94104290e-02 -1.61574602e-02 9.98647859e-01 -1.09357183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:19.97, Z:-109.36 [[ 9.98165494e-01 9.61027191e-03 5.97769938e-02 2.19575406e+02] [-1.02262720e-02 9.99897631e-01 1.00075907e-02 1.99665727e+01] [-5.96746988e-02 -1.06005275e-02 9.98161590e-01 -1.09357209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.61, Y:20.01, Z:-109.36 [[ 9.98720124e-01 1.52283351e-02 4.82308097e-02 2.19609393e+02] [-1.31992779e-02 9.99025689e-01 -4.21123659e-02 2.00144636e+01] [-4.88251192e-02 4.14218555e-02 9.97948064e-01 -1.09357860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.64, Y:19.98, Z:-109.36 [[ 9.98298783e-01 1.66574164e-02 5.58754939e-02 2.19639608e+02] [-1.60391088e-02 9.99805274e-01 -1.14960953e-02 1.99829080e+01] [-5.60561088e-02 1.05803448e-02 9.98371559e-01 -1.09360664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.67, Y:20.01, Z:-109.36 [[ 9.95294524e-01 2.12505121e-02 9.45369054e-02 2.19674224e+02] [-1.70118883e-02 9.98823214e-01 -4.54178767e-02 2.00115401e+01] [-9.53908088e-02 4.35959127e-02 9.94484786e-01 -1.09363518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.71, Y:19.97, Z:-109.37 [[ 9.95174530e-01 1.87478981e-02 9.63128857e-02 2.19706063e+02] [-1.85079011e-02 9.99822985e-01 -3.38467313e-03 1.99691748e+01] [-9.63592924e-02 1.58579113e-03 9.95345353e-01 -1.09366535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.74, Y:19.97, Z:-109.37 [[ 9.95091730e-01 1.92273144e-02 9.70708976e-02 2.19738953e+02] [-1.89808972e-02 9.99813855e-01 -3.46140314e-03 1.99655842e+01] [-9.71193818e-02 1.60192091e-03 9.95271450e-01 -1.09369130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.77, Y:19.96, Z:-109.37 [[ 9.95202744e-01 1.97164138e-02 9.58267301e-02 2.19771989e+02] [-1.94738800e-02 9.99804360e-01 -3.46560637e-03 1.99621943e+01] [-9.58763119e-02 1.58286273e-03 9.95391997e-01 -1.09371312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.80, Y:19.88, Z:-109.36 [[ 9.98261188e-01 1.16749009e-02 5.77779994e-02 2.19797082e+02] [-1.64774068e-02 9.96383696e-01 8.33548218e-02 1.98789016e+01] [-5.65958972e-02 -8.41619150e-02 9.94843544e-01 -1.09363854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:219.83, Y:19.95, Z:-109.37 [[ 9.97791810e-01 1.86230629e-02 6.37548882e-02 2.19828017e+02] [-1.90073551e-02 9.99804618e-01 5.42639183e-03 1.99498987e+01] [-6.36413756e-02 -6.62622112e-03 9.97950835e-01 -1.09371295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:219.86, Y:19.96, Z:-109.37 [[ 9.98550361e-01 2.13499282e-02 4.94100983e-02 2.19859255e+02] [-2.09963561e-02 9.99750177e-01 -7.66392923e-03 1.99599470e+01] [-4.95613789e-02 6.61538728e-03 9.98749171e-01 -1.09371027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:19.93, Z:-109.37 [[ 9.97533553e-01 2.07672371e-02 6.70487302e-02 2.19885353e+02] [-2.21118788e-02 9.99567740e-01 1.93751721e-02 1.99320382e+01] [-6.66173789e-02 -2.08099577e-02 9.97561562e-01 -1.09372596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.92, Y:20.05, Z:-109.37 [[ 9.94123239e-01 3.34901046e-02 1.02943671e-01 2.19923211e+02] [-2.22664823e-02 9.93868509e-01 -1.08303237e-01 2.00490929e+01] [-1.05939560e-01 1.05374571e-01 9.88773487e-01 -1.09374996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:219.95, Y:19.88, Z:-109.37 [[ 9.98241923e-01 1.87264867e-02 5.62350664e-02 2.19946396e+02] [-2.27689190e-02 9.97135563e-01 7.21265909e-02 1.98776185e+01] [-5.47233070e-02 -7.32801984e-02 9.95808903e-01 -1.09371157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:219.98, Y:19.98, Z:-109.38 [[ 9.97298016e-01 2.85431523e-02 6.76901502e-02 2.19980781e+02] [-2.60708601e-02 9.98970302e-01 -3.71301353e-02 1.99794427e+01] [-6.86802608e-02 3.52650699e-02 9.97015244e-01 -1.09379144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.01, Y:19.93, Z:-109.38 [[ 9.97499187e-01 2.47672809e-02 6.61963303e-02 2.20009275e+02] [-2.57523994e-02 9.99569332e-01 1.40700097e-02 1.99296513e+01] [-6.58193458e-02 -1.57395376e-02 9.97707412e-01 -1.09378791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:220.04, Y:20.00, Z:-109.38 [[ 9.93311311e-01 3.22652079e-02 1.10867470e-01 2.20043975e+02] [-2.58611401e-02 9.97939238e-01 -5.87237536e-02 1.99960359e+01] [-1.12533732e-01 5.54638095e-02 9.92098748e-01 -1.09384500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.07, Y:19.90, Z:-109.38 [[ 9.97172798e-01 2.22652732e-02 7.17681543e-02 2.20071399e+02] [-2.52648389e-02 9.98833008e-01 4.11619926e-02 1.99014436e+01] [-7.07679184e-02 -4.28588302e-02 9.96571634e-01 -1.09381890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:220.10, Y:19.94, Z:-109.39 [[ 9.97004855e-01 2.69038122e-02 7.25086476e-02 2.20104328e+02] [-2.68219541e-02 9.99638015e-01 -2.10257635e-03 1.99409745e+01] [-7.25389680e-02 1.51455210e-04 9.97365567e-01 -1.09387807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89592000000002 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:220.13, Y:19.91, Z:-109.39 [[ 9.97629125e-01 2.36631578e-02 6.46234019e-02 2.20131971e+02] [-2.55329256e-02 9.99274394e-01 2.82622462e-02 1.99113944e+01] [-6.39077368e-02 -2.98452644e-02 9.97509429e-01 -1.09386989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:220.17, Y:19.97, Z:-109.39 [[ 9.96510474e-01 3.04671220e-02 7.77086229e-02 2.20165696e+02] [-2.80416771e-02 9.99090740e-01 -3.21147686e-02 1.99675558e+01] [-7.86164101e-02 2.98236232e-02 9.96458736e-01 -1.09389874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95592 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:220.19, Y:19.94, Z:-109.39 [[ 9.96301416e-01 2.83260759e-02 8.11241104e-02 2.20194985e+02] [-2.78009622e-02 9.99584622e-01 -7.59542202e-03 1.99431320e+01] [-8.13055617e-02 5.31200139e-03 9.96675067e-01 -1.09391701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:220.22, Y:19.92, Z:-109.39 [[ 9.96686033e-01 2.65977708e-02 7.68733429e-02 2.20222080e+02] [-2.78447673e-02 9.99496761e-01 1.51951874e-02 1.99195186e+01] [-7.64304991e-02 -1.72853514e-02 9.96925070e-01 -1.09394026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:220.26, Y:19.99, Z:-109.40 [[ 9.92153435e-01 3.51743609e-02 1.19976356e-01 2.20257757e+02] [-2.75441782e-02 9.97526265e-01 -6.46735575e-02 1.99914099e+01] [-1.21954418e-01 6.08614420e-02 9.90667959e-01 -1.09401029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:220.29, Y:19.90, Z:-109.40 [[ 9.95786995e-01 2.62802547e-02 8.78499239e-02 2.20285097e+02] [-2.87487961e-02 9.99223214e-01 2.69532008e-02 1.99040649e+01] [-8.70733463e-02 -2.93652264e-02 9.95769007e-01 -1.09399498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:220.32, Y:19.93, Z:-109.40 [[ 9.95689816e-01 2.93851595e-02 8.79676274e-02 2.20316707e+02] [-2.90544846e-02 9.99565136e-01 -5.03738229e-03 1.99330745e+01] [-8.80773977e-02 2.45981617e-03 9.96110597e-01 -1.09402950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:220.35, Y:19.93, Z:-109.40 [[ 9.95715062e-01 2.95884355e-02 8.76130126e-02 2.20347623e+02] [-2.96957474e-02 9.99558981e-01 -7.85673614e-05 1.99263092e+01] [-8.75766983e-02 -2.52350318e-03 9.96154583e-01 -1.09404880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:220.38, Y:19.93, Z:-109.41 [[ 9.95415786e-01 3.09835799e-02 9.04844213e-02 2.20378171e+02] [-3.02774138e-02 9.99499498e-01 -9.16684844e-03 1.99329540e+01] [-9.07231555e-02 6.38519138e-03 9.95855682e-01 -1.09408011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:220.41, Y:19.92, Z:-109.41 [[ 9.95803429e-01 3.21179130e-02 8.56969675e-02 2.20408500e+02] [-3.28267283e-02 9.99437415e-01 6.87450979e-03 1.99167888e+01] [-8.54279607e-02 -9.65881149e-03 9.96297531e-01 -1.09410803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:220.44, Y:19.94, Z:-109.42 [[ 9.95235403e-01 3.62437019e-02 9.05145689e-02 2.20440035e+02] [-3.51344895e-02 9.99287054e-01 -1.38184863e-02 1.99350635e+01] [-9.09508700e-02 1.05724636e-02 9.95799258e-01 -1.09415014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:220.47, Y:19.95, Z:-109.42 [[ 9.90909463e-01 4.14135229e-02 1.27997482e-01 2.20474163e+02] [-3.76682563e-02 9.98792280e-01 -3.15449586e-02 1.99483333e+01] [-1.29149284e-01 2.64367560e-02 9.91272697e-01 -1.09418910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:220.50, Y:19.89, Z:-109.42 [[ 9.95102655e-01 3.32889119e-02 9.30728449e-02 2.20502089e+02] [-3.60731228e-02 9.98945720e-01 2.83932889e-02 1.98917995e+01] [-9.20295383e-02 -3.16116653e-02 9.95254373e-01 -1.09417095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:220.53, Y:19.92, Z:-109.42 [[ 9.94870332e-01 3.79885969e-02 9.37544110e-02 2.20534697e+02] [-3.76217527e-02 9.99275921e-01 -5.67786204e-03 1.99228952e+01] [-9.39022194e-02 2.12153122e-03 9.95579164e-01 -1.09421965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:220.57, Y:19.91, Z:-109.42 [[ 9.94966687e-01 3.95419985e-02 9.20745500e-02 2.20565954e+02] [-4.02002470e-02 9.99177562e-01 5.30471149e-03 1.99105019e+01] [-9.17890655e-02 -8.97943086e-03 9.95737986e-01 -1.09424663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters Centerline goodness : 0.862460 Centerline is valid? [True, False] Translation: X:220.60, Y:19.90, Z:-109.43 [[ 9.96842168e-01 3.28837883e-02 7.22796606e-02 2.20595374e+02] [-3.37571391e-02 9.99370685e-01 1.08944298e-02 1.99042520e+01] [-7.18759238e-02 -1.32999816e-02 9.97324903e-01 -1.09427079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37592 meters Centerline goodness : 0.862460 Centerline is valid? [False, False] Translation: X:220.60, Y:19.90, Z:-109.43 [[ 9.96839544e-01 3.29038029e-02 7.23067373e-02 2.20595298e+02] [-3.37771572e-02 9.99370071e-01 1.08887518e-02 1.99043297e+01] [-7.19029078e-02 -1.32966544e-02 9.97323002e-01 -1.09427060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters Centerline goodness : 0.998957 Centerline is valid? [False, True] Translation: X:220.62, Y:19.90, Z:-109.43 [[ 9.98117204e-01 2.86677255e-02 5.42236988e-02 2.20618137e+02] [-2.94461060e-02 9.99473698e-01 1.36107904e-02 1.99003081e+01] [-5.38049704e-02 -1.51818408e-02 9.98436045e-01 -1.09427864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:220.65, Y:19.92, Z:-109.43 [[ 9.97938211e-01 3.07858662e-02 5.63165807e-02 2.20649752e+02] [-3.03766419e-02 9.99505635e-01 -8.10835946e-03 1.99192405e+01] [-5.65383626e-02 6.38093313e-03 9.98380036e-01 -1.09430695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:220.68, Y:19.91, Z:-109.43 [[ 9.97983413e-01 3.20533101e-02 5.47876996e-02 2.20682010e+02] [-3.21015346e-02 9.99484613e-01 1.60998169e-07 1.99095553e+01] [-5.47594576e-02 -1.75892991e-03 9.98498026e-01 -1.09431747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:220.71, Y:19.91, Z:-109.43 [[ 9.97946261e-01 3.27261591e-02 5.50659550e-02 2.20713163e+02] [-3.27341055e-02 9.99463808e-01 -7.57879789e-04 1.99095433e+01] [-5.50612316e-02 -1.04621148e-03 9.98482432e-01 -1.09433323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:220.75, Y:19.91, Z:-109.44 [[ 9.97818411e-01 3.41288641e-02 5.65122856e-02 2.20745388e+02] [-3.38609967e-02 9.99410349e-01 -5.69104571e-03 1.99133116e+01] [-5.66731920e-02 3.76506788e-03 9.98385684e-01 -1.09435260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55592000000001 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:220.78, Y:19.90, Z:-109.44 [[ 9.97869050e-01 3.45986064e-02 5.53199315e-02 2.20776764e+02] [-3.51237252e-02 9.99346413e-01 8.54818669e-03 1.98966239e+01] [-5.49880198e-02 -1.04730130e-02 9.98432088e-01 -1.09436400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:220.81, Y:19.92, Z:-109.44 [[ 9.97455676e-01 3.68973825e-02 6.09980203e-02 2.20809411e+02] [-3.60283586e-02 9.99233853e-01 -1.52861172e-02 1.99164462e+01] [-6.15153046e-02 1.30495658e-02 9.98020830e-01 -1.09440318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:220.84, Y:19.90, Z:-109.44 [[ 9.97452382e-01 3.77834987e-02 6.05074561e-02 2.20841391e+02] [-3.77141802e-02 9.99285949e-01 -2.28765932e-03 1.99036694e+01] [-6.05506865e-02 -1.57867588e-07 9.98165124e-01 -1.09441164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:220.87, Y:19.90, Z:-109.44 [[ 9.97531660e-01 3.71120939e-02 5.96093888e-02 2.20872039e+02] [-3.72750192e-02 9.99303727e-01 1.62320175e-03 1.98991861e+01] [-5.95076440e-02 -3.84113625e-03 9.98220460e-01 -1.09442243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:220.91, Y:19.93, Z:-109.45 [[ 9.94795705e-01 4.24516972e-02 9.26248253e-02 2.20905201e+02] [-3.98609623e-02 9.98765406e-01 -2.96440236e-02 1.99250423e+01] [-9.37689104e-02 2.57976327e-02 9.95259702e-01 -1.09446578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:220.94, Y:19.90, Z:-109.45 [[ 9.94685812e-01 4.29746601e-02 9.35591433e-02 2.20937471e+02] [-4.28128824e-02 9.99076121e-01 -3.73656696e-03 1.98990832e+01] [-9.36332837e-02 -2.88826457e-04 9.95606712e-01 -1.09448028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:220.97, Y:19.90, Z:-109.45 [[ 9.94698686e-01 4.35297294e-02 9.31648343e-02 2.20970671e+02] [-4.33670554e-02 9.99052090e-01 -3.77088793e-03 1.98987142e+01] [-9.32406681e-02 -2.89387261e-04 9.95643558e-01 -1.09449625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:221.00, Y:19.87, Z:-109.45 [[ 9.97410975e-01 4.08394113e-02 5.91902822e-02 2.21000215e+02] [-4.27661719e-02 9.98583385e-01 3.16587715e-02 1.98653577e+01] [-5.78135067e-02 -3.41081479e-02 9.97744573e-01 -1.09448362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:221.03, Y:19.90, Z:-109.45 [[ 9.97211717e-01 4.56549161e-02 5.90289778e-02 2.21033243e+02] [-4.55313115e-02 9.98956996e-01 -3.43798005e-03 1.98959234e+01] [-5.91243711e-02 7.40727206e-04 9.98250349e-01 -1.09452222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:221.06, Y:19.89, Z:-109.45 [[ 9.97011369e-01 4.73424888e-02 6.10493229e-02 2.21064709e+02] [-4.72980804e-02 9.98878456e-01 -2.17313213e-03 1.98935870e+01] [-6.10837349e-02 -7.20878342e-04 9.98132385e-01 -1.09453448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:221.10, Y:19.89, Z:-109.46 [[ 9.96726285e-01 5.13402932e-02 6.24570811e-02 2.21096524e+02] [-5.11619629e-02 9.98680445e-01 -4.45223574e-03 1.98949003e+01] [-6.26032446e-02 1.24223353e-03 9.98037720e-01 -1.09455214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:221.13, Y:19.92, Z:-109.46 [[ 9.93845459e-01 5.55416207e-02 9.58453513e-02 2.21129079e+02] [-5.22279268e-02 9.97958967e-01 -3.67443013e-02 1.99223368e+01] [-9.76905658e-02 3.15123530e-02 9.94717812e-01 -1.09459329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:221.15, Y:19.80, Z:-109.45 [[ 9.96492498e-01 4.73873405e-02 6.89720326e-02 2.21152181e+02] [-5.39181836e-02 9.93907130e-01 9.61324401e-02 1.97979597e+01] [-6.39963343e-02 -9.95141021e-02 9.92976038e-01 -1.09448110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:221.19, Y:19.98, Z:-109.46 [[ 9.93477043e-01 6.52561916e-02 9.35146768e-02 2.21193080e+02] [-5.58618776e-02 9.93440451e-01 -9.97773590e-02 1.99817311e+01] [-9.94123531e-02 9.39026102e-02 9.90605615e-01 -1.09461359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:221.22, Y:19.85, Z:-109.46 [[ 9.96301747e-01 5.53076674e-02 6.57562942e-02 2.21218035e+02] [-5.82155223e-02 9.97370666e-01 4.31590852e-02 1.98487643e+01] [-6.31963706e-02 -4.68275090e-02 9.96901902e-01 -1.09458060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:221.27, Y:19.86, Z:-109.48 [[ 9.89097424e-01 1.24197887e-01 7.91275575e-02 2.21274484e+02] [-1.28701424e-01 9.90179380e-01 5.45961421e-02 1.98642482e+01] [-7.15697504e-02 -6.41847328e-02 9.95368319e-01 -1.09475216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03592 meters Centerline goodness : 0.987706 Centerline is valid? [True, True] Translation: X:221.31, Y:19.93, Z:-109.48 [[ 9.88131011e-01 1.32758270e-01 7.72809588e-02 2.21312509e+02] [-1.32384368e-01 9.91148371e-01 -9.96420819e-03 1.99272820e+01] [-7.79197275e-02 -3.84847791e-04 9.96959562e-01 -1.09480861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:221.31, Y:19.94, Z:-109.47 [[ 9.96250493e-01 5.60724135e-02 6.58850454e-02 2.21311062e+02] [-5.20048367e-02 9.96725926e-01 -6.19106208e-02 1.99422949e+01] [-6.91408108e-02 5.82521455e-02 9.95904732e-01 -1.09465872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:221.34, Y:19.87, Z:-109.47 [[ 9.96630057e-01 4.86728171e-02 6.60264053e-02 2.21338047e+02] [-4.96342248e-02 9.98682872e-01 1.29986116e-02 1.98724900e+01] [-6.53067610e-02 -1.62319765e-02 9.97733206e-01 -1.09466313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:221.37, Y:19.90, Z:-109.47 [[ 9.96050718e-01 5.02189751e-02 7.32189960e-02 2.21368510e+02] [-4.90827923e-02 9.98645977e-01 -1.72363320e-02 1.99004800e+01] [-7.39854467e-02 1.35744681e-02 9.97166931e-01 -1.09470424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:221.40, Y:19.89, Z:-109.47 [[ 9.95923569e-01 5.02677753e-02 7.48958954e-02 2.21399369e+02] [-5.00823877e-02 9.98735606e-01 -4.35253100e-03 1.98885677e+01] [-7.50199895e-02 5.83822936e-04 9.97181859e-01 -1.09471860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:221.43, Y:19.89, Z:-109.47 [[ 9.95732867e-01 5.01702993e-02 7.74532063e-02 2.21431218e+02] [-4.96302770e-02 9.98728158e-01 -8.88268730e-03 1.98921548e+01] [-7.78003452e-02 5.00075961e-03 9.96956418e-01 -1.09474248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:221.46, Y:19.89, Z:-109.48 [[ 9.95480485e-01 5.06233401e-02 8.03484964e-02 2.21462867e+02] [-4.99247403e-02 9.98695866e-01 -1.06811686e-02 1.98927251e+01] [-8.07844276e-02 6.62151709e-03 9.96709603e-01 -1.09476020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:221.49, Y:19.89, Z:-109.48 [[ 9.95392325e-01 4.94952904e-02 8.21238987e-02 2.21494411e+02] [-4.88508091e-02 9.98757617e-01 -9.83973960e-03 1.98924929e+01] [-8.25088902e-02 5.78258238e-03 9.96573552e-01 -1.09479454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:221.53, Y:19.89, Z:-109.48 [[ 9.95358595e-01 4.90280108e-02 8.28101510e-02 2.21526423e+02] [-4.89061281e-02 9.98797244e-01 -3.50086518e-03 1.98870030e+01] [-8.28821910e-02 -5.65307600e-04 9.96559192e-01 -1.09482361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:221.56, Y:19.91, Z:-109.49 [[ 9.91984728e-01 5.08847910e-02 1.15659140e-01 2.21558246e+02] [-4.75224451e-02 9.98368718e-01 -3.16468179e-02 1.99120196e+01] [-1.17080809e-01 2.58967549e-02 9.92784691e-01 -1.09488049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:221.58, Y:19.83, Z:-109.48 [[ 9.96132443e-01 4.09518101e-02 7.77374179e-02 2.21584498e+02] [-4.55467037e-02 9.97260422e-01 5.82850566e-02 1.98280795e+01] [-7.51375716e-02 -6.16003189e-02 9.95268680e-01 -1.09482779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:221.62, Y:19.85, Z:-109.49 [[ 9.96353452e-01 4.24116083e-02 7.40341389e-02 2.21615374e+02] [-4.48812778e-02 9.98479065e-01 3.20191887e-02 1.98522292e+01] [-7.25635525e-02 -3.52251760e-02 9.96741550e-01 -1.09487428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:221.64, Y:19.87, Z:-109.49 [[ 9.94811516e-01 4.33604730e-02 9.20321477e-02 2.21638553e+02] [-4.48399380e-02 9.98895123e-01 1.40681460e-02 1.98694432e+01] [-9.13204621e-02 -1.81218695e-02 9.95656653e-01 -1.09490222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:221.67, Y:19.99, Z:-109.49 [[ 9.90653169e-01 5.75951785e-02 1.23649073e-01 2.21674951e+02] [-4.28475643e-02 9.91995614e-01 -1.18780423e-01 1.99930849e+01] [-1.29500517e-01 1.12372140e-01 9.85191412e-01 -1.09491617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:221.70, Y:19.88, Z:-109.50 [[ 9.90421133e-01 4.51331986e-02 1.30495110e-01 2.21703589e+02] [-4.48237731e-02 9.98980803e-01 -5.30891015e-03 1.98841031e+01] [-1.30601717e-01 -5.91226383e-04 9.91434739e-01 -1.09495983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:221.74, Y:19.88, Z:-109.50 [[ 9.90323376e-01 4.47323629e-02 1.31372090e-01 2.21736167e+02] [-4.44057614e-02 9.98998896e-01 -5.41604793e-03 1.98832731e+01] [-1.31482845e-01 -4.70038805e-04 9.91318335e-01 -1.09499538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:221.77, Y:19.88, Z:-109.50 [[ 9.90165537e-01 4.41325289e-02 1.32757411e-01 2.21768968e+02] [-4.37839041e-02 9.99025634e-01 -5.54556445e-03 1.98829010e+01] [-1.32872797e-01 -3.21610960e-04 9.91133047e-01 -1.09503297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:221.80, Y:19.82, Z:-109.50 [[ 9.95666854e-01 3.41523235e-02 8.64935494e-02 2.21795858e+02] [-3.93625900e-02 9.97465766e-01 5.92674560e-02 1.98216744e+01] [-8.42502332e-02 -6.24152516e-02 9.94487926e-01 -1.09500042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:221.83, Y:19.89, Z:-109.51 [[ 9.94747679e-01 4.29160995e-02 9.29261189e-02 2.21830898e+02] [-4.11403722e-02 9.98933883e-01 -2.09419719e-02 1.98939193e+01] [-9.37257966e-02 1.70089628e-02 9.95452746e-01 -1.09509261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:221.86, Y:19.92, Z:-109.51 [[ 9.90377983e-01 4.49314229e-02 1.30891626e-01 2.21862557e+02] [-3.88878524e-02 9.98072216e-01 -4.83692668e-02 1.99160890e+01] [-1.32812595e-01 4.28137626e-02 9.90216035e-01 -1.09513777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:221.89, Y:19.87, Z:-109.52 [[ 9.90240948e-01 4.11162858e-02 1.33162743e-01 2.21893141e+02] [-4.07154911e-02 9.99154335e-01 -5.73260013e-03 1.98739908e+01] [-1.33285835e-01 2.54868915e-04 9.91077606e-01 -1.09517409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:221.93, Y:19.87, Z:-109.52 [[ 9.90272939e-01 4.26496759e-02 1.32440592e-01 2.21925604e+02] [-4.22574155e-02 9.99090081e-01 -5.77234770e-03 1.98717818e+01] [-1.32566271e-01 1.19602583e-04 9.91174137e-01 -1.09520127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:221.95, Y:19.82, Z:-109.52 [[ 9.95262919e-01 3.52843808e-02 9.05910287e-02 2.21952866e+02] [-4.01689523e-02 9.97803542e-01 5.26739637e-02 1.98167583e+01] [-8.85334811e-02 -5.60633896e-02 9.94494203e-01 -1.09516986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:221.99, Y:19.88, Z:-109.53 [[ 9.94706588e-01 4.35174320e-02 9.30861749e-02 2.21986856e+02] [-4.24238278e-02 9.99005825e-01 -1.36959874e-02 1.98768374e+01] [-9.35896451e-02 9.67441701e-03 9.95563852e-01 -1.09525193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:222.02, Y:19.88, Z:-109.53 [[ 9.94362537e-01 4.33028509e-02 9.67884735e-02 2.22018390e+02] [-4.16337336e-02 9.98948453e-01 -1.91995068e-02 1.98794444e+01] [-9.75180892e-02 1.50616048e-02 9.95119777e-01 -1.09529379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:19.89, Z:-109.54 [[ 9.90153433e-01 4.46330735e-02 1.32680325e-01 2.22051390e+02] [-4.00999856e-02 9.98523488e-01 -3.66447236e-02 1.98925769e+01] [-1.34119988e-01 3.09634197e-02 9.90481244e-01 -1.09535737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:222.08, Y:19.82, Z:-109.53 [[ 9.94662317e-01 3.40477972e-02 9.74044317e-02 2.22078411e+02] [-3.83307262e-02 9.98363370e-01 4.24421693e-02 1.98169974e+01] [-9.57999542e-02 -4.59492090e-02 9.94339499e-01 -1.09534598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:222.11, Y:19.88, Z:-109.54 [[ 9.94181271e-01 3.82199532e-02 1.00711648e-01 2.22110450e+02] [-3.58901021e-02 9.99046840e-01 -2.48457474e-02 1.98758818e+01] [-1.01565257e-01 2.10866253e-02 9.94605375e-01 -1.09540304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:222.14, Y:19.85, Z:-109.54 [[ 9.94156238e-01 3.38127908e-02 1.02518631e-01 2.22140241e+02] [-3.40222767e-02 9.99421031e-01 2.95013527e-04 1.98486720e+01] [-1.02449301e-01 -3.78120678e-03 9.94731041e-01 -1.09542385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:222.17, Y:19.86, Z:-109.55 [[ 9.93971698e-01 3.38617673e-02 1.04276771e-01 2.22171618e+02] [-3.29045058e-02 9.99399201e-01 -1.08871391e-02 1.98560416e+01] [-1.04582779e-01 7.39033253e-03 9.94488726e-01 -1.09546548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:19.85, Z:-109.55 [[ 9.93905543e-01 3.22575641e-02 1.05409777e-01 2.22203156e+02] [-3.20338949e-02 9.99479503e-01 -3.81471726e-03 1.98450347e+01] [-1.05477965e-01 4.14782919e-04 9.94421554e-01 -1.09547287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.24, Y:19.87, Z:-109.55 [[ 9.89242288e-01 3.64398682e-02 1.41675090e-01 2.22237853e+02] [-3.21695222e-02 9.98959826e-01 -3.23169916e-02 1.98675204e+01] [-1.42705350e-01 2.74117147e-02 9.89385557e-01 -1.09553006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.27, Y:19.84, Z:-109.56 [[ 9.89296365e-01 3.28594733e-02 1.42172280e-01 2.22269567e+02] [-3.22152269e-02 9.99457608e-01 -6.83145594e-03 1.98369860e+01] [-1.42319645e-01 2.17822225e-03 9.89818354e-01 -1.09556140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:222.30, Y:19.83, Z:-109.56 [[ 9.89249774e-01 3.22260687e-02 1.42640685e-01 2.22301831e+02] [-3.15602458e-02 9.99477838e-01 -6.92842625e-03 1.98327421e+01] [-1.42789479e-01 2.35216903e-03 9.89750288e-01 -1.09559682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:19.74, Z:-109.55 [[ 9.94652672e-01 1.92373771e-02 1.01469140e-01 2.22327155e+02] [-2.81993664e-02 9.95752868e-01 8.76414422e-02 1.97392341e+01] [-9.93521956e-02 -9.00341601e-02 9.90970732e-01 -1.09550185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:19.91, Z:-109.57 [[ 9.89748971e-01 3.94551095e-02 1.37259861e-01 2.22367984e+02] [-2.58988319e-02 9.94732061e-01 -9.91835495e-02 1.99098626e+01] [-1.40450083e-01 9.46119459e-02 9.85556875e-01 -1.09569390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.40, Y:19.81, Z:-109.57 [[ 9.89256085e-01 2.71227117e-02 1.43654996e-01 2.22396479e+02] [-2.63794341e-02 9.99626955e-01 -7.07652398e-03 1.98132609e+01] [-1.43793340e-01 3.21095692e-03 9.89602529e-01 -1.09570270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.42, Y:19.74, Z:-109.56 [[ 9.93890444e-01 1.78898978e-02 1.08911603e-01 2.22422878e+02] [-2.54418304e-02 9.97336932e-01 6.83502594e-02 1.97386188e+01] [-1.07398785e-01 -7.07035802e-02 9.91698797e-01 -1.09562572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.45, Y:19.79, Z:-109.57 [[ 9.92545424e-01 2.54627683e-02 1.19185694e-01 2.22454095e+02] [-2.68773197e-02 9.99585922e-01 1.02758637e-02 1.97887203e+01] [-1.18874690e-01 -1.34026535e-02 9.92818804e-01 -1.09572872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:222.49, Y:19.88, Z:-109.58 [[ 9.88871609e-01 3.79779703e-02 1.43842326e-01 2.22489328e+02] [-2.44336102e-02 9.95198002e-01 -9.47836227e-02 1.98813800e+01] [-1.46751285e-01 9.02142462e-02 9.85050989e-01 -1.09583682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.52, Y:19.81, Z:-109.59 [[ 9.89756359e-01 2.89411780e-02 1.39802570e-01 2.22517622e+02] [-2.62780701e-02 9.99437046e-01 -2.08579742e-02 1.98073650e+01] [-1.40327521e-01 1.69705709e-02 9.89959689e-01 -1.09588588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:19.79, Z:-109.59 [[ 9.89747842e-01 2.76532261e-02 1.40123193e-01 2.22549662e+02] [-2.70440983e-02 9.99614705e-01 -6.24974054e-03 1.97920396e+01] [-1.40242029e-01 2.39616182e-03 9.90114353e-01 -1.09591523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:19.77, Z:-109.59 [[ 9.88268691e-01 2.82957965e-02 1.50081119e-01 2.22582697e+02] [-2.97197774e-02 9.99531953e-01 7.25322941e-03 1.97735649e+01] [-1.49805638e-01 -1.16285170e-02 9.88647080e-01 -1.09588846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.62, Y:19.78, Z:-109.59 [[ 9.88330049e-01 3.16377950e-02 1.49005923e-01 2.22615866e+02] [-3.08271341e-02 9.99494704e-01 -7.74751505e-03 1.97846095e+01] [-1.49175745e-01 3.06367635e-03 9.88805952e-01 -1.09594698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:222.64, Y:19.69, Z:-109.58 [[ 9.93512290e-01 2.26352128e-02 1.11449436e-01 2.22641699e+02] [-3.21318806e-02 9.95933547e-01 8.41659759e-02 1.96932065e+01] [-1.09091117e-01 -8.72010114e-02 9.90199531e-01 -1.09581230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:222.67, Y:19.77, Z:-109.60 [[ 9.92048704e-01 3.32630102e-02 1.21379326e-01 2.22671636e+02] [-3.37827710e-02 9.99426720e-01 2.22618667e-03 1.97657014e+01] [-1.21235692e-01 -6.30901559e-03 9.92603699e-01 -1.09597202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:222.71, Y:19.86, Z:-109.61 [[ 9.87348428e-01 4.85648724e-02 1.50945467e-01 2.22707097e+02] [-3.27863290e-02 9.93898158e-01 -1.05316225e-01 1.98620291e+01] [-1.55139091e-01 9.90348618e-02 9.82916049e-01 -1.09608768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:222.73, Y:19.71, Z:-109.60 [[ 9.92486272e-01 3.04296278e-02 1.18511762e-01 2.22732009e+02] [-3.64876312e-02 9.98117940e-01 4.92872222e-02 1.97145985e+01] [-1.16788924e-01 -5.32411049e-02 9.91728658e-01 -1.09596449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.76, Y:19.71, Z:-109.60 [[ 9.92742934e-01 3.14050684e-02 1.16082677e-01 2.22760569e+02] [-3.71212287e-02 9.98185394e-01 4.74123878e-02 1.97129111e+01] [-1.14383043e-01 -5.13774446e-02 9.92107291e-01 -1.09598802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.80, Y:19.86, Z:-109.62 [[ 9.86216687e-01 5.40432236e-02 1.56384070e-01 2.22797758e+02] [-3.62324834e-02 9.92753050e-01 -1.14580055e-01 1.98589493e+01] [-1.61443038e-01 1.07334579e-01 9.81027744e-01 -1.09618560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:222.82, Y:19.70, Z:-109.60 [[ 9.91677082e-01 3.47111878e-02 1.23982657e-01 2.22822599e+02] [-4.12836610e-02 9.97853125e-01 5.08409266e-02 1.97023785e+01] [-1.21951733e-01 -5.55362397e-02 9.90981080e-01 -1.09604616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:222.85, Y:19.76, Z:-109.62 [[ 9.91542938e-01 4.58217603e-02 1.21420624e-01 2.22854424e+02] [-4.49052643e-02 9.98938405e-01 -1.02751779e-02 1.97570545e+01] [-1.21762551e-01 4.73585485e-03 9.92547960e-01 -1.09619617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:222.89, Y:19.76, Z:-109.62 [[ 9.90591397e-01 4.81343043e-02 1.28108444e-01 2.22885115e+02] [-4.59066432e-02 9.98739718e-01 -2.02868411e-02 1.97639752e+01] [-1.28923485e-01 1.42149416e-02 9.91552656e-01 -1.09622803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.92, Y:19.79, Z:-109.63 [[ 9.84684017e-01 5.33788648e-02 1.65976153e-01 2.22917828e+02] [-4.56880877e-02 9.97712813e-01 -4.98170821e-02 1.97889298e+01] [-1.68255714e-01 4.14709515e-02 9.84870639e-01 -1.09631520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:222.94, Y:19.70, Z:-109.62 [[ 9.90592567e-01 4.05782855e-02 1.30689590e-01 2.22944838e+02] [-4.64802350e-02 9.98017687e-01 4.24297657e-02 1.97031170e+01] [-1.28708795e-01 -4.81050933e-02 9.90514990e-01 -1.09622683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.98, Y:19.79, Z:-109.64 [[ 9.84260126e-01 5.39662326e-02 1.68284435e-01 2.22980566e+02] [-4.48551026e-02 9.97338317e-01 -5.74830508e-02 1.97917950e+01] [-1.70938659e-01 4.90298592e-02 9.84060998e-01 -1.09640008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:223.01, Y:19.70, Z:-109.63 [[ 9.90270020e-01 4.08236121e-02 1.33036538e-01 2.23007580e+02] [-4.58349200e-02 9.98341807e-01 3.48252334e-02 1.97041594e+01] [-1.31394246e-01 -4.05841036e-02 9.90499108e-01 -1.09631478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:223.04, Y:19.74, Z:-109.64 [[ 9.90041519e-01 4.68254358e-02 1.32759821e-01 2.23041267e+02] [-4.62252525e-02 9.98902123e-01 -7.60100467e-03 1.97419600e+01] [-1.32969987e-01 1.38845397e-03 9.91119092e-01 -1.09641389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.07, Y:19.74, Z:-109.65 [[ 9.89683783e-01 4.70754566e-02 1.35314119e-01 2.23071746e+02] [-4.60142118e-02 9.98880643e-01 -1.09614807e-02 1.97433028e+01] [-1.35678671e-01 4.62202714e-03 9.90742113e-01 -1.09646749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:223.10, Y:19.74, Z:-109.65 [[ 9.89396836e-01 4.76173745e-02 1.37209642e-01 2.23103658e+02] [-4.68718870e-02 9.98863362e-01 -8.66086422e-03 1.97391997e+01] [-1.37466092e-01 2.13775684e-03 9.90504166e-01 -1.09651036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83592000000002 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:223.17, Y:19.70, Z:-109.67 [[ 9.92883264e-01 4.08916767e-02 1.11851216e-01 2.23172826e+02] [-4.56438794e-02 9.98146150e-01 4.02603962e-02 1.97011992e+01] [-1.09997545e-01 -4.50791969e-02 9.92909062e-01 -1.09672605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:223.16, Y:19.75, Z:-109.66 [[ 9.88892570e-01 4.76858497e-02 1.40774801e-01 2.23156191e+02] [-4.47984660e-02 9.98716992e-01 -2.36107473e-02 1.97454019e+01] [-1.41720084e-01 1.70419975e-02 9.89760066e-01 -1.09655678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.19, Y:19.84, Z:-109.67 [[ 9.82465879e-01 6.49087805e-02 1.74778853e-01 2.23189346e+02] [-4.36514757e-02 9.91466752e-01 -1.22834153e-01 1.98364695e+01] [-1.81260436e-01 1.13051009e-01 9.76915617e-01 -1.09665802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.22, Y:19.73, Z:-109.66 [[ 9.82474932e-01 4.93726690e-02 1.79736885e-01 2.23217348e+02] [-4.84726170e-02 9.98780290e-01 -9.39883657e-03 1.97266088e+01] [-1.79981704e-01 5.21804126e-04 9.83669820e-01 -1.09663803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:223.24, Y:19.62, Z:-109.66 [[ 9.87547437e-01 -1.14487284e-02 1.56904384e-01 2.23238492e+02] [-2.16816386e-03 9.96263377e-01 8.63399294e-02 1.96161343e+01] [-1.57306574e-01 -8.56049705e-02 9.83832522e-01 -1.09657558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:223.28, Y:19.77, Z:-109.68 [[ 9.88836523e-01 6.11635414e-02 1.35872558e-01 2.23280571e+02] [-5.48164868e-02 9.97244936e-01 -4.99768890e-02 1.97672063e+01] [-1.38554984e-01 4.19709168e-02 9.89464986e-01 -1.09677010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01592 meters Centerline goodness : 0.941057 Centerline is valid? [True, False] Translation: X:223.31, Y:19.74, Z:-109.68 [[ 9.90817901e-01 5.52601307e-02 1.23394511e-01 2.23310991e+02] [-5.30509038e-02 9.98368427e-01 -2.11207497e-02 1.97396261e+01] [-1.24360319e-01 1.43806265e-02 9.92132909e-01 -1.09678551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:223.35, Y:19.72, Z:-109.68 [[ 9.93377081e-01 4.97929805e-02 1.03550154e-01 2.23345104e+02] [-4.94280195e-02 9.98759127e-01 -6.08914552e-03 1.97246745e+01] [-1.03724858e-01 9.30538568e-04 9.94605594e-01 -1.09681201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:223.37, Y:19.70, Z:-109.68 [[ 9.93938934e-01 4.89593812e-02 9.84295404e-02 2.23373967e+02] [-5.11089655e-02 9.98503943e-01 1.94357854e-02 1.97002814e+01] [-9.73307201e-02 -2.43486158e-02 9.94954208e-01 -1.09681308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:223.41, Y:19.79, Z:-109.69 [[ 9.87215046e-01 6.52938512e-02 1.45406899e-01 2.23407951e+02] [-5.46301253e-02 9.95597633e-01 -7.61636625e-02 1.97913537e+01] [-1.49739783e-01 6.72463165e-02 9.86435974e-01 -1.09692313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:223.44, Y:19.73, Z:-109.69 [[ 9.87087536e-01 5.88111874e-02 1.48994764e-01 2.23438283e+02] [-5.85204435e-02 9.98266087e-01 -6.33856863e-03 1.97266139e+01] [-1.49109199e-01 -2.46251760e-03 9.88817669e-01 -1.09690498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:223.47, Y:19.69, Z:-109.69 [[ 9.92059391e-01 5.97734790e-02 1.10658461e-01 2.23469931e+02] [-6.37642233e-02 9.97423197e-01 3.28799256e-02 1.96935896e+01] [-1.08407969e-01 -3.96748898e-02 9.93314460e-01 -1.09687394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:223.50, Y:19.76, Z:-109.70 [[ 9.86754767e-01 6.87443842e-02 1.46932774e-01 2.23502290e+02] [-6.28824170e-02 9.97042573e-01 -4.41804283e-02 1.97641594e+01] [-1.49535387e-01 3.43557603e-02 9.88159324e-01 -1.09699667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:223.53, Y:19.73, Z:-109.70 [[ 9.86655973e-01 6.67416091e-02 1.48511107e-01 2.23534453e+02] [-6.65257407e-02 9.97764015e-01 -6.42616203e-03 1.97338022e+01] [-1.48607931e-01 -3.53940023e-03 9.88889860e-01 -1.09699451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:223.57, Y:19.70, Z:-109.70 [[ 9.91445982e-01 6.45271165e-02 1.13450939e-01 2.23565130e+02] [-6.83625496e-02 9.97202018e-01 3.02439484e-02 1.97046828e+01] [-1.11181950e-01 -3.77410365e-02 9.93083173e-01 -1.09698990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:223.60, Y:19.77, Z:-109.71 [[ 9.86265705e-01 7.23876346e-02 1.48458713e-01 2.23598684e+02] [-6.69156795e-02 9.96893769e-01 -4.15343898e-02 1.97747426e+01] [-1.51004142e-01 3.10297286e-02 9.88046003e-01 -1.09707807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:223.63, Y:19.72, Z:-109.70 [[ 9.90781149e-01 6.51408983e-02 1.18782907e-01 2.23628887e+02] [-6.84308592e-02 9.97371270e-01 2.38278794e-02 1.97177919e+01] [-1.16918490e-01 -3.17366301e-02 9.92634300e-01 -1.09704550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:223.66, Y:19.69, Z:-109.70 [[ 9.93507532e-01 5.93479910e-02 9.70597793e-02 2.23655773e+02] [-6.53403185e-02 9.96071378e-01 5.97700032e-02 1.96907628e+01] [-9.31312384e-02 -6.57238653e-02 9.93482232e-01 -1.09699579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:223.68, Y:19.71, Z:-109.71 [[ 9.91513283e-01 6.11507574e-02 1.14725736e-01 2.23684058e+02] [-6.61233867e-02 9.97007479e-01 4.00472811e-02 1.97095449e+01] [-1.11933495e-01 -4.72934654e-02 9.92589654e-01 -1.09706544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:223.72, Y:19.79, Z:-109.71 [[ 9.92285129e-01 7.01988399e-02 1.02187792e-01 2.23718444e+02] [-6.63545238e-02 9.96971825e-01 -4.05494459e-02 1.97859654e+01] [-1.04724873e-01 3.34559899e-02 9.93938327e-01 -1.09714565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:223.75, Y:19.85, Z:-109.72 [[ 9.84810856e-01 7.43987973e-02 1.56883388e-01 2.23749695e+02] [-5.82046792e-02 9.92724136e-01 -1.05408750e-01 1.98458841e+01] [-1.63584210e-01 9.46763341e-02 9.81975864e-01 -1.09721900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:223.77, Y:19.63, Z:-109.71 [[ 9.91442758e-01 4.04107096e-02 1.24129899e-01 2.23770245e+02] [-5.56009419e-02 9.91038056e-01 1.21458247e-01 1.96340648e+01] [-1.18109240e-01 -1.27320639e-01 9.84804378e-01 -1.09705025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:223.80, Y:19.77, Z:-109.72 [[ 9.90371038e-01 5.78667676e-02 1.25764241e-01 2.23804673e+02] [-5.59619544e-02 9.98259085e-01 -1.86295207e-02 1.97664569e+01] [-1.26623326e-01 1.14121250e-02 9.91885224e-01 -1.09724922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:223.84, Y:19.85, Z:-109.73 [[ 9.84192291e-01 7.24771776e-02 1.61593916e-01 2.23839970e+02] [-5.48131937e-02 9.92283911e-01 -1.11212198e-01 1.98521591e+01] [-1.68407390e-01 1.00596709e-01 9.80570881e-01 -1.09730514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55592000000001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:223.86, Y:19.70, Z:-109.73 [[ 9.91168018e-01 4.83088001e-02 1.23499878e-01 2.23863300e+02] [-5.53612280e-02 9.96987480e-01 5.43240193e-02 1.96992322e+01] [-1.20503504e-01 -6.06813354e-02 9.90856539e-01 -1.09725720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters Centerline goodness : 0.885669 Centerline is valid? [True, False] Translation: X:223.89, Y:19.72, Z:-109.73 [[ 9.92484162e-01 4.31726351e-02 1.14504637e-01 2.23889051e+02] [-4.76843047e-02 9.98178478e-01 3.69585211e-02 1.97154459e+01] [-1.12700467e-01 -4.21408208e-02 9.92734988e-01 -1.09728227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:223.91, Y:19.73, Z:-109.73 [[ 9.93727443e-01 3.76069389e-02 1.05316131e-01 2.23914759e+02] [-3.99339117e-02 9.99000669e-01 2.00735331e-02 1.97306041e+01] [-1.04455981e-01 -2.41533058e-02 9.94236172e-01 -1.09731199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters Centerline goodness : 0.813534 Centerline is valid? [True, False] Translation: X:223.92, Y:19.74, Z:-109.73 [[ 9.93908508e-01 3.40209340e-02 1.04825830e-01 2.23915665e+02] [-3.57591128e-02 9.99251633e-01 1.47464860e-02 1.97358606e+01] [-1.04245693e-01 -1.84051366e-02 9.94381258e-01 -1.09731824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:223.92, Y:19.74, Z:-109.73 [[ 9.94036857e-01 3.05858726e-02 1.04667244e-01 2.23915880e+02] [-3.16931195e-02 9.99457740e-01 8.93156046e-03 1.97432570e+01] [-1.04337308e-01 -1.21955318e-02 9.94467192e-01 -1.09731956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:223.93, Y:19.70, Z:-109.74 [[ 9.91643895e-01 -3.38059948e-02 1.24497151e-01 2.23933302e+02] [ 3.12540416e-02 9.99260550e-01 2.23950301e-02 1.97039660e+01] [-1.25162177e-01 -1.83168558e-02 9.91967198e-01 -1.09737067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:223.97, Y:19.75, Z:-109.74 [[ 9.92884021e-01 2.42531655e-02 1.16589474e-01 2.23972969e+02] [-2.49240667e-02 9.99680101e-01 4.29970738e-03 1.97458297e+01] [-1.16447895e-01 -7.17499458e-03 9.93170885e-01 -1.09738657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:224.01, Y:19.82, Z:-109.74 [[ 9.87839709e-01 4.42580222e-02 1.49043402e-01 2.24007768e+02] [-3.44511198e-02 9.97107290e-01 -6.77508172e-02 1.98172744e+01] [-1.51610780e-01 6.17922355e-02 9.86506914e-01 -1.09742558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:224.04, Y:19.72, Z:-109.74 [[ 9.93086285e-01 3.20773201e-02 1.12918888e-01 2.24036631e+02] [-3.67235976e-02 9.98552007e-01 3.93098870e-02 1.97211163e+01] [-1.11494427e-01 -4.31848974e-02 9.92826298e-01 -1.09739645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.07, Y:19.76, Z:-109.75 [[ 9.92855805e-01 3.80049245e-02 1.13106043e-01 2.24068860e+02] [-3.80407251e-02 9.99274491e-01 -1.84249131e-03 1.97606861e+01] [-1.13094007e-01 -2.47330768e-03 9.93581214e-01 -1.09746198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.10, Y:19.75, Z:-109.75 [[ 9.93003805e-01 3.68822768e-02 1.12174600e-01 2.24098490e+02] [-3.84099132e-02 9.99196039e-01 1.14871377e-02 1.97484572e+01] [-1.11660744e-01 -1.57153880e-02 9.93622114e-01 -1.09751186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:224.13, Y:19.75, Z:-109.75 [[ 9.93351084e-01 3.80450920e-02 1.08656314e-01 2.24128530e+02] [-3.96690089e-02 9.99130600e-01 1.28224240e-02 1.97473123e+01] [-1.08074018e-01 -1.70474571e-02 9.93996675e-01 -1.09752603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.16, Y:19.78, Z:-109.76 [[ 9.92593563e-01 4.44551698e-02 1.13056432e-01 2.24160213e+02] [-4.22509950e-02 9.98868746e-01 -2.18193156e-02 1.97796953e+01] [-1.13898518e-01 1.68809655e-02 9.93348962e-01 -1.09758732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.19, Y:19.81, Z:-109.76 [[ 9.86556284e-01 4.95576658e-02 1.55726481e-01 2.24191935e+02] [-4.11344481e-02 9.97534617e-01 -5.68563481e-02 1.98103280e+01] [-1.58160223e-01 4.96862647e-02 9.86162572e-01 -1.09763335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.22, Y:19.70, Z:-109.76 [[ 9.92838141e-01 3.38922748e-02 1.14558890e-01 2.24219349e+02] [-4.11615670e-02 9.97245862e-01 6.16961530e-02 1.96997872e+01] [-1.12152356e-01 -6.59697173e-02 9.91498787e-01 -1.09759278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.25, Y:19.76, Z:-109.77 [[ 9.92202756e-01 4.61710296e-02 1.15766688e-01 2.24251743e+02] [-4.62381053e-02 9.98928224e-01 -2.10742070e-03 1.97597165e+01] [-1.15739914e-01 -3.26184371e-03 9.93274198e-01 -1.09767115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03592 meters Centerline goodness : 0.921862 Centerline is valid? [True, False] Translation: X:224.28, Y:19.75, Z:-109.77 [[ 9.94502059e-01 4.17110963e-02 9.60512356e-02 2.24283831e+02] [-4.24734850e-02 9.99080140e-01 5.90560197e-03 1.97524408e+01] [-9.57165528e-02 -9.95276404e-03 9.95358872e-01 -1.09770655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:224.30, Y:19.75, Z:-109.77 [[ 9.95163789e-01 3.93394739e-02 9.00079984e-02 2.24299793e+02] [-4.01433859e-02 9.99168433e-01 7.13807083e-03 1.97492920e+01] [-8.96523428e-02 -1.07167754e-02 9.95915462e-01 -1.09772898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09592 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:224.28, Y:19.74, Z:-109.79 [[ 9.93734160e-01 3.64008557e-02 1.05675909e-01 2.24279839e+02] [-3.91497321e-02 9.98943774e-01 2.40548481e-02 1.97372074e+01] [-1.04688674e-01 -2.80413078e-02 9.94109635e-01 -1.09792766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters Centerline goodness : 0.974883 Centerline is valid? [True, True] Translation: X:224.33, Y:19.72, Z:-109.79 [[ 9.92057952e-01 -4.31160890e-02 1.18161005e-01 2.24327816e+02] [ 4.38119522e-02 9.99034356e-01 -3.29669964e-03 1.97239016e+01] [-1.17904762e-01 8.44738138e-03 9.92988977e-01 -1.09789146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:224.38, Y:19.81, Z:-109.78 [[ 9.88658932e-01 6.00438741e-02 1.37652637e-01 2.24379655e+02] [-5.23573654e-02 9.96895842e-01 -5.87995377e-02 1.98133539e+01] [-1.40755894e-01 5.09255587e-02 9.88733718e-01 -1.09781887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:224.41, Y:19.76, Z:-109.78 [[ 9.88800602e-01 5.38251308e-02 1.39198507e-01 2.24411730e+02] [-5.38710911e-02 9.98541972e-01 -3.44030249e-03 1.97606789e+01] [-1.39180727e-01 -4.09700229e-03 9.90258522e-01 -1.09784978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:224.44, Y:19.64, Z:-109.77 [[ 9.94439566e-01 4.06963133e-02 9.71275431e-02 2.24437887e+02] [-5.27849178e-02 9.90709679e-01 1.25331897e-01 1.96435734e+01] [-9.11246509e-02 -1.29761867e-01 9.87349055e-01 -1.09771424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:224.48, Y:19.88, Z:-109.79 [[ 9.87880907e-01 7.27327526e-02 1.37117688e-01 2.24475922e+02] [-5.53294035e-02 9.90394491e-01 -1.26717832e-01 1.98798270e+01] [-1.45017140e-01 1.17595487e-01 9.82416068e-01 -1.09786591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:224.50, Y:19.73, Z:-109.79 [[ 9.92780710e-01 5.51090361e-02 1.06533829e-01 2.24503758e+02] [-5.90569722e-02 9.97666432e-01 3.42631766e-02 1.97316554e+01] [-1.04397014e-01 -4.03073862e-02 9.93718561e-01 -1.09787976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:224.54, Y:19.80, Z:-109.80 [[ 9.87907349e-01 6.46089176e-02 1.40942394e-01 2.24535677e+02] [-5.94393236e-02 9.97406361e-01 -4.05896385e-02 1.98027411e+01] [-1.43199292e-01 3.17212816e-02 9.89185384e-01 -1.09795886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:224.57, Y:19.73, Z:-109.79 [[ 9.93070588e-01 5.47980472e-02 1.03961439e-01 2.24566276e+02] [-5.95287069e-02 9.97301815e-01 4.29583904e-02 1.97286761e+01] [-1.01326896e-01 -4.88494041e-02 9.93653157e-01 -1.09793499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.60, Y:19.81, Z:-109.80 [[ 9.87892168e-01 6.45621731e-02 1.41070162e-01 2.24597764e+02] [-5.81472617e-02 9.97098074e-01 -4.91357918e-02 1.98149130e+01] [-1.43833100e-01 4.03380203e-02 9.88779492e-01 -1.09802002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.63, Y:19.77, Z:-109.81 [[ 9.87880220e-01 5.89047523e-02 1.43606756e-01 2.24629518e+02] [-5.89789773e-02 9.98252205e-01 -3.74379151e-03 1.97743584e+01] [-1.43576288e-01 -4.77136202e-03 9.89627750e-01 -1.09805052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:224.66, Y:19.76, Z:-109.81 [[ 9.92617877e-01 5.58532056e-02 1.07657654e-01 2.24660732e+02] [-5.85520506e-02 9.98040355e-01 2.20705064e-02 1.97552940e+01] [-1.06213974e-01 -2.82111555e-02 9.93943018e-01 -1.09808070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.69, Y:19.76, Z:-109.81 [[ 9.92385630e-01 5.73120141e-02 1.09023368e-01 2.24692857e+02] [-5.92160630e-02 9.98142685e-01 1.43052121e-02 1.97632252e+01] [-1.08001017e-01 -2.06522216e-02 9.93936249e-01 -1.09811743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.72, Y:19.78, Z:-109.81 [[ 9.92431182e-01 6.13959987e-02 1.06352627e-01 2.24724848e+02] [-6.13990384e-02 9.98108012e-01 -3.24879608e-03 1.97840149e+01] [-1.06350872e-01 -3.30574250e-03 9.94323169e-01 -1.09813769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:19.80, Z:-109.82 [[ 9.91786412e-01 6.32758229e-02 1.11157020e-01 2.24756536e+02] [-6.21109615e-02 9.97972250e-01 -1.39146202e-02 1.97957505e+01] [-1.11812080e-01 6.89626185e-03 9.93705439e-01 -1.09817793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.79, Y:19.78, Z:-109.82 [[ 9.92408790e-01 6.09100325e-02 1.06839891e-01 2.24786224e+02] [-6.21180468e-02 9.98036647e-01 8.01246618e-03 1.97796224e+01] [-1.06142087e-01 -1.45883272e-02 9.94243953e-01 -1.09820158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.82, Y:19.79, Z:-109.82 [[ 9.92433128e-01 6.20911019e-02 1.05930081e-01 2.24818214e+02] [-6.23669828e-02 9.98053033e-01 -7.09456854e-04 1.97899514e+01] [-1.05767890e-01 -5.90245106e-03 9.94373328e-01 -1.09823461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.85, Y:19.84, Z:-109.83 [[ 9.87104431e-01 6.62797615e-02 1.45711479e-01 2.24847878e+02] [-5.88617107e-02 9.96769181e-01 -5.46488730e-02 1.98404695e+01] [-1.48862825e-01 4.53673178e-02 9.87816615e-01 -1.09829178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.88, Y:19.80, Z:-109.83 [[ 9.87515468e-01 5.69493711e-02 1.46867184e-01 2.24879196e+02] [-5.69898149e-02 9.98367002e-01 -3.93586331e-03 1.97957155e+01] [-1.46851495e-01 -4.48320771e-03 9.89148391e-01 -1.09834585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.91, Y:19.75, Z:-109.84 [[ 9.93132110e-01 4.68332183e-02 1.07215959e-01 2.24908641e+02] [-5.22155671e-02 9.97483742e-01 4.79553834e-02 1.97489567e+01] [-1.04700271e-01 -5.32243732e-02 9.93078557e-01 -1.09835326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.94, Y:19.84, Z:-109.84 [[ 9.87246136e-01 5.86911598e-02 1.47987889e-01 2.24941738e+02] [-5.12535221e-02 9.97247139e-01 -5.35837739e-02 1.98428899e+01] [-1.50725393e-01 4.53154732e-02 9.87536513e-01 -1.09839850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:19.80, Z:-109.85 [[ 9.87517591e-01 5.20594739e-02 1.48656714e-01 2.24972961e+02] [-5.20279041e-02 9.98637199e-01 -4.10379492e-03 1.97973653e+01] [-1.48667766e-01 -3.68172760e-03 9.88880347e-01 -1.09845389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:19.76, Z:-109.85 [[ 9.92333086e-01 4.55876555e-02 1.14877383e-01 2.25002745e+02] [-4.98398942e-02 9.98164017e-01 3.44177291e-02 1.97644531e+01] [-1.13097446e-01 -3.98793279e-02 9.92783263e-01 -1.09846017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.03, Y:19.79, Z:-109.85 [[ 9.92712061e-01 5.02900919e-02 1.09515620e-01 2.25034889e+02] [-5.16915745e-02 9.98613088e-01 9.99405765e-03 1.97870179e+01] [-1.08861129e-01 -1.55822564e-02 9.93934831e-01 -1.09848096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:225.07, Y:19.85, Z:-109.85 [[ 9.86852197e-01 5.96910285e-02 1.50198941e-01 2.25066583e+02] [-5.19362183e-02 9.97132667e-01 -5.50370280e-02 1.98470124e+01] [-1.53053487e-01 4.65126471e-02 9.87122689e-01 -1.09852908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.09, Y:19.72, Z:-109.85 [[ 9.91263474e-01 3.92884566e-02 1.25909265e-01 2.25091151e+02] [-5.03528237e-02 9.95027658e-01 8.59334222e-02 1.97159334e+01] [-1.21907010e-01 -9.15225496e-02 9.88312857e-01 -1.09853444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.12, Y:19.81, Z:-109.86 [[ 9.89948727e-01 5.37429449e-02 1.30817484e-01 2.25124232e+02] [-5.21008201e-02 9.98514517e-01 -1.59456524e-02 1.98116891e+01] [-1.31480124e-01 8.96968005e-03 9.91278226e-01 -1.09858185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.16, Y:19.87, Z:-109.86 [[ 9.85822520e-01 6.42553610e-02 1.55000673e-01 2.25158536e+02] [-5.27666835e-02 9.95623562e-01 -7.71323524e-02 1.98693159e+01] [-1.59278489e-01 6.78599386e-02 9.84898671e-01 -1.09859437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:225.19, Y:19.77, Z:-109.87 [[ 9.90623652e-01 5.05529578e-02 1.26921941e-01 2.25186661e+02] [-5.51366557e-02 9.97937879e-01 3.28624325e-02 1.97718737e+01] [-1.24998920e-01 -3.95523543e-02 9.91368187e-01 -1.09866412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.22, Y:19.82, Z:-109.87 [[ 9.90171936e-01 5.80859730e-02 1.27222469e-01 2.25220357e+02] [-5.67355233e-02 9.98288026e-01 -1.42161086e-02 1.98163761e+01] [-1.27830424e-01 6.85835846e-03 9.91772326e-01 -1.09868649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:19.83, Z:-109.87 [[ 9.85528319e-01 6.04585408e-02 1.58362549e-01 2.25250836e+02] [-5.60918158e-02 9.97915738e-01 -3.19043643e-02 1.98339018e+01] [-1.59961371e-01 2.25598116e-02 9.86865449e-01 -1.09872993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters Centerline goodness : 0.979342 Centerline is valid? [True, True] Translation: X:225.24, Y:19.76, Z:-109.90 [[ 9.87910787e-01 9.24452955e-02 1.24443336e-01 2.25238644e+02] [-1.01893920e-01 9.92199074e-01 7.18235791e-02 1.97597766e+01] [-1.16832811e-01 -8.36353078e-02 9.89623782e-01 -1.09896106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:19.81, Z:-109.88 [[ 9.90021511e-01 5.72071370e-02 1.28781795e-01 2.25304602e+02] [-5.82646134e-02 9.98291230e-01 4.45589009e-03 1.98061270e+01] [-1.28306828e-01 -1.19148486e-02 9.91662944e-01 -1.09883738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:19.81, Z:-109.89 [[ 9.90449655e-01 5.64930723e-02 1.25769689e-01 2.25333727e+02] [-5.73244202e-02 9.98351103e-01 2.99779057e-03 1.98085069e+01] [-1.25392953e-01 -1.01788351e-02 9.92054937e-01 -1.09886934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:19.86, Z:-109.89 [[ 9.84971011e-01 6.43470179e-02 1.60285898e-01 2.25367357e+02] [-5.67473472e-02 9.97056709e-01 -5.15524698e-02 1.98584297e+01] [-1.63131378e-01 4.16818888e-02 9.85723477e-01 -1.09889366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:19.82, Z:-109.90 [[ 9.84793967e-01 5.64608248e-02 1.64295518e-01 2.25398632e+02] [-5.63302769e-02 9.98397274e-01 -5.45734132e-03 1.98173995e+01] [-1.64340323e-01 -3.88045519e-03 9.86396067e-01 -1.09895710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.43, Y:19.77, Z:-109.90 [[ 9.91062829e-01 4.62214457e-02 1.25132120e-01 2.25426593e+02] [-5.28567927e-02 9.97337759e-01 5.02349790e-02 1.97667210e+01] [-1.22477055e-01 -5.64001029e-02 9.90867498e-01 -1.09896597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.46, Y:19.82, Z:-109.90 [[ 9.90214216e-01 5.45003989e-02 1.28473786e-01 2.25460415e+02] [-5.37192530e-02 9.98510505e-01 -9.54010014e-03 1.98229292e+01] [-1.28802364e-01 2.54522694e-03 9.91667017e-01 -1.09900862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.49, Y:19.82, Z:-109.91 [[ 9.89688430e-01 5.48953262e-02 1.32300090e-01 2.25490851e+02] [-5.39060136e-02 9.98484865e-01 -1.10505924e-02 1.98246823e+01] [-1.32706263e-01 3.80487298e-03 9.91148107e-01 -1.09905381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:19.86, Z:-109.91 [[ 9.83898458e-01 5.95099132e-02 1.68530098e-01 2.25523457e+02] [-5.22436686e-02 9.97516880e-01 -4.72300085e-02 1.98594204e+01] [-1.70922271e-01 3.76649020e-02 9.84564336e-01 -1.09910212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:19.82, Z:-109.92 [[ 9.83917030e-01 5.42616739e-02 1.70185041e-01 2.25554475e+02] [-5.40469113e-02 9.98520979e-01 -5.89795251e-03 1.98211596e+01] [-1.70253366e-01 -3.39487989e-03 9.85394472e-01 -1.09917002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.59, Y:19.82, Z:-109.92 [[ 9.83790021e-01 5.35208536e-02 1.71151141e-01 2.25586978e+02] [-5.32764871e-02 9.98561630e-01 -6.02388333e-03 1.98227298e+01] [-1.71227365e-01 -3.19209522e-03 9.85226370e-01 -1.09921753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:19.79, Z:-109.93 [[ 9.89317630e-01 4.54631978e-02 1.38505323e-01 2.25617638e+02] [-5.05463214e-02 9.98162920e-01 3.34044100e-02 1.97873996e+01] [-1.36732207e-01 -4.00485063e-02 9.89798172e-01 -1.09925482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:19.82, Z:-109.93 [[ 9.89307518e-01 4.90648608e-02 1.37343637e-01 2.25649614e+02] [-4.95966005e-02 9.98769230e-01 4.50086389e-04 1.98170499e+01] [-1.37152515e-01 -7.25705133e-03 9.90523358e-01 -1.09928928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:19.83, Z:-109.93 [[ 9.88880975e-01 5.02183449e-02 1.39973336e-01 2.25681210e+02] [-4.93826049e-02 9.98735325e-01 -9.43977296e-03 1.98250969e+01] [-1.40270364e-01 2.42256397e-03 9.90110275e-01 -1.09932761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.71, Y:19.83, Z:-109.94 [[ 9.88064309e-01 4.92701018e-02 1.45949917e-01 2.25712751e+02] [-4.75492252e-02 9.98752350e-01 -1.52582315e-02 1.98293869e+01] [-1.46519597e-01 8.13630850e-03 9.89174306e-01 -1.09937056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:19.81, Z:-109.94 [[ 9.88526692e-01 4.66619667e-02 1.43658065e-01 2.25742684e+02] [-4.75592390e-02 9.98864449e-01 2.81639253e-03 1.98125307e+01] [-1.43363515e-01 -9.61634742e-03 9.89623377e-01 -1.09941640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:225.77, Y:19.83, Z:-109.95 [[ 9.87682198e-01 5.11399416e-02 1.47880296e-01 2.25774564e+02] [-4.85551760e-02 9.98598903e-01 -2.10386820e-02 1.98339153e+01] [-1.48749019e-01 1.35991778e-02 9.88781468e-01 -1.09945358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.81, Y:19.82, Z:-109.95 [[ 9.87376314e-01 5.01230779e-02 1.50252092e-01 2.25806384e+02] [-4.88160588e-02 9.98731097e-01 -1.23769087e-02 1.98242468e+01] [-1.50681805e-01 4.88595156e-03 9.88570241e-01 -1.09952064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.84, Y:19.81, Z:-109.96 [[ 9.87616555e-01 4.82176665e-02 1.49293660e-01 2.25837093e+02] [-4.88996398e-02 9.98803293e-01 8.98428600e-04 1.98101109e+01] [-1.49071679e-01 -8.18770914e-03 9.88792494e-01 -1.09956861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.87, Y:19.84, Z:-109.96 [[ 9.82081746e-01 5.27833613e-02 1.80912579e-01 2.25869176e+02] [-4.76694771e-02 9.98334217e-01 -3.25025073e-02 1.98394596e+01] [-1.82326809e-01 2.32961111e-02 9.82961966e-01 -1.09961930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:19.81, Z:-109.97 [[ 9.81855789e-01 5.03278924e-02 1.82828642e-01 2.25900664e+02] [-4.99053190e-02 9.98730019e-01 -6.91440070e-03 1.98146418e+01] [-1.82944440e-01 -2.33517735e-03 9.83120480e-01 -1.09968823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.93, Y:19.78, Z:-109.97 [[ 9.87131673e-01 4.63347671e-02 1.53049497e-01 2.25931695e+02] [-5.18855332e-02 9.98124942e-01 3.24729360e-02 1.97783949e+01] [-1.51257895e-01 -3.99961185e-02 9.87684848e-01 -1.09974303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:225.93, Y:19.85, Z:-109.98 [[ 9.89592028e-01 5.76117163e-02 1.31865494e-01 2.25930913e+02] [-5.11637386e-02 9.97347167e-01 -5.17774133e-02 1.98477123e+01] [-1.34498663e-01 4.44917838e-02 9.89914436e-01 -1.09982180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.99, Y:19.74, Z:-109.98 [[ 9.87649488e-01 4.55765085e-02 1.49904203e-01 2.25985051e+02] [-5.69066503e-02 9.95766801e-01 7.21810978e-02 1.97440448e+01] [-1.45979866e-01 -7.98201704e-02 9.86062178e-01 -1.09982894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:19.86, Z:-109.99 [[ 9.81599785e-01 6.81738238e-02 1.78365330e-01 2.26022580e+02] [-5.88742839e-02 9.96640915e-01 -5.69271934e-02 1.98627481e+01] [-1.81647130e-01 4.53785897e-02 9.82316193e-01 -1.09985096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:226.05, Y:19.77, Z:-109.99 [[ 9.86657012e-01 5.52611765e-02 1.53147458e-01 2.26049327e+02] [-6.24635453e-02 9.97136823e-01 4.26199761e-02 1.97707880e+01] [-1.50353739e-01 -5.16174314e-02 9.87283847e-01 -1.09993550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.08, Y:19.86, Z:-109.99 [[ 9.80517679e-01 7.03338128e-02 1.83407294e-01 2.26084711e+02] [-6.07325314e-02 9.96498930e-01 -5.74581751e-02 1.98623074e+01] [-1.86806425e-01 4.51999673e-02 9.81356369e-01 -1.09994374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.11, Y:19.73, Z:-110.00 [[ 9.86517003e-01 4.77842829e-02 1.56527520e-01 2.26107433e+02] [-6.12687362e-02 9.94707117e-01 8.24857107e-02 1.97330266e+01] [-1.51757517e-01 -9.09637995e-02 9.84223167e-01 -1.10002376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:226.15, Y:19.86, Z:-110.00 [[ 9.85460014e-01 7.13765018e-02 1.54188056e-01 2.26145603e+02] [-6.42350766e-02 9.96640031e-01 -5.08183302e-02 1.98576024e+01] [-1.57297223e-01 4.01751508e-02 9.86733774e-01 -1.10003838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:226.17, Y:19.78, Z:-110.01 [[ 9.84826846e-01 5.52553432e-02 1.64508147e-01 2.26166352e+02] [-6.05795628e-02 9.97783890e-01 2.75213631e-02 1.97832165e+01] [-1.62622877e-01 -3.70696088e-02 9.85991706e-01 -1.10012166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:226.20, Y:19.84, Z:-110.02 [[ 9.85801226e-01 6.58922277e-02 1.54447910e-01 2.26203788e+02] [-6.16724712e-02 9.97584591e-01 -3.19607647e-02 1.98381553e+01] [-1.56180821e-01 2.19817767e-02 9.87483849e-01 -1.10015377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:226.24, Y:19.86, Z:-110.02 [[ 9.79002366e-01 7.00214073e-02 1.91445477e-01 2.26235215e+02] [-5.92559308e-02 9.96352871e-01 -6.13978138e-02 1.98612208e+01] [-1.95046411e-01 4.87643250e-02 9.79581001e-01 -1.10018604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:226.26, Y:19.76, Z:-110.03 [[ 9.85554198e-01 5.16442977e-02 1.61294109e-01 2.26259777e+02] [-5.94446338e-02 9.97265270e-01 4.39126011e-02 1.97620036e+01] [-1.58585178e-01 -5.28663176e-02 9.85928950e-01 -1.10027344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.29, Y:19.81, Z:-110.03 [[ 9.85579607e-01 6.05611381e-02 1.58003755e-01 2.26293747e+02] [-5.95648757e-02 9.98163412e-01 -1.10376201e-02 1.98105921e+01] [-1.58382018e-01 1.46697923e-03 9.87376820e-01 -1.10030096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:226.32, Y:19.81, Z:-110.04 [[ 9.84658528e-01 6.06509301e-02 1.63612494e-01 2.26324709e+02] [-5.88397867e-02 9.98140842e-01 -1.58977636e-02 1.98124103e+01] [-1.64272527e-01 6.02694421e-03 9.86396580e-01 -1.10036171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:226.36, Y:19.80, Z:-110.04 [[ 9.84466301e-01 5.94290211e-02 1.65209845e-01 2.26355361e+02] [-5.88940223e-02 9.98231057e-01 -8.13943153e-03 1.98037266e+01] [-1.65401317e-01 -1.71687625e-03 9.86224851e-01 -1.10041661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.38, Y:19.79, Z:-110.05 [[ 9.84859609e-01 5.62775371e-02 1.63964598e-01 2.26383295e+02] [-5.71635755e-02 9.98364590e-01 6.86711276e-04 1.97916697e+01] [-1.63657803e-01 -1.00491169e-02 9.86465985e-01 -1.10045793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.42, Y:19.80, Z:-110.05 [[ 9.84178348e-01 5.97331346e-02 1.66808069e-01 2.26415444e+02] [-5.91643117e-02 9.98213068e-01 -8.38185422e-03 1.97982998e+01] [-1.67010669e-01 -1.61984516e-03 9.85953758e-01 -1.10050704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:226.45, Y:19.79, Z:-110.06 [[ 9.83993284e-01 6.01552538e-02 1.67745529e-01 2.26446532e+02] [-6.00979026e-02 9.98177756e-01 -5.42311776e-03 1.97942323e+01] [-1.67766084e-01 -4.74484299e-03 9.85815412e-01 -1.10055585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.48, Y:19.84, Z:-110.06 [[ 9.76714952e-01 7.16642537e-02 2.02218046e-01 2.26480904e+02] [-6.08442817e-02 9.96388214e-01 -5.92325874e-02 1.98420705e+01] [-2.05732537e-01 4.55495419e-02 9.77547627e-01 -1.10058408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.50, Y:19.68, Z:-110.06 [[ 9.84996955e-01 4.22370782e-02 1.67323124e-01 2.26499583e+02] [-6.12082239e-02 9.92056529e-01 1.09897213e-01 1.96844614e+01] [-1.61352260e-01 -1.18489971e-01 9.79757916e-01 -1.10063853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:226.54, Y:19.86, Z:-110.06 [[ 9.82284848e-01 8.06151521e-02 1.69167592e-01 2.26544207e+02] [-6.75030373e-02 9.94352948e-01 -8.18874536e-02 1.98638595e+01] [-1.74813664e-01 6.90174786e-02 9.82179602e-01 -1.10064263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:226.57, Y:19.80, Z:-110.08 [[ 9.82157868e-01 6.95257837e-02 1.74734335e-01 2.26571156e+02] [-6.81475171e-02 9.97578659e-01 -1.38828924e-02 1.98005408e+01] [-1.75276463e-01 1.72748095e-03 9.84517739e-01 -1.10075452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:226.60, Y:19.79, Z:-110.08 [[ 9.82735132e-01 6.79598336e-02 1.72084632e-01 2.26600511e+02] [-6.93641040e-02 9.97589086e-01 2.15332214e-03 1.97869991e+01] [-1.71523411e-01 -1.40526416e-02 9.85079815e-01 -1.10080081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:226.63, Y:19.78, Z:-110.08 [[ 9.83476801e-01 6.70826072e-02 1.68146678e-01 2.26630564e+02] [-6.98951376e-02 9.97495255e-01 1.08575680e-02 1.97789659e+01] [-1.66997159e-01 -2.24308014e-02 9.85702190e-01 -1.10083936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:226.66, Y:19.82, Z:-110.09 [[ 9.82186024e-01 7.48357032e-02 1.72366562e-01 2.26662965e+02] [-7.11762899e-02 9.97089465e-01 -2.73227825e-02 1.98162480e+01] [-1.73909603e-01 1.45676426e-02 9.84653865e-01 -1.10086995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:226.69, Y:19.79, Z:-110.10 [[ 9.82971087e-01 6.75305285e-02 1.70901928e-01 2.26691279e+02] [-6.97603563e-02 9.97538732e-01 7.06893973e-03 1.97870855e+01] [-1.70003924e-01 -1.88707428e-02 9.85262686e-01 -1.10095011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:226.72, Y:19.81, Z:-110.10 [[ 9.82273343e-01 7.17934268e-02 1.73161150e-01 2.26722573e+02] [-7.04498909e-02 9.97418461e-01 -1.39005741e-02 1.98072648e+01] [-1.73712098e-01 1.45497925e-03 9.84795405e-01 -1.10099081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:226.75, Y:19.81, Z:-110.11 [[ 9.82069764e-01 7.14895957e-02 1.74436852e-01 2.26751660e+02] [-7.05725620e-02 9.97440789e-01 -1.14623681e-02 1.98052430e+01] [-1.74809872e-01 -1.05361048e-03 9.84601645e-01 -1.10106736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:226.78, Y:19.82, Z:-110.11 [[ 9.80792502e-01 7.30087416e-02 1.80875074e-01 2.26783522e+02] [-6.96227870e-02 9.97259899e-01 -2.50072204e-02 1.98188623e+01] [-1.82205203e-01 1.19338675e-02 9.83188103e-01 -1.10110322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:226.81, Y:19.80, Z:-110.12 [[ 9.81402886e-01 6.85070248e-02 1.79318607e-01 2.26812181e+02] [-6.91122951e-02 9.97604738e-01 -2.87715039e-03 1.97983767e+01] [-1.79086197e-01 -9.56947677e-03 9.83786846e-01 -1.10116993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:226.85, Y:19.85, Z:-110.12 [[ 9.72997894e-01 7.67314196e-02 2.17686444e-01 2.26846116e+02] [-6.58388126e-02 9.96208435e-01 -5.68683156e-02 1.98479302e+01] [-2.21224659e-01 4.10005343e-02 9.74360614e-01 -1.10120707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.88, Y:19.80, Z:-110.13 [[ 9.73072621e-01 6.65183976e-02 2.20692043e-01 2.26875868e+02] [-6.57048240e-02 9.97778099e-01 -1.10336330e-02 1.98043549e+01] [-2.20935627e-01 -3.76400563e-03 9.75281129e-01 -1.10131956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:226.91, Y:19.80, Z:-110.14 [[ 9.73032016e-01 6.39886730e-02 2.21617115e-01 2.26908037e+02] [-6.30761886e-02 9.97945869e-01 -1.11998616e-02 1.98033811e+01] [-2.21878549e-01 -3.08093906e-03 9.75069442e-01 -1.10140499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:226.93, Y:19.70, Z:-110.15 [[ 9.81431099e-01 3.93340479e-02 1.87738731e-01 2.26927232e+02] [-5.95284034e-02 9.92880819e-01 1.03169999e-01 1.96953287e+01] [-1.82344091e-01 -1.12430033e-01 9.76785606e-01 -1.10145558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:226.97, Y:19.82, Z:-110.15 [[ 9.82563486e-01 6.50489618e-02 1.74177003e-01 2.26969833e+02] [-5.96648123e-02 9.97569919e-01 -3.59773188e-02 1.98248774e+01] [-1.76094026e-01 2.49577616e-02 9.84056911e-01 -1.10145439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:227.00, Y:19.87, Z:-110.15 [[ 9.72094328e-01 7.30632688e-02 2.22922356e-01 2.27003340e+02] [-5.44625153e-02 9.94587540e-01 -8.84842370e-02 1.98697358e+01] [-2.28180745e-01 7.38741127e-02 9.70812115e-01 -1.10147148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:227.02, Y:19.68, Z:-110.16 [[ 9.80204201e-01 3.03229698e-02 1.95653374e-01 2.27017374e+02] [-5.18443113e-02 9.93031622e-01 1.05831775e-01 1.96848581e+01] [-1.91080853e-01 -1.13880265e-01 9.74945841e-01 -1.10161536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:227.06, Y:19.80, Z:-110.17 [[ 9.79678014e-01 5.57776564e-02 1.92665105e-01 2.27056791e+02] [-5.39739010e-02 9.98435572e-01 -1.46022922e-02 1.97952477e+01] [-1.93178176e-01 3.90665729e-03 9.81155915e-01 -1.10165123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:227.09, Y:19.88, Z:-110.16 [[ 9.71457278e-01 7.38728442e-02 2.25418634e-01 2.27094234e+02] [-4.92569721e-02 9.92380065e-01 -1.12940503e-01 1.98803374e+01] [-2.32044195e-01 9.86134341e-02 9.67693589e-01 -1.10160569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:227.12, Y:19.78, Z:-110.18 [[ 9.71497780e-01 5.34542811e-02 2.30943075e-01 2.27119337e+02] [-5.20623463e-02 9.98570267e-01 -1.21216103e-02 1.97831554e+01] [-2.31260840e-01 -2.47320868e-04 9.72891753e-01 -1.10178519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:227.15, Y:19.74, Z:-110.18 [[ 9.79579284e-01 4.75869343e-02 1.95345615e-01 2.27147051e+02] [-5.46152897e-02 9.98033910e-01 3.07487439e-02 1.97398867e+01] [-1.93498309e-01 -4.07896899e-02 9.80252317e-01 -1.10184209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:227.18, Y:19.78, Z:-110.19 [[ 9.79518039e-01 5.93996377e-02 1.92395673e-01 2.27181203e+02] [-5.70510982e-02 9.98213834e-01 -1.77288830e-02 1.97821969e+01] [-1.93105112e-01 6.38937627e-03 9.81157272e-01 -1.10190040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:19.81, Z:-110.21 [[ 9.81283324e-01 7.01985035e-02 1.79318735e-01 2.27209484e+02] [-6.33195428e-02 9.97031316e-01 -4.38085562e-02 1.98055296e+01] [-1.81861689e-01 3.16342254e-02 9.82815141e-01 -1.10214269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:227.24, Y:19.74, Z:-110.21 [[ 9.79330164e-01 5.64000518e-02 1.94245884e-01 2.27241042e+02] [-6.19149370e-02 9.97829292e-01 2.24331223e-02 1.97393645e+01] [-1.92559004e-01 -3.39961551e-02 9.80696330e-01 -1.10205299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.28, Y:19.80, Z:-110.21 [[ 9.70149871e-01 7.38127510e-02 2.30999795e-01 2.27276167e+02] [-6.47708875e-02 9.96816414e-01 -4.64948189e-02 1.97996503e+01] [-2.33696298e-01 3.01448808e-02 9.71842233e-01 -1.10208384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.31, Y:19.77, Z:-110.22 [[ 9.70054097e-01 6.86107087e-02 2.32997036e-01 2.27306630e+02] [-6.75206392e-02 9.97637542e-01 -1.26608735e-02 1.97668097e+01] [-2.33315261e-01 -3.45037652e-03 9.72395025e-01 -1.10217321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.34, Y:19.77, Z:-110.22 [[ 9.70044211e-01 7.18031383e-02 2.32074422e-01 2.27338708e+02] [-7.07820891e-02 9.97410506e-01 -1.27349180e-02 1.97671981e+01] [-2.32387873e-01 -4.07327894e-03 9.72614664e-01 -1.10224312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:227.37, Y:19.77, Z:-110.23 [[ 9.69824802e-01 7.53919750e-02 2.31853193e-01 2.27370819e+02] [-7.44441361e-02 9.97142421e-01 -1.28476427e-02 1.97694951e+01] [-2.32159264e-01 -4.80014810e-03 9.72665942e-01 -1.10231006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.40, Y:19.75, Z:-110.24 [[ 9.77624597e-01 7.38283243e-02 1.96975953e-01 2.27399189e+02] [-7.74352379e-02 9.96940372e-01 1.06619923e-02 1.97500274e+01] [-1.95586123e-01 -2.56763057e-02 9.80350343e-01 -1.10238289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:19.79, Z:-110.24 [[ 9.68884776e-01 8.38211722e-02 2.32886888e-01 2.27435285e+02] [-7.83075162e-02 9.96388286e-01 -3.28377178e-02 1.97898915e+01] [-2.34798263e-01 1.35791711e-02 9.71949269e-01 -1.10241114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:227.43, Y:19.75, Z:-110.26 [[ 9.79465732e-01 7.53845523e-02 1.86986761e-01 2.27425788e+02] [-7.60832753e-02 9.97095507e-01 -3.44750311e-03 1.97541245e+01] [-1.86703548e-01 -1.08498541e-02 9.82356384e-01 -1.10257141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:227.49, Y:19.73, Z:-110.26 [[ 9.75212371e-01 7.48530304e-02 2.08225493e-01 2.27489380e+02] [-8.41249097e-02 9.95803901e-01 3.60220683e-02 1.97309329e+01] [-2.04655397e-01 -5.26461174e-02 9.77417288e-01 -1.10258445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:227.53, Y:19.75, Z:-110.30 [[ 9.82073295e-01 5.90607224e-02 1.79008029e-01 2.27534895e+02] [-6.42570816e-02 9.97659796e-01 2.33657429e-02 1.97482908e+01] [-1.77209116e-01 -3.44494057e-02 9.83570113e-01 -1.10299301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:227.55, Y:19.81, Z:-110.26 [[ 9.75069000e-01 8.78234588e-02 2.03782938e-01 2.27553296e+02] [-8.02477451e-02 9.95751323e-01 -4.51619591e-02 1.98075106e+01] [-2.06883409e-01 2.76829051e-02 9.77973881e-01 -1.10262593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:227.58, Y:19.76, Z:-110.27 [[ 9.76040376e-01 7.67125669e-02 2.03618186e-01 2.27579570e+02] [-7.85712247e-02 9.96907952e-01 1.04764556e-03 1.97644325e+01] [-2.02908221e-01 -1.70210746e-02 9.79049813e-01 -1.10273444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:227.61, Y:19.79, Z:-110.28 [[ 9.75790618e-01 7.92517045e-02 2.03842679e-01 2.27611732e+02] [-7.56639900e-02 9.96811164e-01 -2.53468619e-02 1.97895173e+01] [-2.05201440e-01 9.30967957e-03 9.78675482e-01 -1.10278326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:227.64, Y:19.77, Z:-110.29 [[ 9.76190072e-01 7.22718560e-02 2.04523156e-01 2.27638994e+02] [-7.26789430e-02 9.97340054e-01 -5.53068960e-03 1.97704181e+01] [-2.04378849e-01 -9.46552256e-03 9.78846101e-01 -1.10285497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:227.67, Y:19.77, Z:-110.29 [[ 9.76051625e-01 7.10243461e-02 2.05618013e-01 2.27668602e+02] [-7.11095407e-02 9.97444056e-01 -6.98493784e-03 1.97709314e+01] [-2.05588565e-01 -7.80374253e-03 9.78607400e-01 -1.10293442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:227.70, Y:19.78, Z:-110.30 [[ 9.76336057e-01 6.95822997e-02 2.04758898e-01 2.27699614e+02] [-6.82945464e-02 9.97575770e-01 -1.33580914e-02 1.97768954e+01] [-2.05192002e-01 -9.41929793e-04 9.78721286e-01 -1.10297505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:227.74, Y:19.82, Z:-110.30 [[ 9.67058147e-01 8.04901747e-02 2.41495077e-01 2.27735482e+02] [-6.80206393e-02 9.95905201e-01 -5.95485023e-02 1.98184221e+01] [-2.45299273e-01 4.11602148e-02 9.68573231e-01 -1.10301423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45592 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:227.76, Y:19.71, Z:-110.32 [[ 9.76422739e-01 5.53727168e-02 2.08644427e-01 2.27756548e+02] [-6.98156822e-02 9.95600001e-01 6.25012753e-02 1.97062165e+01] [-2.04265526e-01 -7.55943194e-02 9.75992363e-01 -1.10315040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters Centerline goodness : 0.905745 Centerline is valid? [True, False] Translation: X:227.79, Y:19.73, Z:-110.32 [[ 9.79313984e-01 6.21088692e-02 1.92578838e-01 2.27785158e+02] [-7.06765213e-02 9.96777632e-01 3.79365366e-02 1.97300433e+01] [-1.89602083e-01 -5.07625832e-02 9.80547913e-01 -1.10318842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51592 meters Centerline goodness : 0.998705 Centerline is valid? [False, True] Translation: X:227.81, Y:19.75, Z:-110.32 [[ 9.81647200e-01 7.04546792e-02 1.77214313e-01 2.27807902e+02] [-7.51128200e-02 9.96980290e-01 1.97070024e-02 1.97512505e+01] [-1.75290727e-01 -3.26563905e-02 9.83974960e-01 -1.10321880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:227.83, Y:19.72, Z:-110.33 [[ 9.88241653e-01 6.38488806e-02 1.38930761e-01 2.27834149e+02] [-7.25032559e-02 9.95671820e-01 5.81455563e-02 1.97168943e+01] [-1.34616915e-01 -6.75347931e-02 9.88593616e-01 -1.10325936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:227.87, Y:19.79, Z:-110.32 [[ 9.87676269e-01 7.35354156e-02 1.38159802e-01 2.27869349e+02] [-7.19006060e-02 9.97270417e-01 -1.67933965e-02 1.97868674e+01] [-1.39017593e-01 6.65266572e-03 9.90267565e-01 -1.10324957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:227.91, Y:19.83, Z:-110.32 [[ 9.81338915e-01 8.04003350e-02 1.74670317e-01 2.27906071e+02] [-6.95367747e-02 9.95295935e-01 -6.74584203e-02 1.98328494e+01] [-1.79272336e-01 5.40535625e-02 9.82313413e-01 -1.10323048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:227.93, Y:19.78, Z:-110.34 [[ 9.81241478e-01 7.14881464e-02 1.79038004e-01 2.27934291e+02] [-7.05478741e-02 9.97440694e-01 -1.16214777e-02 1.97804813e+01] [-1.79410589e-01 -1.22727461e-03 9.83773518e-01 -1.10335391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:227.97, Y:19.78, Z:-110.34 [[ 9.81455608e-01 7.12018045e-02 1.77975257e-01 2.27966552e+02] [-7.02510330e-02 9.97461354e-01 -1.16464394e-02 1.97797780e+01] [-1.78352688e-01 -1.07248241e-03 9.83966040e-01 -1.10340310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:228.00, Y:19.78, Z:-110.35 [[ 9.81933187e-01 6.92568881e-02 1.76098549e-01 2.27999049e+02] [-6.82787410e-02 9.97598667e-01 -1.16151864e-02 1.97796647e+01] [-1.76480110e-01 -6.18450238e-04 9.84304012e-01 -1.10346207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:228.02, Y:19.72, Z:-110.35 [[ 9.89038006e-01 5.65871558e-02 1.36388111e-01 2.28021394e+02] [-6.41172836e-02 9.96614572e-01 5.14623026e-02 1.97215449e+01] [-1.33014274e-01 -5.96430083e-02 9.89317904e-01 -1.10353741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:228.06, Y:19.77, Z:-110.35 [[ 9.89016495e-01 6.29061042e-02 1.33750493e-01 2.28056005e+02] [-6.30662075e-02 9.98004705e-01 -3.04349076e-03 1.97718714e+01] [-1.33675076e-01 -5.42507380e-03 9.91010365e-01 -1.10352667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:228.08, Y:19.74, Z:-110.36 [[ 9.89215980e-01 5.49098434e-02 1.35781641e-01 2.28080477e+02] [-5.97088406e-02 9.97717937e-01 3.15241703e-02 1.97374453e+01] [-1.33740791e-01 -3.92915773e-02 9.90237130e-01 -1.10357728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81591999999995 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:228.13, Y:19.87, Z:-110.35 [[ 9.80999366e-01 7.70968076e-02 1.78034619e-01 2.28126276e+02] [-5.74255865e-02 9.91920347e-01 -1.13120854e-01 1.98662267e+01] [-1.85317418e-01 1.00747744e-01 9.77500561e-01 -1.10346101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:228.15, Y:19.77, Z:-110.37 [[ 9.80855792e-01 5.91908693e-02 1.85521849e-01 2.28149375e+02] [-5.78251878e-02 9.98245068e-01 -1.27684314e-02 1.97686666e+01] [-1.85952046e-01 1.79615410e-03 9.82557179e-01 -1.10367447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87591999999995 meters Centerline goodness : 0.834742 Centerline is valid? [True, False] Translation: X:228.17, Y:19.76, Z:-110.37 [[ 9.82053469e-01 5.76384523e-02 1.79579490e-01 2.28165302e+02] [-5.66719648e-02 9.98337512e-01 -1.05119429e-02 1.97627266e+01] [-1.79886834e-01 1.46167460e-04 9.83687301e-01 -1.10372455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters Centerline goodness : 0.998511 Centerline is valid? [False, True] Translation: X:228.20, Y:19.76, Z:-110.38 [[ 9.84463454e-01 5.69561507e-02 1.66095468e-01 2.28203837e+02] [-5.53778895e-02 9.98365598e-01 -1.41217158e-02 1.97615752e+01] [-1.66628319e-01 4.70429666e-03 9.86008556e-01 -1.10379111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93591999999995 meters Centerline goodness : 0.827648 Centerline is valid? [True, False] Translation: X:228.20, Y:19.75, Z:-110.38 [[ 9.84544926e-01 5.64498470e-02 1.65785112e-01 2.28204438e+02] [-5.51689750e-02 9.98400965e-01 -1.23246731e-02 1.97541973e+01] [-1.66215742e-01 2.98799969e-03 9.86084884e-01 -1.10379062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters Centerline goodness : 0.827648 Centerline is valid? [False, False] Translation: X:228.20, Y:19.75, Z:-110.38 [[ 9.84544926e-01 5.64498470e-02 1.65785112e-01 2.28204438e+02] [-5.51689750e-02 9.98400965e-01 -1.23246731e-02 1.97541973e+01] [-1.66215742e-01 2.98799969e-03 9.86084884e-01 -1.10379062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99591999999996 meters Centerline goodness : 0.998264 Centerline is valid? [False, True] Translation: X:228.20, Y:19.75, Z:-110.38 [[ 9.84598219e-01 5.61628806e-02 1.65565931e-01 2.28204896e+02] [-5.50316530e-02 9.98419351e-01 -1.14156292e-02 1.97502474e+01] [-1.65945364e-01 2.12844134e-03 9.86132651e-01 -1.10379364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:228.25, Y:19.84, Z:-110.37 [[ 9.77109066e-01 7.49034418e-02 1.99116418e-01 2.28249783e+02] [-5.08398627e-02 9.91062046e-01 -1.23334217e-01 1.98417283e+01] [-2.06574882e-01 1.10387931e-01 9.72183791e-01 -1.10372968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05591999999996 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:228.27, Y:19.74, Z:-110.39 [[ 9.76284642e-01 5.40447940e-02 2.09636492e-01 2.28271022e+02] [-5.15577084e-02 9.98519906e-01 -1.73147512e-02 1.97357292e+01] [-2.10261983e-01 6.09574848e-03 9.77626074e-01 -1.10393079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:228.30, Y:19.72, Z:-110.40 [[ 9.80862728e-01 4.94144330e-02 1.88325576e-01 2.28298711e+02] [-4.86717638e-02 9.98778071e-01 -8.56884671e-03 1.97177077e+01] [-1.88518880e-01 -7.61275576e-04 9.82069271e-01 -1.10398436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11591999999996 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:228.33, Y:19.72, Z:-110.40 [[ 9.76756460e-01 5.32253725e-02 2.07638813e-01 2.28332764e+02] [-4.96726387e-02 9.98516783e-01 -2.22904232e-02 1.97221034e+01] [-2.08517256e-01 1.14583471e-02 9.77951563e-01 -1.10404042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:228.36, Y:19.71, Z:-110.41 [[ 9.77090686e-01 5.19036162e-02 2.06397204e-01 2.28363964e+02] [-4.93867502e-02 9.98629347e-01 -1.73313432e-02 1.97058516e+01] [-2.07013864e-01 6.74100690e-03 9.78314785e-01 -1.10411046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17591999999996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:228.42, Y:19.65, Z:-110.43 [[ 9.86187449e-01 3.49987455e-02 1.61893185e-01 2.28419347e+02] [-4.24772267e-02 9.98173190e-01 4.29647391e-02 1.96453646e+01] [-1.60093725e-01 -4.92480600e-02 9.85872521e-01 -1.10431438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:228.43, Y:19.75, Z:-110.41 [[ 9.77543164e-01 6.24646769e-02 2.01264817e-01 2.28431067e+02] [-4.47916002e-02 9.94824597e-01 -9.12016054e-02 1.97534154e+01] [-2.05920070e-01 8.01385327e-02 9.75281877e-01 -1.10414728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23591999999996 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:228.46, Y:19.68, Z:-110.43 [[ 9.76752793e-01 5.02851010e-02 2.08387596e-01 2.28456732e+02] [-4.77626175e-02 9.98711951e-01 -1.71222349e-02 1.96766670e+01] [-2.08980176e-01 6.77105365e-03 9.77896436e-01 -1.10426132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:228.48, Y:19.61, Z:-110.43 [[ 9.84451021e-01 3.73586180e-02 1.71640675e-01 2.28479661e+02] [-4.69660003e-02 9.97528644e-01 5.22570504e-02 1.96078638e+01] [-1.69264238e-01 -5.95057826e-02 9.83772677e-01 -1.10426578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29591999999997 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:228.52, Y:19.65, Z:-110.43 [[ 9.84502415e-01 5.33051146e-02 1.67073518e-01 2.28515913e+02] [-5.32175462e-02 9.98570402e-01 -5.00442535e-03 1.96536041e+01] [-1.67101431e-01 -3.96437380e-03 9.85931740e-01 -1.10433047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:228.54, Y:19.61, Z:-110.44 [[ 9.83765477e-01 4.84114899e-02 1.72805712e-01 2.28539148e+02] [-5.55359144e-02 9.97784504e-01 3.66312011e-02 1.96098261e+01] [-1.70649491e-01 -4.56334342e-02 9.84274525e-01 -1.10436655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35591999999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:228.59, Y:19.76, Z:-110.44 [[ 9.74584786e-01 8.58900596e-02 2.06899474e-01 2.28585624e+02] [-5.84572130e-02 9.89086814e-01 -1.35240629e-01 1.97614735e+01] [-2.16257367e-01 1.19708693e-01 9.68969855e-01 -1.10435095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:228.61, Y:19.65, Z:-110.45 [[ 9.73229411e-01 6.77584825e-02 2.19620812e-01 2.28606714e+02] [-6.52755606e-02 9.97694823e-01 -1.85510280e-02 1.96451999e+01] [-2.20371537e-01 3.71853441e-03 9.75408918e-01 -1.10451232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:228.64, Y:19.64, Z:-110.46 [[ 9.72848123e-01 6.95096395e-02 2.20759914e-01 2.28638393e+02] [-6.70187498e-02 9.97575286e-01 -1.87626163e-02 1.96413179e+01] [-2.21528818e-01 3.45812259e-03 9.75147694e-01 -1.10458306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:228.67, Y:19.64, Z:-110.47 [[ 9.72764338e-01 7.06369126e-02 2.20771307e-01 2.28670841e+02] [-6.81483122e-02 9.97496571e-01 -1.88784969e-02 1.96368032e+01] [-2.21552141e-01 3.31913656e-03 9.75142878e-01 -1.10465586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:19.63, Z:-110.47 [[ 9.75325189e-01 7.18881125e-02 2.08741167e-01 2.28701580e+02] [-7.09154305e-02 9.97408332e-01 -1.21499593e-02 1.96264782e+01] [-2.09073617e-01 -2.95280837e-03 9.77895446e-01 -1.10472695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:19.63, Z:-110.48 [[ 9.72732778e-01 7.51883027e-02 2.19402966e-01 2.28735643e+02] [-7.16960284e-02 9.97141394e-01 -2.38478636e-02 1.96340045e+01] [-2.20568860e-01 7.46727737e-03 9.75342821e-01 -1.10477752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:19.58, Z:-110.48 [[ 9.80661693e-01 6.88317620e-02 1.83207076e-01 2.28762023e+02] [-7.55752259e-02 9.96686435e-01 3.00755062e-02 1.95820684e+01] [-1.80529857e-01 -4.33398129e-02 9.82614182e-01 -1.10479901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:19.66, Z:-110.49 [[ 9.71072889e-01 8.85552340e-02 2.21755303e-01 2.28802361e+02] [-7.61768120e-02 9.95052277e-01 -6.37813398e-02 1.96630507e+01] [-2.26306290e-01 4.50437180e-02 9.73014145e-01 -1.10488732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59592 meters Centerline goodness : 0.922924 Centerline is valid? [True, False] Translation: X:228.86, Y:19.64, Z:-110.50 [[ 9.77421680e-01 7.75200646e-02 1.96564236e-01 2.28861628e+02] [-7.05819143e-02 9.96618400e-01 -4.20708756e-02 1.96356898e+01] [-1.99160872e-01 2.72471058e-02 9.79587945e-01 -1.10500776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:228.90, Y:19.61, Z:-110.51 [[ 9.81474758e-01 6.75861038e-02 1.79274703e-01 2.28899786e+02] [-6.54543299e-02 9.97697032e-01 -1.77865731e-02 1.96097746e+01] [-1.80063964e-01 5.72276703e-03 9.83638256e-01 -1.10508877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:19.49, Z:-110.51 [[ 9.88022979e-01 4.82142275e-02 1.46580972e-01 2.28916807e+02] [-6.44347944e-02 9.92059884e-01 1.08006219e-01 1.94877168e+01] [-1.40209666e-01 -1.16157541e-01 9.83284636e-01 -1.10505043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:19.71, Z:-110.51 [[ 9.81164761e-01 8.56561031e-02 1.73143710e-01 2.28969598e+02] [-6.32614776e-02 9.89366840e-01 -1.30962745e-01 1.97065656e+01] [-1.82520404e-01 1.17542703e-01 9.76150611e-01 -1.10511909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:228.98, Y:19.51, Z:-110.51 [[ 9.89225368e-01 5.51321333e-02 1.35623077e-01 2.28983570e+02] [-6.60674801e-02 9.94801294e-01 7.74949957e-02 1.95100598e+01] [-1.30645548e-01 -8.56202906e-02 9.87725117e-01 -1.10512439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:19.67, Z:-110.52 [[ 9.79884105e-01 8.27318088e-02 1.81611092e-01 2.29027744e+02] [-6.57413345e-02 9.93045359e-01 -9.76677680e-02 1.96687535e+01] [-1.88428283e-01 8.37637379e-02 9.78508262e-01 -1.10520838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:229.05, Y:19.55, Z:-110.53 [[ 9.85868867e-01 6.70553106e-02 1.53512743e-01 2.29050385e+02] [-7.21982302e-02 9.96992430e-01 2.81693252e-02 1.95477831e+01] [-1.51162140e-01 -3.88546091e-02 9.87745072e-01 -1.10525769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.08, Y:19.58, Z:-110.53 [[ 9.85584376e-01 7.48211334e-02 1.51740683e-01 2.29083461e+02] [-7.36484178e-02 9.97195016e-01 -1.33420476e-02 1.95840493e+01] [-1.52313320e-01 1.97425248e-03 9.88330286e-01 -1.10532898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:229.12, Y:19.62, Z:-110.54 [[ 9.78101513e-01 8.38755520e-02 1.90479189e-01 2.29117553e+02] [-7.53782497e-02 9.95827387e-01 -5.14386465e-02 1.96158526e+01] [-1.93998838e-01 3.59542301e-02 9.80342667e-01 -1.10539128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:229.14, Y:19.54, Z:-110.54 [[ 9.84780533e-01 7.24376292e-02 1.57987631e-01 2.29142172e+02] [-7.79341347e-02 9.96540433e-01 2.88693001e-02 1.95410299e+01] [-1.55349839e-01 -4.07425541e-02 9.87018983e-01 -1.10540266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.18, Y:19.62, Z:-110.55 [[ 9.77487182e-01 8.60343287e-02 1.92657474e-01 2.29179461e+02] [-7.69520697e-02 9.95563084e-01 -5.41527900e-02 1.96150084e+01] [-1.96461668e-01 3.81082667e-02 9.79770674e-01 -1.10548905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.20, Y:19.53, Z:-110.55 [[ 9.85270663e-01 7.06275107e-02 1.55735276e-01 2.29202257e+02] [-7.81027341e-02 9.96042967e-01 4.24072015e-02 1.95255166e+01] [-1.52123912e-01 -5.39459224e-02 9.86888116e-01 -1.10548777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:229.24, Y:19.58, Z:-110.56 [[ 9.84674801e-01 7.94447021e-02 1.55254873e-01 2.29236929e+02] [-7.74384799e-02 9.96817263e-01 -1.89374458e-02 1.95821306e+01] [-1.56265217e-01 6.62452433e-03 9.87692917e-01 -1.10556602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.27, Y:19.56, Z:-110.56 [[ 9.85086432e-01 7.54443074e-02 1.54637893e-01 2.29266155e+02] [-7.60985699e-02 9.97098863e-01 -1.69275714e-03 1.95634717e+01] [-1.54316976e-01 -1.01002105e-02 9.87969765e-01 -1.10560632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.30, Y:19.57, Z:-110.56 [[ 9.85284850e-01 7.28318713e-02 1.54626268e-01 2.29295646e+02] [-7.27353999e-02 9.97331445e-01 -6.28889193e-03 1.95657228e+01] [-1.54671672e-01 -5.05045353e-03 9.87953019e-01 -1.10564622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.32, Y:19.57, Z:-110.57 [[ 9.84967544e-01 7.33214747e-02 1.56406200e-01 2.29324324e+02] [-7.20787944e-02 9.97306080e-01 -1.36099423e-02 1.95722653e+01] [-1.56982756e-01 2.13178107e-03 9.87599043e-01 -1.10568727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:229.36, Y:19.58, Z:-110.57 [[ 9.84261615e-01 7.31922120e-02 1.60847673e-01 2.29355758e+02] [-7.07957411e-02 9.97278352e-01 -2.05876651e-02 1.95780632e+01] [-1.61916759e-01 8.87631827e-03 9.86764498e-01 -1.10574028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:229.38, Y:19.50, Z:-110.58 [[ 9.82821440e-01 6.13197149e-02 1.74074439e-01 2.29380277e+02] [-7.19461535e-02 9.95868726e-01 5.54006423e-02 1.95033956e+01] [-1.69958138e-01 -6.69729253e-02 9.83172853e-01 -1.10577285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:229.42, Y:19.62, Z:-110.58 [[ 9.83638424e-01 8.37090388e-02 1.59525071e-01 2.29419837e+02] [-7.27595093e-02 9.94652661e-01 -7.32948685e-02 1.96238708e+01] [-1.64807480e-01 6.04886830e-02 9.84469204e-01 -1.10580966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:229.44, Y:19.53, Z:-110.59 [[ 9.82196672e-01 6.80517306e-02 1.75096142e-01 2.29438657e+02] [-7.30080806e-02 9.97088346e-01 2.20147990e-02 1.95347989e+01] [-1.73088177e-01 -3.44062955e-02 9.84305181e-01 -1.10588594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:229.48, Y:19.61, Z:-110.59 [[ 9.82886453e-01 8.26586499e-02 1.64626147e-01 2.29478339e+02] [-7.38298029e-02 9.95520769e-01 -5.90555618e-02 1.96104174e+01] [-1.68770202e-01 4.58905956e-02 9.84586549e-01 -1.10592675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:229.50, Y:19.56, Z:-110.60 [[ 9.82687962e-01 7.20729253e-02 1.70674731e-01 2.29501597e+02] [-7.23137728e-02 9.97370317e-01 -4.81338019e-03 1.95571300e+01] [-1.70572825e-01 -7.61208294e-03 9.85315669e-01 -1.10596726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:229.54, Y:19.62, Z:-110.60 [[ 9.72831740e-01 8.55732558e-02 2.15117696e-01 2.29540087e+02] [-7.01359973e-02 9.94450831e-01 -7.84122897e-02 1.96219730e+01] [-2.20633966e-01 6.11944701e-02 9.73435098e-01 -1.10602473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:229.56, Y:19.51, Z:-110.60 [[ 9.82265355e-01 6.25250595e-02 1.76763655e-01 2.29559711e+02] [-7.14544425e-02 9.96446056e-01 4.46040468e-02 1.95078710e+01] [-1.73346576e-01 -5.64435583e-02 9.83242132e-01 -1.10604813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31591999999995 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:229.59, Y:19.55, Z:-110.61 [[ 9.82467311e-01 7.14110773e-02 1.72216260e-01 2.29593260e+02] [-7.21288751e-02 9.97393122e-01 -2.09420037e-03 1.95497080e+01] [-1.71916862e-01 -1.03642817e-02 9.85056939e-01 -1.10611632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:229.63, Y:19.58, Z:-110.62 [[ 9.82048008e-01 7.80108467e-02 1.71744049e-01 2.29626006e+02] [-7.35006499e-02 9.96766281e-01 -3.24751557e-02 1.95763104e+01] [-1.73722092e-01 1.92688627e-02 9.84606188e-01 -1.10620420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37591999999995 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:229.66, Y:19.60, Z:-110.63 [[ 9.71377331e-01 8.75180126e-02 2.20831787e-01 2.29659777e+02] [-7.49000813e-02 9.95077175e-01 -6.48952570e-02 1.96035834e+01] [-2.25424175e-01 4.64974627e-02 9.73150516e-01 -1.10625742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:229.68, Y:19.50, Z:-110.63 [[ 9.80950762e-01 6.74188650e-02 1.82182050e-01 2.29679221e+02] [-7.74258182e-02 9.95823682e-01 4.83780534e-02 1.94986382e+01] [-1.78159606e-01 -6.15620826e-02 9.82073961e-01 -1.10628240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43591999999995 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:229.72, Y:19.56, Z:-110.63 [[ 9.80305320e-01 8.27177993e-02 1.79329993e-01 2.29716063e+02] [-8.16611133e-02 9.96571684e-01 -1.32793892e-02 1.95558826e+01] [-1.79813634e-01 -1.62643095e-03 9.83699350e-01 -1.10634996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:229.75, Y:19.56, Z:-110.64 [[ 9.79960914e-01 8.62369679e-02 1.79554426e-01 2.29747287e+02] [-8.44653245e-02 9.96272673e-01 -1.75034277e-02 1.95582811e+01] [-1.80394611e-01 1.98655217e-03 9.83592313e-01 -1.10641420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49591999999996 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:229.78, Y:19.55, Z:-110.65 [[ 9.79682896e-01 8.68466914e-02 1.80773549e-01 2.29776077e+02] [-8.68152141e-02 9.96191489e-01 -8.10159742e-03 1.95486090e+01] [-1.80788667e-01 -7.75689789e-03 9.83491377e-01 -1.10647278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:229.81, Y:19.55, Z:-110.65 [[ 9.79407899e-01 8.94830387e-02 1.80977771e-01 2.29805524e+02] [-8.98137588e-02 9.95938121e-01 -6.38346111e-03 1.95481023e+01] [-1.80813872e-01 -1.00022816e-02 9.83466470e-01 -1.10653430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55591999999996 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:229.84, Y:19.57, Z:-110.66 [[ 9.78088073e-01 9.59064257e-02 1.84785492e-01 2.29838086e+02] [-9.17803385e-02 9.95303609e-01 -3.07749113e-02 1.95710759e+01] [-1.86869179e-01 1.31408987e-02 9.82296914e-01 -1.10658731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters Centerline goodness : 0.930110 Centerline is valid? [True, False] Translation: X:229.87, Y:19.56, Z:-110.67 [[ 9.82465145e-01 8.60761701e-02 1.65387821e-01 2.29873871e+02] [-8.40647215e-02 9.96276519e-01 -1.91368884e-02 1.95617621e+01] [-1.66419233e-01 4.89804473e-03 9.86042924e-01 -1.10666719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61591999999996 meters Centerline goodness : 0.997565 Centerline is valid? [False, True] Translation: X:229.92, Y:19.56, Z:-110.67 [[ 9.86765435e-01 7.54583566e-02 1.43527042e-01 2.29916266e+02] [-7.44078759e-02 9.97147269e-01 -1.26803572e-02 1.95575302e+01] [-1.44074437e-01 1.83299588e-03 9.89565155e-01 -1.10673878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:229.95, Y:19.59, Z:-110.68 [[ 9.84486582e-01 8.08549913e-02 1.55719749e-01 2.29947253e+02] [-7.49512468e-02 9.96241103e-01 -4.34278176e-02 1.95858469e+01] [-1.58645770e-01 3.10827144e-02 9.86846181e-01 -1.10676492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67591999999996 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:229.98, Y:19.57, Z:-110.68 [[ 9.83969635e-01 7.48362501e-02 1.61874313e-01 2.29975079e+02] [-7.24500237e-02 9.97159228e-01 -2.06026142e-02 1.95657290e+01] [-1.62956287e-01 8.54454894e-03 9.86596290e-01 -1.10682009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:230.01, Y:19.61, Z:-110.69 [[ 9.75350257e-01 8.24122084e-02 2.04695150e-01 2.30010732e+02] [-6.92321675e-02 9.95088728e-01 -7.07483654e-02 1.96105990e+01] [-2.09520366e-01 5.48329474e-02 9.76265622e-01 -1.10685311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73591999999996 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:230.03, Y:19.50, Z:-110.69 [[ 9.84352977e-01 6.01997030e-02 1.65605595e-01 2.30031081e+02] [-6.94116274e-02 9.96313765e-01 5.04074113e-02 1.95002778e+01] [-1.61960623e-01 -6.11136392e-02 9.84902980e-01 -1.10693696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:230.06, Y:19.55, Z:-110.70 [[ 9.83917902e-01 6.98342013e-02 1.64404217e-01 2.30064432e+02] [-7.00602242e-02 9.97532924e-01 -4.43058155e-03 1.95521810e+01] [-1.64308026e-01 -7.15886781e-03 9.86383102e-01 -1.10698376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79591999999997 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:230.09, Y:19.52, Z:-110.70 [[ 9.81708351e-01 6.06128607e-02 1.80484889e-01 2.30085250e+02] [-6.74891611e-02 9.97200286e-01 3.21994327e-02 1.95167743e+01] [-1.78027884e-01 -4.37912257e-02 9.83050559e-01 -1.10701133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:230.13, Y:19.61, Z:-110.70 [[ 9.83169841e-01 7.87912351e-02 1.64830231e-01 2.30126431e+02] [-6.93152933e-02 9.95636256e-01 -6.24806771e-02 1.96070314e+01] [-1.69033884e-01 5.00038616e-02 9.84340977e-01 -1.10702084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85591999999997 meters Centerline goodness : 0.766865 Centerline is valid? [True, False] Translation: X:230.14, Y:19.59, Z:-110.71 [[ 9.85166869e-01 7.05113312e-02 1.56442938e-01 2.30141372e+02] [-6.46454009e-02 9.97012291e-01 -4.22783970e-02 1.95894065e+01] [-1.58956638e-01 3.15379595e-02 9.86781711e-01 -1.10705865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters Centerline goodness : 0.766865 Centerline is valid? [False, False] Translation: X:230.17, Y:19.58, Z:-110.71 [[ 9.88410701e-01 6.62748873e-02 1.36572050e-01 2.30169969e+02] [-6.22698229e-02 9.97500437e-01 -3.33968020e-02 1.95806078e+01] [-1.38444049e-01 2.45054391e-02 9.90067032e-01 -1.10711170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91591999999997 meters Centerline goodness : 0.998115 Centerline is valid? [False, True] Translation: X:230.21, Y:19.57, Z:-110.72 [[ 9.91733484e-01 5.74219612e-02 1.14749356e-01 2.30209238e+02] [-5.52195161e-02 9.98225549e-01 -2.22835735e-02 1.95692510e+01] [-1.15825306e-01 1.57629621e-02 9.93144515e-01 -1.10716510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:230.24, Y:19.56, Z:-110.72 [[ 9.90659120e-01 5.63301195e-02 1.24183030e-01 2.30237466e+02] [-5.47298521e-02 9.98368747e-01 -1.62631211e-02 1.95644668e+01] [-1.24896559e-01 9.31469036e-03 9.92126043e-01 -1.10720180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97592 meters Centerline goodness : 0.803515 Centerline is valid? [True, False] Translation: X:230.26, Y:19.56, Z:-110.72 [[ 9.93000853e-01 5.24479679e-02 1.05823040e-01 2.30261184e+02] [-5.14362153e-02 9.98600910e-01 -1.22693773e-02 1.95615522e+01] [-1.06318488e-01 6.74036549e-03 9.94309281e-01 -1.10722360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters Centerline goodness : 0.976087 Centerline is valid? [False, True] Translation: X:230.29, Y:19.56, Z:-110.73 [[ 9.95007419e-01 4.93811787e-02 8.67279425e-02 2.30285630e+02] [-4.89578852e-02 9.98776298e-01 -7.00226269e-03 1.95593017e+01] [-8.69675933e-02 2.72128667e-03 9.96207424e-01 -1.10725143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:230.35, Y:19.52, Z:-110.71 [[ 9.94503049e-01 2.58220539e-02 1.01473675e-01 2.30349838e+02] [-2.91262471e-02 9.99088187e-01 3.12162986e-02 1.95216384e+01] [-1.00575081e-01 -3.40002515e-02 9.94348347e-01 -1.10714547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:230.39, Y:19.61, Z:-110.71 [[ 9.88867884e-01 3.84994745e-02 1.43729253e-01 2.30387131e+02] [-2.95938765e-02 9.97537014e-01 -6.35932956e-02 1.96137372e+01] [-1.45823558e-01 5.86318619e-02 9.87571666e-01 -1.10712077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09592 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:230.41, Y:19.44, Z:-110.72 [[ 9.94832991e-01 1.68694304e-02 1.00113646e-01 2.30407551e+02] [-2.86337242e-02 9.92687938e-01 1.17263668e-01 1.94422387e+01] [-9.74034375e-02 -1.19524392e-01 9.88041745e-01 -1.10720834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:230.44, Y:19.63, Z:-110.72 [[ 9.93419755e-01 3.94371846e-02 1.07526271e-01 2.30444907e+02] [-3.09232295e-02 9.96336804e-01 -7.97290874e-02 1.96317640e+01] [-1.10276672e-01 7.58793909e-02 9.91000189e-01 -1.10715022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:230.47, Y:19.55, Z:-110.73 [[ 9.93360997e-01 2.93465702e-02 1.11232676e-01 2.30472577e+02] [-2.99628267e-02 9.99543513e-01 3.87232912e-03 1.95535826e+01] [-1.11068260e-01 -7.17946610e-03 9.93786847e-01 -1.10726360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:230.50, Y:19.57, Z:-110.73 [[ 9.93162005e-01 3.08326300e-02 1.12599203e-01 2.30503916e+02] [-3.01959613e-02 9.99516932e-01 -7.35577336e-03 1.95652492e+01] [-1.12771608e-01 3.90543343e-03 9.93613261e-01 -1.10726630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:230.54, Y:19.61, Z:-110.73 [[ 9.89125829e-01 3.74157504e-02 1.42232756e-01 2.30537741e+02] [-3.00684205e-02 9.98117154e-01 -5.34606178e-02 1.96102576e+01] [-1.43965223e-01 4.86025635e-02 9.88388489e-01 -1.10731831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:230.56, Y:19.52, Z:-110.74 [[ 9.92689018e-01 2.50564894e-02 1.18070680e-01 2.30563626e+02] [-3.07436813e-02 9.98440653e-01 4.65949479e-02 1.95153263e+01] [-1.16719061e-01 -4.98842204e-02 9.91911400e-01 -1.10738115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:230.60, Y:19.61, Z:-110.74 [[ 9.86898884e-01 3.68930059e-02 1.57065268e-01 2.30599524e+02] [-2.94072658e-02 9.98330136e-01 -4.97207431e-02 1.96053972e+01] [-1.58637338e-01 4.44504858e-02 9.86335820e-01 -1.10735740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:230.62, Y:19.48, Z:-110.74 [[ 9.92435987e-01 1.81133662e-02 1.21419590e-01 2.30621136e+02] [-2.86345236e-02 9.95928778e-01 8.54747487e-02 1.94757725e+01] [-1.19377029e-01 -8.83050088e-02 9.88914228e-01 -1.10744823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33592 meters Centerline goodness : 0.832712 Centerline is valid? [True, False] Translation: X:230.64, Y:19.50, Z:-110.75 [[ 9.94023186e-01 1.94266601e-02 1.07426769e-01 2.30642430e+02] [-2.57764025e-02 9.97981515e-01 5.80385519e-02 1.95004547e+01] [-1.06082435e-01 -6.04607419e-02 9.92517514e-01 -1.10746225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters Centerline goodness : 0.843238 Centerline is valid? [False, False] Translation: X:230.65, Y:19.52, Z:-110.75 [[ 9.95038182e-01 2.04265675e-02 9.73743855e-02 2.30652026e+02] [-2.37726380e-02 9.99161721e-01 3.33274315e-02 1.95218912e+01] [-9.66119936e-02 -3.54769129e-02 9.94689656e-01 -1.10746261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:230.67, Y:19.53, Z:-110.75 [[ 9.96269283e-01 2.48511506e-02 8.26434215e-02 2.30667076e+02] [-2.65647736e-02 9.99452953e-01 1.97004431e-02 1.95328587e+01] [-8.21086330e-02 -2.18223501e-02 9.96384443e-01 -1.10746723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:230.70, Y:19.51, Z:-110.75 [[ 9.98774185e-01 2.31052037e-02 4.37753116e-02 2.30695955e+02] [-2.47707634e-02 9.98974645e-01 3.78954760e-02 1.95131338e+01] [-4.28548437e-02 -3.89333710e-02 9.98322420e-01 -1.10746370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.73, Y:19.52, Z:-110.75 [[ 9.98775448e-01 2.54940100e-02 4.23988273e-02 2.30725101e+02] [-2.67788245e-02 9.99190630e-01 3.00163151e-02 1.95180024e+01] [-4.15992747e-02 -3.11149493e-02 9.98649769e-01 -1.10747907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:230.76, Y:19.56, Z:-110.75 [[ 9.98577395e-01 3.19528324e-02 4.26872722e-02 2.30758646e+02] [-3.11918647e-02 9.99344491e-01 -1.83754077e-02 1.95607186e+01] [-4.32464366e-02 1.70177711e-02 9.98919487e-01 -1.10747089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:19.55, Z:-110.75 [[ 9.98276455e-01 3.37539633e-02 4.80082161e-02 2.30789332e+02] [-3.32975020e-02 9.99392652e-01 -1.02763787e-02 1.95513027e+01] [-4.83259269e-02 8.66011319e-03 9.98794076e-01 -1.10749345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:19.51, Z:-110.75 [[ 9.98149161e-01 3.23351300e-02 5.15042883e-02 2.30814573e+02] [-3.39823794e-02 9.98927956e-01 3.14346276e-02 1.95103783e+01] [-5.04326307e-02 -3.31266854e-02 9.98177926e-01 -1.10751608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:230.85, Y:19.58, Z:-110.75 [[ 9.97828364e-01 3.97810501e-02 5.24978514e-02 2.30852062e+02] [-3.77201521e-02 9.98500194e-01 -3.96806444e-02 1.95780026e+01] [-5.39976525e-02 3.76142456e-02 9.97832362e-01 -1.10750012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:230.88, Y:19.53, Z:-110.75 [[ 9.97942546e-01 3.63694806e-02 5.28009064e-02 2.30879381e+02] [-3.65035953e-02 9.99332277e-01 1.57753030e-03 1.95347550e+01] [-5.27082760e-02 -3.50170753e-03 9.98603813e-01 -1.10754095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.91, Y:19.54, Z:-110.76 [[ 9.97777226e-01 3.72593288e-02 5.52480829e-02 2.30912083e+02] [-3.70620841e-02 9.99302420e-01 -4.59081989e-03 1.95386311e+01] [-5.53805938e-02 2.53300644e-03 9.98462104e-01 -1.10755236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:230.94, Y:19.54, Z:-110.76 [[ 9.97674818e-01 3.74363065e-02 5.69515551e-02 2.30943974e+02] [-3.72679510e-02 9.99297240e-01 -4.01571890e-03 1.95353715e+01] [-5.70618656e-02 1.88391386e-03 9.98368867e-01 -1.10757382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:230.98, Y:19.54, Z:-110.76 [[ 9.97504115e-01 3.86148271e-02 5.91137584e-02 2.30975521e+02] [-3.81607947e-02 9.99232944e-01 -8.79080639e-03 1.95384254e+01] [-5.94078703e-02 6.51303754e-03 9.98212545e-01 -1.10759236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:19.47, Z:-110.76 [[ 9.97064483e-01 3.47916813e-02 6.82052398e-02 2.30998640e+02] [-3.88614282e-02 9.97484695e-01 5.92796134e-02 1.94704506e+01] [-6.59712454e-02 -6.17561501e-02 9.95908617e-01 -1.10762688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:231.04, Y:19.58, Z:-110.76 [[ 9.97281262e-01 4.30601673e-02 5.97988793e-02 2.31037235e+02] [-3.94515642e-02 9.97402253e-01 -6.02687245e-02 1.95832401e+01] [-6.22387183e-02 5.77457103e-02 9.96389369e-01 -1.10757705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:231.07, Y:19.55, Z:-110.77 [[ 9.95105723e-01 4.36747987e-02 8.86403500e-02 2.31067198e+02] [-4.07409890e-02 9.98569016e-01 -3.46423442e-02 1.95542863e+01] [-9.00265045e-02 3.08614994e-02 9.95461097e-01 -1.10766312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:231.10, Y:19.52, Z:-110.77 [[ 9.93940256e-01 4.38392554e-02 1.00801224e-01 2.31100623e+02] [-4.33265614e-02 9.99034505e-01 -7.27089745e-03 1.95244720e+01] [-1.01022651e-01 2.85946727e-03 9.94880017e-01 -1.10768524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:231.13, Y:19.52, Z:-110.77 [[ 9.94052033e-01 4.21691811e-02 1.00410739e-01 2.31132908e+02] [-4.19785685e-02 9.99110459e-01 -4.01140915e-03 1.95194501e+01] [-1.00490577e-01 -2.27549643e-04 9.94937984e-01 -1.10770883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.16, Y:19.52, Z:-110.78 [[ 9.94902769e-01 3.93294753e-02 9.28529676e-02 2.31164274e+02] [-3.87767825e-02 9.99217846e-01 -7.74972830e-03 1.95221192e+01] [-9.30851350e-02 4.10968681e-03 9.95649671e-01 -1.10776736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:231.19, Y:19.48, Z:-110.78 [[ 9.97416959e-01 3.14839330e-02 6.45613749e-02 2.31192655e+02] [-3.38895817e-02 9.98758451e-01 3.65109844e-02 1.94768783e+01] [-6.33317095e-02 -3.86046330e-02 9.97245595e-01 -1.10775880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:231.22, Y:19.48, Z:-110.78 [[ 9.97489458e-01 3.24294110e-02 6.29532687e-02 2.31224124e+02] [-3.44319940e-02 9.98926436e-01 3.09905285e-02 1.94797119e+01] [-6.18806798e-02 -3.30803320e-02 9.97535199e-01 -1.10777336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.26, Y:19.58, Z:-110.78 [[ 9.94572503e-01 4.03207838e-02 9.59154361e-02 2.31260325e+02] [-3.30501849e-02 9.96543185e-01 -7.62191935e-02 1.95801051e+01] [-9.86570918e-02 7.26354911e-02 9.92467059e-01 -1.10776238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99591999999996 meters Centerline goodness : 0.910920 Centerline is valid? [True, False] Translation: X:231.28, Y:19.56, Z:-110.78 [[ 9.95648102e-01 3.62540132e-02 8.58516390e-02 2.31277555e+02] [-3.19035149e-02 9.98162453e-01 -5.15158566e-02 1.95564944e+01] [-8.75615391e-02 4.85526958e-02 9.94975182e-01 -1.10779476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:231.30, Y:19.54, Z:-110.78 [[ 9.96780722e-01 2.95782254e-02 7.45206080e-02 2.31296027e+02] [-2.73272272e-02 9.99144279e-01 -3.10472697e-02 1.95355074e+01] [-7.53751623e-02 2.89108783e-02 9.96736046e-01 -1.10782996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:231.34, Y:19.60, Z:-110.78 [[ 9.95551601e-01 3.50964008e-02 8.74371361e-02 2.31342064e+02] [-2.65659366e-02 9.94941256e-01 -9.68821350e-02 1.95964950e+01] [-9.03950283e-02 9.41283152e-02 9.91447729e-01 -1.10782347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters Centerline goodness : 0.724622 Centerline is valid? [True, False] Translation: X:231.32, Y:19.57, Z:-110.78 [[ 9.95786365e-01 2.90780937e-02 8.69711423e-02 2.31324179e+02] [-2.34541653e-02 9.97609504e-01 -6.50013834e-02 1.95655172e+01] [-8.86533544e-02 6.26876557e-02 9.94087944e-01 -1.10784656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11591999999996 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:231.34, Y:19.54, Z:-110.79 [[ 9.96741275e-01 2.49180373e-02 7.67197623e-02 2.31340404e+02] [-2.18044378e-02 9.98914715e-01 -4.11577270e-02 1.95418957e+01] [-7.76620693e-02 3.93507740e-02 9.96202851e-01 -1.10787257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:231.37, Y:19.57, Z:-110.79 [[ 9.92780482e-01 3.14610564e-02 1.15745917e-01 2.31374374e+02] [-2.34623448e-02 9.97282906e-01 -6.98306773e-02 1.95688745e+01] [-1.17628371e-01 6.66108629e-02 9.90821154e-01 -1.10790869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:231.40, Y:19.44, Z:-110.80 [[ 9.96519801e-01 2.10006315e-02 8.06675857e-02 2.31397687e+02] [-2.60988176e-02 9.97692709e-01 6.26746369e-02 1.94403907e+01] [-7.91652552e-02 -6.45618453e-02 9.94768632e-01 -1.10796065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:231.43, Y:19.51, Z:-110.80 [[ 9.96327569e-01 3.05819363e-02 7.99757500e-02 2.31431109e+02] [-3.03526435e-02 9.99530919e-01 -4.08143033e-03 1.95066967e+01] [-8.00630530e-02 1.63896614e-03 9.96788454e-01 -1.10796122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:231.47, Y:19.58, Z:-110.80 [[ 9.92510597e-01 3.94378975e-02 1.15617327e-01 2.31469877e+02] [-3.07745637e-02 9.96649417e-01 -7.57816950e-02 1.95759655e+01] [-1.18218612e-01 7.16560626e-02 9.90398793e-01 -1.10798610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:231.48, Y:19.39, Z:-110.80 [[ 9.95217663e-01 2.34132477e-02 9.48347097e-02 2.31481014e+02] [-3.48315200e-02 9.92090141e-01 1.20598162e-01 1.93872457e+01] [-9.12609860e-02 -1.23324658e-01 9.88161151e-01 -1.10798744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:231.52, Y:19.60, Z:-110.80 [[ 9.90316768e-01 4.95333801e-02 1.29688637e-01 2.31522598e+02] [-3.63133765e-02 9.94081572e-01 -1.02387341e-01 1.96042005e+01] [-1.33992676e-01 9.66864682e-02 9.86254374e-01 -1.10796388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:231.55, Y:19.46, Z:-110.81 [[ 9.95009853e-01 3.49690360e-02 9.34481566e-02 2.31546673e+02] [-3.91335681e-02 9.98303597e-01 4.31102285e-02 1.94643845e+01] [-9.17821078e-02 -4.65520619e-02 9.94690379e-01 -1.10807219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.58, Y:19.55, Z:-110.81 [[ 9.90336254e-01 4.70585464e-02 1.30459180e-01 2.31583441e+02] [-4.10037720e-02 9.97970633e-01 -4.87165825e-02 1.95529116e+01] [-1.32486962e-01 4.28964794e-02 9.90256076e-01 -1.10808144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:231.61, Y:19.47, Z:-110.81 [[ 9.94935324e-01 3.62783057e-02 9.37421187e-02 2.31610209e+02] [-4.04352925e-02 9.98263685e-01 4.28322486e-02 1.94677582e+01] [-9.20254715e-02 -4.64058071e-02 9.94674728e-01 -1.10812773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:231.64, Y:19.51, Z:-110.81 [[ 9.95010627e-01 3.96446450e-02 9.15541084e-02 2.31642981e+02] [-4.01075754e-02 9.99190175e-01 3.22130797e-03 1.95059911e+01] [-9.13522580e-02 -6.87724897e-03 9.95794893e-01 -1.10813698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:231.67, Y:19.52, Z:-110.82 [[ 9.94649107e-01 3.98212230e-02 9.53279857e-02 2.31674246e+02] [-3.89906157e-02 9.99183768e-01 -1.05607869e-02 1.95191579e+01] [-9.56707193e-02 6.78738037e-03 9.95389896e-01 -1.10817094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.71, Y:19.54, Z:-110.82 [[ 9.93487105e-01 4.14995178e-02 1.06118621e-01 2.31706075e+02] [-3.88394453e-02 9.98880276e-01 -2.70128060e-02 1.95365533e+01] [-1.07120816e-01 2.27152861e-02 9.93986492e-01 -1.10821637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:231.73, Y:19.49, Z:-110.83 [[ 9.94940519e-01 3.53784639e-02 9.40304647e-02 2.31734558e+02] [-3.82022640e-02 9.98866323e-01 2.84016913e-02 1.94852930e+01] [-9.29190563e-02 -3.18501702e-02 9.95164115e-01 -1.10829230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:231.77, Y:19.56, Z:-110.83 [[ 9.92372181e-01 4.30134838e-02 1.15530491e-01 2.31769523e+02] [-3.81503471e-02 9.98303662e-01 -4.39812485e-02 1.95559997e+01] [-1.17226299e-01 3.92382391e-02 9.92329761e-01 -1.10828338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:231.80, Y:19.53, Z:-110.83 [[ 9.89843767e-01 3.87611532e-02 1.36773136e-01 2.31800281e+02] [-3.68626409e-02 9.99185969e-01 -1.63873198e-02 1.95298634e+01] [-1.37296989e-01 1.11790674e-02 9.90466842e-01 -1.10833481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:231.83, Y:19.52, Z:-110.84 [[ 9.91513222e-01 3.72451346e-02 1.24556533e-01 2.31831755e+02] [-3.67869240e-02 9.99305254e-01 -5.97750395e-03 1.95203073e+01] [-1.24692631e-01 1.34472249e-03 9.92194507e-01 -1.10840585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters Centerline goodness : 0.966032 Centerline is valid? [True, True] Translation: X:231.82, Y:19.51, Z:-110.86 [[ 9.89051265e-01 8.88749537e-02 1.17808479e-01 2.31824016e+02] [-9.26068713e-02 9.95347893e-01 2.65808146e-02 1.95107689e+01] [-1.14898053e-01 -3.71996630e-02 9.92680524e-01 -1.10861081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:231.88, Y:19.35, Z:-110.85 [[ 9.95527226e-01 1.60851767e-02 9.30957049e-02 2.31883110e+02] [-3.11711369e-02 9.86142708e-01 1.62944528e-01 1.93529657e+01] [-8.91846591e-02 -1.65117613e-01 9.82233308e-01 -1.10846322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:231.92, Y:19.56, Z:-110.85 [[ 9.95229928e-01 3.82969321e-02 8.97258852e-02 2.31923404e+02] [-3.42504590e-02 9.98344293e-01 -4.62123242e-02 1.95587383e+01] [-9.13471157e-02 4.29187354e-02 9.94893807e-01 -1.10847801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71592 meters Centerline goodness : 0.946498 Centerline is valid? [True, False] Translation: X:231.95, Y:19.55, Z:-110.85 [[ 9.96959548e-01 3.62646509e-02 6.89676287e-02 2.31952232e+02] [-3.40395053e-02 9.98869892e-01 -3.31700263e-02 1.95462178e+01] [-7.00925872e-02 3.07215505e-02 9.97067307e-01 -1.10850306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters Centerline goodness : 0.932575 Centerline is valid? [False, False] Translation: X:231.98, Y:19.53, Z:-110.85 [[ 9.98321449e-01 3.26638096e-02 4.78263563e-02 2.31981732e+02] [-3.16561541e-02 9.99263722e-01 -2.16772159e-02 1.95332218e+01] [-4.84992033e-02 2.01268311e-02 9.98620417e-01 -1.10852298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77592 meters Centerline goodness : 0.932575 Centerline is valid? [False, False] Translation: X:232.00, Y:19.53, Z:-110.85 [[ 9.99145524e-01 2.87572913e-02 2.96856713e-02 2.32003572e+02] [-2.82427190e-02 9.99445960e-01 -1.76102576e-02 1.95292486e+01] [-3.01756475e-02 1.67568060e-02 9.99404142e-01 -1.10852161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters Centerline goodness : 0.988311 Centerline is valid? [False, True] Translation: X:232.02, Y:19.52, Z:-110.85 [[ 9.99680872e-01 1.44405585e-02 2.07273934e-02 2.32020965e+02] [-1.43039676e-02 9.99875091e-01 -6.72307766e-03 1.95159741e+01] [-2.08218893e-02 6.42444817e-03 9.99762560e-01 -1.10853446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:232.08, Y:19.50, Z:-110.84 [[ 9.99327512e-01 -1.13875239e-02 3.48546618e-02 2.32078093e+02] [ 1.13694988e-02 9.99935109e-01 7.15314872e-04 1.94974870e+01] [-3.48605457e-02 -3.18553797e-04 9.99392136e-01 -1.10841070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.11, Y:19.52, Z:-110.84 [[ 9.99431631e-01 -9.56662268e-03 3.23248461e-02 2.32112506e+02] [ 1.04283459e-02 9.99591877e-01 -2.65956533e-02 1.95236897e+01] [-3.20572230e-02 2.69176318e-02 9.99123504e-01 -1.10842074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:232.14, Y:19.34, Z:-110.84 [[ 9.99823319e-01 -9.73171102e-03 -1.60817988e-02 2.32138678e+02] [ 1.21458780e-02 9.87429727e-01 1.57591281e-01 1.93408705e+01] [ 1.43460134e-02 -1.57758765e-01 9.87373467e-01 -1.10838034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.17, Y:19.65, Z:-110.82 [[ 9.99426151e-01 -3.22740935e-03 3.37187123e-02 2.32174815e+02] [ 8.42988827e-03 9.87829499e-01 -1.55311999e-01 1.96490598e+01] [-3.28070833e-02 1.55507119e-01 9.87289842e-01 -1.10823448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:232.20, Y:19.43, Z:-110.84 [[ 9.99916713e-01 -1.62643204e-03 -1.28032030e-02 2.32203592e+02] [ 2.51087355e-03 9.97587854e-01 6.93697955e-02 1.94296822e+01] [ 1.26594946e-02 -6.93961651e-02 9.97508852e-01 -1.10841479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.23, Y:19.50, Z:-110.84 [[ 9.99979760e-01 1.97537588e-03 -6.04789732e-03 2.32230837e+02] [-2.01384859e-03 9.99977735e-01 -6.36186894e-03 1.95040977e+01] [ 6.03519558e-03 6.37391973e-03 9.99961474e-01 -1.10839941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.26, Y:19.54, Z:-110.84 [[ 9.99591866e-01 4.20815464e-03 2.82558340e-02 2.32260956e+02] [-2.92520699e-03 9.98969441e-01 -4.52934704e-02 1.95425087e+01] [-2.84173166e-02 4.51923304e-02 9.98574038e-01 -1.10839334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:232.29, Y:19.44, Z:-110.84 [[ 9.99933566e-01 8.02559424e-03 -8.27365580e-03 2.32290829e+02] [-7.51302682e-03 9.98156616e-01 6.02239567e-02 1.94417601e+01] [ 8.74173731e-03 -6.01577956e-02 9.98150601e-01 -1.10840703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:232.32, Y:19.54, Z:-110.84 [[ 9.99923554e-01 1.00721685e-02 7.17206021e-03 2.32320499e+02] [-9.80781746e-03 9.99304173e-01 -3.59857960e-02 1.95381052e+01] [-7.52952470e-03 3.59127028e-02 9.99326565e-01 -1.10836580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.35, Y:19.49, Z:-110.84 [[ 9.99903790e-01 1.37187524e-02 -2.05090909e-03 2.32350615e+02] [-1.36842327e-02 9.99778481e-01 1.59915628e-02 1.94913456e+01] [ 2.26983907e-03 -1.59619592e-02 9.99870023e-01 -1.10842968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:232.37, Y:19.53, Z:-110.84 [[ 9.99767917e-01 2.00847942e-02 -7.79185171e-03 2.32371638e+02] [-2.02317782e-02 9.99609645e-01 -1.92673997e-02 1.95309833e+01] [ 7.40182836e-03 1.94205710e-02 9.99784004e-01 -1.10842884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:232.41, Y:19.51, Z:-110.84 [[ 9.99799297e-01 1.96826984e-02 3.73582986e-03 2.32409525e+02] [-1.97151944e-02 9.99766284e-01 8.87065818e-03 1.95084868e+01] [-3.56035825e-03 -8.94253043e-03 9.99953676e-01 -1.10841342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:19.52, Z:-110.84 [[ 9.99748061e-01 2.16347629e-02 5.97918990e-03 2.32441071e+02] [-2.16197210e-02 9.99762966e-01 -2.56900824e-03 1.95243788e+01] [-6.03335251e-03 2.43909259e-03 9.99978825e-01 -1.10842186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.47, Y:19.55, Z:-110.84 [[ 9.99388678e-01 2.37042298e-02 2.56978597e-02 2.32473647e+02] [-2.30150900e-02 9.99376132e-01 -2.67890448e-02 1.95525861e+01] [-2.63168413e-02 2.61812295e-02 9.99310746e-01 -1.10841994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.51, Y:19.50, Z:-110.84 [[ 9.99731846e-01 2.23730608e-02 5.97339918e-03 2.32505132e+02] [-2.25363878e-02 9.99329948e-01 2.88403567e-02 1.95003694e+01] [-5.32414964e-03 -2.89672419e-02 9.99566182e-01 -1.10843860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.54, Y:19.53, Z:-110.84 [[ 9.99809971e-01 1.80939187e-02 7.25475331e-03 2.32535877e+02] [-1.80983247e-02 9.99836065e-01 5.42139284e-04 1.95346278e+01] [-7.24375457e-03 -6.73335143e-04 9.99973537e-01 -1.10841731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:19.52, Z:-110.84 [[ 9.99895893e-01 1.43298467e-02 -1.69084438e-03 2.32566603e+02] [-1.42912111e-02 9.99677414e-01 2.09959347e-02 1.95165054e+01] [ 1.99116746e-03 -2.09695847e-02 9.99778131e-01 -1.10841768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.59, Y:19.54, Z:-110.84 [[ 9.99961111e-01 8.30495766e-03 2.96718779e-03 2.32592998e+02] [-8.31521665e-03 9.99959435e-01 3.46203652e-03 1.95351463e+01] [-2.93831536e-03 -3.48657470e-03 9.99989605e-01 -1.10843258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:19.54, Z:-110.84 [[ 9.99984845e-01 5.28334521e-03 1.54802490e-03 2.32623517e+02] [-5.28537106e-03 9.99985178e-01 1.30751502e-03 1.95380735e+01] [-1.54109390e-03 -1.31567709e-03 9.99997947e-01 -1.10842532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:19.45, Z:-110.85 [[ 9.99903983e-01 -4.06207720e-03 -1.32485346e-02 2.32650440e+02] [ 5.32294626e-03 9.95312036e-01 9.65692346e-02 1.94461801e+01] [ 1.27941543e-02 -9.66304836e-02 9.95238092e-01 -1.10846427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:19.64, Z:-110.83 [[ 9.99984213e-01 -4.02352776e-03 3.92240900e-03 2.32679693e+02] [ 4.40212646e-03 9.94790193e-01 -1.01848382e-01 1.96386236e+01] [-3.49218421e-03 1.01864041e-01 9.94792200e-01 -1.10825257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:19.51, Z:-110.84 [[ 9.99953884e-01 -8.82219426e-03 -3.79449254e-03 2.32707718e+02] [ 8.91094074e-03 9.99671176e-01 2.40444553e-02 1.95135751e+01] [ 3.58111996e-03 -2.40771589e-02 9.99703689e-01 -1.10842611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:19.55, Z:-110.84 [[ 9.99961260e-01 -8.26765895e-03 3.02062824e-03 2.32736600e+02] [ 8.30311646e-03 9.99894471e-01 -1.19208075e-02 1.95482616e+01] [-2.92175231e-03 1.19454264e-02 9.99924382e-01 -1.10837687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.77, Y:19.46, Z:-110.84 [[ 9.99832546e-01 -1.24764507e-02 -1.33872164e-02 2.32767551e+02] [ 1.35100896e-02 9.96693379e-01 8.01235612e-02 1.94579799e+01] [ 1.23432923e-02 -8.02910067e-02 9.96695037e-01 -1.10842952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:19.66, Z:-110.82 [[ 9.98908144e-01 -6.07716715e-03 4.63205011e-02 2.32796093e+02] [ 1.21200649e-02 9.91266130e-01 -1.31318561e-01 1.96639270e+01] [-4.51178990e-02 1.31736587e-01 9.90257465e-01 -1.10821276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.82, Y:19.43, Z:-110.84 [[ 9.99927731e-01 -1.17623864e-02 2.48588806e-03 2.32824896e+02] [ 1.14419369e-02 9.94562448e-01 1.03511440e-01 1.94266683e+01] [-3.68991247e-03 -1.03475516e-01 9.94625157e-01 -1.10843256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:19.53, Z:-110.84 [[ 9.99940479e-01 -6.95758225e-03 8.40414210e-03 2.32855635e+02] [ 6.96529818e-03 9.99975347e-01 -8.89190094e-04 1.95282752e+01] [-8.39774830e-03 9.47674524e-04 9.99964289e-01 -1.10840591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.88, Y:19.56, Z:-110.83 [[ 9.99858943e-01 -2.28515053e-03 1.66394964e-02 2.32884443e+02] [ 2.86572330e-03 9.99384904e-01 -3.49514261e-02 1.95609793e+01] [-1.65493923e-02 3.49941801e-02 9.99250482e-01 -1.10834872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.92, Y:19.62, Z:-110.83 [[ 9.97938172e-01 3.06085755e-03 6.41095674e-02 2.32917936e+02] [ 2.96543385e-03 9.95596600e-01 -9.36942683e-02 1.96186031e+01] [-6.41140521e-02 9.36911994e-02 9.93534774e-01 -1.10833058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.95, Y:19.49, Z:-110.85 [[ 9.98939848e-01 2.42722132e-03 4.59705112e-02 2.32949775e+02] [-4.22540424e-03 9.99227959e-01 3.90593279e-02 1.94874151e+01] [-4.58402144e-02 -3.92121630e-02 9.98178882e-01 -1.10847094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.98, Y:19.48, Z:-110.84 [[ 9.99827703e-01 3.31876388e-03 1.82633291e-02 2.32980133e+02] [-4.20520863e-03 9.98803889e-01 4.87145478e-02 1.94782526e+01] [-1.80798120e-02 -4.87829556e-02 9.98645755e-01 -1.10844218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.01, Y:19.53, Z:-110.84 [[ 9.99710142e-01 8.78566131e-03 2.24152651e-02 2.33013641e+02] [-8.81106394e-03 9.99960646e-01 1.03476021e-03 1.95256360e+01] [-2.24052919e-02 -1.23196261e-03 9.99748211e-01 -1.10841102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:19.58, Z:-110.84 [[ 9.98326868e-01 1.22069035e-02 5.65195223e-02 2.33044408e+02] [-8.88641222e-03 9.98240087e-01 -5.86324191e-02 1.95840259e+01] [-5.71357731e-02 5.80320636e-02 9.96678375e-01 -1.10841367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:19.55, Z:-110.85 [[ 9.98036165e-01 1.33377653e-02 6.12039037e-02 2.33077978e+02] [-1.20171641e-02 9.99688057e-01 -2.18946863e-02 1.95487301e+01] [-6.14768377e-02 2.11161914e-02 9.97885116e-01 -1.10850580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:19.54, Z:-110.85 [[ 9.98030926e-01 1.53064264e-02 6.08274972e-02 2.33106436e+02] [-1.47377556e-02 9.99843498e-01 -9.78661084e-03 1.95378197e+01] [-6.09677756e-02 8.87087949e-03 9.98100315e-01 -1.10854700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:19.43, Z:-110.85 [[ 9.99808546e-01 1.07930556e-02 1.63211642e-02 2.33139621e+02] [-1.24482768e-02 9.94396963e-01 1.04974851e-01 1.94252648e+01] [-1.50967167e-02 -1.05157924e-01 9.94340938e-01 -1.10850847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:233.16, Y:19.57, Z:-110.85 [[ 9.99722169e-01 2.13359853e-02 1.00179852e-02 2.33160860e+02] [-2.09250127e-02 9.99001359e-01 -3.94769267e-02 1.95673414e+01] [-1.08502600e-02 3.92563323e-02 9.99170262e-01 -1.10849748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.20, Y:19.59, Z:-110.85 [[ 9.97725814e-01 2.55454850e-02 6.23748980e-02 2.33202338e+02] [-2.17555639e-02 9.97918862e-01 -6.07012387e-02 1.95941133e+01] [-6.37957298e-02 5.92061917e-02 9.96205165e-01 -1.10847523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.23, Y:19.47, Z:-110.85 [[ 9.99528191e-01 2.16306190e-02 2.18062125e-02 2.33230895e+02] [-2.30687564e-02 9.97417684e-01 6.80132047e-02 1.94689288e+01] [-2.02787343e-02 -6.84841577e-02 9.97446085e-01 -1.10854232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:19.60, Z:-110.85 [[ 9.97691709e-01 2.67564819e-02 6.24126934e-02 2.33263610e+02] [-2.28808950e-02 9.97813531e-01 -6.20050219e-02 1.95980841e+01] [-6.39352662e-02 6.04338380e-02 9.96122499e-01 -1.10850570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:19.52, Z:-110.86 [[ 9.97788875e-01 2.51495306e-02 6.15212401e-02 2.33294699e+02] [-2.66180236e-02 9.99377177e-01 2.31676220e-02 1.95170668e+01] [-6.09002684e-02 -2.47539693e-02 9.97836860e-01 -1.10857562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.33, Y:19.54, Z:-110.86 [[ 9.97731923e-01 2.61235855e-02 6.20368265e-02 2.33327639e+02] [-2.61633763e-02 9.99657666e-01 -1.70974776e-04 1.95420949e+01] [-6.20200556e-02 -1.45250584e-03 9.98073846e-01 -1.10856936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.36, Y:19.54, Z:-110.86 [[ 9.97783928e-01 2.62089989e-02 6.11581715e-02 2.33361125e+02] [-2.62458848e-02 9.99655497e-01 -2.00265136e-04 1.95445092e+01] [-6.11423511e-02 -1.40532899e-03 9.98128067e-01 -1.10858167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.39, Y:19.51, Z:-110.86 [[ 9.99371306e-01 2.57254020e-02 2.43966422e-02 2.33394093e+02] [-2.65935438e-02 9.98999542e-01 3.59541186e-02 1.95108313e+01] [-2.34473002e-02 -3.65803076e-02 9.99055607e-01 -1.10859568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.43, Y:19.54, Z:-110.86 [[ 9.99464092e-01 2.59568673e-02 1.99441580e-02 2.33425765e+02] [-2.61448030e-02 9.99615639e-01 9.22080680e-03 1.95429383e+01] [-1.96971490e-02 -9.73730138e-03 9.99758574e-01 -1.10856995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.46, Y:19.56, Z:-110.86 [[ 9.99260715e-01 2.78811238e-02 2.64701127e-02 2.33458228e+02] [-2.76660052e-02 9.99581434e-01 -8.45865497e-03 1.95646306e+01] [-2.66948700e-02 7.72007934e-03 9.99613818e-01 -1.10857262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:19.60, Z:-110.86 [[ 9.97536181e-01 2.89082853e-02 6.39208812e-02 2.33489065e+02] [-2.65555744e-02 9.98949153e-01 -3.73549421e-02 1.95986518e+01] [-6.49335775e-02 3.55654506e-02 9.97255599e-01 -1.10856177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:19.46, Z:-110.86 [[ 9.99749087e-01 2.11924278e-02 7.25557375e-03 2.33516343e+02] [-2.18557840e-02 9.93837467e-01 1.08671124e-01 1.94581726e+01] [-4.90785608e-03 -1.08802433e-01 9.94051278e-01 -1.10864760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:19.68, Z:-110.84 [[ 9.97211630e-01 3.25232076e-02 6.71655109e-02 2.33551161e+02] [-2.53113382e-02 9.94090349e-01 -1.05563792e-01 1.96750929e+01] [-7.02018593e-02 1.03569392e-01 9.92141663e-01 -1.10843087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.58, Y:19.56, Z:-110.87 [[ 9.98659812e-01 2.60123390e-02 4.47430165e-02 2.33582834e+02] [-2.66861932e-02 9.99538262e-01 1.45296552e-02 1.95607523e+01] [-4.43444066e-02 -1.57042035e-02 9.98892863e-01 -1.10865393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.61, Y:19.55, Z:-110.86 [[ 9.99531041e-01 2.08234208e-02 2.24517943e-02 2.33611535e+02] [-2.15652775e-02 9.99211960e-01 3.33226421e-02 1.95465309e+01] [-2.17402100e-02 -3.37911943e-02 9.99192433e-01 -1.10864804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:19.61, Z:-110.86 [[ 9.98832248e-01 2.10830511e-02 4.34700602e-02 2.33643460e+02] [-1.95877930e-02 9.99211304e-01 -3.45411016e-02 1.96135347e+01] [-4.41640074e-02 3.36492836e-02 9.98457443e-01 -1.10860771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:19.59, Z:-110.87 [[ 9.98543323e-01 1.32271039e-02 5.23094256e-02 2.33675709e+02] [-1.24971178e-02 9.99820254e-01 -1.42577142e-02 1.95944770e+01] [-5.24886114e-02 1.35832283e-02 9.98529139e-01 -1.10867895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.71, Y:19.54, Z:-110.87 [[ 9.99641118e-01 6.85405072e-03 2.58970415e-02 2.33705154e+02] [-7.81628538e-03 9.99275800e-01 3.72395140e-02 1.95438532e+01] [-2.56230453e-02 -3.74285681e-02 9.98970751e-01 -1.10870031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.74, Y:19.59, Z:-110.87 [[ 9.99579976e-01 4.09847288e-03 2.86892667e-02 2.33736658e+02] [-3.88071875e-03 9.99963272e-01 -7.64165903e-03 1.95877945e+01] [-2.87195322e-02 7.52711437e-03 9.99559168e-01 -1.10865944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:19.61, Z:-110.87 [[ 9.98491505e-01 5.93091580e-03 5.45851536e-02 2.33769738e+02] [-4.34759939e-03 9.99567646e-01 -2.90795277e-02 1.96092370e+01] [-5.47340218e-02 2.87983470e-02 9.98085589e-01 -1.10868277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:19.56, Z:-110.87 [[ 9.99422151e-01 2.46968245e-03 3.39008104e-02 2.33798869e+02] [-3.34210572e-03 9.99664060e-01 2.57020909e-02 1.95553773e+01] [-3.38259458e-02 -2.58005390e-02 9.99094659e-01 -1.10873509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.83, Y:19.56, Z:-110.87 [[ 9.99698905e-01 4.31963900e-03 2.41545159e-02 2.33830964e+02] [-4.77758237e-03 9.99809331e-01 1.89334567e-02 1.95616201e+01] [-2.40681247e-02 -1.90431561e-02 9.99528931e-01 -1.10873851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:19.58, Z:-110.87 [[ 9.99638254e-01 9.09825858e-03 2.53097419e-02 2.33863207e+02] [-8.98089550e-03 9.99948404e-01 -4.74688585e-03 1.95847416e+01] [-2.53516244e-02 4.51786454e-03 9.99668387e-01 -1.10868718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.90, Y:19.63, Z:-110.87 [[ 9.98145135e-01 1.29312617e-02 5.94901067e-02 2.33896681e+02] [-1.00510712e-02 9.98774473e-01 -4.84616082e-02 1.96274218e+01] [-6.00438697e-02 4.77737792e-02 9.97051854e-01 -1.10868052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.93, Y:19.56, Z:-110.88 [[ 9.98789973e-01 1.37781351e-02 4.72096600e-02 2.33926981e+02] [-1.47181353e-02 9.99699136e-01 1.96217499e-02 1.95615953e+01] [-4.69251052e-02 -2.02928452e-02 9.98692262e-01 -1.10879426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.96, Y:19.59, Z:-110.88 [[ 9.98481356e-01 1.90241660e-02 5.17016678e-02 2.33959482e+02] [-1.84919964e-02 9.99771193e-01 -1.07520610e-02 1.95920859e+01] [-5.18943871e-02 9.77966538e-03 9.98604692e-01 -1.10877887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.99, Y:19.58, Z:-110.88 [[ 9.98477310e-01 1.88247014e-02 5.18525971e-02 2.33991767e+02] [-1.88251830e-02 9.99822676e-01 -4.79151112e-04 1.95818392e+01] [-5.18524222e-02 -4.97713116e-04 9.98654634e-01 -1.10881158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:19.58, Z:-110.88 [[ 9.98349671e-01 2.22481090e-02 5.29429419e-02 2.34023587e+02] [-2.25544956e-02 9.99732109e-01 5.19662092e-03 1.95795744e+01] [-5.28131439e-02 -6.38214614e-03 9.98584018e-01 -1.10881830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:19.59, Z:-110.88 [[ 9.97990749e-01 2.57526163e-02 5.78901377e-02 2.34057235e+02] [-2.53460128e-02 9.99648719e-01 -7.74715048e-03 1.95943481e+01] [-5.80693114e-02 6.26430033e-03 9.98292900e-01 -1.10881749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:19.59, Z:-110.89 [[ 9.98104859e-01 2.85714970e-02 5.45010128e-02 2.34089424e+02] [-2.88809506e-02 9.99570855e-01 4.89865123e-03 1.95872891e+01] [-5.43376622e-02 -6.46340865e-03 9.98501699e-01 -1.10886116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:19.61, Z:-110.89 [[ 9.97801045e-01 2.97769312e-02 5.92149463e-02 2.34122542e+02] [-2.91014823e-02 9.99501558e-01 -1.22367700e-02 1.96059970e+01] [-5.95498045e-02 1.04866192e-02 9.98170252e-01 -1.10886350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.16, Y:19.60, Z:-110.89 [[ 9.97837915e-01 2.98372410e-02 5.85596734e-02 2.34155354e+02] [-2.98462601e-02 9.99554241e-01 -7.20818220e-04 1.95971924e+01] [-5.85550772e-02 -1.02852749e-03 9.98283650e-01 -1.10889494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:19.61, Z:-110.89 [[ 9.97570095e-01 2.86775099e-02 6.34941438e-02 2.34188296e+02] [-2.82134948e-02 9.99568346e-01 -8.19276229e-03 1.96088868e+01] [-6.37016843e-02 6.38146296e-03 9.97948582e-01 -1.10890098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:19.59, Z:-110.89 [[ 9.98160475e-01 2.75648480e-02 5.39985671e-02 2.34221915e+02] [-2.83129743e-02 9.99512755e-01 1.31387697e-02 1.95891527e+01] [-5.36100884e-02 -1.46434607e-02 9.98454570e-01 -1.10893669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:19.59, Z:-110.89 [[ 9.98816316e-01 2.16291339e-02 4.35677356e-02 2.34253155e+02] [-2.20812595e-02 9.99706932e-01 9.92310446e-03 1.95932884e+01] [-4.33403391e-02 -1.08733891e-02 9.99001193e-01 -1.10892785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.29, Y:19.62, Z:-110.89 [[ 9.98351495e-01 1.72591092e-02 5.47395304e-02 2.34286606e+02] [-1.64894213e-02 9.99759163e-01 -1.44815665e-02 1.96168094e+01] [-5.49762861e-02 1.35550703e-02 9.98395647e-01 -1.10891946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:19.59, Z:-110.89 [[ 9.99146048e-01 1.31285277e-02 3.91767246e-02 2.34317966e+02] [-1.35735336e-02 9.99846100e-01 1.11146413e-02 1.95913335e+01] [-3.90247765e-02 -1.16369165e-02 9.99170480e-01 -1.10894963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:234.35, Y:19.59, Z:-110.90 [[ 9.99446914e-01 1.06847373e-02 3.14913020e-02 2.34349226e+02] [-1.11998149e-02 9.99805631e-01 1.62254283e-02 1.95852404e+01] [-3.13118167e-02 -1.65691510e-02 9.99372320e-01 -1.10897913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.38, Y:19.62, Z:-110.89 [[ 9.98348484e-01 1.09629141e-02 5.63925514e-02 2.34382257e+02] [-9.41090911e-03 9.99571599e-01 -2.77137794e-02 1.96248851e+01] [-5.66722166e-02 2.71373044e-02 9.98023961e-01 -1.10893447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.41, Y:19.59, Z:-110.90 [[ 9.99146135e-01 8.33406785e-03 4.04665802e-02 2.34413279e+02] [-8.66792858e-03 9.99929773e-01 8.08184832e-03 1.95871548e+01] [-4.03963837e-02 -8.42570894e-03 9.99148207e-01 -1.10898211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.45, Y:19.59, Z:-110.90 [[ 9.99311178e-01 1.13295620e-02 3.53385191e-02 2.34446922e+02] [-1.14189196e-02 9.99932092e-01 2.32781088e-03 1.95911475e+01] [-3.53097462e-02 -2.72973514e-03 9.99372688e-01 -1.10898714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:19.60, Z:-110.90 [[ 9.98237560e-01 1.28786405e-02 5.79302463e-02 2.34480274e+02] [-1.22829849e-02 9.99868093e-01 -1.06266567e-02 1.96015550e+01] [-5.80594618e-02 9.89637153e-03 9.98264074e-01 -1.10902349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.51, Y:19.57, Z:-110.90 [[ 9.99098739e-01 1.52010783e-02 3.96312649e-02 2.34511367e+02] [-1.57479548e-02 9.99784533e-01 1.35236364e-02 1.95749183e+01] [-3.94171518e-02 -1.41355595e-02 9.99122852e-01 -1.10902215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.54, Y:19.57, Z:-110.90 [[ 9.99203619e-01 1.80464668e-02 3.55872690e-02 2.34542944e+02] [-1.85676679e-02 9.99724334e-01 1.43699951e-02 1.95737211e+01] [-3.53181312e-02 -1.50193237e-02 9.99263253e-01 -1.10903652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.58, Y:19.60, Z:-110.90 [[ 9.98907609e-01 2.48784014e-02 3.95557179e-02 2.34575983e+02] [-2.44641955e-02 9.99641050e-01 -1.09213094e-02 1.95974782e+01] [-3.98132241e-02 9.94168023e-03 9.99157680e-01 -1.10901647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.60, Y:19.55, Z:-110.91 [[ 9.99266469e-01 2.55021515e-02 2.85685975e-02 2.34604007e+02] [-2.65747159e-02 9.98931330e-01 3.78151019e-02 1.95505581e+01] [-2.75737007e-02 -3.85465657e-02 9.98876295e-01 -1.10910291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.64, Y:19.62, Z:-110.90 [[ 9.98784209e-01 3.22339519e-02 3.72971395e-02 2.34637257e+02] [-3.11397947e-02 9.99077998e-01 -2.95544620e-02 1.96156260e+01] [-3.82154086e-02 2.83571047e-02 9.98867087e-01 -1.10901635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:19.59, Z:-110.91 [[ 9.98755924e-01 3.04878688e-02 3.94600360e-02 2.34668149e+02] [-3.04777122e-02 9.99535077e-01 -8.59065767e-04 1.95876094e+01] [-3.94678812e-02 -3.44654595e-04 9.99220780e-01 -1.10907974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:19.61, Z:-110.91 [[ 9.96841703e-01 3.12205697e-02 7.30198305e-02 2.34699920e+02] [-2.92406662e-02 9.99179358e-01 -2.80284580e-02 1.96145389e+01] [-7.38349718e-02 2.58047873e-02 9.96936563e-01 -1.10907438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.73, Y:19.56, Z:-110.92 [[ 9.98987599e-01 2.59154126e-02 3.67718390e-02 2.34730639e+02] [-2.70262462e-02 9.99183246e-01 3.00403446e-02 1.95577825e+01] [-3.59632975e-02 -3.10037365e-02 9.98872069e-01 -1.10915373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:19.62, Z:-110.91 [[ 9.97687044e-01 2.90670090e-02 6.14464924e-02 2.34764982e+02] [-2.71341775e-02 9.99117574e-01 -3.20594744e-02 1.96163243e+01] [-6.23241434e-02 3.03180222e-02 9.97595368e-01 -1.10912078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:19.59, Z:-110.92 [[ 9.97373465e-01 2.68071624e-02 6.72870512e-02 2.34797722e+02] [-2.64268040e-02 9.99629379e-01 -6.53668155e-03 1.95909561e+01] [-6.74373431e-02 4.74133102e-03 9.97712245e-01 -1.10918385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:19.58, Z:-110.92 [[ 9.97635466e-01 2.57963773e-02 6.37026242e-02 2.34829806e+02] [-2.61164122e-02 9.99650101e-01 4.19618247e-03 1.95805905e+01] [-6.35720884e-02 -5.84994444e-03 9.97960103e-01 -1.10920161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.86, Y:19.54, Z:-110.92 [[ 9.98895091e-01 2.55400007e-02 3.94500491e-02 2.34859182e+02] [-2.71981404e-02 9.98743859e-01 4.20828388e-02 1.95437968e+01] [-3.83256985e-02 -4.31093091e-02 9.98334978e-01 -1.10922233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:234.89, Y:19.60, Z:-110.91 [[ 9.98537313e-01 2.98964540e-02 4.50492729e-02 2.34892802e+02] [-2.92276733e-02 9.99453650e-01 -1.54319401e-02 1.95984741e+01] [-4.54860205e-02 1.40926825e-02 9.98865566e-01 -1.10914596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.93, Y:19.62, Z:-110.92 [[ 9.96984256e-01 3.09260249e-02 7.11756545e-02 2.34925662e+02] [-2.81991026e-02 9.98841085e-01 -3.90038270e-02 1.96184902e+01] [-7.22994012e-02 3.68791118e-02 9.96700922e-01 -1.10917210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:234.95, Y:19.54, Z:-110.92 [[ 9.98714167e-01 2.48504231e-02 4.41867509e-02 2.34953113e+02] [-2.65912700e-02 9.98875295e-01 3.92562104e-02 1.95414040e+01] [-4.31615204e-02 -4.03807153e-02 9.98251712e-01 -1.10924950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:19.58, Z:-110.92 [[ 9.98486393e-01 2.55503107e-02 4.87042513e-02 2.34986661e+02] [-2.50649117e-02 9.99630143e-01 -1.05511826e-02 1.95843748e+01] [-4.89558237e-02 9.31444450e-03 9.98757512e-01 -1.10921422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.02, Y:19.57, Z:-110.92 [[ 9.98504939e-01 2.44703805e-02 4.88782938e-02 2.35018677e+02] [-2.45185586e-02 9.99699300e-01 3.86258598e-04 1.95715379e+01] [-4.88541442e-02 -1.58410643e-03 9.98804667e-01 -1.10923248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:19.58, Z:-110.93 [[ 9.98359536e-01 2.38678390e-02 5.20438521e-02 2.35050653e+02] [-2.36228839e-02 9.99706802e-01 -5.31685348e-03 1.95750411e+01] [-5.21554948e-02 4.07870549e-03 9.98630647e-01 -1.10925262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.08, Y:19.58, Z:-110.93 [[ 9.97895895e-01 2.25954348e-02 6.07719399e-02 2.35082050e+02] [-2.21002882e-02 9.99716962e-01 -8.80756074e-03 1.95752738e+01] [-6.09537498e-02 7.44595133e-03 9.98112818e-01 -1.10927992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:19.55, Z:-110.93 [[ 9.98430927e-01 2.26431372e-02 5.12149708e-02 2.35113630e+02] [-2.35721788e-02 9.99567039e-01 1.76092804e-02 1.95458009e+01] [-5.07940674e-02 -1.87888986e-02 9.98532393e-01 -1.10931780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:19.58, Z:-110.93 [[ 9.97252434e-01 2.54180425e-02 6.95809320e-02 2.35146760e+02] [-2.38537359e-02 9.99445732e-01 -2.32212742e-02 1.95832496e+01] [-7.01326049e-02 2.14977071e-02 9.97306004e-01 -1.10930526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:19.55, Z:-110.93 [[ 9.97984119e-01 2.57900214e-02 5.79876912e-02 2.35178367e+02] [-2.64994413e-02 9.99582697e-01 1.14983454e-02 1.95479156e+01] [-5.76669502e-02 -1.30118075e-02 9.98251078e-01 -1.10934601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:235.21, Y:19.54, Z:-110.94 [[ 9.98500960e-01 2.63053703e-02 4.79985428e-02 2.35210458e+02] [-2.70845740e-02 9.99510534e-01 1.56562765e-02 1.95388095e+01] [-4.75632050e-02 -1.69328272e-02 9.98724697e-01 -1.10936711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:19.57, Z:-110.94 [[ 9.97487304e-01 2.85923468e-02 6.48194046e-02 2.35242039e+02] [-2.71088691e-02 9.99352645e-01 -2.36516311e-02 1.95747880e+01] [-6.54536991e-02 2.18350210e-02 9.97616682e-01 -1.10936638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:19.56, Z:-110.94 [[ 9.96544444e-01 2.87071808e-02 7.79427346e-02 2.35275349e+02] [-2.76105243e-02 9.99504526e-01 -1.51116396e-02 1.95641008e+01] [-7.83379285e-02 1.29073807e-02 9.96843302e-01 -1.10941322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:19.55, Z:-110.94 [[ 9.96221136e-01 2.76356546e-02 8.23390421e-02 2.35307887e+02] [-2.69874279e-02 9.99595478e-01 -8.97544213e-03 1.95542583e+01] [-8.25537764e-02 6.71940620e-03 9.96563959e-01 -1.10944975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:19.41, Z:-110.95 [[ 9.99003880e-01 1.73319564e-02 4.11199673e-02 2.35331901e+02] [-2.28726089e-02 9.90118618e-01 1.38354494e-01 1.94082416e+01] [-3.83156912e-02 -1.39157198e-01 9.89528768e-01 -1.10950391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:235.37, Y:19.66, Z:-110.93 [[ 9.96197482e-01 3.67534767e-02 7.89921405e-02 2.35372806e+02] [-2.66278498e-02 9.91721613e-01 -1.25615285e-01 1.96622393e+01] [-8.29550114e-02 1.23034239e-01 9.88929240e-01 -1.10925977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.39, Y:19.46, Z:-110.95 [[ 9.98934639e-01 2.20782633e-02 4.05232993e-02 2.35394949e+02] [-2.54546480e-02 9.96073688e-01 8.47895544e-02 1.94581138e+01] [-3.84921861e-02 -8.57307293e-02 9.95574504e-01 -1.10950609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.43, Y:19.63, Z:-110.94 [[ 9.95475317e-01 3.48550039e-02 8.83969589e-02 2.35432620e+02] [-2.60053450e-02 9.94711805e-01 -9.93586754e-02 1.96342381e+01] [-9.13926455e-02 9.66103154e-02 9.91117466e-01 -1.10935115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:19.54, Z:-110.95 [[ 9.95228380e-01 2.86502157e-02 9.32718443e-02 2.35463032e+02] [-2.81146530e-02 9.99579835e-01 -7.05118811e-03 1.95429125e+01] [-9.34346728e-02 4.39523699e-03 9.95615711e-01 -1.10952503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:19.54, Z:-110.96 [[ 9.95328939e-01 2.84952381e-02 9.22405853e-02 2.35495105e+02] [-2.85517398e-02 9.99592066e-01 -7.07292496e-04 1.95352418e+01] [-9.22231116e-02 -1.92964050e-03 9.95736498e-01 -1.10956666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:19.39, Z:-110.96 [[ 9.98603048e-01 1.78575855e-02 4.97298612e-02 2.35517405e+02] [-2.51771847e-02 9.88259513e-01 1.50695870e-01 1.93863631e+01] [-4.64549440e-02 -1.51737413e-01 9.87328565e-01 -1.10958778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:19.68, Z:-110.93 [[ 9.94637382e-01 4.27619789e-02 9.41694779e-02 2.35561946e+02] [-2.83608684e-02 9.88389604e-01 -1.49270399e-01 1.96763008e+01] [-9.94592306e-02 1.45799190e-01 9.84302015e-01 -1.10930567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:19.54, Z:-110.96 [[ 9.94310210e-01 3.34637254e-02 1.01130533e-01 2.35589794e+02] [-3.32121839e-02 9.99439622e-01 -4.17044610e-03 1.95357409e+01] [-1.01213420e-01 7.87951286e-04 9.94864424e-01 -1.10959535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters Centerline goodness : 0.842320 Centerline is valid? [True, False] Translation: X:235.59, Y:19.54, Z:-110.96 [[ 9.94318216e-01 3.34468835e-02 1.01057370e-01 2.35590003e+02] [-3.31987505e-02 9.99440209e-01 -4.13663880e-03 1.95355183e+01] [-1.01139157e-01 7.58156894e-04 9.94872000e-01 -1.10959843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:235.61, Y:19.53, Z:-110.96 [[ 9.96093759e-01 3.10998151e-02 8.26439658e-02 2.35613348e+02] [-3.13165950e-02 9.99508633e-01 1.32775772e-03 1.95306536e+01] [-8.25620643e-02 -3.91069878e-03 9.96578252e-01 -1.10960077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:19.44, Z:-110.96 [[ 9.99096857e-01 2.73131538e-02 3.25493640e-02 2.35640929e+02] [-3.02885236e-02 9.95042034e-01 9.47309665e-02 1.94415548e+01] [-2.98005839e-02 -9.56312831e-02 9.94970644e-01 -1.10963660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31591999999995 meters Centerline goodness : 0.960847 Centerline is valid? [True, True] Translation: X:235.63, Y:19.55, Z:-110.97 [[ 9.94838453e-01 9.61097206e-02 3.25480409e-02 2.35631186e+02] [-9.62848431e-02 9.95346364e-01 3.85286829e-03 1.95524394e+01] [-3.20262761e-02 -6.96686454e-03 9.99462746e-01 -1.10972486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:235.70, Y:19.57, Z:-110.95 [[ 9.97867842e-01 5.00674481e-02 4.18690974e-02 2.35697463e+02] [-4.85217210e-02 9.98130868e-01 -3.71539051e-02 1.95728421e+01] [-4.36510398e-02 3.50431265e-02 9.98432054e-01 -1.10953021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:235.73, Y:19.55, Z:-110.96 [[ 9.97785249e-01 4.93175916e-02 4.46359891e-02 2.35726066e+02] [-4.90190977e-02 9.98767712e-01 -7.75798809e-03 1.95452754e+01] [-4.49635900e-02 5.55279017e-03 9.98973194e-01 -1.10959121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:235.76, Y:19.54, Z:-110.96 [[ 9.97517018e-01 5.29164047e-02 4.64720700e-02 2.35755637e+02] [-5.31317354e-02 9.98581690e-01 3.40973496e-03 1.95371670e+01] [-4.62257273e-02 -5.87041037e-03 9.98913770e-01 -1.10961705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43591999999995 meters Centerline goodness : 0.978548 Centerline is valid? [True, True] Translation: X:235.83, Y:19.47, Z:-111.00 [[ 9.99182356e-01 2.37249486e-02 3.27375386e-02 2.35834267e+02] [-2.60243101e-02 9.97086865e-01 7.16974117e-02 1.94749960e+01] [-3.09411523e-02 -7.24907606e-02 9.96889028e-01 -1.11001440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:235.81, Y:19.60, Z:-110.95 [[ 9.97297566e-01 5.55138969e-02 4.81224652e-02 2.35809371e+02] [-5.22894094e-02 9.96458104e-01 -6.58563871e-02 1.96028940e+01] [-5.16079651e-02 6.31621193e-02 9.96668031e-01 -1.10954397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49591999999996 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:235.85, Y:19.61, Z:-110.96 [[ 9.94971971e-01 5.81926250e-02 8.15131589e-02 2.35846431e+02] [-5.19815818e-02 9.95725057e-01 -7.63513277e-02 1.96144813e+01] [-8.56077790e-02 7.17302481e-02 9.93743468e-01 -1.10960820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:235.87, Y:19.48, Z:-110.98 [[ 9.97001104e-01 5.17999932e-02 5.74939966e-02 2.35866618e+02] [-5.54856512e-02 9.96375493e-01 6.44765009e-02 1.94826675e+01] [-5.39457269e-02 -6.74732345e-02 9.96261623e-01 -1.10975821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55591999999996 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:235.86, Y:19.57, Z:-110.98 [[ 9.97325166e-01 6.02742331e-02 4.13464622e-02 2.35861018e+02] [-5.88025032e-02 9.97622696e-01 -3.59335842e-02 1.95733733e+01] [-4.34140383e-02 3.34061923e-02 9.98498497e-01 -1.10980737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:235.89, Y:19.54, Z:-110.99 [[ 9.97150655e-01 6.29103198e-02 4.16276628e-02 2.35891908e+02] [-6.28617871e-02 9.98019173e-01 -2.47511264e-03 1.95417909e+01] [-4.17009158e-02 -1.48729086e-04 9.99130127e-01 -1.10988392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61591999999996 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:235.95, Y:19.53, Z:-110.98 [[ 9.95590567e-01 6.89417236e-02 6.36118029e-02 2.35953663e+02] [-7.08725796e-02 9.97074963e-01 2.86111257e-02 1.95294621e+01] [-6.14532357e-02 -3.29932994e-02 9.97564505e-01 -1.10978977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:235.99, Y:19.57, Z:-110.98 [[ 9.95121369e-01 7.38764841e-02 6.53890354e-02 2.35986795e+02] [-7.36390783e-02 9.97266687e-01 -6.03673095e-03 1.95671699e+01] [-6.56562791e-02 1.19209167e-03 9.97841587e-01 -1.10976494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:236.01, Y:19.54, Z:-111.02 [[ 9.95103578e-01 8.64350654e-02 4.79358774e-02 2.36010235e+02] [-8.78923355e-02 9.95702758e-01 2.91711466e-02 1.95398643e+01] [-4.52084754e-02 -3.32415086e-02 9.98424357e-01 -1.11022476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:236.05, Y:19.62, Z:-110.97 [[ 9.93787574e-01 8.04821004e-02 7.68693017e-02 2.36047468e+02] [-7.66634590e-02 9.95731095e-01 -5.14033165e-02 1.96219918e+01] [-8.06782009e-02 4.51909106e-02 9.95715225e-01 -1.10971488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73591999999996 meters Centerline goodness : 0.883368 Centerline is valid? [True, False] Translation: X:236.07, Y:19.61, Z:-110.97 [[ 9.95110257e-01 6.94651165e-02 7.02151929e-02 2.36065647e+02] [-6.70885961e-02 9.97109610e-01 -3.56587368e-02 1.96125619e+01] [-7.24892819e-02 3.07737361e-02 9.96894318e-01 -1.10974493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters Centerline goodness : 0.934995 Centerline is valid? [False, False] Translation: X:236.08, Y:19.60, Z:-110.98 [[ 9.96383442e-01 5.76777311e-02 6.23964367e-02 2.36084009e+02] [-5.64940197e-02 9.98190952e-01 -2.05730257e-02 1.95998045e+01] [-6.34701639e-02 1.69735966e-02 9.97839384e-01 -1.10978365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79591999999997 meters Centerline goodness : 0.997072 Centerline is valid? [False, True] Translation: X:236.11, Y:19.59, Z:-110.98 [[ 9.97654458e-01 4.37536878e-02 5.26421610e-02 2.36105838e+02] [-4.34076706e-02 9.99027777e-01 -7.69902718e-03 1.95893584e+01] [-5.29278419e-02 5.39589520e-03 9.98583761e-01 -1.10981329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters Centerline goodness : 0.891708 Centerline is valid? [True, False] Translation: X:236.11, Y:19.59, Z:-110.98 [[ 9.97694428e-01 4.34446521e-02 5.21381955e-02 2.36107333e+02] [-4.30761397e-02 9.99038374e-01 -8.17155265e-03 1.95911550e+01] [-5.24430682e-02 5.90680035e-03 9.98606446e-01 -1.10981428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85591999999997 meters Centerline goodness : 0.999105 Centerline is valid? [False, True] Translation: X:236.10, Y:19.58, Z:-110.98 [[ 9.98216981e-01 3.77451671e-02 4.62402577e-02 2.36103409e+02] [-3.79014991e-02 9.99278332e-01 2.50847351e-03 1.95844806e+01] [-4.61122048e-02 -4.25657594e-03 9.98927198e-01 -1.10981877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:236.15, Y:19.58, Z:-110.98 [[ 9.98038460e-01 3.45875497e-02 5.21817453e-02 2.36149993e+02] [-3.49495773e-02 9.99370818e-01 6.04108656e-03 1.95843787e+01] [-5.19399671e-02 -7.85296666e-03 9.98619332e-01 -1.10978574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91591999999997 meters Centerline goodness : 0.925125 Centerline is valid? [True, False] Translation: X:236.15, Y:19.59, Z:-110.98 [[ 9.98182741e-01 3.06826016e-02 5.18632177e-02 2.36150583e+02] [-3.07533075e-02 9.99526845e-01 5.65657363e-04 1.95895682e+01] [-5.18213225e-02 -2.15959490e-03 9.98654038e-01 -1.10978653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters Centerline goodness : 0.930728 Centerline is valid? [False, False] Translation: X:236.18, Y:19.58, Z:-110.98 [[ 9.99177243e-01 2.60223313e-02 3.11074794e-02 2.36180005e+02] [-2.62628417e-02 9.99628065e-01 7.34810430e-03 1.95822537e+01] [-3.09046946e-02 -8.15902940e-03 9.99489035e-01 -1.10977265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97592 meters Centerline goodness : 0.905088 Centerline is valid? [False, False] Translation: X:236.18, Y:19.59, Z:-110.98 [[ 9.99262395e-01 2.22186961e-02 3.13208577e-02 2.36179184e+02] [-2.22980828e-02 9.99748973e-01 2.18758254e-03 1.95860196e+01] [-3.12643902e-02 -2.88436404e-03 9.99506988e-01 -1.10977247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters Centerline goodness : 0.971335 Centerline is valid? [False, True] Translation: X:236.18, Y:19.59, Z:-110.98 [[ 9.99271515e-01 2.21067406e-02 3.11083721e-02 2.36179749e+02] [-2.21901085e-02 9.99751037e-01 2.33719985e-03 1.95852309e+01] [-3.10489594e-02 -3.02579538e-03 9.99513285e-01 -1.10977465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03592 meters Centerline goodness : 0.948962 Centerline is valid? [True, False] Translation: X:236.18, Y:19.59, Z:-110.98 [[ 9.99352767e-01 1.81604784e-02 3.10522808e-02 2.36179758e+02] [-1.80813050e-02 9.99832519e-01 -2.82860754e-03 1.95891154e+01] [-3.10984490e-02 2.26531101e-03 9.99513759e-01 -1.10977490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters Centerline goodness : 0.931355 Centerline is valid? [False, False] Translation: X:236.21, Y:19.58, Z:-110.98 [[ 9.99858090e-01 1.34345557e-02 1.01642396e-02 2.36210860e+02] [-1.34826088e-02 9.99898181e-01 4.67400293e-03 1.95804972e+01] [-1.01004116e-02 -4.81038011e-03 9.99937419e-01 -1.10976309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09592 meters Centerline goodness : 0.921810 Centerline is valid? [False, False] Translation: X:236.21, Y:19.59, Z:-110.97 [[ 9.99949493e-01 1.44088579e-03 9.94666018e-03 2.36211420e+02] [-1.34172148e-03 9.99949407e-01 -9.96909346e-03 1.95899785e+01] [-9.96052128e-03 9.95524430e-03 9.99900836e-01 -1.10974599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters Centerline goodness : 0.997220 Centerline is valid? [False, True] Translation: X:236.21, Y:19.59, Z:-110.97 [[ 9.99950410e-01 1.41756633e-03 9.85734144e-03 2.36211715e+02] [-1.32186312e-03 9.99951997e-01 -9.70857272e-03 1.95885576e+01] [-9.87063080e-03 9.69506122e-03 9.99904284e-01 -1.10974567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15592 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:236.24, Y:19.54, Z:-110.98 [[ 9.99625536e-01 -1.43727038e-03 -2.73262137e-02 2.36240701e+02] [ 2.62452272e-03 9.99051664e-01 4.34612924e-02 1.95371086e+01] [ 2.72378337e-02 -4.35167360e-02 9.98681328e-01 -1.10978118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters Centerline goodness : 0.868481 Centerline is valid? [True, False] Translation: X:236.25, Y:19.56, Z:-110.97 [[ 9.99385753e-01 -6.46559002e-03 -3.44429064e-02 2.36245187e+02] [ 6.97987584e-03 9.99865633e-01 1.48322908e-02 1.95628385e+01] [ 3.43423789e-02 -1.50635873e-02 9.99296597e-01 -1.10971811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21592 meters Centerline goodness : 0.996776 Centerline is valid? [False, True] Translation: X:236.24, Y:19.58, Z:-110.97 [[ 9.99652580e-01 -4.65207880e-03 -2.59437533e-02 2.36239057e+02] [ 4.55973516e-03 9.99983061e-01 -3.61740214e-03 1.95794814e+01] [ 2.59601423e-02 3.49784874e-03 9.99656859e-01 -1.10969666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:236.27, Y:19.53, Z:-110.98 [[ 9.99699500e-01 -1.58947548e-03 -2.44618661e-02 2.36265459e+02] [ 2.91101132e-03 9.98532149e-01 5.40839442e-02 1.95253494e+01] [ 2.43399946e-02 -5.41389008e-02 9.98236717e-01 -1.10978360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27592 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:236.29, Y:19.63, Z:-110.96 [[ 9.99736833e-01 -3.27557529e-04 -2.29381387e-02 2.36293625e+02] [-1.00971767e-03 9.98300737e-01 -5.82633529e-02 1.96341252e+01] [ 2.29182454e-02 5.82711809e-02 9.98037686e-01 -1.10957984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:236.29, Y:19.57, Z:-110.98 [[ 9.99456289e-01 4.29143161e-03 -3.26911341e-02 2.36290937e+02] [-4.39756423e-03 9.99985289e-01 -3.17531780e-03 1.95741964e+01] [ 3.26770265e-02 3.31735270e-03 9.99460458e-01 -1.10979325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33592 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:236.35, Y:19.60, Z:-110.96 [[ 9.99720248e-01 1.64697895e-02 1.69756469e-02 2.36351941e+02] [-1.61786913e-02 9.99722111e-01 -1.71450000e-02 1.96029265e+01] [-1.72533041e-02 1.68655599e-02 9.99708896e-01 -1.10964664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters Centerline goodness : 0.936335 Centerline is valid? [True, False] Translation: X:236.35, Y:19.59, Z:-110.97 [[ 9.99854974e-01 1.26354723e-02 1.14182559e-02 2.36347304e+02] [-1.25878522e-02 9.99911811e-01 -4.23281225e-03 1.95901965e+01] [-1.14707325e-02 4.08846706e-03 9.99925851e-01 -1.10966932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39592 meters Centerline goodness : 0.996577 Centerline is valid? [False, True] Translation: X:236.37, Y:19.59, Z:-110.96 [[ 9.99990778e-01 -4.59662231e-04 4.26996036e-03 2.36369097e+02] [ 5.04693576e-04 9.99944209e-01 -1.05509964e-02 1.95913122e+01] [-4.26487225e-03 1.05530541e-02 9.99935220e-01 -1.10962995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:236.40, Y:19.55, Z:-110.97 [[ 9.99528904e-01 -2.38571744e-03 -3.05986574e-02 2.36397263e+02] [ 3.14237835e-03 9.99689862e-01 2.47043666e-02 1.95549061e+01] [ 3.05302299e-02 -2.47888810e-02 9.99226409e-01 -1.10967149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45592 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:236.43, Y:19.60, Z:-110.96 [[ 9.99978542e-01 -2.38162023e-03 6.10271393e-03 2.36428568e+02] [ 2.52817704e-03 9.99705851e-01 -2.41209249e-02 1.96006048e+01] [-6.04347195e-03 2.41358360e-02 9.99690421e-01 -1.10958324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters Centerline goodness : 0.921776 Centerline is valid? [True, False] Translation: X:236.45, Y:19.58, Z:-110.96 [[ 9.99996624e-01 6.58504874e-04 -2.51343698e-03 2.36454528e+02] [-6.82379543e-04 9.99954548e-01 -9.50980506e-03 1.95816289e+01] [ 2.50706049e-03 9.51148808e-03 9.99951622e-01 -1.10958662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51592 meters Centerline goodness : 0.997372 Centerline is valid? [False, True] Translation: X:236.45, Y:19.58, Z:-110.96 [[ 9.99996576e-01 6.04930831e-04 -2.54594299e-03 2.36454662e+02] [-6.27096582e-04 9.99961831e-01 -8.71452877e-03 1.95779624e+01] [ 2.54057413e-03 8.71609548e-03 9.99958787e-01 -1.10958844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:236.48, Y:19.47, Z:-110.97 [[ 9.99253029e-01 -5.61784418e-04 -3.86402506e-02 2.36478077e+02] [ 4.38250840e-03 9.95091102e-01 9.88660286e-02 1.94678044e+01] [ 3.83950282e-02 -9.89615197e-02 9.94350260e-01 -1.10967471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:236.51, Y:19.57, Z:-110.95 [[ 9.98091402e-01 -6.45335457e-03 -6.14158530e-02 2.36507097e+02] [ 5.86118520e-03 9.99934632e-01 -9.81724008e-03 1.95680213e+01] [ 6.14751925e-02 9.43853323e-03 9.98063983e-01 -1.10952226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:236.54, Y:19.64, Z:-110.94 [[ 9.99969106e-01 -7.85085226e-03 -3.88116398e-04 2.36539957e+02] [ 7.78829660e-03 9.96257167e-01 -8.60871639e-02 1.96367213e+01] [ 1.06252135e-03 8.60814816e-02 9.96287534e-01 -1.10940154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:236.57, Y:19.54, Z:-110.95 [[ 9.99961799e-01 -8.70665501e-03 7.70682552e-04 2.36567729e+02] [ 8.70665901e-03 9.99962096e-01 -1.83591429e-06 1.95447345e+01] [-7.70637355e-04 8.54591434e-06 9.99999703e-01 -1.10954377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.59, Y:19.45, Z:-110.96 [[ 9.99281190e-01 -7.35124562e-03 -3.71895454e-02 2.36594442e+02] [ 1.06785484e-02 9.95877531e-01 9.00772577e-02 1.94492998e+01] [ 3.63740526e-02 -9.04096397e-02 9.95240185e-01 -1.10959554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:19.62, Z:-110.94 [[ 9.99947477e-01 -9.81496768e-03 2.95116346e-03 2.36628527e+02] [ 1.00374274e-02 9.96035713e-01 -8.83861274e-02 1.96154668e+01] [-2.07195722e-03 8.84111072e-02 9.96081916e-01 -1.10937891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.65, Y:19.41, Z:-110.96 [[ 9.99248791e-01 -9.51300338e-03 -3.75680164e-02 2.36651038e+02] [ 1.39254330e-02 9.92796923e-01 1.18997276e-01 1.94109374e+01] [ 3.61653896e-02 -1.19431035e-01 9.92183598e-01 -1.10956289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.68, Y:19.57, Z:-110.94 [[ 9.99128196e-01 -1.17327469e-02 -4.00648272e-02 2.36684627e+02] [ 9.36617098e-03 9.98228569e-01 -5.87537195e-02 1.95695183e+01] [ 4.06831977e-02 5.83272438e-02 9.97468200e-01 -1.10943236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:19.49, Z:-110.95 [[ 9.99315727e-01 -1.29195045e-02 -3.46578095e-02 2.36708733e+02] [ 1.34467727e-02 9.99796714e-01 1.50238372e-02 1.94926670e+01] [ 3.44566635e-02 -1.54795925e-02 9.99286306e-01 -1.10949670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:19.50, Z:-110.95 [[ 9.99305510e-01 -1.33644939e-02 -3.47834459e-02 2.36737065e+02] [ 1.32619297e-02 9.99907007e-01 -3.17770921e-03 1.94981612e+01] [ 3.48226798e-02 2.71420671e-03 9.99389821e-01 -1.10946788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.76, Y:19.49, Z:-110.95 [[ 9.99251279e-01 -1.36157664e-02 -3.62145428e-02 2.36764519e+02] [ 1.37367147e-02 9.99900863e-01 3.09304270e-03 1.94856924e+01] [ 3.61688385e-02 -3.58819571e-03 9.99339252e-01 -1.10946145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:19.54, Z:-110.94 [[ 9.99841856e-01 -1.35301885e-02 1.15411004e-02 2.36795433e+02] [ 1.42747661e-02 9.97645479e-01 -6.70800186e-02 1.95405888e+01] [-1.06063214e-02 6.72341568e-02 9.97680848e-01 -1.10941958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:19.43, Z:-110.95 [[ 9.99488642e-01 -1.23232104e-02 -2.95058261e-02 2.36824361e+02] [ 1.36891385e-02 9.98822245e-01 4.65481557e-02 1.94260339e+01] [ 2.88974527e-02 -4.69282623e-02 9.98480183e-01 -1.10948464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:19.43, Z:-110.95 [[ 9.99667151e-01 -9.03989716e-03 -2.41633652e-02 2.36851649e+02] [ 9.73378726e-03 9.99539096e-01 2.87549659e-02 1.94324246e+01] [ 2.38922863e-02 -2.89805959e-02 9.99294393e-01 -1.10946611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.88, Y:19.49, Z:-110.94 [[ 9.99531542e-01 -7.05561197e-03 -2.97811219e-02 2.36880747e+02] [ 6.01121533e-03 9.99368740e-01 -3.50140848e-02 1.94869163e+01] [ 3.00093681e-02 3.48186615e-02 9.98942991e-01 -1.10940098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:19.46, Z:-110.94 [[ 9.99851858e-01 -5.19079385e-04 -1.72044637e-02 2.36908705e+02] [ 3.16502493e-04 9.99930619e-01 -1.17753025e-02 1.94560937e+01] [ 1.72093823e-02 1.17681129e-02 9.99782651e-01 -1.10943115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:19.43, Z:-110.94 [[ 9.99767130e-01 2.23556112e-03 -2.14636398e-02 2.36935171e+02] [-1.97020941e-03 9.99921473e-01 1.23760444e-02 1.94293208e+01] [ 2.14896217e-02 -1.23308745e-02 9.99693026e-01 -1.10943135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:19.45, Z:-110.94 [[ 9.99871086e-01 8.51755430e-03 -1.36111279e-02 2.36964512e+02] [-8.69492120e-03 9.99877361e-01 -1.30254154e-02 1.94474664e+01] [ 1.34985139e-02 1.31420839e-02 9.99822522e-01 -1.10943068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:19.41, Z:-110.94 [[ 9.99765519e-01 9.03699026e-03 -1.96784004e-02 2.36991442e+02] [-8.54222915e-03 9.99648878e-01 2.50828832e-02 1.94074940e+01] [ 1.98981647e-02 -2.49089044e-02 9.99491676e-01 -1.10941531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:19.43, Z:-110.94 [[ 9.99765515e-01 1.09613564e-02 -1.86752311e-02 2.37019791e+02] [-1.10250709e-02 9.99933736e-01 -3.31217312e-03 1.94293621e+01] [ 1.86376877e-02 3.51729221e-03 9.99820116e-01 -1.10941426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:19.46, Z:-110.94 [[ 9.99715486e-01 1.14783421e-02 2.09092197e-02 2.37049583e+02] [-1.05990027e-02 9.99074325e-01 -4.16911656e-02 1.94628488e+01] [-2.13684100e-02 4.14576870e-02 9.98911733e-01 -1.10941536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:19.42, Z:-110.94 [[ 9.99866737e-01 1.35678698e-02 9.07866322e-03 2.37082299e+02] [-1.35170934e-02 9.99892784e-01 -5.63112228e-03 1.94234115e+01] [-9.15409217e-03 5.50765471e-03 9.99942933e-01 -1.10944423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:19.41, Z:-110.94 [[ 9.99873273e-01 1.45859321e-02 6.37875867e-03 2.37113849e+02] [-1.46209525e-02 9.99878100e-01 5.47842447e-03 1.94109655e+01] [-6.29807317e-03 -5.57099373e-03 9.99964649e-01 -1.10943988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:19.41, Z:-110.94 [[ 9.99604999e-01 1.66567248e-02 2.26362383e-02 2.37146928e+02] [-1.66566743e-02 9.99861250e-01 -1.90792568e-04 1.94133174e+01] [-2.26362755e-02 -1.86327244e-04 9.99743749e-01 -1.10941422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.18, Y:19.39, Z:-110.94 [[ 9.99782131e-01 1.89872712e-02 -8.67030839e-03 2.37179013e+02] [-1.87534033e-02 9.99478126e-01 2.63018097e-02 1.93869866e+01] [ 9.16518318e-03 -2.61334816e-02 9.99616447e-01 -1.10941059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:19.36, Z:-110.94 [[ 9.99492846e-01 2.06091629e-02 -2.42757547e-02 2.37205267e+02] [-1.94052880e-02 9.98618847e-01 4.88245153e-02 1.93639524e+01] [ 2.52484586e-02 -4.83286758e-02 9.98512321e-01 -1.10938045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:19.46, Z:-110.94 [[ 9.99716245e-01 2.38072194e-02 -8.03026357e-04 2.37236051e+02] [-2.38157479e-02 9.98246417e-01 -5.41931860e-02 1.94617035e+01] [-4.88570888e-04 5.41969331e-02 9.98530147e-01 -1.10938787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:19.43, Z:-110.94 [[ 9.99333952e-01 2.40217850e-02 2.74701126e-02 2.37264664e+02] [-2.35445590e-02 9.99568451e-01 -1.75660432e-02 1.94255840e+01] [-2.78802256e-02 1.69075716e-02 9.99468272e-01 -1.10939988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:19.41, Z:-110.94 [[ 9.99310329e-01 2.59472733e-02 2.65632263e-02 2.37297332e+02] [-2.59502886e-02 9.99663208e-01 -2.31262625e-04 1.94082751e+01] [-2.65602807e-02 -4.58220259e-04 9.99647108e-01 -1.10940290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:19.40, Z:-110.94 [[ 9.99593846e-01 2.68679583e-02 9.50026649e-03 2.37329862e+02] [-2.68887216e-02 9.99636301e-01 2.06459555e-03 1.94048890e+01] [-9.44133978e-03 -2.31920703e-03 9.99952740e-01 -1.10940965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:19.41, Z:-110.94 [[ 9.99561522e-01 2.61007731e-02 1.39826054e-02 2.37361835e+02] [-2.59867663e-02 9.99628045e-01 -8.27407544e-03 1.94143243e+01] [-1.41933643e-02 7.90708474e-03 9.99868004e-01 -1.10942874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.40, Y:19.41, Z:-110.94 [[ 9.99538886e-01 2.59518789e-02 1.57643538e-02 2.37395785e+02] [-2.59057110e-02 9.99659504e-01 -3.12584063e-03 1.94087308e+01] [-1.58401075e-02 2.71601247e-03 9.99870849e-01 -1.10942620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.43, Y:19.41, Z:-110.94 [[ 9.99532291e-01 2.63596196e-02 1.55038749e-02 2.37428553e+02] [-2.63620285e-02 9.99652460e-01 -4.90084108e-05 1.94057249e+01] [-1.54997785e-02 -3.59728102e-04 9.99879807e-01 -1.10943039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.46, Y:19.40, Z:-110.94 [[ 9.99564726e-01 2.49595968e-02 1.57282497e-02 2.37461880e+02] [-2.50398835e-02 9.99674304e-01 4.92850052e-03 1.93991978e+01] [-1.56001137e-02 -5.32018881e-03 9.99864157e-01 -1.10943246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters Centerline goodness : 0.906460 Centerline is valid? [True, False] Translation: X:237.47, Y:19.39, Z:-110.94 [[ 9.99867817e-01 1.30808852e-02 9.65601370e-03 2.37465723e+02] [-1.32068592e-02 9.99826972e-01 1.30997760e-02 1.93887647e+01] [-9.48298627e-03 -1.32255701e-02 9.99867570e-01 -1.10943892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:237.49, Y:19.38, Z:-110.94 [[ 9.99970859e-01 6.27150477e-03 4.35314138e-03 2.37487859e+02] [-6.34157625e-03 9.99847458e-01 1.62740756e-02 1.93812667e+01] [-4.25041440e-03 -1.63012072e-02 9.99858092e-01 -1.10940843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.52, Y:19.38, Z:-110.94 [[ 9.99929036e-01 5.89051674e-03 1.03549624e-02 2.37519849e+02] [-6.00968938e-03 9.99915634e-01 1.15155532e-02 1.93847448e+01] [-1.02862562e-02 -1.15769661e-02 9.99880076e-01 -1.10939088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:19.40, Z:-110.94 [[ 9.99903596e-01 9.00522847e-03 1.05690362e-02 2.37552639e+02] [-9.00646575e-03 9.99959439e-01 6.94756861e-05 1.93960232e+01] [-1.05679818e-02 -1.64658651e-04 9.99944144e-01 -1.10938377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.59, Y:19.41, Z:-110.94 [[ 9.99919469e-01 1.04116521e-02 7.25625769e-03 2.37586700e+02] [-1.02766408e-02 9.99777863e-01 -1.84015107e-02 1.94141731e+01] [-7.44623593e-03 1.83254589e-02 9.99804346e-01 -1.10940938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:19.40, Z:-110.94 [[ 9.99872031e-01 1.31622281e-02 9.09270973e-03 2.37620486e+02] [-1.31577756e-02 9.99913282e-01 -5.49323097e-04 1.93969596e+01] [-9.09915154e-03 4.29612966e-04 9.99958510e-01 -1.10939958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:19.40, Z:-110.94 [[ 9.99839410e-01 1.54457180e-02 9.08752660e-03 2.37654588e+02] [-1.54464337e-02 9.99880697e-01 8.56436672e-06 1.93966021e+01] [-9.08631015e-03 -1.48932868e-04 9.99958708e-01 -1.10939685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:19.38, Z:-110.94 [[ 9.99793045e-01 1.66491133e-02 1.16907421e-02 2.37685003e+02] [-1.68764351e-02 9.99665007e-01 1.96229182e-02 1.93783890e+01] [-1.13601216e-02 -1.98161552e-02 9.99739100e-01 -1.10935260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:19.32, Z:-110.93 [[ 9.99093005e-01 1.67746160e-02 -3.91379451e-02 2.37715523e+02] [-1.35930067e-02 9.96687127e-01 8.01872934e-02 1.93218368e+01] [ 4.03533971e-02 -7.95825617e-02 9.96011154e-01 -1.10928406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.74, Y:19.37, Z:-110.93 [[ 9.98839575e-01 1.73898915e-02 -4.49120741e-02 2.37744875e+02] [-1.58800572e-02 9.99303858e-01 3.37583175e-02 1.93678950e+01] [ 4.54678624e-02 -3.30059372e-02 9.98420393e-01 -1.10928789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.78, Y:19.48, Z:-110.93 [[ 9.99688537e-01 1.83268806e-02 -1.69397344e-02 2.37775273e+02] [-1.96174210e-02 9.96645594e-01 -7.94526058e-02 1.94807636e+01] [ 1.54267932e-02 7.97601732e-02 9.96694702e-01 -1.10927539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.80, Y:19.38, Z:-110.93 [[ 9.99503302e-01 1.72028412e-02 -2.64047525e-02 2.37802561e+02] [-1.66160867e-02 9.99613626e-01 2.22823886e-02 1.93849236e+01] [ 2.67778708e-02 -2.18325773e-02 9.99402964e-01 -1.10927437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:19.45, Z:-110.93 [[ 9.99752099e-01 1.36250328e-02 1.76096093e-02 2.37830057e+02] [-1.27768614e-02 9.98793710e-01 -4.74117880e-02 1.94526084e+01] [-1.82343542e-02 4.71750390e-02 9.98720193e-01 -1.10928294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95592 meters Centerline goodness : 0.917424 Centerline is valid? [True, False] Translation: X:237.81, Y:19.43, Z:-110.93 [[ 9.99749952e-01 1.00060621e-02 1.99978200e-02 2.37807912e+02] [-9.63832310e-03 9.99784220e-01 -1.84015050e-02 1.94250535e+01] [-2.01776315e-02 1.82041583e-02 9.99630668e-01 -1.10929597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:237.81, Y:19.41, Z:-110.93 [[ 9.99889070e-01 5.37750093e-03 1.38899665e-02 2.37813025e+02] [-5.35602072e-03 9.99984403e-01 -1.58319207e-03 1.94108099e+01] [-1.38982635e-02 1.50862149e-03 9.99902276e-01 -1.10930508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.84, Y:19.42, Z:-110.93 [[ 9.99806916e-01 5.26538720e-03 1.89316215e-02 2.37843532e+02] [-5.10625154e-03 9.99951308e-01 -8.44434908e-03 1.94192456e+01] [-1.89751625e-02 8.34604899e-03 9.99785120e-01 -1.10931244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.87, Y:19.41, Z:-110.93 [[ 9.99826098e-01 5.71200026e-03 1.77523672e-02 2.37874607e+02] [-5.77870283e-03 9.99976427e-01 3.70836697e-03 1.94111374e+01] [-1.77307665e-02 -3.81030773e-03 9.99835537e-01 -1.10932409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:19.42, Z:-110.93 [[ 9.99809464e-01 6.69358288e-03 1.83366244e-02 2.37905882e+02] [-6.64689310e-03 9.99974513e-01 -2.60602237e-03 1.94194181e+01] [-1.83536007e-02 2.48364425e-03 9.99828474e-01 -1.10932699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:19.44, Z:-110.94 [[ 9.99375572e-01 8.48377736e-03 3.43000250e-02 2.37936595e+02] [-7.70367872e-03 9.99710093e-01 -2.28119229e-02 1.94427178e+01] [-3.44836124e-02 2.25334422e-02 9.99151202e-01 -1.10936534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:19.41, Z:-110.94 [[ 9.99741823e-01 6.65441695e-03 2.17256950e-02 2.37968741e+02] [-7.00832453e-03 9.99843325e-01 1.62545217e-02 1.94065736e+01] [-2.16141267e-02 -1.64025858e-02 9.99631825e-01 -1.10935417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.00, Y:19.44, Z:-110.94 [[ 9.99216138e-01 7.35562011e-03 3.88973645e-02 2.38000148e+02] [-6.58754227e-03 9.99781511e-01 -1.98377050e-02 1.94426597e+01] [-3.90347844e-02 1.95659169e-02 9.99046275e-01 -1.10937381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:19.43, Z:-110.94 [[ 9.99068463e-01 6.12548190e-03 4.27163316e-02 2.38033627e+02] [-5.81392915e-03 9.99955615e-01 -7.41395033e-03 1.94323673e+01] [-4.27598496e-02 7.15869423e-03 9.99059732e-01 -1.10939388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:19.43, Z:-110.94 [[ 9.99047579e-01 2.87206062e-03 4.35394893e-02 2.38065132e+02] [-2.89676823e-03 9.99995677e-01 5.04394609e-04 1.94282399e+01] [-4.35378525e-02 -6.30038022e-04 9.99051579e-01 -1.10941981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25592 meters Centerline goodness : 0.963538 Centerline is valid? [True, True] Translation: X:238.05, Y:19.38, Z:-110.97 [[ 9.94005532e-01 -1.02697244e-01 3.75003797e-02 2.38052496e+02] [ 1.01874956e-01 9.94526141e-01 2.32217164e-02 1.93759664e+01] [-3.96799142e-02 -1.92621650e-02 9.99026763e-01 -1.10965794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:19.45, Z:-110.94 [[ 9.98134555e-01 6.06197063e-03 6.07508293e-02 2.38112892e+02] [-4.90882374e-03 9.99805282e-01 -1.91128858e-02 1.94509562e+01] [-6.08548617e-02 1.87790166e-02 9.97969957e-01 -1.10939846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:19.44, Z:-110.94 [[ 9.98768385e-01 5.90340681e-03 4.92632043e-02 2.38147392e+02] [-5.71821574e-03 9.99976048e-01 -3.89930603e-03 1.94365005e+01] [-4.92850436e-02 3.61280596e-03 9.98778220e-01 -1.10944370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:238.18, Y:19.38, Z:-110.94 [[ 9.99915653e-01 -4.61379433e-05 1.29878590e-02 2.38177374e+02] [-7.04978472e-04 9.98326678e-01 5.78216742e-02 1.93774917e+01] [-1.29687939e-02 -5.78259533e-02 9.98242440e-01 -1.10940336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37591999999995 meters Centerline goodness : 0.931966 Centerline is valid? [True, False] Translation: X:238.16, Y:19.41, Z:-110.94 [[ 9.99951021e-01 -8.65739632e-04 9.85932490e-03 2.38163360e+02] [ 6.92646872e-04 9.99845815e-01 1.75461507e-02 1.94143763e+01] [-9.87299514e-03 -1.75384623e-02 9.99797443e-01 -1.10940965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters Centerline goodness : 0.949392 Centerline is valid? [False, False] Translation: X:238.17, Y:19.43, Z:-110.94 [[ 9.99989823e-01 1.54382648e-03 4.23920488e-03 2.38166382e+02] [-1.53575968e-03 9.99997005e-01 -1.90550166e-03 1.94306150e+01] [-4.24213395e-03 1.89897186e-03 9.99989199e-01 -1.10939952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43591999999995 meters Centerline goodness : 0.919102 Centerline is valid? [False, False] Translation: X:238.17, Y:19.43, Z:-110.94 [[ 9.99994133e-01 -5.36305411e-04 3.38317561e-03 2.38171556e+02] [ 5.50175582e-04 9.99991443e-01 -4.10015136e-03 1.94310960e+01] [-3.38094773e-03 4.10198865e-03 9.99985871e-01 -1.10944566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters Centerline goodness : 0.973382 Centerline is valid? [False, True] Translation: X:238.18, Y:19.43, Z:-110.95 [[ 9.99993358e-01 -2.64602594e-03 2.50639899e-03 2.38176765e+02] [ 2.66195707e-03 9.99976141e-01 -6.37431815e-03 1.94318350e+01] [-2.48947257e-03 6.38094774e-03 9.99976543e-01 -1.10949059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:19.29, Z:-110.90 [[ 9.95627022e-01 9.33097290e-02 4.48633491e-03 2.38223376e+02] [-9.28137429e-02 9.82599432e-01 1.60884947e-01 1.92916736e+01] [ 1.06038607e-02 -1.60597794e-01 9.86962971e-01 -1.10901560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.28, Y:19.51, Z:-110.91 [[ 9.95200172e-01 9.69478881e-02 -1.33313088e-02 2.38278604e+02] [-9.76965875e-02 9.92148092e-01 -7.80867466e-02 1.95139361e+01] [ 5.65628747e-03 7.90143670e-02 9.96857430e-01 -1.10907265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:19.46, Z:-110.91 [[ 9.95385454e-01 9.51663583e-02 1.22947993e-02 2.38300798e+02] [-9.48086639e-02 9.95129831e-01 -2.69802859e-02 1.94574652e+01] [-1.48025371e-02 2.56901307e-02 9.99560354e-01 -1.10913278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:238.32, Y:19.36, Z:-110.91 [[ 9.95604684e-01 9.26030598e-02 -1.39995102e-02 2.38320503e+02] [-9.13552546e-02 9.93167168e-01 7.26167650e-02 1.93612575e+01] [ 2.06283885e-02 -7.10186625e-02 9.97261660e-01 -1.10908326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:19.39, Z:-110.91 [[ 9.95216813e-01 9.76814027e-02 -1.35585965e-03 2.38352041e+02] [-9.75680227e-02 9.94565821e-01 3.63222758e-02 1.93901595e+01] [ 4.89650252e-03 -3.60162510e-02 9.99339209e-01 -1.10910347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters Centerline goodness : 0.843333 Centerline is valid? [True, False] Translation: X:238.35, Y:19.39, Z:-110.91 [[ 9.97040068e-01 7.68506783e-02 -2.25289096e-03 2.38351699e+02] [-7.67286042e-02 9.96461838e-01 3.43005380e-02 1.93888307e+01] [ 4.88093949e-03 -3.40261496e-02 9.99409024e-01 -1.10909753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:238.37, Y:19.39, Z:-110.91 [[ 9.98292702e-01 5.82402741e-02 -4.44431805e-03 2.38372774e+02] [-5.81164180e-02 9.98016440e-01 2.42005817e-02 1.93938575e+01] [ 5.84495100e-03 -2.39009763e-02 9.99697244e-01 -1.10907188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.40, Y:19.42, Z:-110.91 [[ 9.98033448e-01 6.26439285e-02 -2.23033185e-03 2.38401582e+02] [-6.26612283e-02 9.97996156e-01 -8.78877129e-03 1.94219490e+01] [ 1.67529945e-03 8.91124305e-03 9.99958891e-01 -1.10907900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:19.46, Z:-110.91 [[ 9.97316110e-01 6.41433687e-02 3.53016422e-02 2.38433400e+02] [-6.20953359e-02 9.96478885e-01 -5.63382784e-02 1.94598477e+01] [-3.87910680e-02 5.39950053e-02 9.97787449e-01 -1.10911688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:238.43, Y:19.35, Z:-110.92 [[ 9.98270260e-01 5.64456830e-02 -1.64429990e-02 2.38432005e+02] [-5.56011057e-02 9.97301103e-01 4.79481642e-02 1.93467165e+01] [ 1.91050880e-02 -4.69509775e-02 9.98714474e-01 -1.10921514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79591999999997 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:238.46, Y:19.37, Z:-110.92 [[ 9.97611630e-01 6.68754423e-02 -1.72832278e-02 2.38457281e+02] [-6.65388196e-02 9.97595821e-01 1.93691488e-02 1.93746207e+01] [ 1.85369962e-02 -1.81728825e-02 9.99663006e-01 -1.10923377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:238.48, Y:19.40, Z:-110.93 [[ 9.97309455e-01 7.09735697e-02 -1.83467487e-02 2.38484914e+02] [-7.10623871e-02 9.97462885e-01 -4.23448147e-03 1.93957486e+01] [ 1.79996646e-02 5.52685216e-03 9.99822717e-01 -1.10925110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.53, Y:19.36, Z:-110.91 [[ 9.96608311e-01 8.17799651e-02 9.16028819e-03 2.38534956e+02] [-8.21183219e-02 9.95547220e-01 4.62851361e-02 1.93609039e+01] [-5.33430263e-03 -4.68803789e-02 9.98886267e-01 -1.10905058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.57, Y:19.40, Z:-110.91 [[ 9.96296314e-01 8.56537212e-02 7.55608935e-03 2.38569194e+02] [-8.56356878e-02 9.96322915e-01 -2.67930677e-03 1.94033484e+01] [-7.75779756e-03 2.02231255e-03 9.99967863e-01 -1.10905781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:19.41, Z:-110.91 [[ 9.96137590e-01 8.72774006e-02 9.62062987e-03 2.38600444e+02] [-8.71983428e-02 9.96155955e-01 -8.35239171e-03 1.94060877e+01] [-1.03126228e-02 7.48122837e-03 9.99918837e-01 -1.10906286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:19.39, Z:-110.91 [[ 9.96037840e-01 8.82513613e-02 1.09689950e-02 2.38630034e+02] [-8.82504411e-02 9.96098156e-01 -5.68833365e-04 1.93948287e+01] [-1.09763961e-02 -4.01439094e-04 9.99939677e-01 -1.10908383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:19.39, Z:-110.91 [[ 9.96010033e-01 8.84544822e-02 1.18244974e-02 2.38660507e+02] [-8.85181366e-02 9.96062157e-01 4.97187512e-03 1.93856697e+01] [-1.13381497e-02 -5.99871998e-03 9.99917727e-01 -1.10907912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.69, Y:19.40, Z:-110.91 [[ 9.95842404e-01 8.90947250e-02 1.89746236e-02 2.38692894e+02] [-8.88463895e-02 9.95953126e-01 -1.35532496e-02 1.93989787e+01] [-2.01053587e-02 1.18110739e-02 9.99728100e-01 -1.10908930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:19.42, Z:-110.91 [[ 9.94565884e-01 8.89814892e-02 5.40462396e-02 2.38724752e+02] [-8.66346195e-02 9.95253826e-01 -4.43200248e-02 1.94220129e+01] [-5.77333885e-02 3.93969092e-02 9.97554379e-01 -1.10910731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:19.37, Z:-110.91 [[ 9.95270964e-01 8.84193016e-02 4.02210809e-02 2.38754194e+02] [-8.90006883e-02 9.95948051e-01 1.28979559e-02 1.93664049e+01] [-3.89176789e-02 -1.64166649e-02 9.99107555e-01 -1.10913054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:19.33, Z:-110.91 [[ 9.96126613e-01 8.66868643e-02 1.47362949e-02 2.38781146e+02] [-8.73004269e-02 9.95027936e-01 4.79378874e-02 1.93326759e+01] [-1.05074400e-02 -4.90386903e-02 9.98741609e-01 -1.10907740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:19.44, Z:-110.92 [[ 9.94854484e-01 9.18768402e-02 4.26989731e-02 2.38819297e+02] [-8.90009733e-02 9.93910093e-01 -6.49734924e-02 1.94360432e+01] [-4.84084995e-02 6.08389201e-02 9.96973040e-01 -1.10915194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:19.33, Z:-110.91 [[ 9.95921318e-01 8.79231141e-02 2.02547563e-02 2.38842369e+02] [-8.87674752e-02 9.95014794e-01 4.54521179e-02 1.93320077e+01] [-1.61574904e-02 -4.70646967e-02 9.98761158e-01 -1.10910031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:19.35, Z:-110.91 [[ 9.95828654e-01 8.87934942e-02 2.10001629e-02 2.38871534e+02] [-8.92526712e-02 9.95765065e-01 2.20430597e-02 1.93512986e+01] [-1.89539483e-02 -2.38254311e-02 9.99536441e-01 -1.10912594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:19.44, Z:-110.91 [[ 9.93855785e-01 9.36390498e-02 5.90119148e-02 2.38910027e+02] [-8.89779246e-02 9.93037159e-01 -7.72018814e-02 1.94396917e+01] [-6.58301350e-02 7.14767787e-02 9.95267534e-01 -1.10913457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:19.37, Z:-110.92 [[ 9.94323457e-01 9.06749112e-02 5.56679775e-02 2.38938893e+02] [-9.04120851e-02 9.95878218e-01 -7.22699159e-03 1.93744797e+01] [-5.60938331e-02 2.15290934e-03 9.98423180e-01 -1.10916820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:19.37, Z:-110.92 [[ 9.93978425e-01 8.91562274e-02 6.37028802e-02 2.38969232e+02] [-8.92592237e-02 9.96007666e-01 -1.23296387e-03 1.93674417e+01] [-6.35584835e-02 -4.46053015e-03 9.97968147e-01 -1.10918102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.00, Y:19.37, Z:-110.92 [[ 9.94146332e-01 8.77137090e-02 6.30823017e-02 2.39001775e+02] [-8.76081046e-02 9.96145108e-01 -4.44350186e-03 1.93678322e+01] [-6.32288822e-02 -1.10902981e-03 9.97998436e-01 -1.10920851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:19.32, Z:-110.92 [[ 9.96065172e-01 8.55716655e-02 2.30578230e-02 2.39031037e+02] [-8.64651350e-02 9.95409650e-01 4.10293699e-02 1.93239894e+01] [-1.94410280e-02 -4.28616241e-02 9.98891850e-01 -1.10917322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.07, Y:19.40, Z:-110.92 [[ 9.94590274e-01 8.59074795e-02 5.83959942e-02 2.39068362e+02] [-8.32238303e-02 9.95424967e-01 -4.69353728e-02 1.94013732e+01] [-6.21609302e-02 4.18215270e-02 9.97189540e-01 -1.10921807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.10, Y:19.36, Z:-110.92 [[ 9.94535124e-01 8.43912456e-02 6.14654842e-02 2.39098873e+02] [-8.42814144e-02 9.96432357e-01 -4.38198503e-03 1.93586576e+01] [-6.16159985e-02 -8.22359923e-04 9.98099590e-01 -1.10923328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:19.32, Z:-110.92 [[ 9.96263931e-01 8.17939081e-02 2.77116551e-02 2.39126918e+02] [-8.27505460e-02 9.95943568e-01 3.53377528e-02 1.93211335e+01] [-2.47088317e-02 -3.74988831e-02 9.98991145e-01 -1.10920555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.16, Y:19.35, Z:-110.92 [[ 9.96316915e-01 8.24720869e-02 2.34725121e-02 2.39160758e+02] [-8.24979408e-02 9.96591226e-01 1.33590729e-04 1.93497030e+01] [-2.33814821e-02 -2.06953262e-03 9.99724474e-01 -1.10923440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.19, Y:19.35, Z:-110.92 [[ 9.96231316e-01 8.24892684e-02 2.68083134e-02 2.39191757e+02] [-8.23448117e-02 9.96583024e-01 -6.45040383e-03 1.93518574e+01] [-2.72487992e-02 4.21856878e-03 9.99619781e-01 -1.10924634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:239.22, Y:19.34, Z:-110.93 [[ 9.96199148e-01 8.25890424e-02 2.76822699e-02 2.39222570e+02] [-8.27744888e-02 9.96552460e-01 5.61954939e-03 1.93365574e+01] [-2.71227209e-02 -7.88957605e-03 9.99600977e-01 -1.10925302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.25, Y:19.35, Z:-110.93 [[ 9.95734260e-01 8.64851840e-02 3.21495932e-02 2.39254061e+02] [-8.61164525e-02 9.96204322e-01 -1.26848280e-02 1.93485356e+01] [-3.31246134e-02 9.86210892e-03 9.99402571e-01 -1.10925619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.29, Y:19.37, Z:-110.93 [[ 9.94318968e-01 8.92025080e-02 5.80749801e-02 2.39286923e+02] [-8.71226208e-02 9.95494687e-01 -3.74162580e-02 1.93666402e+01] [-6.11509582e-02 3.21440506e-02 9.97610806e-01 -1.10930672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:19.31, Z:-110.93 [[ 9.94974256e-01 9.22806412e-02 3.88653146e-02 2.39316434e+02] [-9.30490960e-02 9.95490623e-01 1.84468373e-02 1.93117902e+01] [-3.69877703e-02 -2.19705107e-02 9.99074172e-01 -1.10928039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:19.33, Z:-110.93 [[ 9.94527787e-01 9.63987619e-02 4.02710784e-02 2.39349522e+02] [-9.61793740e-02 9.95336846e-01 -7.35464962e-03 1.93344072e+01] [-4.07922673e-02 3.44115630e-03 9.99161723e-01 -1.10931533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:19.28, Z:-110.93 [[ 9.94918943e-01 9.52355361e-02 3.26571405e-02 2.39373346e+02] [-9.67510460e-02 9.94127232e-01 4.84797075e-02 1.92813472e+01] [-2.78483617e-02 -5.13929919e-02 9.98290153e-01 -1.10928753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69592 meters Centerline goodness : 0.973461 Centerline is valid? [True, True] Translation: X:239.45, Y:19.35, Z:-110.94 [[ 9.83570447e-01 1.69363539e-01 6.24913340e-02 2.39451768e+02] [-1.69888668e-01 9.85458231e-01 3.14891597e-03 1.93544620e+01] [-6.10492879e-02 -1.37137502e-02 9.98040539e-01 -1.10939559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.43, Y:19.34, Z:-110.93 [[ 9.93784263e-01 1.03799358e-01 4.02309768e-02 2.39427915e+02] [-1.03001538e-01 9.94450397e-01 -2.14264067e-02 1.93439584e+01] [-4.22317581e-02 1.71493733e-02 9.98960649e-01 -1.10933214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.46, Y:19.34, Z:-110.94 [[ 9.93305642e-01 1.05349513e-01 4.73854640e-02 2.39459089e+02] [-1.04741730e-01 9.94384230e-01 -1.51384685e-02 1.93377259e+01] [-4.87141884e-02 1.00738907e-02 9.98761956e-01 -1.10935627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:19.35, Z:-110.94 [[ 9.91697985e-01 1.06107731e-01 7.26378410e-02 2.39489813e+02] [-1.04157667e-01 9.94104052e-01 -3.01382485e-02 1.93507237e+01] [-7.54074732e-02 2.23222523e-02 9.96902919e-01 -1.10938774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.52, Y:19.29, Z:-110.94 [[ 9.93345181e-01 1.07822437e-01 4.04928851e-02 2.39517612e+02] [-1.09489347e-01 9.93121831e-01 4.14862770e-02 1.92905894e+01] [-3.57412167e-02 -4.56437329e-02 9.98318193e-01 -1.10937789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:19.36, Z:-110.94 [[ 9.92079086e-01 1.14824572e-01 5.09353068e-02 2.39555168e+02] [-1.13335156e-01 9.93065749e-01 -3.12339659e-02 1.93613444e+01] [-5.41685353e-02 2.52138034e-02 9.98213421e-01 -1.10939691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.58, Y:19.28, Z:-110.94 [[ 9.93218705e-01 1.10136282e-01 3.72371338e-02 2.39576088e+02] [-1.12211560e-01 9.91919555e-01 5.91959649e-02 1.92795933e+01] [-3.04166177e-02 -6.29729765e-02 9.97551620e-01 -1.10937423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.62, Y:19.41, Z:-110.94 [[ 9.90089203e-01 1.19411657e-01 7.39204078e-02 2.39617457e+02] [-1.13129503e-01 9.90020380e-01 -8.40319198e-02 1.94144545e+01] [-8.32171009e-02 7.48365175e-02 9.93717470e-01 -1.10939357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.65, Y:19.35, Z:-110.94 [[ 9.89745179e-01 1.18387197e-01 7.99309168e-02 2.39645275e+02] [-1.18325281e-01 9.92959503e-01 -5.52746581e-03 1.93466922e+01] [-8.00225446e-02 -3.98706559e-03 9.96785080e-01 -1.10944793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:19.29, Z:-110.94 [[ 9.92358442e-01 1.15993943e-01 4.20728934e-02 2.39671535e+02] [-1.18357637e-01 9.91223811e-01 5.88797574e-02 1.92910081e+01] [-3.48739585e-02 -6.34094725e-02 9.97378086e-01 -1.10942332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:19.41, Z:-110.94 [[ 9.89501004e-01 1.22644998e-01 7.64589219e-02 2.39712142e+02] [-1.17735569e-01 9.90867403e-01 -6.57276681e-02 1.94111903e+01] [-8.38218230e-02 5.60356589e-02 9.94903969e-01 -1.10942189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:19.36, Z:-110.95 [[ 9.90395797e-01 1.21176198e-01 6.65769814e-02 2.39743194e+02] [-1.20877433e-01 9.92630940e-01 -8.51257848e-03 1.93600700e+01] [-6.71178935e-02 3.83167343e-04 9.97744978e-01 -1.10949239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:19.34, Z:-110.95 [[ 9.91820707e-01 1.16663934e-01 5.17804216e-02 2.39773365e+02] [-1.17783342e-01 9.92855418e-01 1.91102865e-02 1.93394550e+01] [-4.91809909e-02 -2.50528490e-02 9.98475631e-01 -1.10948808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.81, Y:19.38, Z:-110.95 [[ 9.89884625e-01 1.15812163e-01 8.19510387e-02 2.39806407e+02] [-1.14026162e-01 9.93133167e-01 -2.61638605e-02 1.93804261e+01] [-8.44183879e-02 1.65546408e-02 9.96292868e-01 -1.10949043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.83, Y:19.33, Z:-110.95 [[ 9.92493263e-01 1.11861967e-01 4.94370712e-02 2.39833840e+02] [-1.13430837e-01 9.93088326e-01 3.01499866e-02 1.93320882e+01] [-4.57227415e-02 -3.55313469e-02 9.98322069e-01 -1.10951529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:19.38, Z:-110.95 [[ 9.92379726e-01 1.13114066e-01 4.88639691e-02 2.39869877e+02] [-1.12661491e-01 9.93561833e-01 -1.19277886e-02 1.93775405e+01] [-4.98985753e-02 6.33180795e-03 9.98734219e-01 -1.10952559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.90, Y:19.36, Z:-110.95 [[ 9.92850968e-01 1.09079739e-01 4.84619943e-02 2.39899497e+02] [-1.09509351e-01 9.93965850e-01 6.29213722e-03 1.93609029e+01] [-4.74832226e-02 -1.15541961e-02 9.98805208e-01 -1.10954319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:239.93, Y:19.37, Z:-110.96 [[ 9.93019600e-01 1.08369275e-01 4.65636671e-02 2.39932045e+02] [-1.08518170e-01 9.94094237e-01 6.74304844e-04 1.93707723e+01] [-4.62155992e-02 -5.72260188e-03 9.98915097e-01 -1.10955185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:239.96, Y:19.38, Z:-110.96 [[ 9.93065017e-01 1.07645018e-01 4.72696722e-02 2.39963464e+02] [-1.07304529e-01 9.94178979e-01 -9.68992850e-03 1.93812572e+01] [-4.80375870e-02 4.55047909e-03 9.98835163e-01 -1.10956505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:239.99, Y:19.37, Z:-110.96 [[ 9.93038390e-01 1.05631866e-01 5.21216301e-02 2.39994886e+02] [-1.05819499e-01 9.94384995e-01 8.45763188e-04 1.93710411e+01] [-5.17396273e-02 -6.35536011e-03 9.98640386e-01 -1.10956525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:19.32, Z:-110.96 [[ 9.93152715e-01 9.94975308e-02 6.12203124e-02 2.40017861e+02] [-1.02936567e-01 9.93119034e-01 5.58448565e-02 1.93215381e+01] [-5.52426322e-02 -6.17642797e-02 9.96560799e-01 -1.10960180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.06, Y:19.47, Z:-110.95 [[ 9.90332320e-01 1.08181333e-01 8.68256603e-02 2.40061413e+02] [-9.88209991e-02 9.89475920e-01 -1.05696802e-01 1.94746429e+01] [-9.73463210e-02 9.60947607e-02 9.90600571e-01 -1.10948060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.08, Y:19.30, Z:-110.96 [[ 9.94180707e-01 9.29744109e-02 5.44102915e-02 2.40076421e+02] [-9.73753833e-02 9.91630916e-01 8.47712279e-02 1.92986384e+01] [-4.60733722e-02 -8.95761423e-02 9.94913745e-01 -1.10963207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:19.46, Z:-110.95 [[ 9.90222503e-01 1.07333886e-01 8.91001158e-02 2.40122503e+02] [-9.91119846e-02 9.90806893e-01 -9.20788525e-02 1.94628618e+01] [-9.81641900e-02 8.23476625e-02 9.91757357e-01 -1.10952321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41591999999997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:240.09, Y:19.30, Z:-110.97 [[ 9.97078403e-01 3.55906244e-02 6.75867331e-02 2.40093939e+02] [-3.99522993e-02 9.97129311e-01 6.43191316e-02 1.92950380e+01] [-6.51035546e-02 -6.68314624e-02 9.95638028e-01 -1.10966462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.16, Y:19.31, Z:-110.97 [[ 9.93630180e-01 9.50476012e-02 6.05394023e-02 2.40164509e+02] [-9.96892400e-02 9.91883486e-01 7.89253147e-02 1.93083654e+01] [-5.25463716e-02 -8.44577016e-02 9.95040590e-01 -1.10967766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.21, Y:19.46, Z:-110.96 [[ 9.90314053e-01 1.04744573e-01 9.11408312e-02 2.40209334e+02] [-9.70871620e-02 9.91660870e-01 -8.47514079e-02 1.94636884e+01] [-9.92580461e-02 7.50819055e-02 9.92225049e-01 -1.10957436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.23, Y:19.35, Z:-110.97 [[ 9.93438786e-01 9.45194017e-02 6.43852624e-02 2.40231634e+02] [-9.71882067e-02 9.94475650e-01 3.96564449e-02 1.93500131e+01] [-6.02812722e-02 -4.56537387e-02 9.97136853e-01 -1.10970000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:19.33, Z:-110.97 [[ 9.93330726e-01 9.02990832e-02 7.16947981e-02 2.40256413e+02] [-9.49422766e-02 9.93408270e-01 6.42337330e-02 1.93265816e+01] [-6.54219581e-02 -7.06122080e-02 9.95356159e-01 -1.10972540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:240.30, Y:19.46, Z:-110.96 [[ 9.93181803e-01 9.86927633e-02 6.20455073e-02 2.40300493e+02] [-9.35226210e-02 9.92288944e-01 -8.13398539e-02 1.94649610e+01] [-6.95947258e-02 7.49826043e-02 9.94753328e-01 -1.10959277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:240.33, Y:19.41, Z:-110.97 [[ 9.92802480e-01 9.30266639e-02 7.54272896e-02 2.40326990e+02] [-9.13378530e-02 9.95492236e-01 -2.55461213e-02 1.94114762e+01] [-7.74637516e-02 1.84728859e-02 9.96824016e-01 -1.10971233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:240.35, Y:19.38, Z:-110.98 [[ 9.94020997e-01 8.48961755e-02 6.86651049e-02 2.40354592e+02] [-8.58325661e-02 9.96251056e-01 1.07983298e-02 1.93780812e+01] [-6.74909464e-02 -1.66274687e-02 9.97581325e-01 -1.10975507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.39, Y:19.40, Z:-110.98 [[ 9.93735078e-01 8.54527631e-02 7.20306878e-02 2.40388134e+02] [-8.45781871e-02 9.96302254e-01 -1.51111866e-02 1.94002398e+01] [-7.30556293e-02 8.92429119e-03 9.97287938e-01 -1.10976183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.42, Y:19.38, Z:-110.98 [[ 9.94088724e-01 8.20514281e-02 7.10997259e-02 2.40417751e+02] [-8.25541820e-02 9.96577909e-01 4.15670840e-03 1.93797972e+01] [-7.05153523e-02 -1.00017167e-02 9.97460551e-01 -1.10980974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:19.42, Z:-110.98 [[ 9.90664374e-01 8.35125331e-02 1.07748575e-01 2.40452030e+02] [-7.92662666e-02 9.95920653e-01 -4.31150963e-02 1.94190326e+01] [-1.10909682e-01 3.41717627e-02 9.93242837e-01 -1.10979069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.48, Y:19.35, Z:-110.99 [[ 9.94014241e-01 7.97875251e-02 7.46300195e-02 2.40477044e+02] [-8.26787477e-02 9.95908200e-01 3.64840075e-02 1.93453794e+01] [-7.14136797e-02 -4.24359396e-02 9.96543666e-01 -1.10987957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:240.50, Y:19.34, Z:-110.99 [[ 9.94360546e-01 7.92955421e-02 7.04224438e-02 2.40504632e+02] [-8.25058385e-02 9.95622865e-01 4.39078181e-02 1.93379255e+01] [-6.66325011e-02 -4.94704648e-02 9.96550442e-01 -1.10989976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:240.55, Y:19.43, Z:-110.98 [[ 9.93395695e-01 9.07573495e-02 7.02004015e-02 2.40545281e+02] [-8.68300756e-02 9.94584743e-01 -5.71115240e-02 1.94306470e+01] [-7.50035388e-02 5.06388359e-02 9.95896670e-01 -1.10982037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:240.57, Y:19.39, Z:-110.99 [[ 9.93172810e-01 8.89612148e-02 7.54564292e-02 2.40572600e+02] [-8.83396736e-02 9.96023538e-01 -1.15417880e-02 1.93856007e+01] [-7.61831511e-02 4.79719372e-03 9.97082301e-01 -1.10991078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.60, Y:19.38, Z:-111.00 [[ 9.92956550e-01 8.95872772e-02 7.75332758e-02 2.40602881e+02] [-8.96921219e-02 9.95967249e-01 -2.13603728e-03 1.93754650e+01] [-7.74119652e-02 -4.83313182e-03 9.96987477e-01 -1.10996333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.63, Y:19.37, Z:-111.00 [[ 9.92875049e-01 9.04850043e-02 7.75345200e-02 2.40632594e+02] [-9.06975147e-02 9.95878179e-01 -7.83418698e-04 1.93733320e+01] [-7.72858242e-02 -6.25435139e-03 9.96989360e-01 -1.10998162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters Centerline goodness : 0.957385 Centerline is valid? [True, True] Translation: X:240.62, Y:19.39, Z:-111.02 [[ 9.95441490e-01 8.07593608e-02 5.07362418e-02 2.40615854e+02] [-7.86201693e-02 9.95983982e-01 -4.28342968e-02 1.93921775e+01] [-5.39917545e-02 3.86501443e-02 9.97793093e-01 -1.11016554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95592 meters Centerline goodness : 0.919396 Centerline is valid? [True, False] Translation: X:240.61, Y:19.39, Z:-111.02 [[ 9.95967309e-01 7.03445516e-02 5.56844947e-02 2.40613611e+02] [-6.86277994e-02 9.97123637e-01 -3.21664124e-02 1.93857014e+01] [-5.77870577e-02 2.82151909e-02 9.97930137e-01 -1.11017199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:240.63, Y:19.38, Z:-111.02 [[ 9.97097853e-01 5.68474875e-02 5.06382640e-02 2.40626741e+02] [-5.58586936e-02 9.98223386e-01 -2.07334905e-02 1.93753882e+01] [-5.17269462e-02 1.78447316e-02 9.98501822e-01 -1.11019442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.66, Y:19.39, Z:-111.01 [[ 9.97110482e-01 5.87402988e-02 4.81691204e-02 2.40657454e+02] [-5.73175013e-02 9.97892861e-01 -3.04062754e-02 1.93855930e+01] [-4.98536951e-02 2.75574823e-02 9.98376279e-01 -1.11014442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:240.69, Y:19.38, Z:-111.02 [[ 9.96883215e-01 5.84670545e-02 5.29665922e-02 2.40685369e+02] [-5.74981121e-02 9.98152461e-01 -1.96375011e-02 1.93792765e+01] [-5.40168812e-02 1.65308162e-02 9.98403179e-01 -1.11018317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07592 meters Centerline goodness : 0.960004 Centerline is valid? [True, True] Translation: X:240.74, Y:19.21, Z:-111.05 [[ 9.98963689e-01 -1.38850681e-02 4.33445911e-02 2.40744566e+02] [ 8.05156043e-03 9.91221691e-01 1.31964889e-01 1.92093829e+01] [-4.47964403e-02 -1.31479141e-01 9.90306273e-01 -1.11050284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:240.75, Y:19.49, Z:-111.00 [[ 9.96549220e-01 6.52882575e-02 5.12551988e-02 2.40752034e+02] [-5.78048920e-02 9.89031681e-01 -1.35922506e-01 1.94912750e+01] [-5.95671590e-02 1.32490666e-01 9.89392731e-01 -1.11000074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:240.77, Y:19.37, Z:-111.03 [[ 9.96819687e-01 5.36474448e-02 5.89276180e-02 2.40773654e+02] [-5.31524180e-02 9.98536965e-01 -9.93727656e-03 1.93732762e+01] [-5.93745144e-02 6.77352752e-03 9.98212796e-01 -1.11026941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:240.81, Y:19.40, Z:-111.02 [[ 9.93547774e-01 5.50295620e-02 9.91693887e-02 2.40806981e+02] [-5.09840803e-02 9.97778577e-01 -4.28781364e-02 1.94028547e+01] [-1.01308657e-01 3.75454169e-02 9.94146316e-01 -1.11024078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:240.83, Y:19.30, Z:-111.04 [[ 9.97184271e-01 4.38822216e-02 6.08101955e-02 2.40831247e+02] [-4.82322978e-02 9.96236455e-01 7.20178537e-02 1.92971165e+01] [-5.74210302e-02 -7.47480864e-02 9.95547864e-01 -1.11040253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.87, Y:19.41, Z:-111.03 [[ 9.96576754e-01 5.27773259e-02 6.36343282e-02 2.40869869e+02] [-4.96105376e-02 9.97498238e-01 -5.03593137e-02 1.94132215e+01] [-6.61329601e-02 4.70299881e-02 9.96701867e-01 -1.11026318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:240.90, Y:19.39, Z:-111.03 [[ 9.93716806e-01 4.97039459e-02 1.00281739e-01 2.40900536e+02] [-4.69672093e-02 9.98461595e-01 -2.94707284e-02 1.93932154e+01] [-1.01592276e-01 2.45756047e-02 9.94522523e-01 -1.11032274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.93, Y:19.31, Z:-111.05 [[ 9.97746212e-01 4.27015089e-02 5.17598098e-02 2.40929556e+02] [-4.55964644e-02 9.97383230e-01 5.61039692e-02 1.93121517e+01] [-4.92286421e-02 -5.83375871e-02 9.97082377e-01 -1.11045402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.96, Y:19.37, Z:-111.04 [[ 9.97546110e-01 4.77517971e-02 5.12008178e-02 2.40964372e+02] [-4.76673945e-02 9.98859143e-01 -2.86900066e-03 1.93668300e+01] [-5.12794050e-02 4.21350864e-04 9.98684257e-01 -1.11040510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:241.04, Y:19.38, Z:-111.06 [[ 9.98276910e-01 3.46083125e-02 4.73864570e-02 2.41039405e+02] [-3.41530484e-02 9.99362669e-01 -1.03838940e-02 1.93762417e+01] [-4.77156252e-02 8.74760963e-03 9.98822656e-01 -1.11063419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37591999999995 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:241.08, Y:19.37, Z:-111.07 [[ 9.98680086e-01 2.60900036e-02 4.42424917e-02 2.41075698e+02] [-2.56213509e-02 9.99609791e-01 -1.11270870e-02 1.93746442e+01] [-4.45155336e-02 9.97884775e-03 9.98958853e-01 -1.11067299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:241.05, Y:19.35, Z:-111.05 [[ 9.97645338e-01 2.25850244e-02 6.47587524e-02 2.41048979e+02] [-2.18539455e-02 9.99689447e-01 -1.19755816e-02 1.93529660e+01] [-6.50091102e-02 1.05321489e-02 9.97829088e-01 -1.11047630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:241.08, Y:19.36, Z:-111.05 [[ 9.94552242e-01 2.39278356e-02 1.01455885e-01 2.41082835e+02] [-2.14322899e-02 9.99442068e-01 -2.56165868e-02 1.93628523e+01] [-1.02012229e-01 2.33026019e-02 9.94510178e-01 -1.11049826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:241.12, Y:19.34, Z:-111.06 [[ 9.94772606e-01 2.24097030e-02 9.96256352e-02 2.41115358e+02] [-2.23320450e-02 9.99748813e-01 -1.89476680e-03 1.93393685e+01] [-9.96430717e-02 -3.39982060e-04 9.95023187e-01 -1.11055276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.15, Y:19.32, Z:-111.06 [[ 9.97576468e-01 2.23956210e-02 6.58758473e-02 2.41145258e+02] [-2.39259854e-02 9.99459726e-01 2.25344920e-02 1.93177497e+01] [-6.53355823e-02 -2.40560235e-02 9.97573340e-01 -1.11058952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:241.18, Y:19.36, Z:-111.06 [[ 9.94709055e-01 2.58666100e-02 9.94224058e-02 2.41180093e+02] [-2.34712682e-02 9.99407171e-01 -2.51874062e-02 1.93618284e+01] [-1.00014978e-01 2.27205710e-02 9.94726485e-01 -1.11056327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.21, Y:19.30, Z:-111.07 [[ 9.98181555e-01 1.96154027e-02 5.69984202e-02 2.41208471e+02] [-2.17822812e-02 9.99053662e-01 3.76472089e-02 1.93014091e+01] [-5.62060153e-02 -3.88203051e-02 9.97664206e-01 -1.11065800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.24, Y:19.37, Z:-111.06 [[ 9.94443027e-01 2.65050191e-02 1.01884985e-01 2.41243932e+02] [-2.25625611e-02 9.98958668e-01 -3.96548807e-02 1.93729645e+01] [-1.02829943e-01 3.71357334e-02 9.94005503e-01 -1.11057339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.27, Y:19.30, Z:-111.07 [[ 9.98124682e-01 1.79667869e-02 5.85176364e-02 2.41270097e+02] [-2.03427523e-02 9.98982006e-01 4.02631834e-02 1.92986523e+01] [-5.77346657e-02 -4.13780869e-02 9.97474091e-01 -1.11070027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:19.37, Z:-111.06 [[ 9.94564446e-01 2.59688381e-02 1.00832448e-01 2.41306172e+02] [-2.18070281e-02 9.98872868e-01 -4.21597712e-02 1.93749760e+01] [-1.01813637e-01 3.97317535e-02 9.94009744e-01 -1.11061505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:19.34, Z:-111.07 [[ 9.94510517e-01 2.30934249e-02 1.02056478e-01 2.41337507e+02] [-2.29822571e-02 9.99733307e-01 -2.26511500e-03 1.93367095e+01] [-1.02081570e-01 -9.28075390e-05 9.94776027e-01 -1.11070374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:19.30, Z:-111.08 [[ 9.98100111e-01 1.79254690e-02 5.89478269e-02 2.41363989e+02] [-2.03036834e-02 9.98993531e-01 3.99960643e-02 1.92988427e+01] [-5.81715496e-02 -4.11169342e-02 9.97459507e-01 -1.11077070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:19.26, Z:-111.08 [[ 9.97823618e-01 1.43657280e-02 6.43556775e-02 2.41389269e+02] [-1.98240864e-02 9.96183985e-01 8.49969059e-02 1.92563814e+01] [-6.28890528e-02 -8.60877126e-02 9.94300695e-01 -1.11079948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.43, Y:19.45, Z:-111.05 [[ 9.93551072e-01 3.42305515e-02 1.08095038e-01 2.41431262e+02] [-2.05071991e-02 9.91868387e-01 -1.25604769e-01 1.94507323e+01] [-1.11515571e-01 1.22578027e-01 9.86173871e-01 -1.11049055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:19.33, Z:-111.08 [[ 9.93348966e-01 2.33446791e-02 1.12751308e-01 2.41458957e+02] [-2.31807984e-02 9.99727467e-01 -2.76444478e-03 1.93335900e+01] [-1.12785115e-01 1.32393015e-04 9.93619394e-01 -1.11075406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:19.33, Z:-111.08 [[ 9.93325561e-01 2.32535492e-02 1.12976117e-01 2.41492161e+02] [-2.30817313e-02 9.99729579e-01 -2.82880338e-03 1.93331668e+01] [-1.13011345e-01 2.02238334e-04 9.93593677e-01 -1.11077210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.52, Y:19.25, Z:-111.09 [[ 9.96567822e-01 1.76875981e-02 8.08685719e-02 2.41520132e+02] [-2.41518534e-02 9.96528702e-01 7.96695264e-02 1.92549511e+01] [-7.91786904e-02 -8.13492123e-02 9.93535626e-01 -1.11085615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:241.56, Y:19.40, Z:-111.07 [[ 9.92918967e-01 3.21350569e-02 1.14364605e-01 2.41556964e+02] [-2.27088073e-02 9.96308127e-01 -8.27914625e-02 1.94037844e+01] [-1.16602893e-01 7.96081296e-02 9.89982985e-01 -1.11067207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.58, Y:19.20, Z:-111.09 [[ 9.96868785e-01 1.41964409e-02 7.77887282e-02 2.41577357e+02] [-2.41512799e-02 9.91406448e-01 1.28568936e-01 1.92014908e+01] [-7.52950254e-02 -1.30045056e-01 9.88645003e-01 -1.11090365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.62, Y:19.44, Z:-111.06 [[ 9.92412741e-01 4.17817368e-02 1.15634071e-01 2.41621045e+02] [-2.66799025e-02 9.91260489e-01 -1.29192976e-01 1.94421283e+01] [-1.20021393e-01 1.25127649e-01 9.84854272e-01 -1.11061198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.65, Y:19.32, Z:-111.09 [[ 9.92374917e-01 3.13546785e-02 1.19201124e-01 2.41648258e+02] [-3.12051048e-02 9.99508128e-01 -3.12155382e-03 1.93236577e+01] [-1.19240368e-01 -6.21931851e-04 9.92865221e-01 -1.11088985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.68, Y:19.32, Z:-111.09 [[ 9.92177203e-01 3.17091222e-02 1.20743237e-01 2.41681565e+02] [-3.15505295e-02 9.99496954e-01 -3.22548025e-03 1.93219513e+01] [-1.20784775e-01 -6.09265098e-04 9.92678532e-01 -1.11091773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.71, Y:19.32, Z:-111.09 [[ 9.91901746e-01 3.28013978e-02 1.22698799e-01 2.41714311e+02] [-3.26378866e-02 9.99461652e-01 -3.34284098e-03 1.93217969e+01] [-1.22742394e-01 -6.88859676e-04 9.92438326e-01 -1.11094202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.75, Y:19.32, Z:-111.10 [[ 9.91905385e-01 3.41344695e-02 1.22305131e-01 2.41747545e+02] [-3.39742471e-02 9.99416939e-01 -3.39583766e-03 1.93227288e+01] [-1.22349735e-01 -7.86875075e-04 9.92486737e-01 -1.11097866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09592 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:241.77, Y:19.20, Z:-111.12 [[ 9.94777060e-01 6.36318206e-02 7.98097308e-02 2.41771228e+02] [-7.50797942e-02 9.85861557e-01 1.49799919e-01 1.92000147e+01] [-6.91493039e-02 -1.55009621e-01 9.85489924e-01 -1.11118725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.81, Y:19.39, Z:-111.09 [[ 9.96931718e-01 4.37372494e-02 6.49168935e-02 2.41810177e+02] [-3.93396078e-02 9.96940638e-01 -6.75407938e-02 1.93884196e+01] [-6.76723378e-02 6.47797545e-02 9.95602349e-01 -1.11089261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15592 meters Centerline goodness : 0.984742 Centerline is valid? [True, True] Translation: X:241.79, Y:19.42, Z:-111.10 [[ 9.94660787e-01 4.64373496e-02 9.21601409e-02 2.41790816e+02] [-3.58106380e-02 9.92859914e-01 -1.13783958e-01 1.94197984e+01] [-9.67859350e-02 1.09876128e-01 9.89221775e-01 -1.11104349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters Centerline goodness : 0.857171 Centerline is valid? [True, False] Translation: X:241.80, Y:19.39, Z:-111.11 [[ 9.96163757e-01 4.08525221e-02 7.73875997e-02 2.41801584e+02] [-3.50711540e-02 9.96593137e-01 -7.46467217e-02 1.93862093e+01] [-8.01734577e-02 7.16462863e-02 9.94202709e-01 -1.11109659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:241.82, Y:19.37, Z:-111.11 [[ 9.97137128e-01 3.54293675e-02 6.68005006e-02 2.41824029e+02] [-3.21413549e-02 9.98248386e-01 -4.96698460e-02 1.93650533e+01] [-6.84432632e-02 4.73805890e-02 9.96529277e-01 -1.11112679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.85, Y:19.33, Z:-111.12 [[ 9.96645202e-01 2.94573866e-02 7.63583944e-02 2.41850543e+02] [-2.86586661e-02 9.99522697e-01 -1.15351355e-02 1.93282291e+01] [-7.66617432e-02 9.30810771e-03 9.97013709e-01 -1.11122264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:241.88, Y:19.28, Z:-111.13 [[ 9.95444679e-01 2.30920259e-02 9.25021608e-02 2.41879024e+02] [-2.63054220e-02 9.99086722e-01 3.36711695e-02 1.92845204e+01] [-9.16401451e-02 -3.59510949e-02 9.95143006e-01 -1.11129782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:19.42, Z:-111.11 [[ 9.90861245e-01 3.52990831e-02 1.30184365e-01 2.41916118e+02] [-2.11294883e-02 9.93854452e-01 -1.08659437e-01 1.94153459e+01] [-1.33219889e-01 1.04915696e-01 9.85517711e-01 -1.11108799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.93, Y:19.18, Z:-111.14 [[ 9.95925350e-01 3.70424062e-03 9.01053618e-02 2.41933054e+02] [-1.67982700e-02 9.89289078e-01 1.44999785e-01 1.91771726e+01] [-8.86031363e-02 -1.45922576e-01 9.85320296e-01 -1.11139257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.98, Y:19.45, Z:-111.10 [[ 9.90470663e-01 3.71222897e-02 1.32626546e-01 2.41979540e+02] [-1.75998181e-02 9.89210040e-01 -1.45443268e-01 1.94473292e+01] [-1.36594697e-01 1.41723087e-01 9.80436870e-01 -1.11101974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:19.31, Z:-111.13 [[ 9.90329469e-01 2.14968201e-02 1.37059945e-01 2.42005721e+02] [-2.11625836e-02 9.99768458e-01 -3.89546705e-03 1.93145238e+01] [-1.37111950e-01 9.57253266e-04 9.90555095e-01 -1.11134959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:19.31, Z:-111.14 [[ 9.90309156e-01 2.28713711e-02 1.36984217e-01 2.42038771e+02] [-2.25409421e-02 9.99738066e-01 -3.96307633e-03 1.93136478e+01] [-1.37038977e-01 8.36917476e-04 9.90565302e-01 -1.11139101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.06, Y:19.23, Z:-111.15 [[ 9.96965698e-01 1.18570014e-02 7.69337870e-02 2.42064079e+02] [-1.82597221e-02 9.96377083e-01 8.30619734e-02 1.92313242e+01] [-7.56701963e-02 -8.42147279e-02 9.93570280e-01 -1.11148221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.10, Y:19.39, Z:-111.13 [[ 9.89780102e-01 3.46211423e-02 1.38335559e-01 2.42103898e+02] [-2.28242321e-02 9.96036108e-01 -8.59716564e-02 1.93874938e+01] [-1.40763649e-01 8.19356319e-02 9.86646921e-01 -1.11129706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.12, Y:19.17, Z:-111.15 [[ 9.95559113e-01 5.30032396e-03 9.39891464e-02 2.42119161e+02] [-1.87350418e-02 9.89597239e-01 1.42640466e-01 1.91715883e+01] [-9.22553591e-02 -1.43767906e-01 9.85301851e-01 -1.11153428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.17, Y:19.44, Z:-111.12 [[ 9.89275534e-01 4.37184576e-02 1.39365041e-01 2.42168105e+02] [-2.36933362e-02 9.89549558e-01 -1.42233249e-01 1.94387270e+01] [-1.44126833e-01 1.37405851e-01 9.79973004e-01 -1.11119003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.19, Y:19.31, Z:-111.15 [[ 9.89150599e-01 2.73100857e-02 1.44344211e-01 2.42193651e+02] [-2.69402883e-02 9.99626843e-01 -4.51623489e-03 1.93117309e+01] [-1.44413687e-01 5.78561784e-04 9.89517232e-01 -1.11151400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:242.23, Y:19.31, Z:-111.16 [[ 9.89197127e-01 2.80572604e-02 1.43881321e-01 2.42225909e+02] [-2.76870333e-02 9.99606171e-01 -4.57513770e-03 1.93104385e+01] [-1.43953022e-01 5.42066142e-04 9.89584374e-01 -1.11155903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.25, Y:19.26, Z:-111.16 [[ 9.95112575e-01 2.09565990e-02 9.64975822e-02 2.42253267e+02] [-2.56505747e-02 9.98534085e-01 4.76626558e-02 1.92608370e+01] [-9.53572778e-02 -4.99049266e-02 9.94191374e-01 -1.11163455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.29, Y:19.35, Z:-111.15 [[ 9.89125909e-01 3.27080044e-02 1.43388016e-01 2.42290861e+02] [-2.52238676e-02 9.98238159e-01 -5.37060021e-02 1.93539475e+01] [-1.44892005e-01 4.95051977e-02 9.88208248e-01 -1.11154133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:19.31, Z:-111.17 [[ 9.89092846e-01 2.63629069e-02 1.44914937e-01 2.42320680e+02] [-2.59463197e-02 9.99651985e-01 -4.76426398e-03 1.93074782e+01] [-1.44990104e-01 9.52290150e-04 9.89432647e-01 -1.11166549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:19.30, Z:-111.17 [[ 9.89533621e-01 2.55276549e-02 1.42026587e-01 2.42353547e+02] [-2.51088413e-02 9.99673484e-01 -4.74049990e-03 1.93040488e+01] [-1.42101227e-01 1.12476099e-03 9.89851492e-01 -1.11171876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.38, Y:19.26, Z:-111.18 [[ 9.94678875e-01 2.12513687e-02 1.00808312e-01 2.42381322e+02] [-2.49342657e-02 9.99061577e-01 3.54153480e-02 1.92642289e+01] [-9.99610869e-02 -3.77404797e-02 9.94275333e-01 -1.11177326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.42, Y:19.33, Z:-111.17 [[ 9.89460604e-01 3.00439962e-02 1.41651234e-01 2.42416998e+02] [-2.42691340e-02 9.98809248e-01 -4.23213354e-02 1.93331160e+01] [-1.42754064e-01 3.84375413e-02 9.89011543e-01 -1.11173838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:242.44, Y:19.25, Z:-111.18 [[ 9.94681322e-01 1.98928395e-02 1.01061080e-01 2.42442574e+02] [-2.39149290e-02 9.98962947e-01 3.87441308e-02 1.92538743e+01] [-1.00185544e-01 -4.09549318e-02 9.94125520e-01 -1.11183875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:19.32, Z:-111.18 [[ 9.88995132e-01 3.04128535e-02 1.44788425e-01 2.42479048e+02] [-2.40665660e-02 9.98679705e-01 -4.53833441e-02 1.93246336e+01] [-1.45977498e-01 4.13993462e-02 9.88421299e-01 -1.11179857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:19.28, Z:-111.19 [[ 9.88770400e-01 2.49672578e-02 1.47342230e-01 2.42509890e+02] [-2.44675222e-02 9.99687083e-01 -5.20341929e-03 1.92834372e+01] [-1.47426040e-01 1.53988768e-03 9.89071884e-01 -1.11190260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:19.28, Z:-111.19 [[ 9.89078021e-01 2.51264247e-02 1.45235433e-01 2.42542154e+02] [-2.46319234e-02 9.99683052e-01 -5.20235939e-03 1.92804930e+01] [-1.45320118e-01 1.56811127e-03 9.89383447e-01 -1.11194474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93591999999995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:242.56, Y:19.24, Z:-111.21 [[ 9.93469175e-01 4.36198732e-02 1.05433887e-01 2.42560000e+02] [-4.77268690e-02 9.98184210e-01 3.67481902e-02 1.92410394e+01] [-1.03639490e-01 -4.15402235e-02 9.93747084e-01 -1.11214499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:19.22, Z:-111.20 [[ 9.95651606e-01 2.08273242e-02 9.07970371e-02 2.42596619e+02] [-2.55327592e-02 9.98373545e-01 5.09739455e-02 1.92186647e+01] [-8.95877089e-02 -5.30705896e-02 9.94564002e-01 -1.11202717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:19.34, Z:-111.19 [[ 9.88615299e-01 3.87965024e-02 1.45377518e-01 2.42635804e+02] [-2.75548664e-02 9.96528608e-01 -7.85586530e-02 1.93355916e+01] [-1.47920657e-01 7.36584281e-02 9.86252460e-01 -1.11193127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.66, Y:19.27, Z:-111.21 [[ 9.88759751e-01 3.03260984e-02 1.46405197e-01 2.42664564e+02] [-2.98250687e-02 9.99539353e-01 -5.61661249e-03 1.92652286e+01] [-1.46508086e-01 1.18693532e-03 9.89208761e-01 -1.11208252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.70, Y:19.26, Z:-111.21 [[ 9.88784021e-01 3.20758624e-02 1.45867402e-01 2.42696733e+02] [-3.15863543e-02 9.99484937e-01 -5.67130722e-03 1.92608934e+01] [-1.45974184e-01 1.00027850e-03 9.89287894e-01 -1.11212838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.73, Y:19.26, Z:-111.22 [[ 9.88886762e-01 3.28632217e-02 1.44993037e-01 2.42729917e+02] [-3.23771213e-02 9.99459403e-01 -5.71164862e-03 1.92586049e+01] [-1.45102357e-01 9.53716573e-04 9.89416190e-01 -1.11216685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11591999999996 meters Centerline goodness : 0.909438 Centerline is valid? [True, False] Translation: X:242.76, Y:19.25, Z:-111.22 [[ 9.90514379e-01 3.30455865e-02 1.33376366e-01 2.42761520e+02] [-3.26879072e-02 9.99453737e-01 -4.87112472e-03 1.92548573e+01] [-1.33464476e-01 4.65124812e-04 9.91053489e-01 -1.11220253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:242.76, Y:19.25, Z:-111.22 [[ 9.90539795e-01 3.30067206e-02 1.33197112e-01 2.42762000e+02] [-3.27029221e-02 9.99455127e-01 -4.46849273e-03 1.92533410e+01] [-1.33272027e-01 7.02850977e-05 9.91079493e-01 -1.11220669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:19.25, Z:-111.22 [[ 9.90589942e-01 3.33936905e-02 1.32726896e-01 2.42794839e+02] [-3.29649406e-02 9.99441774e-01 -5.42701436e-03 1.92522165e+01] [-1.32834032e-01 1.00061161e-03 9.91137790e-01 -1.11223639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:19.25, Z:-111.23 [[ 9.90578132e-01 3.37528916e-02 1.32724176e-01 2.42828138e+02] [-3.33185395e-02 9.99429689e-01 -5.49278444e-03 1.92510894e+01] [-1.32833879e-01 1.01885645e-03 9.91137792e-01 -1.11227540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:242.85, Y:19.19, Z:-111.23 [[ 9.96045884e-01 2.45120776e-02 8.53917739e-02 2.42852126e+02] [-2.91777847e-02 9.98123935e-01 5.38262733e-02 1.91934493e+01] [-8.39121796e-02 -5.61049808e-02 9.94892445e-01 -1.11231286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.89, Y:19.30, Z:-111.23 [[ 9.90404161e-01 4.04127811e-02 1.32160531e-01 2.42892535e+02] [-3.27051993e-02 9.97663652e-01 -5.99800653e-02 1.92956952e+01] [-1.34275719e-01 5.50821697e-02 9.89411939e-01 -1.11225981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:19.24, Z:-111.24 [[ 9.90195989e-01 3.41548960e-02 1.35444996e-01 2.42922185e+02] [-3.36816371e-02 9.99415871e-01 -5.78480687e-03 1.92412441e+01] [-1.35563458e-01 1.16608337e-03 9.90767979e-01 -1.11235292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:19.24, Z:-111.24 [[ 9.90246891e-01 3.49006968e-02 1.34881566e-01 2.42955096e+02] [-3.44287630e-02 9.99390146e-01 -5.83057453e-03 1.92393668e+01] [-1.35002799e-01 1.12990282e-03 9.90844573e-01 -1.11239762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:242.98, Y:19.19, Z:-111.24 [[ 9.96028456e-01 2.78321937e-02 8.45735425e-02 2.42979764e+02] [-3.19839892e-02 9.98328429e-01 4.81390874e-02 1.91873228e+01] [-8.30923554e-02 -5.06529002e-02 9.95253708e-01 -1.11243353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:243.01, Y:19.14, Z:-111.25 [[ 9.95609330e-01 2.23741057e-02 9.08925782e-02 2.43007650e+02] [-3.11293306e-02 9.94886735e-01 9.60799136e-02 1.91384325e+01] [-8.82781182e-02 -9.84874836e-02 9.91215007e-01 -1.11246952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:243.05, Y:19.21, Z:-111.25 [[ 9.95366396e-01 3.50428612e-02 8.95418059e-02 2.43046427e+02] [-3.64247316e-02 9.99240489e-01 1.38450196e-02 1.92107003e+01] [-8.89886288e-02 -1.70424036e-02 9.95886831e-01 -1.11246495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:243.09, Y:19.36, Z:-111.23 [[ 9.90033849e-01 5.37552586e-02 1.30166621e-01 2.43086350e+02] [-3.39932987e-02 9.88171420e-01 -1.49538289e-01 1.93584828e+01] [-1.36665405e-01 1.43623176e-01 9.80150473e-01 -1.11228089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:243.10, Y:19.11, Z:-111.25 [[ 9.94661840e-01 2.15628616e-02 1.00910190e-01 2.43101259e+02] [-3.35506100e-02 9.92368910e-01 1.18652022e-01 1.91069676e+01] [-9.75816579e-02 -1.21404237e-01 9.87794934e-01 -1.11251774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.15, Y:19.33, Z:-111.24 [[ 9.89353366e-01 5.15577765e-02 1.36094499e-01 2.43145170e+02] [-3.45276960e-02 9.91599464e-01 -1.24652880e-01 1.93267123e+01] [-1.41378057e-01 1.18626717e-01 9.82822439e-01 -1.11239167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:243.16, Y:19.09, Z:-111.25 [[ 9.94464852e-01 1.97174696e-02 1.03203101e-01 2.43160267e+02] [-3.29862341e-02 9.91162219e-01 1.28488771e-01 1.90879313e+01] [-9.97575408e-02 -1.31181848e-01 9.86326394e-01 -1.11254778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.21, Y:19.33, Z:-111.24 [[ 9.88690414e-01 5.41195284e-02 1.39865440e-01 2.43206100e+02] [-3.52553087e-02 9.90354986e-01 -1.33992779e-01 1.93274397e+01] [-1.45768062e-01 1.27546376e-01 9.81062482e-01 -1.11240724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:243.23, Y:19.21, Z:-111.26 [[ 9.88453554e-01 3.80490913e-02 1.46669145e-01 2.43231341e+02] [-3.74826676e-02 9.99275319e-01 -6.62471904e-03 1.92052710e+01] [-1.46814922e-01 1.05067626e-03 9.89163422e-01 -1.11261429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:243.27, Y:19.14, Z:-111.27 [[ 9.94450104e-01 3.11071475e-02 1.00505399e-01 2.43268803e+02] [-3.68287135e-02 9.97774609e-01 5.55830440e-02 1.91435245e+01] [-9.85527049e-02 -5.89760484e-02 9.93382701e-01 -1.11270964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:243.29, Y:19.16, Z:-111.27 [[ 9.94387347e-01 3.45278916e-02 1.00008142e-01 2.43288354e+02] [-3.75311446e-02 9.98894497e-01 2.83054394e-02 1.91612884e+01] [-9.89202551e-02 -3.18999909e-02 9.94583920e-01 -1.11267243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:243.33, Y:19.28, Z:-111.26 [[ 9.87857943e-01 5.05574114e-02 1.46903482e-01 2.43326530e+02] [-3.47365697e-02 9.93507676e-01 -1.08332218e-01 1.92829141e+01] [-1.51426733e-01 1.01913919e-01 9.83200640e-01 -1.11259330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:243.35, Y:19.07, Z:-111.27 [[ 9.93002050e-01 2.06183211e-02 1.16283330e-01 2.43345112e+02] [-3.43466093e-02 9.92499823e-01 1.17321833e-01 1.90677715e+01] [-1.12992205e-01 -1.20494759e-01 9.86262528e-01 -1.11268949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:243.39, Y:19.24, Z:-111.27 [[ 9.93301321e-01 4.58075309e-02 1.06085602e-01 2.43385071e+02] [-3.86520753e-02 9.96898560e-01 -6.85512834e-02 1.92374496e+01] [-1.08896749e-01 6.39916517e-02 9.91991213e-01 -1.11269240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77592 meters Centerline goodness : 0.934307 Centerline is valid? [True, False] Translation: X:243.40, Y:19.21, Z:-111.27 [[ 9.94603766e-01 3.95042374e-02 9.59310411e-02 2.43401198e+02] [-3.51574075e-02 9.98295319e-01 -4.65876886e-02 1.92140795e+01] [-9.76079204e-02 4.29636038e-02 9.94297150e-01 -1.11271762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [False, True] Translation: X:243.42, Y:19.19, Z:-111.27 [[ 9.95830444e-01 3.13294797e-02 8.56749087e-02 2.43417727e+02] [-2.90969602e-02 9.99206882e-01 -2.71840719e-02 1.91923401e+01] [-8.64586213e-02 2.45778470e-02 9.95952226e-01 -1.11274125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:243.45, Y:19.21, Z:-111.28 [[ 9.91403793e-01 3.24590204e-02 1.26747506e-01 2.43449744e+02] [-2.62579712e-02 9.98389280e-01 -5.02927898e-02 1.92095196e+01] [-1.28175806e-01 4.65323302e-02 9.90659227e-01 -1.11278527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:243.48, Y:19.10, Z:-111.28 [[ 9.95796319e-01 2.15581593e-02 8.90221103e-02 2.43475048e+02] [-2.75748176e-02 9.97377290e-01 6.69191436e-02 1.90950085e+01] [-8.73459775e-02 -6.90926054e-02 9.93779096e-01 -1.11284866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:243.50, Y:19.11, Z:-111.28 [[ 9.95219403e-01 2.74645955e-02 9.37231914e-02 2.43504317e+02] [-3.18601640e-02 9.98445647e-01 4.57298502e-02 1.91127091e+01] [-9.23215607e-02 -4.84972705e-02 9.94547507e-01 -1.11284149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:243.54, Y:19.24, Z:-111.28 [[ 9.94088324e-01 4.75921762e-02 9.75878551e-02 2.43541901e+02] [-3.83333375e-02 9.94772335e-01 -9.46496568e-02 1.92386314e+01] [-1.01582282e-01 9.03492504e-02 9.90715930e-01 -1.11282425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:243.56, Y:19.10, Z:-111.29 [[ 9.95744821e-01 3.22073438e-02 8.63419895e-02 2.43563381e+02] [-3.68004663e-02 9.97961302e-01 5.21437020e-02 1.90996138e+01] [-8.44865541e-02 -5.50992467e-02 9.94900043e-01 -1.11289146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:243.60, Y:19.19, Z:-111.29 [[ 9.93862168e-01 4.68780057e-02 1.00202010e-01 2.43600177e+02] [-4.20692542e-02 9.97883885e-01 -4.95775117e-02 1.91904755e+01] [-1.02314066e-01 4.50577894e-02 9.93731165e-01 -1.11288401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01592 meters Centerline goodness : 0.959674 Centerline is valid? [True, True] Translation: X:243.59, Y:19.10, Z:-111.30 [[ 9.91293215e-01 -5.46487599e-02 1.19796811e-01 2.43589775e+02] [ 5.49847201e-02 9.98487070e-01 5.01684241e-04 1.90951919e+01] [-1.19642983e-01 6.08967792e-03 9.92798304e-01 -1.11302499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:243.66, Y:19.13, Z:-111.30 [[ 9.93129765e-01 4.90898392e-02 1.06223619e-01 2.43655678e+02] [-4.99018353e-02 9.98741620e-01 4.99825224e-03 1.91320964e+01] [-1.05844586e-01 -1.02646666e-02 9.94329704e-01 -1.11298222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:243.69, Y:19.17, Z:-111.30 [[ 9.88533298e-01 5.35172188e-02 1.41201365e-01 2.43687028e+02] [-4.87332796e-02 9.98121605e-01 -3.71258641e-02 1.91650002e+01] [-1.42923006e-01 2.98189473e-02 9.89284512e-01 -1.11302005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:243.72, Y:19.13, Z:-111.31 [[ 9.88460328e-01 5.10697001e-02 1.42611593e-01 2.43718016e+02] [-5.07185689e-02 9.98694365e-01 -6.09858166e-03 1.91331529e+01] [-1.42736847e-01 -1.20484986e-03 9.89759941e-01 -1.11307153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:243.74, Y:19.05, Z:-111.31 [[ 9.92360089e-01 6.48769954e-05 1.23375238e-01 2.43738103e+02] [-7.53784046e-03 9.98163586e-01 6.01052067e-02 1.90507109e+01] [-1.23144770e-01 -6.05759912e-02 9.90538195e-01 -1.11313156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:243.78, Y:19.18, Z:-111.31 [[ 9.87835924e-01 6.07430236e-02 1.43144937e-01 2.43782304e+02] [-5.16904233e-02 9.96470855e-01 -6.61357348e-02 1.91816635e+01] [-1.46657043e-01 5.79320323e-02 9.87489540e-01 -1.11309915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19592 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:243.81, Y:19.09, Z:-111.31 [[ 9.92417546e-01 4.99705580e-02 1.12295850e-01 2.43811123e+02] [-5.41355928e-02 9.97942591e-01 3.43500145e-02 1.90864913e+01] [-1.10348322e-01 -4.01687595e-02 9.93080922e-01 -1.11313499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:243.85, Y:19.14, Z:-111.32 [[ 9.91795307e-01 5.77312276e-02 1.14057772e-01 2.43845009e+02] [-5.49014825e-02 9.98104705e-01 -2.77997465e-02 1.91412064e+01] [-1.15446512e-01 2.13097174e-02 9.93085091e-01 -1.11318493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25592 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:243.88, Y:19.12, Z:-111.32 [[ 9.91644941e-01 5.61567851e-02 1.16132365e-01 2.43876240e+02] [-5.54339363e-02 9.98417661e-01 -9.44735321e-03 1.91211600e+01] [-1.16479138e-01 2.93074587e-03 9.93188814e-01 -1.11322786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:243.91, Y:19.11, Z:-111.33 [[ 9.91769363e-01 5.46959225e-02 1.15766521e-01 2.43907047e+02] [-5.46367097e-02 9.98499492e-01 -3.68704220e-03 1.91115215e+01] [-1.15794479e-01 -2.66840632e-03 9.93269610e-01 -1.11327489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31591999999995 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:243.94, Y:19.13, Z:-111.33 [[ 9.87327852e-01 5.47753500e-02 1.48940842e-01 2.43936319e+02] [-5.14988319e-02 9.98340509e-01 -2.57700959e-02 1.91276223e+01] [-1.50105242e-01 1.77732540e-02 9.88510257e-01 -1.11333321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:243.97, Y:19.11, Z:-111.34 [[ 9.87454495e-01 5.26675967e-02 1.48861495e-01 2.43968363e+02] [-5.22711849e-02 9.98611270e-01 -6.57684642e-03 1.91056701e+01] [-1.49001153e-01 -1.28683017e-03 9.88836185e-01 -1.11338222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37591999999995 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:244.00, Y:19.10, Z:-111.34 [[ 9.87508516e-01 5.38747711e-02 1.48069038e-01 2.44001611e+02] [-5.34840980e-02 9.98546746e-01 -6.62174323e-03 1.91042325e+01] [-1.48210601e-01 -1.38031110e-03 9.88954859e-01 -1.11342171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:244.03, Y:19.06, Z:-111.35 [[ 9.91791934e-01 5.10009770e-02 1.17250418e-01 2.44032342e+02] [-5.58319383e-02 9.97705643e-01 3.82915779e-02 1.90609562e+01] [-1.15028496e-01 -4.45235962e-02 9.92363892e-01 -1.11345784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43591999999995 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:244.07, Y:19.12, Z:-111.35 [[ 9.91042013e-01 5.98951668e-02 1.19366230e-01 2.44067060e+02] [-5.68507058e-02 9.97968587e-01 -2.87523288e-02 1.91203319e+01] [-1.20845874e-01 2.17087114e-02 9.92433880e-01 -1.11349267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:244.10, Y:19.09, Z:-111.35 [[ 9.91177219e-01 5.54164550e-02 1.20402394e-01 2.44096936e+02] [-5.63675458e-02 9.98399921e-01 4.50525152e-03 1.90862629e+01] [-1.19960075e-01 -1.12522901e-02 9.92714947e-01 -1.11352665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49591999999996 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:244.13, Y:19.12, Z:-111.36 [[ 9.86221397e-01 5.84097880e-02 1.54776135e-01 2.44129099e+02] [-5.28118107e-02 9.97801440e-01 -4.00399767e-02 1.91242764e+01] [-1.56774577e-01 3.13142738e-02 9.87137857e-01 -1.11358065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:244.16, Y:19.09, Z:-111.36 [[ 9.86176934e-01 5.41517520e-02 1.56597068e-01 2.44160862e+02] [-5.36986340e-02 9.98531761e-01 -7.12586806e-03 1.90927695e+01] [-1.56753025e-01 -1.38168193e-03 9.87636867e-01 -1.11362664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55591999999996 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:244.19, Y:19.05, Z:-111.36 [[ 9.91212136e-01 4.82388204e-02 1.23172718e-01 2.44190791e+02] [-5.32670280e-02 9.97862367e-01 3.78592039e-02 1.90504539e+01] [-1.21083137e-01 -4.40875470e-02 9.91662827e-01 -1.11363012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:244.22, Y:19.10, Z:-111.37 [[ 9.90827436e-01 5.47451499e-02 1.23547402e-01 2.44223489e+02] [-5.34017074e-02 9.98472683e-01 -1.41618507e-02 1.90974364e+01] [-1.24133998e-01 7.43430801e-03 9.92237613e-01 -1.11367648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61591999999996 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:244.25, Y:19.09, Z:-111.37 [[ 9.90729030e-01 5.36627562e-02 1.24805036e-01 2.44254932e+02] [-5.31503716e-02 9.98558848e-01 -7.43402609e-03 1.90899164e+01] [-1.25024103e-01 7.31671415e-04 9.92153435e-01 -1.11371918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:244.29, Y:19.12, Z:-111.38 [[ 9.85513109e-01 5.61147763e-02 1.60047007e-01 2.44288176e+02] [-5.00820789e-02 9.97883177e-01 -4.14843496e-02 1.91187710e+01] [-1.62036101e-01 3.28678834e-02 9.86237296e-01 -1.11377426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67591999999996 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:244.32, Y:19.06, Z:-111.38 [[ 9.90794472e-01 4.26951460e-02 1.28465707e-01 2.44316105e+02] [-4.63749667e-02 9.98591140e-01 2.57894984e-02 1.90556192e+01] [-1.27183631e-01 -3.15096853e-02 9.91378567e-01 -1.11379910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:244.35, Y:19.11, Z:-111.39 [[ 9.85400202e-01 5.07246352e-02 1.62522163e-01 2.44351624e+02] [-4.50577948e-02 9.98247282e-01 -3.83687314e-02 1.91129317e+01] [-1.64183547e-01 3.04856655e-02 9.85958613e-01 -1.11386734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73591999999996 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:244.38, Y:19.08, Z:-111.39 [[ 9.85320271e-01 4.56070241e-02 1.64511288e-01 2.44383184e+02] [-4.49143783e-02 9.98959368e-01 -7.92964827e-03 1.90838758e+01] [-1.64701740e-01 4.24320975e-04 9.86343326e-01 -1.11391557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:244.42, Y:19.08, Z:-111.40 [[ 9.85298079e-01 4.41538460e-02 1.65039792e-01 2.44415694e+02] [-4.34217022e-02 9.99024455e-01 -8.04322497e-03 1.90815792e+01] [-1.65233927e-01 7.58665412e-04 9.86254112e-01 -1.11396758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79591999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:244.44, Y:19.03, Z:-111.40 [[ 9.91762674e-01 3.55667391e-02 1.23052043e-01 2.44442362e+02] [-4.15501272e-02 9.98058212e-01 4.64046680e-02 1.90301162e+01] [-1.21162639e-01 -5.11352457e-02 9.91314683e-01 -1.11395583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:244.48, Y:19.12, Z:-111.41 [[ 9.85417782e-01 4.77227543e-02 1.63322792e-01 2.44479483e+02] [-3.86153082e-02 9.97540711e-01 -5.84926262e-02 1.91239433e+01] [-1.65712563e-01 5.13329140e-02 9.84837184e-01 -1.11405130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85591999999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:244.51, Y:19.08, Z:-111.41 [[ 9.85472379e-01 4.04651533e-02 1.64944721e-01 2.44509591e+02] [-3.96504010e-02 9.99179715e-01 -8.23054765e-03 1.90755021e+01] [-1.65142470e-01 1.57085305e-03 9.86268471e-01 -1.11410770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:244.54, Y:19.07, Z:-111.42 [[ 9.85270060e-01 3.94757322e-02 1.66386823e-01 2.44542110e+02] [-3.86177489e-02 9.99218834e-01 -8.38998707e-03 1.90698476e+01] [-1.66588048e-01 1.84091853e-03 9.86024864e-01 -1.11416143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:244.57, Y:19.07, Z:-111.42 [[ 9.85305527e-01 3.88942613e-02 1.66313722e-01 2.44574537e+02] [-3.80147516e-02 9.99241285e-01 -8.46957607e-03 1.90654396e+01] [-1.66516955e-01 2.02274528e-03 9.86036517e-01 -1.11420895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:244.61, Y:19.06, Z:-111.42 [[ 9.85355390e-01 3.85685359e-02 1.66094018e-01 2.44607678e+02] [-3.76759050e-02 9.99253665e-01 -8.52285226e-03 1.90621884e+01] [-1.66298771e-01 2.14029596e-03 9.86073090e-01 -1.11424795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.64, Y:19.06, Z:-111.43 [[ 9.85323415e-01 3.68360581e-02 1.66675949e-01 2.44639833e+02] [-3.58975673e-02 9.99318117e-01 -8.64087802e-03 1.90568368e+01] [-1.66880591e-01 2.53079835e-03 9.85973865e-01 -1.11429472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:244.67, Y:19.05, Z:-111.44 [[ 9.85360601e-01 3.62431403e-02 1.66586078e-01 2.44671824e+02] [-3.52826426e-02 9.99339307e-01 -8.72263027e-03 1.90517652e+01] [-1.66792151e-01 2.71733916e-03 9.85988334e-01 -1.11435305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.70, Y:19.04, Z:-111.44 [[ 9.85763083e-01 3.48629451e-02 1.64486229e-01 2.44703428e+02] [-3.38936560e-02 9.99387607e-01 -8.69665769e-03 1.90422143e+01] [-1.64688690e-01 2.99780444e-03 9.86341041e-01 -1.11440707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.73, Y:18.93, Z:-111.43 [[ 9.91359709e-01 1.77335430e-02 1.29967103e-01 2.44727394e+02] [-3.26646480e-02 9.92981467e-01 1.13669814e-01 1.89260522e+01] [-1.27039156e-01 -1.16933003e-01 9.84981079e-01 -1.11429610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.77, Y:19.14, Z:-111.45 [[ 9.85588813e-01 5.06017561e-02 1.61412989e-01 2.44770735e+02] [-3.04539333e-02 9.91697102e-01 -1.24937646e-01 1.91440409e+01] [-1.66394858e-01 1.18221486e-01 9.78946593e-01 -1.11445677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.80, Y:19.03, Z:-111.45 [[ 9.85073182e-01 3.46274546e-02 1.68617217e-01 2.44797791e+02] [-3.35776281e-02 9.99394917e-01 -9.07428787e-03 1.90335071e+01] [-1.68829409e-01 3.27707143e-03 9.85639839e-01 -1.11451840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:244.83, Y:19.03, Z:-111.46 [[ 9.84880912e-01 3.64503511e-02 1.69354544e-01 2.44829985e+02] [-3.54068152e-02 9.99330830e-01 -9.17875145e-03 1.90259892e+01] [-1.69575786e-01 3.04367205e-03 9.85512450e-01 -1.11456223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.86, Y:19.02, Z:-111.46 [[ 9.84774565e-01 3.90369204e-02 1.69396505e-01 2.44862093e+02] [-3.80157743e-02 9.99234154e-01 -9.26852965e-03 1.90201522e+01] [-1.69628588e-01 2.68767294e-03 9.85504398e-01 -1.11461110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:244.89, Y:19.02, Z:-111.47 [[ 9.84669439e-01 4.01389800e-02 1.69749692e-01 2.44894765e+02] [-3.91144601e-02 9.99190741e-01 -9.37665191e-03 1.90174651e+01] [-1.69988690e-01 2.59323501e-03 9.85442601e-01 -1.11465942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:244.93, Y:19.01, Z:-111.47 [[ 9.84664098e-01 4.13157595e-02 1.69498148e-01 2.44926810e+02] [-4.02963927e-02 9.99143072e-01 -9.45109844e-03 1.90146487e+01] [-1.69743380e-01 2.47599339e-03 9.85485187e-01 -1.11471982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.96, Y:19.01, Z:-111.48 [[ 9.84734354e-01 4.24131715e-02 1.68817580e-01 2.44959045e+02] [-4.14029733e-02 9.99097354e-01 -9.50112682e-03 1.90085029e+01] [-1.69068171e-01 2.36653621e-03 9.85601518e-01 -1.11477650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:244.99, Y:19.00, Z:-111.48 [[ 9.84634975e-01 4.24934103e-02 1.69376141e-01 2.44991331e+02] [-4.14621918e-02 9.99093739e-01 -9.62222923e-03 1.90046374e+01] [-1.69631523e-01 2.45167740e-03 9.85504508e-01 -1.11482698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.02, Y:19.00, Z:-111.49 [[ 9.84962329e-01 4.30505087e-02 1.67319644e-01 2.45023304e+02] [-4.20375472e-02 9.99069979e-01 -9.59283924e-03 1.90002924e+01] [-1.67577009e-01 2.41487787e-03 9.85856031e-01 -1.11487343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:245.05, Y:18.89, Z:-111.47 [[ 9.90352525e-01 2.65469396e-02 1.36004176e-01 2.45046741e+02] [-4.19557485e-02 9.92854177e-01 1.11715259e-01 1.88860224e+01] [-1.32066616e-01 -1.16343646e-01 9.84389438e-01 -1.11474964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.08, Y:19.00, Z:-111.49 [[ 9.90416744e-01 4.63136212e-02 1.30114264e-01 2.45082769e+02] [-4.53756619e-02 9.98918269e-01 -1.01657335e-02 1.89971173e+01] [-1.30444327e-01 4.16429180e-03 9.91446890e-01 -1.11493064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.12, Y:19.09, Z:-111.50 [[ 9.84284631e-01 6.08560766e-02 1.65771840e-01 2.45117773e+02] [-4.14289427e-02 9.92121928e-01 -1.18227418e-01 1.90914692e+01] [-1.71660734e-01 1.09501678e-01 9.79051569e-01 -1.11500128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.14, Y:18.89, Z:-111.49 [[ 9.88994799e-01 3.22574002e-02 1.44390951e-01 2.45136987e+02] [-4.53953991e-02 9.95028773e-01 8.86397116e-02 1.88944628e+01] [-1.40813865e-01 -9.42188987e-02 9.85542619e-01 -1.11488709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.18, Y:19.01, Z:-111.50 [[ 9.91022850e-01 5.19103776e-02 1.23203183e-01 2.45175411e+02] [-4.80691108e-02 9.98266857e-01 -3.39506031e-02 1.90067849e+01] [-1.24752043e-01 2.77235559e-02 9.91800551e-01 -1.11504372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:18.93, Z:-111.50 [[ 9.89042399e-01 3.98768385e-02 1.42144190e-01 2.45198354e+02] [-4.57576087e-02 9.98216365e-01 3.83448831e-02 1.89348307e+01] [-1.40361584e-01 -4.44288934e-02 9.89102977e-01 -1.11502151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.24, Y:19.08, Z:-111.51 [[ 9.82908748e-01 6.26818710e-02 1.73093550e-01 2.45237021e+02] [-4.10701786e-02 9.91214106e-01 -1.25729220e-01 1.90810630e+01] [-1.79453711e-01 1.16471367e-01 9.76847371e-01 -1.11514744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.26, Y:18.97, Z:-111.52 [[ 9.82690269e-01 4.40025771e-02 1.79954461e-01 2.45263557e+02] [-4.28038937e-02 9.99027888e-01 -1.05406217e-02 1.89681599e+01] [-1.80243339e-01 2.65541483e-03 9.83618466e-01 -1.11516465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.30, Y:18.96, Z:-111.52 [[ 9.82676732e-01 4.28547974e-02 1.80305036e-01 2.45296354e+02] [-4.16146132e-02 9.99076899e-01 -1.06570847e-02 1.89637968e+01] [-1.80595303e-01 2.96914483e-03 9.83553009e-01 -1.11521711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.32, Y:18.90, Z:-111.52 [[ 9.89421831e-01 3.20776896e-02 1.41476012e-01 2.45324255e+02] [-3.92085954e-02 9.98081968e-01 4.79068962e-02 1.89032439e+01] [-1.39667914e-01 -5.29472047e-02 9.88781810e-01 -1.11516050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:18.97, Z:-111.53 [[ 9.88692651e-01 4.24618149e-02 1.43818764e-01 2.45357222e+02] [-3.90982941e-02 9.98893543e-01 -2.61345366e-02 1.89676271e+01] [-1.44769354e-01 2.02159559e-02 9.89258889e-01 -1.11530497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:245.39, Y:18.98, Z:-111.54 [[ 9.82397216e-01 4.34085409e-02 1.81690418e-01 2.45388936e+02] [-3.48416833e-02 9.98137221e-01 -5.00813845e-02 1.89814499e+01] [-1.83525929e-01 4.28694127e-02 9.82079654e-01 -1.11537286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters Centerline goodness : 0.931736 Centerline is valid? [True, False] Translation: X:245.43, Y:18.95, Z:-111.54 [[ 9.85707285e-01 3.42200210e-02 1.64954961e-01 2.45426980e+02] [-3.14592007e-02 9.99318272e-01 -1.93212067e-02 1.89477690e+01] [-1.65503679e-01 1.38557029e-02 9.86111835e-01 -1.11537263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:245.45, Y:18.92, Z:-111.54 [[ 9.87586292e-01 2.81320335e-02 1.54537710e-01 2.45445290e+02] [-2.96435418e-02 9.99532510e-01 7.48473346e-03 1.89176310e+01] [-1.54254904e-01 -1.19728652e-02 9.87958539e-01 -1.11537149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:18.92, Z:-111.54 [[ 9.87432593e-01 2.83557224e-02 1.55476132e-01 2.45473278e+02] [-2.94970062e-02 9.99552173e-01 5.03795287e-03 1.89166288e+01] [-1.55263651e-01 -9.56071931e-03 9.87826802e-01 -1.11542422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.51, Y:19.01, Z:-111.56 [[ 9.79052138e-01 4.76103838e-02 1.97965053e-01 2.45507626e+02] [-2.80791180e-02 9.94558650e-01 -1.00322750e-01 1.90077802e+01] [-2.01664260e-01 9.26625190e-02 9.75061631e-01 -1.11557848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.54, Y:18.92, Z:-111.56 [[ 9.78355523e-01 3.29764691e-02 2.04286622e-01 2.45536624e+02] [-3.14146232e-02 9.99447171e-01 -1.08845530e-02 1.89208928e+01] [-2.04532621e-01 4.23137529e-03 9.78850603e-01 -1.11556300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87591999999995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:245.56, Y:18.84, Z:-111.54 [[ 9.87461245e-01 2.13023937e-02 1.56417703e-01 2.45564268e+02] [-3.33486341e-02 9.96640963e-01 7.47974516e-02 1.88415681e+01] [-1.54298925e-01 -7.90759014e-02 9.84854732e-01 -1.11544800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:245.60, Y:18.93, Z:-111.56 [[ 9.86572089e-01 4.00716062e-02 1.58334394e-01 2.45595950e+02] [-3.63662174e-02 9.98994188e-01 -2.62318665e-02 1.89330975e+01] [-1.59226293e-01 2.01216043e-02 9.87037035e-01 -1.11564695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93591999999995 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:245.62, Y:18.89, Z:-111.57 [[ 9.86986647e-01 3.27636138e-02 1.57429045e-01 2.45624102e+02] [-3.56582397e-02 9.99242325e-01 1.55969743e-02 1.88916749e+01] [-1.56798752e-01 -2.10076480e-02 9.87407125e-01 -1.11565442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:245.65, Y:18.91, Z:-111.57 [[ 9.84592663e-01 3.63468059e-02 1.71044432e-01 2.45652468e+02] [-3.56763549e-02 9.99338930e-01 -6.99292515e-03 1.89117020e+01] [-1.71185530e-01 7.82940937e-04 9.85238500e-01 -1.11573606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99591999999996 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:245.68, Y:18.96, Z:-111.59 [[ 9.84043719e-01 4.39329395e-02 1.72417679e-01 2.45684141e+02] [-3.42919418e-02 9.97698052e-01 -5.85035032e-02 1.89579137e+01] [-1.74591013e-01 5.16574678e-02 9.83285047e-01 -1.11586043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:245.71, Y:18.90, Z:-111.59 [[ 9.83375519e-01 3.18255922e-02 1.78772817e-01 2.45710853e+02] [-3.11803180e-02 9.99493165e-01 -6.41876408e-03 1.89043904e+01] [-1.78886490e-01 7.37862179e-04 9.83869442e-01 -1.11585236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05591999999996 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:245.74, Y:18.90, Z:-111.59 [[ 9.83459371e-01 3.02358238e-02 1.78587406e-01 2.45741472e+02] [-2.97219489e-02 9.99542781e-01 -5.55285648e-03 1.88996377e+01] [-1.78673647e-01 1.53043002e-04 9.83908382e-01 -1.11590476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:245.78, Y:18.95, Z:-111.60 [[ 9.75610059e-01 3.81436932e-02 2.16171394e-01 2.45775671e+02] [-2.50659472e-02 9.97703746e-01 -6.29200518e-02 1.89480607e+01] [-2.18075013e-01 5.59668947e-02 9.74325919e-01 -1.11604456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11591999999996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:245.81, Y:18.90, Z:-111.61 [[ 9.75889678e-01 2.85752898e-02 2.16385741e-01 2.45806305e+02] [-2.65887217e-02 9.99573382e-01 -1.20869332e-02 1.88955391e+01] [-2.16638814e-01 6.04209312e-03 9.76233127e-01 -1.11606721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:245.83, Y:18.85, Z:-111.60 [[ 9.83141216e-01 1.99896179e-02 1.81751931e-01 2.45833273e+02] [-2.66681807e-02 9.99053102e-01 3.43759640e-02 1.88498629e+01] [-1.80892668e-01 -3.86434204e-02 9.82743369e-01 -1.11602428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:245.87, Y:18.93, Z:-111.62 [[ 9.75721363e-01 3.70874116e-02 2.15852601e-01 2.45868592e+02] [-2.59156026e-02 9.98185053e-01 -5.43597471e-02 1.89270649e+01] [-2.17476902e-01 4.74460163e-02 9.74911623e-01 -1.11624058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:245.90, Y:18.88, Z:-111.63 [[ 9.75478952e-01 3.02467194e-02 2.18004474e-01 2.45899149e+02] [-2.81996059e-02 9.99524202e-01 -1.24961016e-02 1.88821157e+01] [-2.18278714e-01 6.04204385e-03 9.75867766e-01 -1.11625769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23591999999996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:245.93, Y:18.79, Z:-111.61 [[ 9.85542495e-01 1.29070096e-02 1.68936081e-01 2.45925823e+02] [-2.75690540e-02 9.96022047e-01 8.47350554e-02 1.87902760e+01] [-1.67170385e-01 -8.81674058e-02 9.81977887e-01 -1.11609312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters Centerline goodness : 0.866300 Centerline is valid? [True, False] Translation: X:245.96, Y:18.81, Z:-111.62 [[ 9.88912626e-01 1.52059674e-02 1.47717966e-01 2.45961528e+02] [-2.44730884e-02 9.97830250e-01 6.11216911e-02 1.88074222e+01] [-1.46468040e-01 -6.40591268e-02 9.87139069e-01 -1.11618336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29591999999997 meters Centerline goodness : 0.999156 Centerline is valid? [False, True] Translation: X:246.00, Y:18.83, Z:-111.63 [[ 9.92190379e-01 1.64581678e-02 1.23642144e-01 2.46003106e+02] [-2.14756219e-02 9.98994373e-01 3.93578457e-02 1.88252510e+01] [-1.22870048e-01 -4.17057678e-02 9.91546056e-01 -1.11626360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:246.03, Y:18.95, Z:-111.65 [[ 9.91425830e-01 3.83633095e-02 1.24912287e-01 2.46033127e+02] [-2.60669992e-02 9.94783045e-01 -9.86265945e-02 1.89511541e+01] [-1.28044268e-01 9.45248649e-02 9.87253623e-01 -1.11649280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35591999999997 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:246.06, Y:18.83, Z:-111.64 [[ 9.92449368e-01 1.96215094e-02 1.21075384e-01 2.46059807e+02] [-2.29059078e-02 9.99404795e-01 2.57948643e-02 1.88302641e+01] [-1.20497186e-01 -2.83734384e-02 9.92308106e-01 -1.11637223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:246.08, Y:18.81, Z:-111.64 [[ 9.89869123e-01 1.78814639e-02 1.40852311e-01 2.46083220e+02] [-2.37832775e-02 9.98903350e-01 4.03293199e-02 1.88135011e+01] [-1.39976698e-01 -4.32706781e-02 9.89208862e-01 -1.11636448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41591999999997 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:246.12, Y:18.99, Z:-111.66 [[ 9.82771891e-01 5.12695300e-02 1.77569269e-01 2.46120397e+02] [-2.39265040e-02 9.87962658e-01 -1.52830981e-01 1.89929326e+01] [-1.83267380e-01 1.45949380e-01 9.72168630e-01 -1.11662678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:246.15, Y:18.85, Z:-111.66 [[ 9.82164332e-01 3.00904541e-02 1.85601157e-01 2.46148223e+02] [-2.89467404e-02 9.99541603e-01 -8.86958224e-03 1.88531789e+01] [-1.85782967e-01 3.33883881e-03 9.82585132e-01 -1.11655198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47592 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:246.17, Y:18.71, Z:-111.62 [[ 9.89078939e-01 7.20440231e-03 1.47210557e-01 2.46173312e+02] [-2.94250753e-02 9.88349178e-01 1.49332070e-01 1.87057870e+01] [-1.44419585e-01 -1.52032887e-01 9.77767347e-01 -1.11619700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:246.21, Y:18.99, Z:-111.67 [[ 9.80962471e-01 6.24484002e-02 1.83882644e-01 2.46212296e+02] [-3.34182636e-02 9.87043708e-01 -1.56932908e-01 1.89914888e+01] [-1.91300416e-01 1.47800254e-01 9.70339753e-01 -1.11674274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:246.23, Y:18.72, Z:-111.63 [[ 9.87644371e-01 1.92693322e-02 1.55522632e-01 2.46234191e+02] [-3.99084388e-02 9.90618422e-01 1.30699881e-01 1.87216763e+01] [-1.51545084e-01 -1.35291668e-01 9.79147717e-01 -1.11633122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:246.27, Y:18.92, Z:-111.68 [[ 9.86297731e-01 6.05671442e-02 1.53454901e-01 2.46269207e+02] [-4.80589780e-02 9.95310313e-01 -8.39506736e-02 1.89213323e+01] [-1.57819899e-01 7.54254732e-02 9.84583098e-01 -1.11679119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:246.30, Y:18.85, Z:-111.67 [[ 9.86031664e-01 5.14404632e-02 1.58415390e-01 2.46297030e+02] [-5.11809837e-02 9.98673014e-01 -5.71997395e-03 1.88452709e+01] [-1.58499413e-01 -2.46778005e-03 9.87355988e-01 -1.11674230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:246.33, Y:18.84, Z:-111.68 [[ 9.86300238e-01 5.29489898e-02 1.56231380e-01 2.46326539e+02] [-5.41274227e-02 9.98528599e-01 3.29517195e-03 1.88370524e+01] [-1.55827025e-01 -1.17064308e-02 9.87714988e-01 -1.11677173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:246.36, Y:18.86, Z:-111.69 [[ 9.85247249e-01 6.17048789e-02 1.59625708e-01 2.46357494e+02] [-5.87415469e-02 9.98003108e-01 -2.32212814e-02 1.88619115e+01] [-1.60739819e-01 1.35020426e-02 9.86904456e-01 -1.11687718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:246.39, Y:18.90, Z:-111.70 [[ 9.76987010e-01 7.37662080e-02 2.00137274e-01 2.46389163e+02] [-6.18220566e-02 9.95949068e-01 -6.52953822e-02 1.88998451e+01] [-2.04143125e-01 5.14198423e-02 9.77589681e-01 -1.11696901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71592 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:246.42, Y:18.85, Z:-111.70 [[ 9.76742033e-01 6.74335838e-02 2.03537988e-01 2.46420552e+02] [-6.67244257e-02 9.97717734e-01 -1.03525207e-02 1.88476949e+01] [-2.03771568e-01 -3.46921324e-03 9.79012315e-01 -1.11695459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:246.45, Y:18.76, Z:-111.68 [[ 9.83083466e-01 5.35600038e-02 1.75152003e-01 2.46447282e+02] [-6.98884246e-02 9.93628212e-01 8.84227624e-02 1.87606281e+01] [-1.69300048e-01 -9.91680533e-02 9.80562691e-01 -1.11679599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:246.48, Y:18.85, Z:-111.70 [[ 9.81905304e-01 7.53838567e-02 1.73721755e-01 2.46478216e+02] [-7.48273562e-02 9.97148739e-01 -9.76008843e-03 1.88539584e+01] [-1.73962182e-01 -3.41565701e-03 9.84746410e-01 -1.11702713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:246.51, Y:18.86, Z:-111.71 [[ 9.80740758e-01 8.05869400e-02 1.77913776e-01 2.46507092e+02] [-7.93671654e-02 9.96747497e-01 -1.39742791e-02 1.88606303e+01] [-1.78461255e-01 -4.15366984e-04 9.83946852e-01 -1.11709505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:246.54, Y:18.94, Z:-111.72 [[ 9.73152971e-01 9.93055190e-02 2.07633595e-01 2.46541975e+02] [-7.98250629e-02 9.91759844e-01 -1.00201651e-01 1.89409606e+01] [-2.15873238e-01 8.09371691e-02 9.73061108e-01 -1.11722987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:246.56, Y:18.77, Z:-111.70 [[ 9.80866538e-01 6.32992076e-02 1.84103357e-01 2.46564901e+02] [-8.05451143e-02 9.92880689e-01 8.77520475e-02 1.87669356e+01] [-1.77238032e-01 -1.00901673e-01 9.78981886e-01 -1.11699956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:246.60, Y:18.95, Z:-111.73 [[ 9.71637034e-01 1.02617263e-01 2.13052039e-01 2.46602919e+02] [-8.14713349e-02 9.91045823e-01 -1.05785628e-01 1.89508396e+01] [-2.21999765e-01 8.54275996e-02 9.71297189e-01 -1.11730591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:246.63, Y:18.86, Z:-111.73 [[ 9.72019725e-01 8.45107626e-02 2.19170220e-01 2.46632444e+02] [-8.39974895e-02 9.96397554e-01 -1.16763151e-02 1.88622478e+01] [-2.19367445e-01 -7.06013964e-03 9.75616768e-01 -1.11729285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95592 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:246.66, Y:18.86, Z:-111.74 [[ 9.72152631e-01 8.53687349e-02 2.18246284e-01 2.46664282e+02] [-8.48564625e-02 9.96324059e-01 -1.17366997e-02 1.88645478e+01] [-2.18445971e-01 -7.10974412e-03 9.75823145e-01 -1.11737008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:246.70, Y:18.87, Z:-111.74 [[ 9.72186073e-01 8.67237714e-02 2.17562006e-01 2.46696722e+02] [-8.62236625e-02 9.96205811e-01 -1.18094202e-02 1.88652817e+01] [-2.17760692e-01 -7.27803916e-03 9.75975057e-01 -1.11743480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:246.73, Y:18.86, Z:-111.75 [[ 9.72155790e-01 8.70771459e-02 2.17556180e-01 2.46729499e+02] [-8.65619747e-02 9.96175204e-01 -1.19158585e-02 1.88637647e+01] [-2.17761671e-01 -7.24802174e-03 9.75975062e-01 -1.11750092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:246.76, Y:18.77, Z:-111.74 [[ 9.79646231e-01 6.97603158e-02 1.88219980e-01 2.46757836e+02] [-8.78199637e-02 9.92118918e-01 8.93739727e-02 1.87713436e+01] [-1.80501847e-01 -1.04084347e-01 9.78051907e-01 -1.11736572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07592 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:246.80, Y:18.96, Z:-111.77 [[ 9.70267756e-01 1.08790530e-01 2.16206158e-01 2.46795056e+02] [-8.62701776e-02 9.90065937e-01 -1.11026560e-01 1.89608203e+01] [-2.26136990e-01 8.90733478e-02 9.70014433e-01 -1.11765355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:246.82, Y:18.87, Z:-111.77 [[ 9.70728795e-01 9.24482778e-02 2.21673010e-01 2.46823454e+02] [-9.20266523e-02 9.95681157e-01 -1.22526736e-02 1.88706290e+01] [-2.21848378e-01 -8.50580190e-03 9.75044075e-01 -1.11765997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13592 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:246.86, Y:18.87, Z:-111.77 [[ 9.70797752e-01 9.48711038e-02 2.20343366e-01 2.46855987e+02] [-9.44912086e-02 9.95449857e-01 -1.22879750e-02 1.88724430e+01] [-2.20506546e-01 -8.89137250e-03 9.75344968e-01 -1.11774688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:246.86, Y:18.77, Z:-111.77 [[ 9.79979300e-01 5.88308190e-03 1.99012465e-01 2.46857872e+02] [-1.81889176e-02 9.98028860e-01 6.00629572e-02 1.87733478e+01] [-1.98266828e-01 -6.24802760e-02 9.78154630e-01 -1.11773783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:246.91, Y:18.81, Z:-111.77 [[ 9.76618983e-01 8.80997614e-02 1.96096390e-01 2.46914336e+02] [-1.02940805e-01 9.92441626e-01 6.68042577e-02 1.88086301e+01] [-1.88728781e-01 -8.54286265e-02 9.78306392e-01 -1.11774269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:246.95, Y:18.98, Z:-111.79 [[ 9.67497518e-01 1.24731672e-01 2.19978552e-01 2.46953273e+02] [-1.02364989e-01 9.88608139e-01 -1.10341999e-01 1.89779584e+01] [-2.31235729e-01 8.42375080e-02 9.69244077e-01 -1.11793975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:246.98, Y:18.89, Z:-111.80 [[ 9.68283109e-01 1.06424721e-01 2.26056629e-01 2.46981274e+02] [-1.06194393e-01 9.94257569e-01 -1.32150368e-02 1.88872979e+01] [-2.26164921e-01 -1.12100496e-02 9.74024519e-01 -1.11797140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:247.01, Y:18.89, Z:-111.80 [[ 9.68313115e-01 1.07159419e-01 2.25580519e-01 2.47013779e+02] [-1.06923935e-01 9.94178274e-01 -1.32977718e-02 1.88886767e+01] [-2.25692232e-01 -1.12435497e-02 9.74133768e-01 -1.11804957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:247.05, Y:18.89, Z:-111.81 [[ 9.68125251e-01 1.08874211e-01 2.25565744e-01 2.47046520e+02] [-1.08659107e-01 9.93988661e-01 -1.34067609e-02 1.88923224e+01] [-2.25669442e-01 -1.15303485e-02 9.74135696e-01 -1.11813151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:247.08, Y:18.89, Z:-111.82 [[ 9.67544280e-01 1.09958982e-01 2.27523821e-01 2.47079048e+02] [-1.09744043e-01 9.93866354e-01 -1.36351053e-02 1.88931985e+01] [-2.27627573e-01 -1.17768160e-02 9.73677049e-01 -1.11819226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.11, Y:18.90, Z:-111.83 [[ 9.67464284e-01 1.11354830e-01 2.27184863e-01 2.47111120e+02] [-1.11152505e-01 9.93708578e-01 -1.37252605e-02 1.88965218e+01] [-2.27283921e-01 -1.19734673e-02 9.73754926e-01 -1.11825863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:247.14, Y:18.90, Z:-111.83 [[ 9.67546021e-01 1.12407177e-01 2.26316867e-01 2.47143807e+02] [-1.12208956e-01 9.93589046e-01 -1.37824961e-02 1.88997279e+01] [-2.26415211e-01 -1.20595801e-02 9.73956220e-01 -1.11833162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43591999999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:247.18, Y:18.90, Z:-111.84 [[ 9.67437546e-01 1.13323856e-01 2.26323436e-01 2.47175917e+02] [-1.13124719e-01 9.93483661e-01 -1.38929432e-02 1.89008509e+01] [-2.26423038e-01 -1.21622201e-02 9.73953124e-01 -1.11840076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:247.21, Y:18.84, Z:-111.84 [[ 9.75328282e-01 1.02067616e-01 1.95747142e-01 2.47205828e+02] [-1.13747667e-01 9.92282933e-01 4.93563449e-02 1.88448872e+01] [-1.89198864e-01 -7.04044199e-02 9.79411562e-01 -1.11838015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:247.24, Y:18.96, Z:-111.85 [[ 9.66051355e-01 1.28028319e-01 2.24395919e-01 2.47241953e+02] [-1.13851334e-01 9.90657355e-01 -7.50724909e-02 1.89640487e+01] [-2.31910872e-01 4.69761069e-02 9.71602075e-01 -1.11853210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.27, Y:18.91, Z:-111.86 [[ 9.66365744e-01 1.16476242e-01 2.29282651e-01 2.47271143e+02] [-1.16322982e-01 9.93109470e-01 -1.42318419e-02 1.89075033e+01] [-2.29360444e-01 -1.29176772e-02 9.73255835e-01 -1.11858132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:247.30, Y:18.87, Z:-111.86 [[ 9.74608869e-01 1.07245859e-01 1.96560116e-01 2.47300852e+02] [-1.16206133e-01 9.92622286e-01 3.45995861e-02 1.88684835e+01] [-1.91399289e-01 -5.65625545e-02 9.79881110e-01 -1.11860727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:247.34, Y:18.96, Z:-111.87 [[ 9.65294603e-01 1.26690085e-01 2.28376776e-01 2.47336617e+02] [-1.14962586e-01 9.91306073e-01 -6.39990075e-02 1.89599216e+01] [-2.34499324e-01 3.55231119e-02 9.71467022e-01 -1.11872506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.37, Y:18.92, Z:-111.88 [[ 9.66259631e-01 1.16348519e-01 2.29794142e-01 2.47366475e+02] [-1.16150842e-01 9.93126693e-01 -1.44344394e-02 1.89173293e+01] [-2.29894122e-01 -1.27433671e-02 9.73132211e-01 -1.11878994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.40, Y:18.92, Z:-111.89 [[ 9.66509975e-01 1.15895849e-01 2.28968600e-01 2.47398569e+02] [-1.15660912e-01 9.93183023e-01 -1.44926616e-02 1.89183437e+01] [-2.29087366e-01 -1.24754151e-02 9.73325918e-01 -1.11886066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.43, Y:18.92, Z:-111.89 [[ 9.66395458e-01 1.15435056e-01 2.29683623e-01 2.47431156e+02] [-1.15159568e-01 9.93238967e-01 -1.46502028e-02 1.89186246e+01] [-2.29821871e-01 -1.22923773e-02 9.73155078e-01 -1.11893089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:247.46, Y:18.90, Z:-111.90 [[ 9.72052077e-01 1.09733845e-01 2.07540942e-01 2.47462615e+02] [-1.14745343e-01 9.93319687e-01 1.22272763e-02 1.88979275e+01] [-2.04812757e-01 -3.56999059e-02 9.78149912e-01 -1.11898949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:247.50, Y:18.95, Z:-111.91 [[ 9.66715499e-01 1.18025816e-01 2.27004517e-01 2.47496293e+02] [-1.11584298e-01 9.92906795e-01 -4.10492449e-02 1.89487217e+01] [-2.30239198e-01 1.43528015e-02 9.73028216e-01 -1.11906488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:247.53, Y:18.92, Z:-111.91 [[ 9.67027419e-01 1.12293889e-01 2.28578329e-01 2.47527364e+02] [-1.11870218e-01 9.93611824e-01 -1.48525362e-02 1.89237576e+01] [-2.28785979e-01 -1.12082978e-02 9.73412220e-01 -1.11912602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.56, Y:18.92, Z:-111.92 [[ 9.67159021e-01 1.12392966e-01 2.27972034e-01 2.47558875e+02] [-1.11947497e-01 9.93602010e-01 -1.49265920e-02 1.89229849e+01] [-2.28191116e-01 -1.10845106e-02 9.73553259e-01 -1.11920932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:247.59, Y:18.92, Z:-111.93 [[ 9.67221315e-01 1.12501671e-01 2.27653908e-01 2.47590932e+02] [-1.12033859e-01 9.93590886e-01 -1.50188432e-02 1.89224930e+01] [-2.27884493e-01 -1.09784005e-02 9.73626280e-01 -1.11927846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85591999999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:247.62, Y:18.92, Z:-111.93 [[ 9.66922886e-01 1.12765502e-01 2.28788273e-01 2.47623571e+02] [-1.12273661e-01 9.93560939e-01 -1.52080617e-02 1.89222691e+01] [-2.29030036e-01 -1.09818740e-02 9.73357407e-01 -1.11934817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.66, Y:18.93, Z:-111.94 [[ 9.66538122e-01 1.12889846e-01 2.30347435e-01 2.47656183e+02] [-1.12367572e-01 9.93546931e-01 -1.54280735e-02 1.89253716e+01] [-2.30602659e-01 -1.09717608e-02 9.72986143e-01 -1.11941403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.68, Y:18.86, Z:-111.94 [[ 9.75827228e-01 9.66428706e-02 1.96013714e-01 2.47680839e+02] [-1.09908906e-01 9.92251156e-01 5.79454491e-02 1.88596971e+01] [-1.88894820e-01 -7.80883999e-02 9.78887608e-01 -1.11941500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:247.72, Y:18.99, Z:-111.95 [[ 9.65972688e-01 1.24898197e-01 2.26488866e-01 2.47722060e+02] [-1.08776552e-01 9.90648025e-01 -8.23659637e-02 1.89881220e+01] [-2.34658108e-01 5.49265935e-02 9.70524931e-01 -1.11951295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:247.75, Y:18.92, Z:-111.96 [[ 9.66712672e-01 1.10416903e-01 2.30813166e-01 2.47749676e+02] [-1.09749835e-01 9.93834158e-01 -1.57683103e-02 1.89240890e+01] [-2.31131096e-01 -1.00882815e-02 9.72870311e-01 -1.11959403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.78, Y:18.92, Z:-111.97 [[ 9.66577884e-01 1.10493477e-01 2.31340409e-01 2.47782280e+02] [-1.09797822e-01 9.93826422e-01 -1.59210835e-02 1.89230939e+01] [-2.31671387e-01 -1.00117059e-02 9.72742584e-01 -1.11965765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.81, Y:18.92, Z:-111.97 [[ 9.66545057e-01 1.10391721e-01 2.31526069e-01 2.47814186e+02] [-1.09664267e-01 9.93839084e-01 -1.60506842e-02 1.89231772e+01] [-2.31871519e-01 -9.87642708e-03 9.72696281e-01 -1.11972957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.85, Y:18.92, Z:-111.98 [[ 9.66585373e-01 1.11507021e-01 2.30822228e-01 2.47846630e+02] [-1.10787307e-01 9.93713414e-01 -1.61190382e-02 1.89223241e+01] [-2.31168530e-01 -9.99174644e-03 9.72862414e-01 -1.11980447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:247.87, Y:18.88, Z:-111.98 [[ 9.73830364e-01 1.03892330e-01 2.02140561e-01 2.47873915e+02] [-1.13880163e-01 9.92752414e-01 3.83920921e-02 1.88762543e+01] [-1.96686886e-01 -6.04071851e-02 9.78603720e-01 -1.11984288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:247.91, Y:18.97, Z:-111.99 [[ 9.65196979e-01 1.27045876e-01 2.28591638e-01 2.47913699e+02] [-1.14359609e-01 9.91111562e-01 -6.79687463e-02 1.89738936e+01] [-2.35194965e-01 3.94615781e-02 9.71146803e-01 -1.11992145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.94, Y:18.93, Z:-112.00 [[ 9.65127689e-01 1.21732811e-01 2.31753460e-01 2.47942708e+02] [-1.21244334e-01 9.92487117e-01 -1.64052881e-02 1.89279296e+01] [-2.32009385e-01 -1.22655961e-02 9.72636212e-01 -1.11999911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:247.98, Y:18.93, Z:-112.01 [[ 9.64635166e-01 1.25031772e-01 2.32047521e-01 2.47975503e+02] [-1.24608225e-01 9.92068117e-01 -1.65421248e-02 1.89286716e+01] [-2.32275239e-01 -1.29579144e-02 9.72563780e-01 -1.12006431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:248.00, Y:18.85, Z:-112.02 [[ 9.73628671e-01 7.08239523e-02 2.16866732e-01 2.48001133e+02] [-8.32627657e-02 9.95334207e-01 4.87558117e-02 1.88496991e+01] [-2.12401797e-01 -6.55269800e-02 9.74982919e-01 -1.12019508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:248.04, Y:19.00, Z:-112.02 [[ 9.67109208e-01 1.49142098e-01 2.06049544e-01 2.48038228e+02] [-1.34892554e-01 9.87491675e-01 -8.16344882e-02 1.90022584e+01] [-2.15647349e-01 5.11549158e-02 9.75130451e-01 -1.12017308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27592 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:248.05, Y:18.96, Z:-112.04 [[ 9.67248620e-01 1.62887444e-01 1.94673541e-01 2.48053410e+02] [-1.62342562e-01 9.86554189e-01 -1.88606562e-02 1.89604139e+01] [-1.95128161e-01 -1.33608578e-02 9.80686743e-01 -1.12037379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:248.10, Y:18.93, Z:-112.03 [[ 9.63676101e-01 1.28366585e-01 2.34201606e-01 2.48096038e+02] [-1.29801293e-01 9.91495991e-01 -9.34472914e-03 1.89349439e+01] [-2.33409504e-01 -2.13943792e-02 9.72143140e-01 -1.12033784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33592 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:248.09, Y:18.91, Z:-112.05 [[ 9.77390533e-01 1.21977890e-01 1.72711149e-01 2.48093523e+02] [-1.26264129e-01 9.91897714e-01 1.40105272e-02 1.89131956e+01] [-1.69602819e-01 -3.55009795e-02 9.84872867e-01 -1.12047864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:248.14, Y:18.80, Z:-112.04 [[ 9.74130186e-01 9.38969806e-02 2.05557142e-01 2.48140946e+02] [-1.24707816e-01 9.81913504e-01 1.42456422e-01 1.88018577e+01] [-1.88463105e-01 -1.64405683e-01 9.68221271e-01 -1.12037746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:248.19, Y:18.94, Z:-112.05 [[ 9.72607529e-01 1.26287936e-01 1.95156222e-01 2.48185038e+02] [-1.28715305e-01 9.91681557e-01 -2.45659086e-04 1.89383133e+01] [-1.93563850e-01 -2.48806628e-02 9.80772139e-01 -1.12048580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:19.07, Z:-112.05 [[ 9.61272025e-01 1.53122764e-01 2.29149541e-01 2.48228855e+02] [-1.24054490e-01 9.82860517e-01 -1.36366007e-01 1.90654021e+01] [-2.46102776e-01 1.02657798e-01 9.63791886e-01 -1.12045408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.24, Y:18.91, Z:-112.06 [[ 9.71217862e-01 1.18735042e-01 2.06489357e-01 2.48244343e+02] [-1.27404447e-01 9.91422154e-01 2.91585155e-02 1.89142822e+01] [-2.01255985e-01 -5.46269333e-02 9.78014277e-01 -1.12063259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:248.28, Y:18.95, Z:-112.07 [[ 9.71757947e-01 1.22471348e-01 2.01710834e-01 2.48278740e+02] [-1.24251800e-01 9.92243210e-01 -3.86042678e-03 1.89478125e+01] [-2.00618997e-01 -2.13115337e-02 9.79437510e-01 -1.12065429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.31, Y:18.98, Z:-112.07 [[ 9.70353434e-01 1.28890957e-01 2.04453749e-01 2.48310312e+02] [-1.24609581e-01 9.91632217e-01 -3.37342323e-02 1.89763039e+01] [-2.07090961e-01 7.25723217e-03 9.78294775e-01 -1.12072528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:248.34, Y:18.96, Z:-112.08 [[ 9.70742348e-01 1.21791927e-01 2.06944487e-01 2.48340070e+02] [-1.21044957e-01 9.92512918e-01 -1.63164290e-02 1.89615009e+01] [-2.07382286e-01 -9.21053803e-03 9.78216619e-01 -1.12077732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.37, Y:18.96, Z:-112.08 [[ 9.70817594e-01 1.19802923e-01 2.07750954e-01 2.48370420e+02] [-1.20230267e-01 9.92689272e-01 -1.06156806e-02 1.89567185e+01] [-2.07503933e-01 -1.46720632e-02 9.78124148e-01 -1.12084721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.40, Y:18.96, Z:-112.09 [[ 9.71713002e-01 1.16666704e-01 2.05335632e-01 2.48400953e+02] [-1.16450177e-01 9.93109061e-01 -1.31813943e-02 1.89623343e+01] [-2.05458507e-01 -1.11028385e-02 9.78602845e-01 -1.12093914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63592 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:248.39, Y:18.93, Z:-112.10 [[ 9.74194895e-01 3.55197997e-02 2.22896054e-01 2.48387694e+02] [-3.33487340e-02 9.99352624e-01 -1.34979444e-02 1.89300831e+01] [-2.23231200e-01 5.71632735e-03 9.74748765e-01 -1.12099689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:248.45, Y:18.90, Z:-112.11 [[ 9.74439072e-01 9.55618835e-02 2.03313602e-01 2.48448922e+02] [-1.08756355e-01 9.92561192e-01 5.47205126e-02 1.89028073e+01] [-1.96571996e-01 -7.54334518e-02 9.77583370e-01 -1.12108249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.49, Y:18.97, Z:-112.11 [[ 9.73273613e-01 1.09991639e-01 2.01594429e-01 2.48485265e+02] [-1.07732938e-01 9.93932503e-01 -2.21764033e-02 1.89743290e+01] [-2.02810474e-01 -1.34651805e-04 9.79218001e-01 -1.12110804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.51, Y:18.98, Z:-112.11 [[ 9.73398178e-01 1.08728080e-01 2.01678437e-01 2.48514875e+02] [-1.04384231e-01 9.94019430e-01 -3.20827729e-02 1.89821668e+01] [-2.03960583e-01 1.01772641e-02 9.78926199e-01 -1.12114892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75591999999995 meters Centerline goodness : 0.984380 Centerline is valid? [True, True] Translation: X:248.53, Y:18.92, Z:-112.13 [[ 9.72338703e-01 2.34078936e-02 2.32399478e-01 2.48526955e+02] [-2.30610622e-02 9.99725196e-01 -4.20955206e-03 1.89195744e+01] [-2.32434150e-01 -1.26626843e-03 9.72611311e-01 -1.12130786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:248.56, Y:18.89, Z:-112.13 [[ 9.71880675e-01 7.74374112e-02 2.22376708e-01 2.48558784e+02] [-9.22867958e-02 9.94090240e-01 5.71641644e-02 1.88922155e+01] [-2.16635870e-01 -7.60791806e-02 9.73283544e-01 -1.12131845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:19.09, Z:-112.12 [[ 9.59698941e-01 1.24973449e-01 2.51713290e-01 2.48615680e+02] [-8.62652841e-02 9.83442695e-01 -1.59369905e-01 1.90885456e+01] [-2.67462603e-01 1.31233011e-01 9.54589782e-01 -1.12116422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:248.62, Y:18.86, Z:-112.14 [[ 9.72042141e-01 6.32929792e-02 2.26115181e-01 2.48617145e+02] [-8.39220724e-02 9.93025604e-01 8.28084255e-02 1.88598836e+01] [-2.19296972e-01 -9.94693338e-02 9.70574412e-01 -1.12142956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:248.66, Y:19.01, Z:-112.14 [[ 9.69898466e-01 1.00995265e-01 2.21578252e-01 2.48664232e+02] [-8.45275001e-02 9.92990891e-01 -8.26086740e-02 1.90088333e+01] [-2.28368271e-01 6.13925705e-02 9.71637219e-01 -1.12139664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters Centerline goodness : 0.900114 Centerline is valid? [True, False] Translation: X:248.70, Y:18.98, Z:-112.15 [[ 9.74884931e-01 9.35240214e-02 2.02120332e-01 2.48699061e+02] [-8.25382616e-02 9.94649166e-01 -6.21327025e-02 1.89839830e+01] [-2.06849720e-01 4.38895746e-02 9.77387793e-01 -1.12149696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93591999999995 meters Centerline goodness : 0.900114 Centerline is valid? [False, False] Translation: X:248.72, Y:18.98, Z:-112.15 [[ 9.78619867e-01 9.12549414e-02 1.84324963e-01 2.48721341e+02] [-8.29596507e-02 9.95182669e-01 -5.22412897e-02 1.89751660e+01] [-1.88204285e-01 3.58328293e-02 9.81476009e-01 -1.12154039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters Centerline goodness : 0.867336 Centerline is valid? [False, False] Translation: X:248.75, Y:18.96, Z:-112.16 [[ 9.82571882e-01 8.72636685e-02 1.64126625e-01 2.48750890e+02] [-8.17743347e-02 9.95850945e-01 -3.99231069e-02 1.89602930e+01] [-1.66929491e-01 2.58059767e-02 9.85631065e-01 -1.12160134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:248.77, Y:18.95, Z:-112.16 [[ 9.85738802e-01 8.41026526e-02 1.45759245e-01 2.48773604e+02] [-8.04595361e-02 9.96284297e-01 -3.07223419e-02 1.89489761e+01] [-1.47801478e-01 1.85564832e-02 9.88842950e-01 -1.12164299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters Centerline goodness : 0.963949 Centerline is valid? [True, True] Translation: X:248.81, Y:18.93, Z:-112.19 [[ 9.70879322e-01 1.66591939e-01 1.72164072e-01 2.48813090e+02] [-1.72900776e-01 9.84688694e-01 2.22147910e-02 1.89313325e+01] [-1.65827210e-01 -5.13351829e-02 9.84817768e-01 -1.12187241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:248.83, Y:18.94, Z:-112.17 [[ 9.86289152e-01 8.86749298e-02 1.39177820e-01 2.48832164e+02] [-8.42555768e-02 9.95744228e-01 -3.73420715e-02 1.89441085e+01] [-1.41896816e-01 2.51035726e-02 9.89563088e-01 -1.12168917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.86, Y:18.95, Z:-112.17 [[ 9.83346455e-01 9.20230136e-02 1.56721133e-01 2.48862402e+02] [-8.44566175e-02 9.94947233e-01 -5.42870457e-02 1.89538865e+01] [-1.60924916e-01 4.01468372e-02 9.86149787e-01 -1.12173884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.89, Y:18.94, Z:-112.18 [[ 9.75701938e-01 9.69899795e-02 1.96465447e-01 2.48894148e+02] [-8.94588568e-02 9.94886955e-01 -4.68727992e-02 1.89372876e+01] [-2.00007102e-01 2.81583067e-02 9.79389743e-01 -1.12181871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:248.91, Y:18.83, Z:-112.19 [[ 9.85641349e-01 7.73028356e-02 1.50117960e-01 2.48911495e+02] [-8.76839304e-02 9.94102986e-01 6.38026771e-02 1.88315705e+01] [-1.44300584e-01 -7.60494895e-02 9.86607225e-01 -1.12186979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:248.95, Y:18.92, Z:-112.19 [[ 9.83150317e-01 9.75758146e-02 1.54578182e-01 2.48951402e+02] [-9.24920501e-02 9.94919163e-01 -3.97627875e-02 1.89246807e+01] [-1.57672682e-01 2.47955442e-02 9.87180078e-01 -1.12190035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:248.99, Y:18.94, Z:-112.19 [[ 9.74676405e-01 1.05188736e-01 1.97335339e-01 2.48986449e+02] [-9.40335023e-02 9.93438396e-01 -6.50987966e-02 1.89409636e+01] [-2.02888163e-01 4.48941280e-02 9.78172230e-01 -1.12193207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:249.00, Y:18.79, Z:-112.20 [[ 9.82466759e-01 7.39080893e-02 1.71162674e-01 2.48996541e+02] [-9.16273097e-02 9.90955167e-01 9.80423056e-02 1.87866247e+01] [-1.62368416e-01 -1.12006482e-01 9.80352511e-01 -1.12198590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:249.05, Y:18.99, Z:-112.19 [[ 9.73459765e-01 1.18124378e-01 1.96017135e-01 2.49053238e+02] [-9.42931899e-02 9.87439573e-01 -1.26774932e-01 1.89912785e+01] [-2.08530286e-01 1.04927215e-01 9.72371019e-01 -1.12194373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:249.07, Y:18.89, Z:-112.21 [[ 9.72988013e-01 9.94542912e-02 2.08334276e-01 2.49074187e+02] [-9.75442235e-02 9.95041149e-01 -1.94483214e-02 1.88860014e+01] [-2.09235396e-01 -1.39882163e-03 9.77864302e-01 -1.12209928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:249.10, Y:18.83, Z:-112.21 [[ 9.82537215e-01 8.67836220e-02 1.64588043e-01 2.49095577e+02] [-9.38875160e-02 9.94936415e-01 3.58701191e-02 1.88343812e+01] [-1.60641699e-01 -5.06964894e-02 9.85709953e-01 -1.12214994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35591999999997 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:249.13, Y:18.88, Z:-112.22 [[ 9.81365130e-01 9.71227593e-02 1.65800034e-01 2.49130944e+02] [-9.48069308e-02 9.95255983e-01 -2.18443339e-02 1.88827782e+01] [-1.67135057e-01 5.71827530e-03 9.85917428e-01 -1.12219413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:249.16, Y:18.87, Z:-112.23 [[ 9.80877034e-01 9.77770595e-02 1.68285146e-01 2.49161257e+02] [-9.64000191e-02 9.95208327e-01 -1.63530710e-02 1.88734010e+01] [-1.69077734e-01 -1.82339491e-04 9.85602702e-01 -1.12225843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41591999999997 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:249.20, Y:18.90, Z:-112.23 [[ 9.71618590e-01 1.11006050e-01 2.08889859e-01 2.49198479e+02] [-1.00870101e-01 9.93172343e-01 -5.85996521e-02 1.89035408e+01] [-2.13968547e-01 3.58657701e-02 9.76181903e-01 -1.12230239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:249.23, Y:18.86, Z:-112.24 [[ 9.71484587e-01 1.05195162e-01 2.12489237e-01 2.49227223e+02] [-1.03202243e-01 9.94449519e-01 -2.04805202e-02 1.88640581e+01] [-2.13464271e-01 -2.03285613e-03 9.76948756e-01 -1.12237238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:249.26, Y:18.86, Z:-112.24 [[ 9.71742242e-01 1.07694630e-01 2.10044951e-01 2.49259582e+02] [-1.05780935e-01 9.94181037e-01 -2.03582890e-02 1.88582340e+01] [-2.11015185e-01 -2.43574194e-03 9.77479749e-01 -1.12244137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:249.28, Y:18.78, Z:-112.24 [[ 9.81330525e-01 9.00045624e-02 1.69969350e-01 2.49278353e+02] [-1.01506473e-01 9.93010433e-01 6.02222139e-02 1.87821571e+01] [-1.63361064e-01 -7.63508860e-02 9.83607495e-01 -1.12244622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:249.32, Y:18.87, Z:-112.25 [[ 9.80236736e-01 1.10129204e-01 1.64339590e-01 2.49318149e+02] [-1.06050187e-01 9.93799050e-01 -3.34186622e-02 1.88653170e+01] [-1.67000899e-01 1.53299561e-02 9.85837559e-01 -1.12251901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:249.35, Y:18.87, Z:-112.26 [[ 9.78739808e-01 1.13205102e-01 1.71035062e-01 2.49350554e+02] [-1.07451753e-01 9.93298944e-01 -4.25596945e-02 1.88693715e+01] [-1.74706921e-01 2.32768499e-02 9.84345305e-01 -1.12256112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59592 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:249.38, Y:18.81, Z:-112.26 [[ 9.79047424e-01 1.03297573e-01 1.75487188e-01 2.49375872e+02] [-1.07908155e-01 9.94017027e-01 1.69109483e-02 1.88081838e+01] [-1.72690393e-01 -3.54931190e-02 9.84336460e-01 -1.12260573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:249.41, Y:18.84, Z:-112.27 [[ 9.78108454e-01 1.12226250e-01 1.75240181e-01 2.49409167e+02] [-1.10417774e-01 9.93682641e-01 -2.00679903e-02 1.88379515e+01] [-1.76385281e-01 2.79040347e-04 9.84321165e-01 -1.12266806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:249.45, Y:18.88, Z:-112.27 [[ 9.68738511e-01 1.28514333e-01 2.12202174e-01 2.49446952e+02] [-1.15479209e-01 9.90640601e-01 -7.27719179e-02 1.88775458e+01] [-2.19568324e-01 4.59920202e-02 9.74512435e-01 -1.12274112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:249.46, Y:18.76, Z:-112.28 [[ 9.77997214e-01 1.04487919e-01 1.80565014e-01 2.49463212e+02] [-1.15396925e-01 9.92010505e-01 5.09775251e-02 1.87631273e+01] [-1.73795855e-01 -7.06925249e-02 9.82241094e-01 -1.12275972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:249.51, Y:18.89, Z:-112.28 [[ 9.67385314e-01 1.37314724e-01 2.12862211e-01 2.49509267e+02] [-1.21216560e-01 9.88807878e-01 -8.69800274e-02 1.88853136e+01] [-2.22423470e-01 5.83407763e-02 9.73203038e-01 -1.12282777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:249.53, Y:18.78, Z:-112.29 [[ 9.75634372e-01 1.18150625e-01 1.84872937e-01 2.49526973e+02] [-1.25709654e-01 9.91623209e-01 2.96731239e-02 1.87786796e+01] [-1.79818397e-01 -5.21904326e-02 9.82314360e-01 -1.12288269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77592 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:249.56, Y:18.83, Z:-112.30 [[ 9.73689392e-01 1.34361381e-01 1.84054304e-01 2.49563939e+02] [-1.31764261e-01 9.90931436e-01 -2.63262114e-02 1.88298202e+01] [-1.85922422e-01 1.38177333e-03 9.82563455e-01 -1.12295031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:249.59, Y:18.80, Z:-112.30 [[ 9.74528413e-01 1.29713098e-01 1.82945029e-01 2.49590231e+02] [-1.32959454e-01 9.91106000e-01 5.53902058e-03 1.87981946e+01] [-1.80599432e-01 -2.97222042e-02 9.83107540e-01 -1.12299356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83592 meters Centerline goodness : 0.974646 Centerline is valid? [True, True] Translation: X:249.58, Y:18.80, Z:-112.31 [[ 9.78008276e-01 5.76048584e-02 2.00453219e-01 2.49580835e+02] [-5.06487770e-02 9.97928621e-01 -3.96631884e-02 1.88005867e+01] [-2.02322797e-01 2.86382161e-02 9.78900066e-01 -1.12305773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters Centerline goodness : 0.959355 Centerline is valid? [True, True] Translation: X:249.61, Y:18.77, Z:-112.31 [[ 9.77008927e-01 5.21233111e-02 2.06728606e-01 2.49606942e+02] [-5.26175349e-02 9.98609893e-01 -3.11061354e-03 1.87665229e+01] [-2.06603367e-01 -7.83845246e-03 9.78393381e-01 -1.12313368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89592 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:249.68, Y:18.79, Z:-112.32 [[ 9.69717775e-01 1.48578438e-01 1.93834684e-01 2.49680455e+02] [-1.55102706e-01 9.87718657e-01 1.88416044e-02 1.87859669e+01] [-1.88654678e-01 -4.83353229e-02 9.80853256e-01 -1.12317639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:249.71, Y:18.81, Z:-112.32 [[ 9.70957213e-01 1.51997623e-01 1.84766917e-01 2.49711093e+02] [-1.54279354e-01 9.88025140e-01 -2.05026661e-03 1.88082380e+01] [-1.82865994e-01 -2.65149994e-02 9.82780231e-01 -1.12323006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95592 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:249.75, Y:18.86, Z:-112.33 [[ 9.66327787e-01 1.67392703e-01 1.95423364e-01 2.49750455e+02] [-1.58796245e-01 9.85548631e-01 -5.89715888e-02 1.88584029e+01] [-2.02470643e-01 2.59533886e-02 9.78944360e-01 -1.12329824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:249.77, Y:18.78, Z:-112.34 [[ 9.70297753e-01 1.46303922e-01 1.92658854e-01 2.49767253e+02] [-1.55215737e-01 9.87364689e-01 3.19225124e-02 1.87767404e+01] [-1.85554161e-01 -6.08780280e-02 9.80746409e-01 -1.12336173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01592 meters Centerline goodness : 0.802830 Centerline is valid? [True, False] Translation: X:249.77, Y:18.79, Z:-112.34 [[ 9.71902149e-01 1.37521992e-01 1.91033806e-01 2.49767865e+02] [-1.43274490e-01 9.89544333e-01 1.65660596e-02 1.87902940e+01] [-1.86758222e-01 -4.34708600e-02 9.81443656e-01 -1.12335764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [False, True] Translation: X:249.77, Y:18.80, Z:-112.34 [[ 9.73399531e-01 1.28658742e-01 1.89579221e-01 2.49768112e+02] [-1.31235939e-01 9.91350607e-01 1.05011129e-03 1.88036052e+01] [-1.87804370e-01 -2.59017850e-02 9.81864867e-01 -1.12335941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07592 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:249.79, Y:18.82, Z:-112.35 [[ 9.74182255e-01 9.67221406e-02 2.03994513e-01 2.49791702e+02] [-9.15038825e-02 9.95193582e-01 -3.48822857e-02 1.88181984e+01] [-2.06387920e-01 1.53154137e-02 9.78350379e-01 -1.12348027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:249.86, Y:18.90, Z:-112.34 [[ 9.57336015e-01 1.84629444e-01 2.22305472e-01 2.49857766e+02] [-1.69006799e-01 9.81720597e-01 -8.75292596e-02 1.88961174e+01] [-2.34402340e-01 4.62237764e-02 9.71040115e-01 -1.12344975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13592 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:249.88, Y:18.81, Z:-112.35 [[ 9.66068483e-01 1.65048874e-01 1.98671978e-01 2.49875696e+02] [-1.70525455e-01 9.85295635e-01 1.06574318e-02 1.88080672e+01] [-1.93991636e-01 -4.41744385e-02 9.80008094e-01 -1.12354355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:249.91, Y:18.85, Z:-112.36 [[ 9.64750694e-01 1.73923488e-01 1.97501188e-01 2.49912782e+02] [-1.70586514e-01 9.84758694e-01 -3.39198405e-02 1.88466545e+01] [-2.00390469e-01 -9.66849563e-04 9.79715635e-01 -1.12360334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19592 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:249.93, Y:18.80, Z:-112.37 [[ 9.68095064e-01 1.57574492e-01 1.94838975e-01 2.49933427e+02] [-1.64354252e-01 9.86217796e-01 1.90299291e-02 1.87952428e+01] [-1.89155033e-01 -5.04453944e-02 9.80650619e-01 -1.12366350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:249.98, Y:18.87, Z:-112.37 [[ 9.66061611e-01 1.72830253e-01 1.91975693e-01 2.49977873e+02] [-1.62499420e-01 9.84332513e-01 -6.84356729e-02 1.88740667e+01] [-2.00795671e-01 3.49171376e-02 9.79010670e-01 -1.12367970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25591999999995 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:250.00, Y:18.83, Z:-112.38 [[ 9.66658937e-01 1.60260574e-01 1.99717418e-01 2.49998676e+02] [-1.59442266e-01 9.86998883e-01 -2.02822394e-02 1.88256115e+01] [-2.00371312e-01 -1.22373897e-02 9.79643600e-01 -1.12379153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:250.04, Y:18.87, Z:-112.38 [[ 9.57655450e-01 1.69070634e-01 2.33047548e-01 2.50037712e+02] [-1.54462179e-01 9.84778258e-01 -7.97070718e-02 1.88702331e+01] [-2.42976284e-01 4.03348796e-02 9.69193285e-01 -1.12381397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31591999999995 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:250.06, Y:18.79, Z:-112.39 [[ 9.66290405e-01 1.49342920e-01 2.09713006e-01 2.50057348e+02] [-1.54005642e-01 9.88051827e-01 5.98736972e-03 1.87900137e+01] [-2.06313147e-01 -3.80825240e-02 9.77744653e-01 -1.12391587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:250.09, Y:18.82, Z:-112.40 [[ 9.65910733e-01 1.57136301e-01 2.05729530e-01 2.50093764e+02] [-1.54202835e-01 9.87573914e-01 -3.03191234e-02 1.88196121e+01] [-2.07937352e-01 -2.43851001e-03 9.78139106e-01 -1.12396999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37591999999995 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:250.12, Y:18.80, Z:-112.41 [[ 9.67656113e-01 1.52283767e-01 2.01125088e-01 2.50119811e+02] [-1.52685965e-01 9.88181098e-01 -1.36056258e-02 1.87990320e+01] [-2.00819927e-01 -1.75434113e-02 9.79471074e-01 -1.12406459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:250.15, Y:18.81, Z:-112.41 [[ 9.66255872e-01 1.57370139e-01 2.03922115e-01 2.50153929e+02] [-1.53461476e-01 9.87536601e-01 -3.49433424e-02 1.88133154e+01] [-2.06879591e-01 2.47002117e-03 9.78363293e-01 -1.12410238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43591999999995 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:250.18, Y:18.81, Z:-112.42 [[ 9.65456869e-01 1.57361148e-01 2.07678848e-01 2.50183636e+02] [-1.54309696e-01 9.87538678e-01 -3.09172739e-02 1.88058686e+01] [-2.09956073e-01 -2.19756544e-03 9.77708350e-01 -1.12415995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:250.21, Y:18.80, Z:-112.42 [[ 9.65036452e-01 1.60631762e-01 2.07128183e-01 2.50213258e+02] [-1.57762640e-01 9.87008779e-01 -3.04075493e-02 1.88010539e+01] [-2.09321753e-01 -3.33269546e-03 9.77841141e-01 -1.12422256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49591999999996 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:250.24, Y:18.79, Z:-112.43 [[ 9.64784011e-01 1.61037179e-01 2.07987593e-01 2.50241540e+02] [-1.59283396e-01 9.86909530e-01 -2.52661813e-02 1.87909174e+01] [-2.09333733e-01 -8.75256254e-03 9.77805083e-01 -1.12431478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:250.27, Y:18.79, Z:-112.44 [[ 9.64266047e-01 1.63202899e-01 2.08700275e-01 2.50273171e+02] [-1.60659240e-01 9.86577897e-01 -2.92003605e-02 1.87901045e+01] [-2.10664662e-01 -5.37271138e-03 9.77543623e-01 -1.12436160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55591999999996 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:250.31, Y:18.80, Z:-112.44 [[ 9.62943940e-01 1.68412420e-01 2.10656651e-01 2.50305250e+02] [-1.63243577e-01 9.85699074e-01 -4.18194867e-02 1.87998880e+01] [-2.14686987e-01 5.88147600e-03 9.76665196e-01 -1.12442516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:250.34, Y:18.82, Z:-112.45 [[ 9.53397031e-01 1.76343516e-01 2.44820475e-01 2.50339287e+02] [-1.63269004e-01 9.83886262e-01 -7.28769888e-02 1.88206987e+01] [-2.53726886e-01 2.95091096e-02 9.66825672e-01 -1.12450488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61591999999996 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:250.36, Y:18.75, Z:-112.46 [[ 9.62172642e-01 1.61603840e-01 2.19335374e-01 2.50359459e+02] [-1.66492675e-01 9.86035118e-01 3.86456561e-03 1.87507492e+01] [-2.15647853e-01 -4.02361125e-02 9.75641870e-01 -1.12458836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:250.40, Y:18.81, Z:-112.46 [[ 9.52131197e-01 1.79020670e-01 2.47785760e-01 2.50399956e+02] [-1.66795337e-01 9.83527734e-01 -6.96599750e-02 1.88113351e+01] [-2.56174742e-01 2.49959260e-02 9.66307252e-01 -1.12463003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67591999999996 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:250.42, Y:18.75, Z:-112.47 [[ 9.60877491e-01 1.65382029e-01 2.22178380e-01 2.50420634e+02] [-1.70726633e-01 9.85306098e-01 4.93052956e-03 1.87464536e+01] [-2.18098292e-01 -4.26694016e-02 9.74993568e-01 -1.12472901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:250.46, Y:18.81, Z:-112.48 [[ 9.50995344e-01 1.82759616e-01 2.49412869e-01 2.50460932e+02] [-1.69819919e-01 9.82794349e-01 -7.26392592e-02 1.88106351e+01] [-2.58397082e-01 2.67243241e-02 9.65669073e-01 -1.12476916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73591999999996 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:250.48, Y:18.74, Z:-112.49 [[ 9.59609285e-01 1.66430489e-01 2.26827938e-01 2.50480984e+02] [-1.71575169e-01 9.85166425e-01 3.01283764e-03 1.87426235e+01] [-2.22961840e-01 -4.18091887e-02 9.73930187e-01 -1.12486000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:250.52, Y:18.80, Z:-112.49 [[ 9.50179617e-01 1.83830053e-01 2.51724467e-01 2.50522096e+02] [-1.71456427e-01 9.82670708e-01 -7.04341798e-02 1.88039619e+01] [-2.60310179e-01 2.37653443e-02 9.65232521e-01 -1.12490531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79591999999997 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:250.54, Y:18.73, Z:-112.50 [[ 9.60347351e-01 1.64392287e-01 2.25184681e-01 2.50540275e+02] [-1.71883405e-01 9.85018715e-01 1.39365306e-02 1.87289110e+01] [-2.19520067e-01 -5.20894199e-02 9.74216420e-01 -1.12500025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:250.58, Y:18.77, Z:-112.50 [[ 9.59498919e-01 1.75611009e-01 2.20278457e-01 2.50578225e+02] [-1.72846646e-01 9.84431452e-01 -3.19179238e-02 1.87673617e+01] [-2.22454180e-01 -7.44917896e-03 9.74914687e-01 -1.12504511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85591999999997 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:250.62, Y:18.81, Z:-112.51 [[ 9.48787777e-01 1.88127501e-01 2.53790855e-01 2.50616476e+02] [-1.72603752e-01 9.81545616e-01 -8.23173626e-02 1.88093237e+01] [-2.64593461e-01 3.42964538e-02 9.63749996e-01 -1.12508888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:250.63, Y:18.71, Z:-112.52 [[ 9.60438866e-01 1.61613107e-01 2.26800326e-01 2.50630917e+02] [-1.72579427e-01 9.84561200e-01 2.92503772e-02 1.87097570e+01] [-2.18571557e-01 -6.72342696e-02 9.73501940e-01 -1.12519011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91591999999997 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:250.67, Y:18.75, Z:-112.53 [[ 9.61006499e-01 1.69785121e-01 2.18264795e-01 2.50666624e+02] [-1.72463978e-01 9.84991916e-01 -6.86307352e-03 1.87456491e+01] [-2.16154307e-01 -3.10473567e-02 9.75865450e-01 -1.12525671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:250.71, Y:18.81, Z:-112.53 [[ 9.56535979e-01 1.87978164e-01 2.22941992e-01 2.50710597e+02] [-1.73210237e-01 9.81277078e-01 -8.42229805e-02 1.88124543e+01] [-2.34599947e-01 4.19464758e-02 9.71186572e-01 -1.12526990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97592 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:250.73, Y:18.76, Z:-112.54 [[ 9.58607988e-01 1.69605906e-01 2.28701906e-01 2.50730443e+02] [-1.68389913e-01 9.85404175e-01 -2.49689771e-02 1.87554821e+01] [-2.29598699e-01 -1.45756330e-02 9.73176237e-01 -1.12540361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:250.76, Y:18.76, Z:-112.55 [[ 9.58477374e-01 1.69680909e-01 2.29193179e-01 2.50761329e+02] [-1.66954955e-01 9.85465040e-01 -3.13798916e-02 1.87594493e+01] [-2.31186434e-01 -8.18802083e-03 9.72875012e-01 -1.12546375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03592 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:250.79, Y:18.76, Z:-112.55 [[ 9.59137840e-01 1.64685592e-01 2.30072294e-01 2.50790952e+02] [-1.61807103e-01 9.86320881e-01 -3.14576045e-02 1.87585840e+01] [-2.32105722e-01 -7.05515246e-03 9.72664978e-01 -1.12554130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:250.82, Y:18.75, Z:-112.56 [[ 9.59701945e-01 1.61324658e-01 2.30101132e-01 2.50818958e+02] [-1.59856043e-01 9.86820210e-01 -2.51379820e-02 1.87482950e+01] [-2.31123824e-01 -1.26580862e-02 9.72841997e-01 -1.12561723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09592 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:250.85, Y:18.75, Z:-112.57 [[ 9.59772147e-01 1.60607083e-01 2.30310207e-01 2.50849540e+02] [-1.56755192e-01 9.87015351e-01 -3.50500734e-02 1.87518448e+01] [-2.32949000e-01 -2.46223648e-03 9.72485836e-01 -1.12568329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:250.88, Y:18.75, Z:-112.57 [[ 9.60539408e-01 1.54838462e-01 2.31060807e-01 2.50877669e+02] [-1.50328169e-01 9.87939381e-01 -3.71109424e-02 1.87472521e+01] [-2.34020271e-01 9.11574785e-04 9.72231290e-01 -1.12574749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15592 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:250.90, Y:18.71, Z:-112.58 [[ 9.61899214e-01 1.42725407e-01 2.33193825e-01 2.50900696e+02] [-1.45400895e-01 9.89356003e-01 -5.76872765e-03 1.87110644e+01] [-2.31535054e-01 -2.83576561e-02 9.72413164e-01 -1.12583628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:250.94, Y:18.75, Z:-112.59 [[ 9.60590208e-01 1.54083212e-01 2.31354308e-01 2.50937541e+02] [-1.45781089e-01 9.87913920e-01 -5.26684080e-02 1.87478497e+01] [-2.36673459e-01 1.68656740e-02 9.71442856e-01 -1.12588163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21592 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:250.96, Y:18.72, Z:-112.60 [[ 9.60991379e-01 1.48645786e-01 2.33238075e-01 2.50964189e+02] [-1.45178595e-01 9.88885805e-01 -3.20630717e-02 1.87222277e+01] [-2.35411862e-01 -3.04884067e-03 9.71890920e-01 -1.12597481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:251.00, Y:18.74, Z:-112.60 [[ 9.58733145e-01 1.55240859e-01 2.38182773e-01 2.50997555e+02] [-1.44314906e-01 9.87539908e-01 -6.27545786e-02 1.87426948e+01] [-2.44957069e-01 2.57915700e-02 9.69190812e-01 -1.12603031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27592 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:251.01, Y:18.64, Z:-112.61 [[ 9.63983999e-01 1.28847473e-01 2.32665378e-01 2.51011599e+02] [-1.42288725e-01 9.88939235e-01 4.18701450e-02 1.86413168e+01] [-2.24697058e-01 -7.34678099e-02 9.71655141e-01 -1.12614054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:251.06, Y:18.76, Z:-112.61 [[ 9.58141399e-01 1.64582433e-01 2.34259862e-01 2.51062938e+02] [-1.46434838e-01 9.84840598e-01 -9.29829843e-02 1.87562979e+01] [-2.46011988e-01 5.47870418e-02 9.67717150e-01 -1.12612638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33592 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:251.08, Y:18.70, Z:-112.63 [[ 9.57569682e-01 1.49826210e-01 2.46195878e-01 2.51082540e+02] [-1.45345911e-01 9.88711892e-01 -3.63780186e-02 1.86960650e+01] [-2.48867173e-01 -9.49076386e-04 9.68537160e-01 -1.12627172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:251.11, Y:18.70, Z:-112.63 [[ 9.56721223e-01 1.52834097e-01 2.47641354e-01 2.51113538e+02] [-1.45848080e-01 9.88217006e-01 -4.64272228e-02 1.86967429e+01] [-2.51819060e-01 8.29989327e-03 9.67738742e-01 -1.12634118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39592 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:251.14, Y:18.69, Z:-112.64 [[ 9.56493456e-01 1.51468555e-01 2.49354257e-01 2.51142159e+02] [-1.45916870e-01 9.88458771e-01 -4.07127225e-02 1.86860337e+01] [-2.52643099e-01 2.55645993e-03 9.67556163e-01 -1.12642211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:251.17, Y:18.67, Z:-112.65 [[ 9.56641198e-01 1.48312735e-01 2.50680975e-01 2.51170653e+02] [-1.46939349e-01 9.88847088e-01 -2.42953469e-02 1.86650071e+01] [-2.51488462e-01 -1.35929695e-02 9.67764840e-01 -1.12649906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45592 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:251.20, Y:18.67, Z:-112.66 [[ 9.55891076e-01 1.53624245e-01 2.50343447e-01 2.51202984e+02] [-1.48524529e-01 9.88129280e-01 -3.92554416e-02 1.86735459e+01] [-2.53402278e-01 3.41783819e-04 9.67360930e-01 -1.12656187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:251.23, Y:18.66, Z:-112.66 [[ 9.55769476e-01 1.53317561e-01 2.50994890e-01 2.51231978e+02] [-1.50300657e-01 9.88145849e-01 -3.12649032e-02 1.86609166e+01] [-2.52813017e-01 -7.84265674e-03 9.67483370e-01 -1.12664582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51592 meters Centerline goodness : 0.851769 Centerline is valid? [True, False] Translation: X:251.25, Y:18.66, Z:-112.67 [[ 9.61216623e-01 1.46884516e-01 2.33425670e-01 2.51252790e+02] [-1.44235343e-01 9.89133606e-01 -2.84758781e-02 1.86557651e+01] [-2.35071840e-01 -6.29674426e-03 9.71957602e-01 -1.12668472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters Centerline goodness : 0.996678 Centerline is valid? [False, True] Translation: X:251.27, Y:18.65, Z:-112.67 [[ 9.66202996e-01 1.40786636e-01 2.15941876e-01 2.51273824e+02] [-1.38800197e-01 9.90019388e-01 -2.44155222e-02 1.86480843e+01] [-2.17224023e-01 -6.38242412e-03 9.76100911e-01 -1.12672583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57592 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:251.30, Y:18.60, Z:-112.68 [[ 9.74267578e-01 1.33446025e-01 1.81644831e-01 2.51298781e+02] [-1.40257668e-01 9.89796159e-01 2.51267022e-02 1.86018861e+01] [-1.76438297e-01 -4.99572117e-02 9.83043134e-01 -1.12677848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:251.34, Y:18.69, Z:-112.68 [[ 9.65942895e-01 1.52244214e-01 2.09227205e-01 2.51342690e+02] [-1.38598034e-01 9.87233261e-01 -7.84924991e-02 1.86898692e+01] [-2.18506085e-01 4.68207925e-02 9.74711703e-01 -1.12679250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63592 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:251.35, Y:18.57, Z:-112.69 [[ 9.74471358e-01 1.30141570e-01 1.82944648e-01 2.51354547e+02] [-1.42481121e-01 9.88214863e-01 5.59510096e-02 1.85663285e+01] [-1.73507068e-01 -8.05888150e-02 9.81529796e-01 -1.12691443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:251.40, Y:18.65, Z:-112.69 [[ 9.73442316e-01 1.51299957e-01 1.71809140e-01 2.51399200e+02] [-1.46030589e-01 9.88345987e-01 -4.29799626e-02 1.86542147e+01] [-1.76309741e-01 1.67491244e-02 9.84192228e-01 -1.12692883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69592 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:251.43, Y:18.63, Z:-112.70 [[ 9.73584582e-01 1.46864222e-01 1.74825518e-01 2.51425392e+02] [-1.45431676e-01 9.89144364e-01 -2.10488745e-02 1.86294638e+01] [-1.76019002e-01 -4.93230834e-03 9.84374412e-01 -1.12698826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:251.47, Y:18.69, Z:-112.70 [[ 9.64386346e-01 1.58396285e-01 2.11824438e-01 2.51465287e+02] [-1.41040506e-01 9.85457094e-01 -9.47728443e-02 1.86882933e+01] [-2.23755562e-01 6.15218110e-02 9.72701658e-01 -1.12699422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75591999999995 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:251.49, Y:18.62, Z:-112.71 [[ 9.64469851e-01 1.44485719e-01 2.21182691e-01 2.51487006e+02] [-1.41214987e-01 9.89505416e-01 -3.06163395e-02 1.86234432e+01] [-2.23285094e-01 -1.70577422e-03 9.74751690e-01 -1.12713180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:251.52, Y:18.62, Z:-112.72 [[ 9.64477371e-01 1.44348775e-01 2.21239310e-01 2.51519677e+02] [-1.41045032e-01 9.89525656e-01 -3.07453293e-02 1.86187068e+01] [-2.23360024e-01 -1.55153113e-03 9.74734781e-01 -1.12718909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81591999999995 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:251.54, Y:18.55, Z:-112.72 [[ 9.73633031e-01 1.30699573e-01 1.86966153e-01 2.51539570e+02] [-1.41000390e-01 9.89082121e-01 4.28421224e-02 1.85522398e+01] [-1.79325432e-01 -6.80748061e-02 9.81431714e-01 -1.12724677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:251.58, Y:18.63, Z:-112.73 [[ 9.72041520e-01 1.48800872e-01 1.81641363e-01 2.51583287e+02] [-1.43200321e-01 9.88730983e-01 -4.36430045e-02 1.86294808e+01] [-1.86088561e-01 1.64117109e-02 9.82395899e-01 -1.12725837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87591999999995 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:251.61, Y:18.61, Z:-112.73 [[ 9.72145954e-01 1.43699052e-01 1.85156222e-01 2.51610439e+02] [-1.40527754e-01 9.89615771e-01 -3.02088702e-02 1.86128525e+01] [-1.87574504e-01 3.34784286e-03 9.82244673e-01 -1.12734327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:251.62, Y:18.52, Z:-112.74 [[ 9.72828844e-01 1.22223397e-01 1.96635401e-01 2.51619278e+02] [-1.36529306e-01 9.88764065e-01 6.08717676e-02 1.85235701e+01] [-1.86986065e-01 -8.60643063e-02 9.78585278e-01 -1.12739152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93591999999995 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:251.69, Y:18.73, Z:-112.72 [[ 9.61991336e-01 1.67495556e-01 2.15680108e-01 2.51685728e+02] [-1.31623675e-01 9.76405837e-01 -1.71192435e-01 1.87295232e+01] [-2.39265288e-01 1.36297031e-01 9.61340336e-01 -1.12724545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:251.68, Y:18.54, Z:-112.75 [[ 9.71953500e-01 1.22753155e-01 2.00594261e-01 2.51683202e+02] [-1.33019987e-01 9.90366117e-01 3.84790472e-02 1.85359573e+01] [-1.93938335e-01 -6.40828905e-02 9.78918437e-01 -1.12747917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99591999999996 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:251.73, Y:18.65, Z:-112.75 [[ 9.61086932e-01 1.49871825e-01 2.32056773e-01 2.51733813e+02] [-1.30446883e-01 9.86699620e-01 -9.69921193e-02 1.86515270e+01] [-2.43506716e-01 6.29467756e-02 9.67854422e-01 -1.12748803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:251.76, Y:18.59, Z:-112.76 [[ 9.60908892e-01 1.35623356e-01 2.41371927e-01 2.51756327e+02] [-1.31245981e-01 9.90759762e-01 -3.41992286e-02 1.85866208e+01] [-2.43779807e-01 1.18324747e-03 9.69829885e-01 -1.12761852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05591999999996 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:251.79, Y:18.58, Z:-112.77 [[ 9.60782915e-01 1.35659240e-01 2.41852767e-01 2.51788364e+02] [-1.31232026e-01 9.90754688e-01 -3.43991916e-02 1.85805587e+01] [-2.44283331e-01 1.31132698e-03 9.69703014e-01 -1.12768965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:251.82, Y:18.57, Z:-112.78 [[ 9.60880579e-01 1.35632856e-01 2.41479279e-01 2.51819511e+02] [-1.31185743e-01 9.90758107e-01 -3.44771577e-02 1.85724594e+01] [-2.43923788e-01 1.44979260e-03 9.69793320e-01 -1.12776877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11591999999996 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:251.84, Y:18.50, Z:-112.79 [[ 9.69369796e-01 1.24080306e-01 2.11958193e-01 2.51837564e+02] [-1.36124173e-01 9.89751633e-01 4.31499033e-02 1.84994183e+01] [-2.04431915e-01 -7.06808466e-02 9.76325668e-01 -1.12786451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:251.88, Y:18.56, Z:-112.79 [[ 9.69034232e-01 1.42795268e-01 2.01450163e-01 2.51878919e+02] [-1.39381367e-01 9.89750095e-01 -3.11060238e-02 1.85597899e+01] [-2.03827111e-01 2.06440271e-03 9.79004723e-01 -1.12789831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17591999999996 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:251.91, Y:18.56, Z:-112.79 [[ 9.69540792e-01 1.44036669e-01 1.98101211e-01 2.51909819e+02] [-1.40395083e-01 9.89565862e-01 -3.23824855e-02 1.85551722e+01] [-2.00698461e-01 3.58370462e-03 9.79646510e-01 -1.12793496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:251.95, Y:18.60, Z:-112.80 [[ 9.58201544e-01 1.61114981e-01 2.36414389e-01 2.51949514e+02] [-1.41848235e-01 9.85176211e-01 -9.64723372e-02 1.86014327e+01] [-2.48452971e-01 5.89049787e-02 9.66851242e-01 -1.12795822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23591999999996 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:251.97, Y:18.54, Z:-112.81 [[ 9.58028789e-01 1.49790548e-01 2.44425103e-01 2.51971733e+02] [-1.45589235e-01 9.88716126e-01 -3.52731845e-02 1.85385719e+01] [-2.46950630e-01 -1.79293733e-03 9.69026404e-01 -1.12808456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:252.00, Y:18.53, Z:-112.82 [[ 9.57636242e-01 1.54307846e-01 2.43149989e-01 2.52002987e+02] [-1.50260188e-01 9.88018836e-01 -3.52229354e-02 1.85329653e+01] [-2.45671944e-01 -2.80500355e-03 9.69348971e-01 -1.12816097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29591999999997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:252.03, Y:18.48, Z:-112.82 [[ 9.66829865e-01 1.45123539e-01 2.10188415e-01 2.52026261e+02] [-1.52426483e-01 9.88134410e-01 1.88826471e-02 1.84835772e+01] [-2.04954089e-01 -5.02945881e-02 9.77478530e-01 -1.12822056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:252.06, Y:18.53, Z:-112.83 [[ 9.66127678e-01 1.58452489e-01 2.03691233e-01 2.52064471e+02] [-1.55639669e-01 9.87362479e-01 -2.98601513e-02 1.85257547e+01] [-2.05848496e-01 -2.85371737e-03 9.78579712e-01 -1.12827545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35591999999997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:252.10, Y:18.52, Z:-112.83 [[ 9.65391701e-01 1.63364433e-01 2.03300088e-01 2.52095187e+02] [-1.60781147e-01 9.86555863e-01 -2.92737396e-02 1.85243664e+01] [-2.05349182e-01 -4.42619615e-03 9.78678764e-01 -1.12833521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:252.13, Y:18.57, Z:-112.84 [[ 9.55227919e-01 1.76957726e-01 2.37119350e-01 2.52133961e+02] [-1.61357926e-01 9.83330342e-01 -8.38156187e-02 1.85667587e+01] [-2.47998473e-01 4.18019325e-02 9.67858128e-01 -1.12840149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.16, Y:18.52, Z:-112.85 [[ 9.54842994e-01 1.69113827e-01 2.44285428e-01 2.52158559e+02] [-1.65379879e-01 9.85577351e-01 -3.58717217e-02 1.85204085e+01] [-2.46828589e-01 -6.14803239e-03 9.69039653e-01 -1.12850493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.18, Y:18.48, Z:-112.86 [[ 9.63182644e-01 1.59533336e-01 2.16398495e-01 2.52181886e+02] [-1.65981049e-01 9.86057928e-01 1.18344396e-02 1.84782934e+01] [-2.11493464e-01 -4.73167761e-02 9.76233393e-01 -1.12856758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.21, Y:18.48, Z:-112.86 [[ 9.65535925e-01 1.60626092e-01 2.04791691e-01 2.52212732e+02] [-1.65403957e-01 9.86205689e-01 6.31420469e-03 1.84837853e+01] [-2.00952504e-01 -3.99699474e-02 9.78785214e-01 -1.12860588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:252.26, Y:18.58, Z:-112.86 [[ 9.52767172e-01 1.87789853e-01 2.38683236e-01 2.52260658e+02] [-1.64973981e-01 9.79872221e-01 -1.12401135e-01 1.85840317e+01] [-2.54986865e-01 6.77155875e-02 9.64570525e-01 -1.12862755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:252.28, Y:18.51, Z:-112.88 [[ 9.53309694e-01 1.70325543e-01 2.49378900e-01 2.52280523e+02] [-1.66372946e-01 9.85368266e-01 -3.70057089e-02 1.85098831e+01] [-2.52033072e-01 -6.21200124e-03 9.67698683e-01 -1.12878144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:18.51, Z:-112.89 [[ 9.53078019e-01 1.70508296e-01 2.50138385e-01 2.52312391e+02] [-1.66501196e-01 9.85337116e-01 -3.72574645e-02 1.85075322e+01] [-2.52823342e-01 -6.13906997e-03 9.67492982e-01 -1.12885597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.34, Y:18.50, Z:-112.89 [[ 9.52438738e-01 1.71870725e-01 2.51636454e-01 2.52344518e+02] [-1.67824578e-01 9.85098734e-01 -3.76217527e-02 1.85049115e+01] [-2.54352831e-01 -6.39836706e-03 9.67090326e-01 -1.12891922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:18.50, Z:-112.90 [[ 9.52084916e-01 1.72957669e-01 2.52229969e-01 2.52376449e+02] [-1.68892842e-01 9.84907391e-01 -3.78502162e-02 1.85009622e+01] [-2.54969646e-01 -6.56321638e-03 9.66926783e-01 -1.12899159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.41, Y:18.50, Z:-112.91 [[ 9.51871538e-01 1.73631975e-01 2.52571797e-01 2.52408321e+02] [-1.69542101e-01 9.84788427e-01 -3.80424878e-02 1.84973002e+01] [-2.55335175e-01 -6.60999162e-03 9.66830004e-01 -1.12906677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.43, Y:18.46, Z:-112.91 [[ 9.61055057e-01 1.64818231e-01 2.21829052e-01 2.52432486e+02] [-1.70202555e-01 9.85395152e-01 5.24250911e-03 1.84586441e+01] [-2.17725212e-01 -4.27942114e-02 9.75071478e-01 -1.12913278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.47, Y:18.53, Z:-112.92 [[ 9.51723731e-01 1.84131182e-01 2.45596512e-01 2.52474858e+02] [-1.70575255e-01 9.82443073e-01 -7.55624986e-02 1.85251877e+01] [-2.55198004e-01 3.00219353e-02 9.66422610e-01 -1.12918665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.50, Y:18.49, Z:-112.93 [[ 9.51789178e-01 1.75709100e-01 2.51443182e-01 2.52501019e+02] [-1.71661498e-01 9.84418102e-01 -3.81225789e-02 1.84853710e+01] [-2.54223704e-01 -6.87845526e-03 9.67120983e-01 -1.12929673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.53, Y:18.48, Z:-112.94 [[ 9.51100890e-01 1.76879254e-01 2.53220904e-01 2.52533025e+02] [-1.72791293e-01 9.84206539e-01 -3.84793124e-02 1.84821996e+01] [-2.56027862e-01 -7.15665911e-03 9.66642910e-01 -1.12936771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.56, Y:18.48, Z:-112.94 [[ 9.51083079e-01 1.76916975e-01 2.53261446e-01 2.52564928e+02] [-1.72791901e-01 9.84200705e-01 -3.86255329e-02 1.84784134e+01] [-2.56093606e-01 -7.02543596e-03 9.66626457e-01 -1.12944861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.59, Y:18.44, Z:-112.95 [[ 9.60118830e-01 1.67460732e-01 2.23894474e-01 2.52589652e+02] [-1.72673082e-01 9.84972002e-01 3.76313734e-03 1.84415775e+01] [-2.19899610e-01 -4.22736080e-02 9.74606127e-01 -1.12952639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:18.48, Z:-112.96 [[ 9.59493949e-01 1.76367869e-01 2.19694644e-01 2.52626910e+02] [-1.72533756e-01 9.84320580e-01 -3.66755790e-02 1.84762855e+01] [-2.22718353e-01 -2.71474585e-03 9.74879052e-01 -1.12957618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89592 meters Centerline goodness : 0.888867 Centerline is valid? [True, False] Translation: X:252.63, Y:18.47, Z:-112.96 [[ 9.62792317e-01 1.64342358e-01 2.14528653e-01 2.52627478e+02] [-1.61864975e-01 9.86381133e-01 -2.91888630e-02 1.84700158e+01] [-2.16403982e-01 -6.62186187e-03 9.76281449e-01 -1.12959909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:252.66, Y:18.46, Z:-112.97 [[ 9.69313940e-01 1.50777574e-01 1.94156148e-01 2.52660918e+02] [-1.48921159e-01 9.88552699e-01 -2.42084641e-02 1.84626219e+01] [-1.95583677e-01 -5.44835685e-03 9.80671882e-01 -1.12965073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.69, Y:18.46, Z:-112.97 [[ 9.69772967e-01 1.48119620e-01 1.93909696e-01 2.52693459e+02] [-1.45934059e-01 9.88963321e-01 -2.55890522e-02 1.84591169e+01] [-1.95559817e-01 -3.48245792e-03 9.80685592e-01 -1.12971184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.70, Y:18.37, Z:-112.98 [[ 9.80685490e-01 8.01615415e-02 1.78409914e-01 2.52697531e+02] [-9.07096194e-02 9.94531398e-01 5.17596662e-02 1.83653836e+01] [-1.73285127e-01 -6.69434490e-02 9.82593934e-01 -1.12980247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:18.45, Z:-112.98 [[ 9.77427326e-01 1.43325834e-01 1.55220898e-01 2.52751186e+02] [-1.43002652e-01 9.89632867e-01 -1.33052701e-02 1.84470286e+01] [-1.55518692e-01 -9.19206556e-03 9.87790181e-01 -1.12982861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.78, Y:18.46, Z:-112.98 [[ 9.77646047e-01 1.43330268e-01 1.53833160e-01 2.52783001e+02] [-1.41016312e-01 9.89668238e-01 -2.59071172e-02 1.84565345e+01] [-1.55957066e-01 3.63500584e-03 9.87757146e-01 -1.12983796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:18.50, Z:-112.99 [[ 9.70291197e-01 1.49979958e-01 1.89844687e-01 2.52820522e+02] [-1.37257453e-01 9.87415726e-01 -7.85530082e-02 1.84953841e+01] [-1.99237007e-01 5.01616941e-02 9.78666654e-01 -1.12985294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:18.44, Z:-113.00 [[ 9.70961314e-01 1.37249352e-01 1.95950868e-01 2.52845394e+02] [-1.34730388e-01 9.90536055e-01 -2.61924715e-02 1.84407674e+01] [-1.97691300e-01 -9.68659935e-04 9.80263848e-01 -1.12996831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:18.44, Z:-113.00 [[ 9.71333822e-01 1.36200782e-01 1.94833142e-01 2.52878071e+02] [-1.33668599e-01 9.90681045e-01 -2.61490528e-02 1.84362573e+01] [-1.96579022e-01 -6.43613688e-04 9.80487773e-01 -1.13002676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.90, Y:18.38, Z:-113.01 [[ 9.79660109e-01 1.21873989e-01 1.59413929e-01 2.52899135e+02] [-1.29087516e-01 9.90991568e-01 3.56668613e-02 1.83770515e+01] [-1.53630997e-01 -5.55197494e-02 9.86567319e-01 -1.13009323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.95, Y:18.47, Z:-113.01 [[ 9.70993764e-01 1.42397095e-01 1.92078570e-01 2.52946473e+02] [-1.28878933e-01 9.88331129e-01 -8.11899040e-02 1.84747499e+01] [-2.01398436e-01 5.40800093e-02 9.78015349e-01 -1.13006956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.97, Y:18.42, Z:-113.02 [[ 9.71156868e-01 1.31443392e-01 1.98939619e-01 2.52970980e+02] [-1.28657151e-01 9.91323523e-01 -2.69260108e-02 1.84181064e+01] [-2.00752770e-01 5.54375710e-04 9.79641780e-01 -1.13017068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.99, Y:18.37, Z:-113.02 [[ 9.78705448e-01 1.21935234e-01 1.65128569e-01 2.52994536e+02] [-1.27116422e-01 9.91662486e-01 2.11407210e-02 1.83695384e+01] [-1.61174008e-01 -4.16810917e-02 9.86045448e-01 -1.13023111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.02, Y:18.36, Z:-113.03 [[ 9.78785331e-01 1.22770490e-01 1.64032565e-01 2.53022271e+02] [-1.27908149e-01 9.91561671e-01 2.10940314e-02 1.83638924e+01] [-1.60058680e-01 -4.16276303e-02 9.86229364e-01 -1.13025475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:18.44, Z:-113.02 [[ 9.77591309e-01 1.40033034e-01 1.57181365e-01 2.53065086e+02] [-1.29942589e-01 9.88846444e-01 -7.27848490e-02 1.84423264e+01] [-1.65620518e-01 5.07292823e-02 9.84883944e-01 -1.13024646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:18.39, Z:-113.04 [[ 9.77303472e-01 1.31005848e-01 1.66479401e-01 2.53086828e+02] [-1.29449228e-01 9.91379972e-01 -2.02150758e-02 1.83871333e+01] [-1.67692637e-01 -1.79436609e-03 9.85837695e-01 -1.13035920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.12, Y:18.38, Z:-113.04 [[ 9.77469625e-01 1.32969957e-01 1.63927185e-01 2.53116007e+02] [-1.31592862e-01 9.91116322e-01 -1.92809322e-02 1.83784922e+01] [-1.65034694e-01 -2.72512184e-03 9.86283997e-01 -1.13041430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:18.31, Z:-113.05 [[ 9.76522426e-01 1.22510869e-01 1.77186451e-01 2.53132389e+02] [-1.32061441e-01 9.90303771e-01 4.31070373e-02 1.83127873e+01] [-1.70187330e-01 -6.54944867e-02 9.83232803e-01 -1.13047157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.18, Y:18.42, Z:-113.05 [[ 9.76703955e-01 1.48489153e-01 1.54920481e-01 2.53183525e+02] [-1.37479565e-01 9.87303397e-01 -7.95699207e-02 1.84191856e+01] [-1.64768788e-01 5.64178558e-02 9.84717356e-01 -1.13047456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.21, Y:18.41, Z:-113.06 [[ 9.67732216e-01 1.47728305e-01 2.04134039e-01 2.53212561e+02] [-1.34510715e-01 9.87896203e-01 -7.72525723e-02 1.84052330e+01] [-2.13075633e-01 4.73015875e-02 9.75890022e-01 -1.13055265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.24, Y:18.35, Z:-113.06 [[ 9.67197784e-01 1.42476715e-01 2.10306521e-01 2.53237382e+02] [-1.39510329e-01 9.89797251e-01 -2.89528833e-02 1.83536931e+01] [-2.12285928e-01 -1.33676736e-03 9.77206681e-01 -1.13064862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.27, Y:18.35, Z:-113.07 [[ 9.66994261e-01 1.44136007e-01 2.10111662e-01 2.53269601e+02] [-1.41188924e-01 9.89556621e-01 -2.90410404e-02 1.83479405e+01] [-2.12103246e-01 -1.58292000e-03 9.77245981e-01 -1.13072209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.30, Y:18.34, Z:-113.08 [[ 9.66651584e-01 1.46555806e-01 2.10014547e-01 2.53301465e+02] [-1.43642901e-01 9.89200390e-01 -2.91428528e-02 1.83431220e+01] [-2.12017526e-01 -1.99611386e-03 9.77263825e-01 -1.13078728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.33, Y:18.34, Z:-113.09 [[ 9.65932424e-01 1.50675682e-01 2.10407677e-01 2.53333576e+02] [-1.47823203e-01 9.88579314e-01 -2.93127972e-02 1.83389023e+01] [-2.12421402e-01 -2.78895549e-03 9.77174176e-01 -1.13085360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61591999999996 meters Centerline goodness : 0.844595 Centerline is valid? [True, False] Translation: X:253.37, Y:18.33, Z:-113.09 [[ 9.71874595e-01 1.39698105e-01 1.89589584e-01 2.53367626e+02] [-1.37918206e-01 9.90185372e-01 -2.26163257e-02 1.83265282e+01] [-1.90888291e-01 -4.16762289e-03 9.81602919e-01 -1.13091397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:253.38, Y:18.31, Z:-113.09 [[ 9.75694135e-01 1.25040658e-01 1.79960521e-01 2.53381063e+02] [-1.24808973e-01 9.92100077e-01 -1.26553518e-02 1.83134952e+01] [-1.80121280e-01 -1.01129353e-02 9.83592422e-01 -1.13094531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.42, Y:18.35, Z:-113.10 [[ 9.67471280e-01 1.35222077e-01 2.13809057e-01 2.53415870e+02] [-1.24802222e-01 9.90269568e-01 -6.15677472e-02 1.83522975e+01] [-2.20053921e-01 3.28811817e-02 9.74933382e-01 -1.13102485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:253.43, Y:18.25, Z:-113.10 [[ 9.78063896e-01 1.00799769e-01 1.82292133e-01 2.53433970e+02] [-1.08726994e-01 9.93489945e-01 3.40025121e-02 1.82491897e+01] [-1.77677956e-01 -5.30767052e-02 9.82656302e-01 -1.13102421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:253.47, Y:18.29, Z:-113.11 [[ 9.77408507e-01 1.10402108e-01 1.80233141e-01 2.53470284e+02] [-1.08835902e-01 9.93885947e-01 -1.85868554e-02 1.82935864e+01] [-1.81183214e-01 -1.44888590e-03 9.83448292e-01 -1.13107315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.50, Y:18.29, Z:-113.11 [[ 9.77465774e-01 1.06654566e-01 1.82168779e-01 2.53499597e+02] [-1.05424197e-01 9.94291230e-01 -1.64526299e-02 1.82878473e+01] [-1.82883567e-01 -3.12311458e-03 9.83129619e-01 -1.13111848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.53, Y:18.29, Z:-113.12 [[ 9.77407804e-01 1.05418748e-01 1.83196267e-01 2.53529671e+02] [-1.03871876e-01 9.94426948e-01 -1.80465574e-02 1.82850951e+01] [-1.84077751e-01 -1.39009387e-03 9.82910703e-01 -1.13117455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.55, Y:18.25, Z:-113.12 [[ 9.76065470e-01 9.54860349e-02 1.95393491e-01 2.53552263e+02] [-1.01052879e-01 9.94705305e-01 1.86994975e-02 1.82456551e+01] [-1.92573401e-01 -3.79970086e-02 9.80546640e-01 -1.13122071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.59, Y:18.32, Z:-113.13 [[ 9.76378837e-01 1.10660754e-01 1.85576305e-01 2.53592464e+02] [-1.00578580e-01 9.92937585e-01 -6.29198018e-02 1.83157239e+01] [-1.91228441e-01 4.27685615e-02 9.80613346e-01 -1.13127287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:253.62, Y:18.28, Z:-113.13 [[ 9.75827553e-01 1.02282245e-01 1.93129309e-01 2.53617568e+02] [-9.80912770e-02 9.94689319e-01 -3.11650554e-02 1.82812350e+01] [-1.95291293e-01 1.14674191e-02 9.80678239e-01 -1.13133302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.64, Y:18.25, Z:-113.14 [[ 9.74892893e-01 9.53229495e-02 2.01239615e-01 2.53644628e+02] [-9.62430745e-02 9.95344121e-01 -5.22982544e-03 1.82508221e+01] [-2.00801190e-01 -1.42693996e-02 9.79528083e-01 -1.13140187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.69, Y:18.32, Z:-113.15 [[ 9.64496125e-01 1.13986239e-01 2.38231741e-01 2.53686060e+02] [-9.48565914e-02 9.91385756e-01 -9.03134005e-02 1.83198654e+01] [-2.46474039e-01 6.45090739e-02 9.67000066e-01 -1.13147534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:253.70, Y:18.22, Z:-113.15 [[ 9.74450156e-01 8.81469401e-02 2.06584150e-01 2.53703513e+02] [-9.42112589e-02 9.95357609e-01 1.96842224e-02 1.82167221e+01] [-2.03890002e-01 -3.86438464e-02 9.78230811e-01 -1.13151546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:253.74, Y:18.26, Z:-113.16 [[ 9.74064945e-01 9.95560110e-02 2.03189772e-01 2.53738803e+02] [-9.49700163e-02 9.94958518e-01 -3.22217864e-02 1.82570986e+01] [-2.05373267e-01 1.20891766e-02 9.78609050e-01 -1.13159916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:253.77, Y:18.25, Z:-113.17 [[ 9.73457147e-01 9.90026575e-02 2.06348389e-01 2.53768058e+02] [-9.51402543e-02 9.95053449e-01 -2.85826090e-02 1.82482160e+01] [-2.08157431e-01 8.19190680e-03 9.78061029e-01 -1.13166570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.80, Y:18.26, Z:-113.18 [[ 9.63712337e-01 1.05966610e-01 2.45009405e-01 2.53802577e+02] [-9.56688567e-02 9.93969548e-01 -5.35911091e-02 1.82601515e+01] [-2.49210756e-01 2.82066434e-02 9.68038421e-01 -1.13176944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:253.81, Y:18.14, Z:-113.18 [[ 9.72640320e-01 7.41384079e-02 2.20168810e-01 2.53814011e+02] [-9.19939052e-02 9.93155133e-01 7.19722336e-02 1.81419081e+01] [-2.13325878e-01 -9.02572850e-02 9.72803008e-01 -1.13175374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.87, Y:18.31, Z:-113.19 [[ 9.63412864e-01 1.18493956e-01 2.40405563e-01 2.53869359e+02] [-9.09263805e-02 9.88266547e-01 -1.22725814e-01 1.83104521e+01] [-2.52127043e-01 9.63764201e-02 9.62882931e-01 -1.13187891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:253.89, Y:18.22, Z:-113.20 [[ 9.62616775e-01 9.65250579e-02 2.53084684e-01 2.53890589e+02] [-9.18622201e-02 9.95313495e-01 -3.02056157e-02 1.82181673e+01] [-2.54814200e-01 5.82751139e-03 9.66972473e-01 -1.13197389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters Centerline goodness : 0.972562 Centerline is valid? [True, True] Translation: X:253.94, Y:18.19, Z:-113.22 [[ 9.58962234e-01 1.68722795e-01 2.27868499e-01 2.53944508e+02] [-1.82010066e-01 9.82544346e-01 3.84570517e-02 1.81904327e+01] [-2.17402324e-01 -7.83532206e-02 9.72932167e-01 -1.13219855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:253.96, Y:18.28, Z:-113.21 [[ 9.73636306e-01 1.09168959e-01 2.00285998e-01 2.53956537e+02] [-9.01348988e-02 9.90709514e-01 -1.01834961e-01 1.82770378e+01] [-2.09542460e-01 8.10974569e-02 9.74430685e-01 -1.13207091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.98, Y:18.23, Z:-113.22 [[ 9.63906255e-01 1.01924056e-01 2.45959790e-01 2.53983094e+02] [-8.96648766e-02 9.94128677e-01 -6.05671838e-02 1.82292529e+01] [-2.50688934e-01 3.63271331e-02 9.67385858e-01 -1.13219325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:254.00, Y:18.11, Z:-113.22 [[ 9.70322142e-01 7.46207273e-02 2.30014538e-01 2.53998024e+02] [-9.08960898e-02 9.93991668e-01 6.09792213e-02 1.81136092e+01] [-2.24082220e-01 -8.00769107e-02 9.71274857e-01 -1.13217872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:254.05, Y:18.27, Z:-113.23 [[ 9.62814542e-01 1.17429299e-01 2.43307455e-01 2.54050647e+02] [-9.12452823e-02 9.89018405e-01 -1.16262173e-01 1.82721760e+01] [-2.54288136e-01 8.97382534e-02 9.62956172e-01 -1.13230939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:254.07, Y:18.19, Z:-113.24 [[ 9.62130107e-01 9.92636574e-02 2.53874740e-01 2.54073107e+02] [-9.45110164e-02 9.95044741e-01 -3.08809218e-02 1.81882312e+01] [-2.55682078e-01 5.71750484e-03 9.66744012e-01 -1.13239373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:254.10, Y:18.18, Z:-113.25 [[ 9.61895226e-01 1.01649748e-01 2.53820612e-01 2.54104663e+02] [-9.69454132e-02 9.94806555e-01 -3.10081426e-02 1.81831151e+01] [-2.55654378e-01 5.21984022e-03 9.66754153e-01 -1.13246669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39592 meters Centerline goodness : 0.937211 Centerline is valid? [True, False] Translation: X:254.14, Y:18.16, Z:-113.26 [[ 9.66840099e-01 8.85216393e-02 2.39549873e-01 2.54140186e+02] [-8.93849026e-02 9.95970549e-01 -7.28047823e-03 1.81564770e+01] [-2.39229099e-01 -1.43730838e-02 9.70856762e-01 -1.13255913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:254.19, Y:18.15, Z:-113.27 [[ 9.72789043e-01 8.16494436e-02 2.16829072e-01 2.54188577e+02] [-8.36631776e-02 9.96494085e-01 1.08079841e-04 1.81466143e+01] [-2.16060063e-01 -1.82457481e-02 9.76209579e-01 -1.13266769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:254.22, Y:18.17, Z:-113.27 [[ 9.71947729e-01 9.26447323e-02 2.16181787e-01 2.54222872e+02] [-9.00152251e-02 9.95697371e-01 -2.20001083e-02 1.81689173e+01] [-2.17289831e-01 1.92330310e-03 9.76105235e-01 -1.13273261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:254.25, Y:18.17, Z:-113.28 [[ 9.71806996e-01 9.70647011e-02 2.14871139e-01 2.54254907e+02] [-9.45488303e-02 9.95277524e-01 -2.19810844e-02 1.81677720e+01] [-2.15990002e-01 1.04555674e-03 9.76395015e-01 -1.13280006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:254.28, Y:18.14, Z:-113.28 [[ 9.79198102e-01 9.28174705e-02 1.80432798e-01 2.54282709e+02] [-9.70410806e-02 9.95171752e-01 1.47041850e-02 1.81359236e+01] [-1.78196819e-01 -3.19077038e-02 9.83477398e-01 -1.13282454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:254.32, Y:18.20, Z:-113.29 [[ 9.69689535e-01 1.14317340e-01 2.15948491e-01 2.54321388e+02] [-1.04908421e-01 9.92982977e-01 -5.45804878e-02 1.81978968e+01] [-2.20672672e-01 3.02713125e-02 9.74878054e-01 -1.13289064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:254.35, Y:18.17, Z:-113.30 [[ 9.69509047e-01 1.11048633e-01 2.18450015e-01 2.54350716e+02] [-1.08721933e-01 9.93813414e-01 -2.26812666e-02 1.81683025e+01] [-2.19617279e-01 -1.76061479e-03 9.75584518e-01 -1.13295213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:254.38, Y:18.13, Z:-113.30 [[ 9.78723048e-01 1.03228774e-01 1.77327426e-01 2.54377327e+02] [-1.10334530e-01 9.93421418e-01 3.06623335e-02 1.81252456e+01] [-1.72995628e-01 -4.95752707e-02 9.83674136e-01 -1.13297533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:254.41, Y:18.17, Z:-113.30 [[ 9.78194480e-01 1.13306864e-01 1.74060661e-01 2.54413200e+02] [-1.11860724e-01 9.93558522e-01 -1.81284890e-02 1.81672651e+01] [-1.74993535e-01 -1.73736372e-03 9.84568050e-01 -1.13304603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:254.44, Y:18.18, Z:-113.31 [[ 9.77476397e-01 1.16825621e-01 1.75760255e-01 2.54443936e+02] [-1.13382771e-01 9.93112146e-01 -2.95400185e-02 1.81769647e+01] [-1.78000675e-01 8.94648619e-03 9.83989695e-01 -1.13313008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:254.47, Y:18.16, Z:-113.32 [[ 9.77338800e-01 1.13897692e-01 1.78426978e-01 2.54472398e+02] [-1.13663258e-01 9.93451963e-01 -1.15698484e-02 1.81594206e+01] [-1.78576410e-01 -8.97292989e-03 9.83885132e-01 -1.13317125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:254.51, Y:18.21, Z:-113.32 [[ 9.68159315e-01 1.27339644e-01 2.15527621e-01 2.54508814e+02] [-1.15108240e-01 9.90992831e-01 -6.84346571e-02 1.82078332e+01] [-2.22300772e-01 4.14466456e-02 9.74096783e-01 -1.13324688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:254.54, Y:18.17, Z:-113.33 [[ 9.67503730e-01 1.18589872e-01 2.23322579e-01 2.54537515e+02] [-1.16253877e-01 9.92938474e-01 -2.36267485e-02 1.81689284e+01] [-2.24547474e-01 -3.10314832e-03 9.74458210e-01 -1.13330875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:254.57, Y:18.17, Z:-113.34 [[ 9.67029714e-01 1.18706436e-01 2.25304938e-01 2.54569646e+02] [-1.16302218e-01 9.92924768e-01 -2.39624569e-02 1.81689841e+01] [-2.26555351e-01 -3.03105611e-03 9.73993576e-01 -1.13337080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:254.60, Y:18.17, Z:-113.34 [[ 9.67188908e-01 1.18408096e-01 2.24777976e-01 2.54602169e+02] [-1.15978690e-01 9.92960988e-01 -2.40295681e-02 1.81680552e+01] [-2.26041056e-01 -2.82832341e-03 9.74113670e-01 -1.13343482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:254.62, Y:18.09, Z:-113.35 [[ 9.76651310e-01 9.81625703e-02 1.91092459e-01 2.54623855e+02] [-1.13125224e-01 9.91181377e-01 6.90084105e-02 1.80865388e+01] [-1.82633244e-01 -8.90145318e-02 9.79143254e-01 -1.13349242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87591999999995 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:254.67, Y:18.25, Z:-113.35 [[ 9.67927111e-01 1.31593527e-01 2.14009933e-01 2.54673076e+02] [-1.09996634e-01 9.87835167e-01 -1.09920080e-01 1.82467826e+01] [-2.25871309e-01 8.28542535e-02 9.70627284e-01 -1.13351914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:254.68, Y:18.05, Z:-113.35 [[ 9.77385961e-01 8.39744874e-02 1.94074646e-01 2.54679143e+02] [-1.06463527e-01 9.88378976e-01 1.08501235e-01 1.80468388e+01] [-1.82707964e-01 -1.26709455e-01 9.74967955e-01 -1.13354776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93591999999995 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:254.72, Y:18.17, Z:-113.36 [[ 9.73590526e-01 1.12007664e-01 1.98936602e-01 2.54717502e+02] [-1.08444503e-01 9.93686605e-01 -2.87527491e-02 1.81716805e+01] [-2.00901165e-01 6.41982319e-03 9.79590480e-01 -1.13363730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:254.76, Y:18.27, Z:-113.36 [[ 9.64685570e-01 1.34880570e-01 2.26249824e-01 2.54762185e+02] [-1.04072401e-01 9.84233699e-01 -1.43013852e-01 1.82713234e+01] [-2.41972491e-01 1.14417037e-01 9.63513391e-01 -1.13360175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99591999999996 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:254.76, Y:18.03, Z:-113.37 [[ 9.74364135e-01 7.44267149e-02 2.12309202e-01 2.54761124e+02] [-1.01237637e-01 9.87799432e-01 1.18335219e-01 1.80303010e+01] [-2.00911608e-01 -1.36795275e-01 9.70011123e-01 -1.13367371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:254.83, Y:18.28, Z:-113.37 [[ 9.64025433e-01 1.35247562e-01 2.28829767e-01 2.54826519e+02] [-1.00067110e-01 9.82201877e-01 -1.58952968e-01 1.82809640e+01] [-2.46255028e-01 1.30336370e-01 9.60401422e-01 -1.13368462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05591999999996 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:254.84, Y:18.16, Z:-113.39 [[ 9.63799497e-01 1.06514014e-01 2.44428506e-01 2.54842203e+02] [-1.03061013e-01 9.94310921e-01 -2.69113254e-02 1.81551911e+01] [-2.45904366e-01 7.46072497e-04 9.69293808e-01 -1.13388080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:254.87, Y:18.15, Z:-113.40 [[ 9.63737434e-01 1.06816549e-01 2.44541168e-01 2.54874006e+02] [-1.03336153e-01 9.94278420e-01 -2.70566704e-02 1.81512272e+01] [-2.46032106e-01 8.05582420e-04 9.69261344e-01 -1.13395798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11591999999996 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:254.91, Y:18.15, Z:-113.40 [[ 9.63289798e-01 1.08087528e-01 2.45743466e-01 2.54905454e+02] [-1.04578830e-01 9.94141188e-01 -2.73233840e-02 1.81484205e+01] [-2.47257018e-01 6.20772896e-04 9.68949731e-01 -1.13403779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:254.94, Y:18.15, Z:-113.41 [[ 9.63041785e-01 1.09558661e-01 2.46063852e-01 2.54938174e+02] [-1.06053462e-01 9.93980258e-01 -2.74938022e-02 1.81451765e+01] [-2.47594795e-01 3.81756944e-04 9.68863598e-01 -1.13410389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17591999999996 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:254.96, Y:18.06, Z:-113.41 [[ 9.74858501e-01 9.22039393e-02 2.02852995e-01 2.54958957e+02] [-1.07384296e-01 9.92082398e-01 6.51239513e-02 1.80605738e+01] [-1.95242200e-01 -8.52698635e-02 9.77041214e-01 -1.13412662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:255.00, Y:18.15, Z:-113.42 [[ 9.73438471e-01 1.17240417e-01 1.96652558e-01 2.55000069e+02] [-1.12853236e-01 9.93049852e-01 -3.34086544e-02 1.81483787e+01] [-1.99202638e-01 1.03283919e-02 9.79903890e-01 -1.13420664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23591999999996 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:255.03, Y:18.15, Z:-113.43 [[ 9.71740202e-01 1.21322182e-01 2.02489277e-01 2.55029306e+02] [-1.16033611e-01 9.92524503e-01 -3.78326919e-02 1.81483888e+01] [-2.05565514e-01 1.32679857e-02 9.78553412e-01 -1.13427608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:255.06, Y:18.13, Z:-113.43 [[ 9.71942475e-01 1.18351196e-01 2.03275231e-01 2.55057998e+02] [-1.17062056e-01 9.92954184e-01 -1.83973750e-02 1.81263267e+01] [-2.04020343e-01 -5.91462627e-03 9.78948782e-01 -1.13434617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29591999999997 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:255.10, Y:18.19, Z:-113.44 [[ 9.60010214e-01 1.35846564e-01 2.44798080e-01 2.55095926e+02] [-1.16192608e-01 9.88855327e-01 -9.30828719e-02 1.81864475e+01] [-2.54714874e-01 6.09167805e-02 9.65095580e-01 -1.13439329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:255.11, Y:18.06, Z:-113.45 [[ 9.71254115e-01 1.05570787e-01 2.13354758e-01 2.55111361e+02] [-1.16983870e-01 9.92263853e-01 4.15598372e-02 1.80625406e+01] [-2.07316709e-01 -6.53242282e-02 9.76090430e-01 -1.13445214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35591999999997 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:255.16, Y:18.18, Z:-113.45 [[ 9.58625266e-01 1.38191941e-01 2.48878658e-01 2.55157002e+02] [-1.18537170e-01 9.88643535e-01 -9.23737000e-02 1.81787605e+01] [-2.58817577e-01 5.90503908e-02 9.64119553e-01 -1.13450451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:255.17, Y:18.07, Z:-113.46 [[ 9.69748369e-01 1.12222332e-01 2.16781571e-01 2.55172908e+02] [-1.20952821e-01 9.92280286e-01 2.73906766e-02 1.80690509e+01] [-2.12034233e-01 -5.27824065e-02 9.75835796e-01 -1.13458044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41591999999997 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:255.21, Y:18.11, Z:-113.46 [[ 9.69736081e-01 1.25131561e-01 2.09652153e-01 2.55207866e+02] [-1.24804951e-01 9.92070295e-01 -1.48409679e-02 1.81063158e+01] [-2.09846747e-01 -1.17738047e-02 9.77663398e-01 -1.13464870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:255.24, Y:18.14, Z:-113.47 [[ 9.68026958e-01 1.38519160e-01 2.09132137e-01 2.55237674e+02] [-1.30677379e-01 9.90116002e-01 -5.09286189e-02 1.81407359e+01] [-2.14119665e-01 2.19714364e-02 9.76560303e-01 -1.13472181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47592 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:255.27, Y:18.10, Z:-113.48 [[ 9.67749361e-01 1.28614506e-01 2.16609058e-01 2.55265776e+02] [-1.29746329e-01 9.91505927e-01 -9.04910319e-03 1.80992566e+01] [-2.15933011e-01 -1.93469663e-02 9.76216487e-01 -1.13478562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters Centerline goodness : 0.777557 Centerline is valid? [True, False] Translation: X:255.27, Y:18.10, Z:-113.48 [[ 9.68585614e-01 1.25590480e-01 2.14636760e-01 2.55269512e+02] [-1.25485087e-01 9.91994268e-01 -1.41727200e-02 1.81038032e+01] [-2.14698394e-01 -1.32062197e-02 9.76591110e-01 -1.13480349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53592 meters Centerline goodness : 0.993931 Centerline is valid? [False, True] Translation: X:255.31, Y:18.10, Z:-113.49 [[ 9.74195201e-01 1.16595234e-01 1.93259569e-01 2.55307303e+02] [-1.17172369e-01 9.93075376e-01 -8.48132286e-03 1.80993198e+01] [-1.92910201e-01 -1.43822175e-02 9.81111006e-01 -1.13486579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:255.33, Y:18.07, Z:-113.49 [[ 9.81725922e-01 1.08514306e-01 1.56329331e-01 2.55334381e+02] [-1.14366800e-01 9.93017710e-01 2.89147590e-02 1.80683538e+01] [-1.52100129e-01 -4.62652538e-02 9.87281660e-01 -1.13488630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59592 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:255.37, Y:18.09, Z:-113.50 [[ 9.78904894e-01 1.28223248e-01 1.59072331e-01 2.55366053e+02] [-1.32297142e-01 9.91092848e-01 1.52457424e-02 1.80897608e+01] [-1.55700591e-01 -3.59689467e-02 9.87149209e-01 -1.13501885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:255.41, Y:18.18, Z:-113.49 [[ 9.73928277e-01 1.27936600e-01 1.87339096e-01 2.55407906e+02] [-1.12609687e-01 9.89524749e-01 -9.03317757e-02 1.81768408e+01] [-1.96933412e-01 6.68804737e-02 9.78133035e-01 -1.13493893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65592 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:255.43, Y:18.08, Z:-113.50 [[ 9.81596287e-01 1.06277890e-01 1.58662343e-01 2.55426441e+02] [-1.11178628e-01 9.93549933e-01 2.23123967e-02 1.80760204e+01] [-1.55267646e-01 -3.95416273e-02 9.87080756e-01 -1.13504539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:255.46, Y:18.10, Z:-113.52 [[ 9.80217449e-01 1.16675402e-01 1.59876841e-01 2.55456940e+02] [-1.18339258e-01 9.92972821e-01 8.92575202e-04 1.80977594e+01] [-1.58649216e-01 -1.97946244e-02 9.87136566e-01 -1.13515553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71592 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:255.50, Y:18.16, Z:-113.51 [[ 9.74263412e-01 1.21320673e-01 1.89979204e-01 2.55498119e+02] [-1.09581350e-01 9.91427125e-01 -7.11630830e-02 1.81604271e+01] [-1.96984089e-01 4.85134104e-02 9.79205656e-01 -1.13510988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:255.52, Y:18.08, Z:-113.52 [[ 9.81715357e-01 1.03597998e-01 1.59694745e-01 2.55518385e+02] [-1.08016056e-01 9.93963454e-01 1.92141349e-02 1.80793114e+01] [-1.56740195e-01 -3.61124078e-02 9.86979435e-01 -1.13519319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77592 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:255.56, Y:18.14, Z:-113.52 [[ 9.74222901e-01 1.15534826e-01 1.93756143e-01 2.55557335e+02] [-1.07299256e-01 9.92839154e-01 -5.25098526e-02 1.81410200e+01] [-1.98435402e-01 3.03664109e-02 9.79643441e-01 -1.13523688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters Centerline goodness : 0.796239 Centerline is valid? [True, False] Translation: X:255.57, Y:18.13, Z:-113.53 [[ 9.77436700e-01 1.03359890e-01 1.84212461e-01 2.55573254e+02] [-9.80281431e-02 9.94463826e-01 -3.78441680e-02 1.81268277e+01] [-1.87104198e-01 1.89322732e-02 9.82157619e-01 -1.13527865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83592 meters Centerline goodness : 0.851646 Centerline is valid? [False, False] Translation: X:255.61, Y:18.12, Z:-113.54 [[ 9.82253059e-01 9.34163114e-02 1.62641695e-01 2.55612506e+02] [-9.00813680e-02 9.95546990e-01 -2.77765694e-02 1.81167170e+01] [-1.64512235e-01 1.26326338e-02 9.86294145e-01 -1.13535250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters Centerline goodness : 0.993492 Centerline is valid? [False, True] Translation: X:255.65, Y:18.11, Z:-113.54 [[ 9.86356860e-01 8.29337766e-02 1.42204547e-01 2.55647838e+02] [-8.11023255e-02 9.96531520e-01 -1.86371481e-02 1.81063894e+01] [-1.43256962e-01 6.84975950e-03 9.89661823e-01 -1.13540181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89592 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:255.68, Y:18.17, Z:-113.54 [[ 9.86302655e-01 9.23578083e-02 1.36664213e-01 2.55683989e+02] [-8.09461519e-02 9.92928653e-01 -8.68355327e-02 1.81682146e+01] [-1.43717752e-01 7.45836743e-02 9.86804177e-01 -1.13537683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:255.71, Y:18.09, Z:-113.55 [[ 9.86912905e-01 7.79368716e-02 1.41169267e-01 2.55706563e+02] [-7.81604350e-02 9.96932893e-01 -3.96891609e-03 1.80894912e+01] [-1.41045610e-01 -7.11687678e-03 9.89977518e-01 -1.13552853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95592 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:255.74, Y:18.13, Z:-113.55 [[ 9.79520332e-01 8.69438101e-02 1.81605873e-01 2.55743089e+02] [-7.87567739e-02 9.95545581e-01 -5.18301770e-02 1.81283825e+01] [-1.85303237e-01 3.64660196e-02 9.82004552e-01 -1.13552438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:255.77, Y:18.09, Z:-113.56 [[ 9.79658853e-01 8.14697242e-02 1.83388156e-01 2.55771609e+02] [-8.01878218e-02 9.96675642e-01 -1.44075830e-02 1.80907240e+01] [-1.83952290e-01 -5.90980560e-04 9.82934996e-01 -1.13562272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01592 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:255.80, Y:18.04, Z:-113.57 [[ 9.87543096e-01 7.22516446e-02 1.39779587e-01 2.55797073e+02] [-7.89691301e-02 9.95944195e-01 4.31165477e-02 1.80383321e+01] [-1.36097427e-01 -5.36177214e-02 9.89243464e-01 -1.13567348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:255.84, Y:18.10, Z:-113.57 [[ 9.86068796e-01 8.68978913e-02 1.41834715e-01 2.55835080e+02] [-8.36420377e-02 9.96080486e-01 -2.87693349e-02 1.81027045e+01] [-1.43778786e-01 1.65051989e-02 9.89472202e-01 -1.13570046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07592 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:255.87, Y:18.08, Z:-113.58 [[ 9.85648724e-01 8.80814735e-02 1.44007800e-01 2.55865034e+02] [-8.86179904e-02 9.96062035e-01 -2.69709338e-03 1.80771010e+01] [-1.43678266e-01 -1.01032952e-02 9.89572877e-01 -1.13575828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:255.90, Y:18.12, Z:-113.58 [[ 9.78018411e-01 1.00422203e-01 1.82743995e-01 2.55900709e+02] [-9.14271977e-02 9.94177947e-01 -5.70199710e-02 1.81233695e+01] [-1.87406121e-01 3.90588101e-02 9.81505657e-01 -1.13576971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13592 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:255.92, Y:18.03, Z:-113.59 [[ 9.85713062e-01 8.49410236e-02 1.45446836e-01 2.55921240e+02] [-9.28856290e-02 9.94484129e-01 4.87193675e-02 1.80274499e+01] [-1.40506297e-01 -6.15332378e-02 9.88165796e-01 -1.13585600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:255.96, Y:18.14, Z:-113.59 [[ 9.77256930e-01 1.10707059e-01 1.80866910e-01 2.55963148e+02] [-9.88614598e-02 9.92399873e-01 -7.32727986e-02 1.81391469e+01] [-1.87604114e-01 5.37255835e-02 9.80774316e-01 -1.13586114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19592 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:255.98, Y:18.03, Z:-113.60 [[ 9.84875590e-01 9.18493109e-02 1.46914178e-01 2.55984039e+02] [-9.93671537e-02 9.94047969e-01 4.46632406e-02 1.80320081e+01] [-1.41937452e-01 -5.85861792e-02 9.88140384e-01 -1.13596469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:256.01, Y:18.04, Z:-113.60 [[ 9.82547419e-01 9.37183110e-02 1.60678086e-01 2.56009892e+02] [-1.00484942e-01 9.94340261e-01 3.44996039e-02 1.80399684e+01] [-1.56535445e-01 -5.00432248e-02 9.86403736e-01 -1.13600218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25591999999995 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:256.06, Y:18.18, Z:-113.59 [[ 9.75358367e-01 1.20981503e-01 1.84498054e-01 2.56057396e+02] [-9.98767030e-02 9.87772115e-01 -1.19711706e-01 1.81807910e+01] [-1.96724935e-01 9.83347570e-02 9.75515031e-01 -1.13590991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:256.08, Y:18.04, Z:-113.61 [[ 9.82664409e-01 9.31640563e-02 1.60284492e-01 2.56075341e+02] [-9.92179492e-02 9.94608167e-01 3.01727014e-02 1.80427493e+01] [-1.56609254e-01 -4.55527384e-02 9.86609593e-01 -1.13608989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31591999999995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:256.11, Y:18.08, Z:-113.61 [[ 9.82448057e-01 9.78857109e-02 1.58789808e-01 2.56107309e+02] [-9.72227426e-02 9.95190819e-01 -1.19571040e-02 1.80797701e+01] [-1.59196589e-01 -3.69074712e-03 9.87240003e-01 -1.13611750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:256.14, Y:18.06, Z:-113.62 [[ 9.83029866e-01 9.35392749e-02 1.57805853e-01 2.56135895e+02] [-9.66614797e-02 9.95242415e-01 1.22103674e-02 1.80559598e+01] [-1.55912930e-01 -2.72569031e-02 9.87394663e-01 -1.13617000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.18, Y:18.14, Z:-113.62 [[ 9.74651104e-01 1.10162629e-01 1.94729097e-01 2.56175650e+02] [-9.53202994e-02 9.91892609e-01 -8.40422042e-02 1.81399441e+01] [-2.02408662e-01 6.33501913e-02 9.77249961e-01 -1.13615526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:256.19, Y:17.98, Z:-113.63 [[ 9.80829283e-01 7.61734477e-02 1.79364222e-01 2.56187205e+02] [-9.32413121e-02 9.91682451e-01 8.87241495e-02 1.79787594e+01] [-1.71113927e-01 -1.03747399e-01 9.79773699e-01 -1.13628825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:256.23, Y:18.08, Z:-113.63 [[ 9.81331676e-01 9.46025240e-02 1.67447021e-01 2.56226661e+02] [-9.16382579e-02 9.95469397e-01 -2.53596170e-02 1.80804879e+01] [-1.69087469e-01 9.54164221e-03 9.85554862e-01 -1.13629121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:256.27, Y:18.14, Z:-113.63 [[ 9.73120961e-01 1.08293849e-01 2.03243789e-01 2.56266009e+02] [-8.87168566e-02 9.90706298e-01 -1.03103595e-01 1.81443601e+01] [-2.12520387e-01 8.23011195e-02 9.73684554e-01 -1.13626788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:18.06, Z:-113.64 [[ 9.73208733e-01 9.01476239e-02 2.11513991e-01 2.56289209e+02] [-8.84023964e-02 9.95927344e-01 -1.77127739e-02 1.80587526e+01] [-2.12249332e-01 -1.46011748e-03 9.77214454e-01 -1.13642308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.32, Y:18.05, Z:-113.65 [[ 9.73157383e-01 8.91509677e-02 2.12171657e-01 2.56320935e+02] [-8.73464241e-02 9.96017484e-01 -1.78822424e-02 1.80545440e+01] [-2.12920899e-01 -1.13019933e-03 9.77068786e-01 -1.13648630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.35, Y:18.05, Z:-113.65 [[ 9.73136987e-01 8.93945910e-02 2.12162703e-01 2.56353755e+02] [-8.75727369e-02 9.95995709e-01 -1.79878917e-02 1.80519403e+01] [-2.12921162e-01 -1.07498581e-03 9.77068792e-01 -1.13654943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:256.37, Y:17.96, Z:-113.66 [[ 9.79374959e-01 6.89206121e-02 1.89933248e-01 2.56373114e+02] [-8.52113175e-02 9.93228075e-01 7.89748175e-02 1.79591321e+01] [-1.83204042e-01 -9.35304210e-02 9.78615522e-01 -1.13660088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:256.42, Y:18.08, Z:-113.66 [[ 9.80569801e-01 9.52389664e-02 1.71500449e-01 2.56417646e+02] [-8.62227905e-02 9.94509963e-01 -5.92921858e-02 1.80830575e+01] [-1.76205831e-01 4.33528796e-02 9.83398207e-01 -1.13659963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.44, Y:17.99, Z:-113.67 [[ 9.78778529e-01 7.77020062e-02 1.89618010e-01 2.56436042e+02] [-8.69362968e-02 9.95375377e-01 4.08648783e-02 1.79862623e+01] [-1.85565815e-01 -5.64823531e-02 9.81007172e-01 -1.13669725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:256.48, Y:18.08, Z:-113.67 [[ 9.79846782e-01 9.92475714e-02 1.73349942e-01 2.56477037e+02] [-8.89115893e-02 9.93822168e-01 -6.64246070e-02 1.80826847e+01] [-1.78871497e-01 4.96731185e-02 9.82617713e-01 -1.13670023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:256.51, Y:18.07, Z:-113.68 [[ 9.71138943e-01 1.04728047e-01 2.14292299e-01 2.56508265e+02] [-9.21112712e-02 9.93419605e-01 -6.80661544e-02 1.80745372e+01] [-2.20010607e-01 4.63629572e-02 9.74395099e-01 -1.13677231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73591999999996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:256.53, Y:17.98, Z:-113.69 [[ 9.79314548e-01 8.39193979e-02 1.84121023e-01 2.56528506e+02] [-9.20555320e-02 9.95099993e-01 3.60802329e-02 1.79762788e+01] [-1.80190997e-01 -5.22832557e-02 9.82241144e-01 -1.13685894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:256.56, Y:18.02, Z:-113.69 [[ 9.78747024e-01 9.71509025e-02 1.80598904e-01 2.56564486e+02] [-9.55456329e-02 9.95269662e-01 -1.75878259e-02 1.80230985e+01] [-1.81453284e-01 -4.14042935e-05 9.83399565e-01 -1.13689715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.60, Y:18.06, Z:-113.69 [[ 9.70023212e-01 1.08751299e-01 2.17320326e-01 2.56600412e+02] [-9.61596784e-02 9.93058826e-01 -6.77309735e-02 1.80634005e+01] [-2.23177699e-01 4.48031638e-02 9.73747601e-01 -1.13694645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:256.62, Y:17.94, Z:-113.70 [[ 9.81162799e-01 8.43176972e-02 1.73810493e-01 2.56617852e+02] [-9.68954694e-02 9.93157830e-01 6.51827664e-02 1.79394603e+01] [-1.67125191e-01 -8.07963549e-02 9.82619519e-01 -1.13702372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85591999999997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:256.66, Y:18.03, Z:-113.71 [[ 9.78117548e-01 1.08164138e-01 1.77726144e-01 2.56658083e+02] [-1.02549692e-01 9.93902822e-01 -4.05060742e-02 1.80321659e+01] [-1.81023821e-01 2.13939406e-02 9.83245989e-01 -1.13707206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:256.69, Y:18.01, Z:-113.71 [[ 9.77191635e-01 1.07826965e-01 1.82947680e-01 2.56687066e+02] [-1.05072297e-01 9.94157469e-01 -2.47131452e-02 1.80137714e+01] [-1.84543546e-01 4.92674576e-03 9.82811990e-01 -1.13714974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91591999999997 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:256.71, Y:17.97, Z:-113.72 [[ 9.76681433e-01 1.02554718e-01 1.88615771e-01 2.56706367e+02] [-1.07688122e-01 9.94036879e-01 1.71449980e-02 1.79735680e+01] [-1.85732732e-01 -3.70568793e-02 9.81901288e-01 -1.13719508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:256.75, Y:18.08, Z:-113.72 [[ 9.66634324e-01 1.33388372e-01 2.18690707e-01 2.56752941e+02] [-1.13963682e-01 9.88519172e-01 -9.92074930e-02 1.80771204e+01] [-2.29413083e-01 7.09745698e-02 9.70737991e-01 -1.13722304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:256.77, Y:17.97, Z:-113.73 [[ 9.74519665e-01 1.11275189e-01 1.94754347e-01 2.56771769e+02] [-1.17017722e-01 9.92963105e-01 1.81968409e-02 1.79693882e+01] [-1.91359024e-01 -4.05228892e-02 9.80683241e-01 -1.13734333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:256.81, Y:18.04, Z:-113.74 [[ 9.65485495e-01 1.32811215e-01 2.24051202e-01 2.56809557e+02] [-1.23206052e-01 9.90778065e-01 -5.63834601e-02 1.80360632e+01] [-2.29473372e-01 2.68329488e-02 9.72944996e-01 -1.13740381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:256.83, Y:17.97, Z:-113.75 [[ 9.73151577e-01 1.18535243e-01 1.97295223e-01 2.56832993e+02] [-1.25273587e-01 9.91878607e-01 2.19854114e-02 1.79668843e+01] [-1.93086864e-01 -4.61110180e-02 9.80097565e-01 -1.13747562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:256.87, Y:18.02, Z:-113.75 [[ 9.71768871e-01 1.32569214e-01 1.95168299e-01 2.56868539e+02] [-1.29889853e-01 9.91173660e-01 -2.65217123e-02 1.80152237e+01] [-1.96961640e-01 4.22592694e-04 9.80411105e-01 -1.13752063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:256.90, Y:18.00, Z:-113.76 [[ 9.72775250e-01 1.29116513e-01 1.92450617e-01 2.56897891e+02] [-1.29960317e-01 9.91484564e-01 -8.28706264e-03 1.79981034e+01] [-1.91881813e-01 -1.69494937e-02 9.81271667e-01 -1.13759224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:256.93, Y:18.01, Z:-113.77 [[ 9.72372522e-01 1.31654431e-01 1.92766149e-01 2.56929044e+02] [-1.30347386e-01 9.91276525e-01 -1.95041005e-02 1.80079670e+01] [-1.93652360e-01 -6.16131230e-03 9.81050866e-01 -1.13765329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:256.96, Y:18.05, Z:-113.77 [[ 9.64249880e-01 1.38419583e-01 2.25969438e-01 2.56962516e+02] [-1.26971348e-01 9.89806637e-01 -6.45065758e-02 1.80486219e+01] [-2.32595023e-01 3.35088137e-02 9.71996252e-01 -1.13770894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:256.98, Y:17.96, Z:-113.78 [[ 9.73698766e-01 1.14045195e-01 1.97241999e-01 2.56984216e+02] [-1.23004250e-01 9.91832355e-01 3.37421650e-02 1.79606781e+01] [-1.91782865e-01 -5.71163087e-02 9.79773984e-01 -1.13779179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:257.02, Y:18.01, Z:-113.78 [[ 9.72565358e-01 1.24096301e-01 1.96765677e-01 2.57021673e+02] [-1.22014980e-01 9.92268326e-01 -2.27137486e-02 1.80129335e+01] [-1.98063041e-01 -1.91775518e-03 9.80187408e-01 -1.13781893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:257.06, Y:18.05, Z:-113.79 [[ 9.63798248e-01 1.31570573e-01 2.31909725e-01 2.57056618e+02] [-1.19215249e-01 9.90634044e-01 -6.65726299e-02 1.80489286e+01] [-2.38496668e-01 3.65154085e-02 9.70456575e-01 -1.13786375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:257.08, Y:17.98, Z:-113.80 [[ 9.72356036e-01 1.09026215e-01 2.06487345e-01 2.57080317e+02] [-1.14333020e-01 9.93345126e-01 1.39075971e-02 1.79759090e+01] [-2.03596905e-01 -3.71314578e-02 9.78350426e-01 -1.13798463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:257.11, Y:17.99, Z:-113.80 [[ 9.73203037e-01 1.12140786e-01 2.00749329e-01 2.57112565e+02] [-1.13099844e-01 9.93560884e-01 -6.72274333e-03 1.79933715e+01] [-2.00210575e-01 -1.61621236e-02 9.79619575e-01 -1.13802449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:257.14, Y:18.00, Z:-113.81 [[ 9.72569510e-01 1.12488016e-01 2.03604996e-01 2.57143803e+02] [-1.10545536e-01 9.93650743e-01 -2.09257330e-02 1.80046434e+01] [-2.04666150e-01 -2.15589344e-03 9.78829464e-01 -1.13808377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:257.18, Y:18.04, Z:-113.81 [[ 9.63792230e-01 1.19617530e-01 2.38319498e-01 2.57179390e+02] [-1.07328048e-01 9.92165415e-01 -6.39412114e-02 1.80406354e+01] [-2.44100854e-01 3.60476761e-02 9.69079635e-01 -1.13813440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:257.20, Y:17.96, Z:-113.83 [[ 9.72779978e-01 9.97515643e-02 2.09161994e-01 2.57201165e+02] [-1.06245223e-01 9.94138500e-01 2.00148941e-02 1.79624423e+01] [-2.05939474e-01 -4.16925509e-02 9.77676155e-01 -1.13825584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:257.23, Y:17.99, Z:-113.83 [[ 9.72879976e-01 1.04806206e-01 2.06204295e-01 2.57234987e+02] [-1.05348175e-01 9.94400082e-01 -8.38086354e-03 1.79855802e+01] [-2.05927935e-01 -1.35696718e-02 9.78473071e-01 -1.13829928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45592 meters Centerline goodness : 0.912034 Centerline is valid? [True, False] Translation: X:257.24, Y:17.99, Z:-113.83 [[ 9.73321218e-01 1.01810173e-01 2.05622216e-01 2.57235500e+02] [-1.01211673e-01 9.94773925e-01 -1.34549485e-02 1.79892025e+01] [-2.05917470e-01 -7.71538172e-03 9.78538946e-01 -1.13830441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:257.24, Y:17.99, Z:-113.83 [[ 9.73718425e-01 9.89177066e-02 2.05152909e-01 2.57235840e+02] [-9.71440765e-02 9.95094171e-01 -1.87248432e-02 1.79938841e+01] [-2.05998682e-01 -1.69666500e-03 9.78550798e-01 -1.13830690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:257.27, Y:17.99, Z:-113.84 [[ 9.73911681e-01 9.82703669e-02 2.04545770e-01 2.57267671e+02] [-9.66772922e-02 9.95156745e-01 -1.77919800e-02 1.79899238e+01] [-2.05303527e-01 -2.44711404e-03 9.78695291e-01 -1.13838214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:257.30, Y:17.99, Z:-113.84 [[ 9.73621002e-01 9.98398958e-02 2.05168565e-01 2.57299834e+02] [-9.82482883e-02 9.94999920e-01 -1.79564127e-02 1.79871672e+01] [-2.05935472e-01 -2.67471975e-03 9.78561918e-01 -1.13844097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:257.32, Y:17.88, Z:-113.85 [[ 9.80826672e-01 7.77248371e-02 1.78711746e-01 2.57315800e+02] [-9.57173667e-02 9.90926385e-01 9.43561615e-02 1.78822663e+01] [-1.69756368e-01 -1.09652858e-01 9.79366646e-01 -1.13850304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:257.36, Y:17.97, Z:-113.85 [[ 9.80552765e-01 9.69111218e-02 1.70659045e-01 2.57355913e+02] [-9.92909630e-02 9.95043545e-01 5.44502138e-03 1.79651439e+01] [-1.69285498e-01 -2.22840317e-02 9.85315098e-01 -1.13852813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:257.40, Y:18.05, Z:-113.85 [[ 9.79803519e-01 1.16370573e-01 1.62612898e-01 2.57399929e+02] [-1.03017520e-01 9.90753116e-01 -8.82929955e-02 1.80518402e+01] [-1.71383942e-01 6.97578102e-02 9.82731597e-01 -1.13848658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:257.41, Y:17.91, Z:-113.87 [[ 9.79689712e-01 9.14625199e-02 1.78445162e-01 2.57409721e+02] [-1.03578996e-01 9.92822519e-01 5.97899479e-02 1.79123176e+01] [-1.71695836e-01 -7.70587675e-02 9.82131603e-01 -1.13865608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:257.45, Y:18.00, Z:-113.87 [[ 9.77342137e-01 1.10663020e-01 1.80432935e-01 2.57446564e+02] [-1.06643822e-01 9.93786829e-01 -3.18564403e-02 1.79951800e+01] [-1.82837204e-01 1.18925835e-02 9.83071271e-01 -1.13865057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:257.49, Y:18.08, Z:-113.86 [[ 9.69691351e-01 1.30250269e-01 2.06720951e-01 2.57488567e+02] [-1.06111836e-01 9.86606458e-01 -1.23886947e-01 1.80765258e+01] [-2.20088533e-01 9.81965617e-02 9.70524844e-01 -1.13858536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75591999999995 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:257.50, Y:17.92, Z:-113.88 [[ 9.78667131e-01 9.50649853e-02 1.82135377e-01 2.57500122e+02] [-1.05106815e-01 9.93383634e-01 4.62764825e-02 1.79204849e+01] [-1.76531029e-01 -6.44329417e-02 9.82183889e-01 -1.13879440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:257.55, Y:18.03, Z:-113.88 [[ 9.69231003e-01 1.22211819e-01 2.13671557e-01 2.57545234e+02] [-1.07485876e-01 9.91041189e-01 -7.92726157e-02 1.80345152e+01] [-2.21445365e-01 5.38668023e-02 9.73683890e-01 -1.13877151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:257.57, Y:17.98, Z:-113.89 [[ 9.68364523e-01 1.12012777e-01 2.22987195e-01 2.57571901e+02] [-1.10309963e-01 9.93693598e-01 -2.01183025e-02 1.79819795e+01] [-2.23834455e-01 -5.11585901e-03 9.74613751e-01 -1.13888453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:257.60, Y:17.93, Z:-113.89 [[ 9.77390046e-01 1.00248068e-01 1.86169339e-01 2.57597619e+02] [-1.08357517e-01 9.93534453e-01 3.38812470e-02 1.79348195e+01] [-1.81569123e-01 -5.32880409e-02 9.81933317e-01 -1.13894298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87591999999995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:257.63, Y:17.99, Z:-113.90 [[ 9.76620315e-01 1.10657162e-01 1.84303425e-01 2.57633661e+02] [-1.09050031e-01 9.93857228e-01 -1.88653283e-02 1.79862961e+01] [-1.85258875e-01 -1.67403130e-03 9.82688326e-01 -1.13896888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:257.67, Y:18.03, Z:-113.90 [[ 9.68137374e-01 1.20837197e-01 2.19336266e-01 2.57669598e+02] [-1.08450044e-01 9.91793380e-01 -6.77087830e-02 1.80278073e+01] [-2.25717997e-01 4.17643757e-02 9.73297037e-01 -1.13899339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93591999999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:257.68, Y:17.90, Z:-113.91 [[ 9.78690144e-01 8.91335921e-02 1.84988662e-01 2.57684199e+02] [-1.04977525e-01 9.91435971e-01 7.76816224e-02 1.78957143e+01] [-1.76480372e-01 -9.54458901e-02 9.79665637e-01 -1.13912640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:257.74, Y:18.07, Z:-113.90 [[ 9.67187200e-01 1.28417707e-01 2.19220925e-01 2.57736699e+02] [-1.06176068e-01 9.88195692e-01 -1.10435127e-01 1.80664948e+01] [-2.30814999e-01 8.35354253e-02 9.69405111e-01 -1.13900825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99591999999996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:257.74, Y:17.86, Z:-113.92 [[ 9.77118713e-01 7.87424580e-02 1.97581999e-01 2.57740531e+02] [-1.02586972e-01 9.88228372e-01 1.13492725e-01 1.78633569e+01] [-1.86319441e-01 -1.31165204e-01 9.73694385e-01 -1.13923784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:257.79, Y:18.01, Z:-113.92 [[ 9.79077695e-01 1.10827512e-01 1.70657931e-01 2.57790551e+02] [-1.05752760e-01 9.93644009e-01 -3.85737944e-02 1.80066337e+01] [-1.73848268e-01 1.97191945e-02 9.84575001e-01 -1.13919230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05591999999996 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:257.83, Y:18.07, Z:-113.91 [[ 9.67174580e-01 1.24368161e-01 2.21598494e-01 2.57828366e+02] [-1.00554652e-01 9.88178597e-01 -1.15723039e-01 1.80746956e+01] [-2.33371150e-01 8.96416222e-02 9.68247017e-01 -1.13914632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:257.83, Y:17.89, Z:-113.94 [[ 9.76207120e-01 7.94354941e-02 2.01766352e-01 2.57833285e+02] [-9.92189117e-02 9.90996668e-01 8.98955541e-02 1.78858071e+01] [-1.92808885e-01 -1.07775718e-01 9.75299507e-01 -1.13942460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11591999999996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:257.89, Y:18.08, Z:-113.92 [[ 9.66265845e-01 1.24435551e-01 2.25490822e-01 2.57889795e+02] [-9.79828377e-02 9.87310703e-01 -1.24967755e-01 1.80815595e+01] [-2.38179933e-01 9.86578432e-02 9.66197159e-01 -1.13923848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:257.89, Y:17.87, Z:-113.95 [[ 9.75650348e-01 7.10371017e-02 2.07509346e-01 2.57891313e+02] [-9.37412387e-02 9.90388332e-01 1.01703156e-01 1.78721316e+01] [-1.98290138e-01 -1.18678903e-01 9.72931827e-01 -1.13954240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17591999999996 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:257.93, Y:17.97, Z:-113.95 [[ 9.74085229e-01 9.34956931e-02 2.05952719e-01 2.57932147e+02] [-9.45041691e-02 9.95512123e-01 -4.95735478e-03 1.79700799e+01] [-2.05491920e-01 -1.46345045e-02 9.78549387e-01 -1.13951551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:257.98, Y:18.10, Z:-113.93 [[ 9.64501712e-01 1.22119162e-01 2.34143883e-01 2.57981728e+02] [-8.92218547e-02 9.85206752e-01 -1.46311709e-01 1.80950525e+01] [-2.48547598e-01 1.20227142e-01 9.61129297e-01 -1.13932625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23591999999996 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:257.98, Y:17.87, Z:-113.97 [[ 9.75443128e-01 6.07975292e-02 2.11694035e-01 2.57979503e+02] [-8.41317123e-02 9.91115075e-01 1.03018268e-01 1.78657859e+01] [-2.03549893e-01 -1.18298644e-01 9.71891389e-01 -1.13968023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:258.04, Y:18.08, Z:-113.95 [[ 9.64221791e-01 1.14983587e-01 2.38862118e-01 2.58042585e+02] [-8.30655317e-02 9.86708007e-01 -1.39668987e-01 1.80845918e+01] [-2.51746806e-01 1.14830672e-01 9.60956535e-01 -1.13945130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29591999999997 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:258.04, Y:17.88, Z:-113.98 [[ 9.73856429e-01 6.33242077e-02 2.18159804e-01 2.58043685e+02] [-8.25149525e-02 9.93373562e-01 8.00015536e-02 1.78803337e+01] [-2.11648146e-01 -9.59114731e-02 9.72628424e-01 -1.13980314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:258.10, Y:18.06, Z:-113.96 [[ 9.64353834e-01 1.07611183e-01 2.41746802e-01 2.58101094e+02] [-8.03940051e-02 9.89539655e-01 -1.19783448e-01 1.80600135e+01] [-2.52108086e-01 9.60786336e-02 9.62917654e-01 -1.13964516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35591999999997 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:258.12, Y:17.97, Z:-113.99 [[ 9.64018740e-01 8.41585452e-02 2.52161077e-01 2.58120787e+02] [-8.06766008e-02 9.96448090e-01 -2.41348373e-02 1.79688881e+01] [-2.53296577e-01 2.92293686e-03 9.67384257e-01 -1.13989395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:258.15, Y:17.97, Z:-114.00 [[ 9.64011250e-01 8.43758994e-02 2.52117072e-01 2.58152643e+02] [-8.08684831e-02 9.96429482e-01 -2.42605794e-02 1.79661098e+01] [-2.53263892e-01 2.99914633e-03 9.67392581e-01 -1.13996273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41591999999997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:258.18, Y:17.96, Z:-114.00 [[ 9.63999785e-01 8.43205594e-02 2.52179415e-01 2.58184707e+02] [-8.07753133e-02 9.96433704e-01 -2.43971648e-02 1.79623640e+01] [-2.53337251e-01 3.14899039e-03 9.67372897e-01 -1.14003444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:258.22, Y:17.96, Z:-114.01 [[ 9.63976163e-01 8.46263740e-02 2.52167273e-01 2.58217216e+02] [-8.10587487e-02 9.96407621e-01 -2.45220657e-02 1.79594621e+01] [-2.53336606e-01 3.19832325e-03 9.67372904e-01 -1.14011210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47592 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:258.25, Y:17.95, Z:-114.02 [[ 9.63358927e-01 8.64858029e-02 2.53889313e-01 2.58249443e+02] [-8.29103104e-02 9.96249112e-01 -2.47707026e-02 1.79546040e+01] [-2.55079317e-01 2.81303567e-03 9.66916040e-01 -1.14017221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:258.28, Y:17.95, Z:-114.03 [[ 9.62968239e-01 8.77971958e-02 2.54919246e-01 2.58281079e+02] [-8.42021531e-02 9.96134944e-01 -2.50034299e-02 1.79508614e+01] [-2.56129200e-01 2.61275944e-03 9.66639026e-01 -1.14026164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:258.31, Y:17.95, Z:-114.03 [[ 9.63082566e-01 8.91435884e-02 2.54018488e-01 2.58312845e+02] [-8.55858394e-02 9.96015939e-01 -2.50462286e-02 1.79469703e+01] [-2.55239174e-01 2.38120054e-03 9.66875015e-01 -1.14034023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:258.34, Y:17.94, Z:-114.04 [[ 9.62817838e-01 9.04630137e-02 2.54555011e-01 2.58344671e+02] [-8.69001819e-02 9.95897446e-01 -2.52316346e-02 1.79421789e+01] [-2.55793215e-01 2.17259111e-03 9.66729078e-01 -1.14041711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59592 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:258.38, Y:17.90, Z:-114.05 [[ 9.73005365e-01 9.12583353e-02 2.11972818e-01 2.58375518e+02] [-9.88836824e-02 9.94768812e-01 2.56325684e-02 1.79002826e+01] [-2.08524763e-01 -4.59012794e-02 9.76939351e-01 -1.14054052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:258.41, Y:17.96, Z:-114.05 [[ 9.71663083e-01 9.66879585e-02 2.15690269e-01 2.58409418e+02] [-8.73058531e-02 9.94790173e-01 -5.26326785e-02 1.79645163e+01] [-2.19655506e-01 3.23102077e-02 9.75042311e-01 -1.14050162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:258.43, Y:17.89, Z:-114.07 [[ 9.74751848e-01 8.12649844e-02 2.07977974e-01 2.58430552e+02] [-8.78061579e-02 9.95885709e-01 2.23993813e-02 1.78917713e+01] [-2.05302007e-01 -4.00955852e-02 9.77877001e-01 -1.14065680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:258.48, Y:17.99, Z:-114.06 [[ 9.62348132e-01 1.07080870e-01 2.49839468e-01 2.58475610e+02] [-8.76532720e-02 9.92286219e-01 -8.76639266e-02 1.79855825e+01] [-2.57299391e-01 6.24639692e-02 9.64310778e-01 -1.14060524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:258.50, Y:17.92, Z:-114.08 [[ 9.62506628e-01 9.27217133e-02 2.54918957e-01 2.58499451e+02] [-8.91038256e-02 9.95689950e-01 -2.57299632e-02 1.79239013e+01] [-2.56205970e-01 2.05100584e-03 9.66620036e-01 -1.14077675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:258.52, Y:17.84, Z:-114.09 [[ 9.70112499e-01 7.26564070e-02 2.31522754e-01 2.58518808e+02] [-8.87979598e-02 9.94236976e-01 6.00646113e-02 1.78431776e+01] [-2.25824404e-01 -7.88281784e-02 9.70973458e-01 -1.14089577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:258.56, Y:17.90, Z:-114.09 [[ 9.71922047e-01 8.86442981e-02 2.17967251e-01 2.58557925e+02] [-8.89286027e-02 9.96001519e-01 -8.52506967e-03 1.79035128e+01] [-2.17851412e-01 -1.10978199e-02 9.75918850e-01 -1.14090534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:258.60, Y:18.00, Z:-114.08 [[ 9.62063305e-01 1.13289895e-01 2.48192662e-01 2.58604366e+02] [-8.59623840e-02 9.89245629e-01 -1.18336611e-01 1.79963000e+01] [-2.58929849e-01 9.25120784e-02 9.61455589e-01 -1.14083595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:258.62, Y:17.88, Z:-114.11 [[ 9.71097513e-01 8.34058676e-02 2.23636047e-01 2.58619019e+02] [-8.62717689e-02 9.96266949e-01 3.05760633e-03 1.78801649e+01] [-2.22546179e-01 -2.22627112e-02 9.74667928e-01 -1.14107779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:258.65, Y:17.90, Z:-114.11 [[ 9.70829615e-01 8.90910970e-02 2.22604212e-01 2.58652274e+02] [-8.60035589e-02 9.96016556e-01 -2.35458511e-02 1.79007878e+01] [-2.23815206e-01 3.71425510e-03 9.74624521e-01 -1.14112282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:258.67, Y:17.83, Z:-114.12 [[ 9.69829524e-01 7.37967135e-02 2.32346161e-01 2.58673909e+02] [-8.62169666e-02 9.95315387e-01 4.37483250e-02 1.78334485e+01] [-2.28029226e-01 -6.24605984e-02 9.71648777e-01 -1.14124185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:258.72, Y:17.94, Z:-114.12 [[ 9.68795957e-01 1.05187317e-01 2.24432665e-01 2.58715870e+02] [-9.02569604e-02 9.93029216e-01 -7.58067052e-02 1.79376523e+01] [-2.30842098e-01 5.31846194e-02 9.71536578e-01 -1.14122982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:258.73, Y:17.81, Z:-114.14 [[ 9.70090466e-01 6.88799205e-02 2.32766073e-01 2.58733319e+02] [-8.19326475e-02 9.95535165e-01 4.68697911e-02 1.78140736e+01] [-2.28498423e-01 -6.45390781e-02 9.71402686e-01 -1.14136047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:258.79, Y:17.96, Z:-114.13 [[ 9.61308615e-01 1.05546262e-01 2.54451830e-01 2.58787676e+02] [-7.52434295e-02 9.89167660e-01 -1.26038754e-01 1.79631533e+01] [-2.64998440e-01 1.02016312e-01 9.58837055e-01 -1.14126865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01592 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:258.79, Y:17.77, Z:-114.15 [[ 9.69323926e-01 5.38163603e-02 2.39822696e-01 2.58790403e+02] [-7.44906872e-02 9.94167550e-01 7.79873074e-02 1.77707318e+01] [-2.34226949e-01 -9.34595204e-02 9.67679210e-01 -1.14149457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:258.83, Y:17.88, Z:-114.15 [[ 9.71917408e-01 8.34771627e-02 2.20018442e-01 2.58834172e+02] [-7.53632254e-02 9.96138769e-01 -4.50326224e-02 1.78796771e+01] [-2.22928095e-01 2.71866902e-02 9.74455719e-01 -1.14151846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:258.87, Y:17.92, Z:-114.15 [[ 9.59532238e-01 9.51578248e-02 2.65033721e-01 2.58874116e+02] [-6.98703557e-02 9.92195382e-01 -1.03278539e-01 1.79192895e+01] [-2.72792995e-01 8.05810876e-02 9.58692166e-01 -1.14152770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:258.90, Y:17.84, Z:-114.17 [[ 9.58868899e-01 7.69939510e-02 2.73207553e-01 2.58896791e+02] [-7.18017960e-02 9.96998169e-01 -2.89681562e-02 1.78449036e+01] [-2.74617803e-01 8.15987109e-03 9.61518840e-01 -1.14168525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13592 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:258.91, Y:17.76, Z:-114.18 [[ 9.69060644e-01 5.53945279e-02 2.40526328e-01 2.58914963e+02] [-7.13962679e-02 9.95741317e-01 5.83249795e-02 1.77623615e+01] [-2.36271118e-01 -7.36931244e-02 9.68888684e-01 -1.14175706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:258.95, Y:17.80, Z:-114.18 [[ 9.69291218e-01 6.88420502e-02 2.36083261e-01 2.58949473e+02] [-7.18334559e-02 9.97408284e-01 4.08291063e-03 1.78048282e+01] [-2.35190324e-01 -2.09162059e-02 9.71724253e-01 -1.14181589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19592 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:258.98, Y:17.82, Z:-114.19 [[ 9.66690028e-01 7.57036072e-02 2.44498167e-01 2.58981466e+02] [-7.44307095e-02 9.97121416e-01 -1.44551733e-02 1.78155932e+01] [-2.44888667e-01 -4.22450016e-03 9.69542002e-01 -1.14186496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:259.03, Y:17.92, Z:-114.18 [[ 9.56825381e-01 1.08727968e-01 2.69561533e-01 2.59031040e+02] [-7.15863590e-02 9.86984813e-01 -1.44001289e-01 1.79248192e+01] [-2.81710107e-01 1.18487160e-01 9.52155559e-01 -1.14181814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25591999999995 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:259.05, Y:17.82, Z:-114.20 [[ 9.55332042e-01 8.07552405e-02 2.84287322e-01 2.59047887e+02] [-7.50655978e-02 9.96700626e-01 -3.08709790e-02 1.78150421e+01] [-2.85842345e-01 8.15183759e-03 9.58241985e-01 -1.14202803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:259.06, Y:17.71, Z:-114.21 [[ 9.65713013e-01 5.19223068e-02 2.54366763e-01 2.59064207e+02] [-7.55648131e-02 9.93590626e-01 8.40691834e-02 1.77071518e+01] [-2.48371365e-01 -1.00407881e-01 9.63446897e-01 -1.14209423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31591999999995 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:259.13, Y:17.91, Z:-114.21 [[ 9.55992848e-01 1.09967523e-01 2.72001504e-01 2.59126448e+02] [-7.41519831e-02 9.87562491e-01 -1.38642744e-01 1.79059413e+01] [-2.83864682e-01 1.12372021e-01 9.52256988e-01 -1.14208429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:259.14, Y:17.80, Z:-114.23 [[ 9.55349185e-01 8.45715358e-02 2.83117627e-01 2.59143279e+02] [-7.89937524e-02 9.96390457e-01 -3.10812657e-02 1.77997071e+01] [-2.84724292e-01 7.32893815e-03 9.58581433e-01 -1.14229865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37591999999995 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:259.17, Y:17.79, Z:-114.24 [[ 9.55588774e-01 8.48355604e-02 2.82228672e-01 2.59174882e+02] [-7.92622503e-02 9.96367666e-01 -3.11282786e-02 1.77939249e+01] [-2.83844308e-01 7.37575391e-03 9.58842014e-01 -1.14238559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:259.19, Y:17.70, Z:-114.24 [[ 9.67906133e-01 5.83748005e-02 2.44438337e-01 2.59192082e+02] [-7.65719985e-02 9.94903137e-01 6.56085085e-02 1.76982285e+01] [-2.39362585e-01 -8.22200097e-02 9.67442723e-01 -1.14242157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43591999999995 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:259.25, Y:17.86, Z:-114.25 [[ 9.56313308e-01 1.06273553e-01 2.72343145e-01 2.59247625e+02] [-7.63721416e-02 9.90052986e-01 -1.18162522e-01 1.78585556e+01] [-2.82191694e-01 9.22009632e-02 9.54917185e-01 -1.14245882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:259.27, Y:17.77, Z:-114.26 [[ 9.55453073e-01 8.40422419e-02 2.82924596e-01 2.59267953e+02] [-7.82819259e-02 9.96429528e-01 -3.16249098e-02 1.77722084e+01] [-2.84572250e-01 8.06823502e-03 9.58620644e-01 -1.14262346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49591999999996 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:259.30, Y:17.76, Z:-114.27 [[ 9.55454413e-01 8.64729149e-02 2.82186639e-01 2.59298230e+02] [-8.08045086e-02 9.96226172e-01 -3.16866762e-02 1.77632182e+01] [-2.83861754e-01 7.47322194e-03 9.58836094e-01 -1.14272118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:259.33, Y:17.76, Z:-114.28 [[ 9.55276663e-01 8.73477668e-02 2.82518788e-01 2.59329757e+02] [-8.16596306e-02 9.96150582e-01 -3.18704088e-02 1.77567660e+01] [-2.84215064e-01 7.37467792e-03 9.58732190e-01 -1.14280315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55591999999996 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:259.36, Y:17.75, Z:-114.29 [[ 9.55280981e-01 8.89771576e-02 2.81995234e-01 2.59361076e+02] [-8.33367400e-02 9.96008869e-01 -3.19581121e-02 1.77516364e+01] [-2.83713296e-01 7.02841315e-03 9.58883396e-01 -1.14289286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:259.39, Y:17.74, Z:-114.30 [[ 9.55342297e-01 9.17393173e-02 2.80900325e-01 2.59392447e+02] [-8.62177287e-02 9.95762918e-01 -3.19799106e-02 1.77438310e+01] [-2.82643943e-01 6.33317320e-03 9.59203989e-01 -1.14298326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61591999999996 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:259.42, Y:17.74, Z:-114.31 [[ 9.55304870e-01 9.41111183e-02 2.80242222e-01 2.59424012e+02] [-8.86725315e-02 9.95544976e-01 -3.20528072e-02 1.77370288e+01] [-2.82010262e-01 5.77041551e-03 9.59394035e-01 -1.14306573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:259.46, Y:17.73, Z:-114.32 [[ 9.55095842e-01 9.56233958e-02 2.80442683e-01 2.59455492e+02] [-9.01948174e-02 9.95402446e-01 -3.22314240e-02 1.77301801e+01] [-2.82235411e-01 5.48962244e-03 9.59329473e-01 -1.14315554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67591999999996 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:259.49, Y:17.73, Z:-114.32 [[ 9.53996207e-01 9.99004705e-02 2.82685573e-01 2.59487819e+02] [-9.45209249e-02 9.94987619e-01 -3.26409563e-02 1.77251062e+01] [-2.84529493e-01 4.41964660e-03 9.58657100e-01 -1.14322427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:259.52, Y:17.72, Z:-114.33 [[ 9.54046850e-01 1.02162817e-01 2.81704396e-01 2.59519895e+02] [-9.68736930e-02 9.94760099e-01 -3.26777035e-02 1.77222914e+01] [-2.83566740e-01 3.88631488e-03 9.58944629e-01 -1.14331446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73591999999996 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:259.54, Y:17.64, Z:-114.34 [[ 9.60052269e-01 8.56874440e-02 2.66378121e-01 2.59540145e+02] [-1.02229122e-01 9.93561263e-01 4.88387547e-02 1.76428256e+01] [-2.60478114e-01 -7.41193587e-02 9.62630497e-01 -1.14337695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:259.59, Y:17.79, Z:-114.34 [[ 9.53506623e-01 1.28667353e-01 2.72524919e-01 2.59591519e+02] [-1.01573527e-01 9.88576410e-01 -1.11353043e-01 1.77859347e+01] [-2.83739208e-01 7.84945471e-02 9.55683351e-01 -1.14344573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79591999999997 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:259.60, Y:17.63, Z:-114.35 [[ 9.61392945e-01 8.68543492e-02 2.61112865e-01 2.59603132e+02] [-1.05174721e-01 9.92818817e-01 5.70006485e-02 1.76275776e+01] [-2.54287011e-01 -8.22624940e-02 9.63623888e-01 -1.14352576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:259.66, Y:17.78, Z:-114.36 [[ 9.52195580e-01 1.29393086e-01 2.76732735e-01 2.59655514e+02] [-9.96146381e-02 9.87867410e-01 -1.19142373e-01 1.77835407e+01] [-2.88791449e-01 8.58802094e-02 9.53532427e-01 -1.14357787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85591999999997 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:259.68, Y:17.70, Z:-114.37 [[ 9.52092075e-01 1.05687891e-01 2.86968206e-01 2.59676455e+02] [-1.00189780e-01 9.94393370e-01 -3.38206187e-02 1.76988579e+01] [-2.88933711e-01 3.44906150e-03 9.57342893e-01 -1.14371281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:259.71, Y:17.69, Z:-114.38 [[ 9.52738502e-01 1.04112080e-01 2.85394503e-01 2.59708438e+02] [-9.85596392e-02 9.94557260e-01 -3.37913366e-02 1.76936307e+01] [-2.87359261e-01 4.06592814e-03 9.57814242e-01 -1.14380729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91591999999997 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:259.74, Y:17.69, Z:-114.39 [[ 9.53268156e-01 1.02761935e-01 2.84112316e-01 2.59739686e+02] [-9.71510039e-02 9.94695212e-01 -3.38100301e-02 1.76887995e+01] [-2.86079544e-01 4.62822832e-03 9.58194695e-01 -1.14389727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:259.77, Y:17.68, Z:-114.40 [[ 9.53565881e-01 1.01100700e-01 2.83708933e-01 2.59771108e+02] [-9.53885650e-02 9.94862199e-01 -3.39149830e-02 1.76812933e+01] [-2.85680121e-01 5.27758269e-03 9.58310501e-01 -1.14398386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:259.79, Y:17.59, Z:-114.40 [[ 9.61786633e-01 7.87084923e-02 2.62243105e-01 2.59793414e+02] [-9.71113810e-02 9.93585044e-01 5.79494641e-02 1.75926299e+01] [-2.55999712e-01 -8.12018100e-02 9.63260304e-01 -1.14400991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:259.84, Y:17.75, Z:-114.41 [[ 9.53609981e-01 1.22765473e-01 2.74875685e-01 2.59844261e+02] [-9.14412183e-02 9.88053135e-01 -1.24054449e-01 1.77529162e+01] [-2.86821385e-01 9.31645929e-02 9.53443156e-01 -1.14410398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:259.86, Y:17.61, Z:-114.42 [[ 9.63901501e-01 8.75051953e-02 2.51469159e-01 2.59859431e+02] [-9.68215568e-02 9.94990435e-01 2.48921639e-02 1.76102020e+01] [-2.48031214e-01 -4.83412295e-02 9.67545163e-01 -1.14418822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:259.88, Y:17.61, Z:-114.43 [[ 9.61633084e-01 8.70134005e-02 2.60173942e-01 2.59883314e+02] [-9.58614871e-02 9.95162682e-01 2.14898098e-02 1.76067523e+01] [-2.57045497e-01 -4.56059731e-02 9.65322593e-01 -1.14425254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:259.92, Y:17.64, Z:-114.44 [[ 9.62970193e-01 9.73390289e-02 2.51422990e-01 2.59916161e+02] [-9.32704504e-02 9.95244814e-01 -2.80781801e-02 1.76422407e+01] [-2.52960530e-01 3.58811494e-03 9.67469946e-01 -1.14435517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:259.96, Y:17.70, Z:-114.44 [[ 9.61986147e-01 1.17434290e-01 2.46560014e-01 2.59958962e+02] [-9.71969928e-02 9.90934348e-01 -9.27462262e-02 1.76950727e+01] [-2.55216374e-01 6.52556929e-02 9.64679375e-01 -1.14443378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:259.99, Y:17.68, Z:-114.45 [[ 9.51994414e-01 1.10844876e-01 2.85341985e-01 2.59985994e+02] [-8.81552186e-02 9.91922020e-01 -9.12105454e-02 1.76828369e+01] [-2.93147220e-01 6.16775447e-02 9.54075777e-01 -1.14454717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:260.01, Y:17.62, Z:-114.46 [[ 9.51452333e-01 9.51922139e-02 2.92706169e-01 2.60010817e+02] [-8.85810435e-02 9.95425753e-01 -3.57906387e-02 1.76235255e+01] [-2.94774248e-01 8.12486879e-03 9.55532380e-01 -1.14463798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:260.04, Y:17.61, Z:-114.47 [[ 9.51029033e-01 9.64363502e-02 2.93672961e-01 2.60042366e+02] [-8.97890816e-02 9.95307549e-01 -3.60666635e-02 1.76114999e+01] [-2.95773052e-01 7.93181867e-03 9.55225307e-01 -1.14471568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:260.07, Y:17.61, Z:-114.48 [[ 9.51186141e-01 9.90542599e-02 2.92289547e-01 2.60073882e+02] [-9.25390490e-02 9.95055547e-01 -3.60691310e-02 1.76050100e+01] [-2.94417136e-01 7.26026083e-03 9.55649433e-01 -1.14480983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27592 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:260.10, Y:17.55, Z:-114.48 [[ 9.60759683e-01 9.07840059e-02 2.62105125e-01 2.60098651e+02] [-1.00487476e-01 9.94652924e-01 2.38291349e-02 1.75467254e+01] [-2.58540324e-01 -4.92323544e-02 9.64745083e-01 -1.14484719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:260.14, Y:17.64, Z:-114.50 [[ 9.49177386e-01 1.24435427e-01 2.89098797e-01 2.60141489e+02] [-1.02244907e-01 9.90616360e-01 -9.06929266e-02 1.76438778e+01] [-2.97671411e-01 5.65247954e-02 9.52993536e-01 -1.14500541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:260.16, Y:17.53, Z:-114.50 [[ 9.62238301e-01 9.67380046e-02 2.54439011e-01 2.60161875e+02] [-1.09333288e-01 9.93360243e-01 3.58002854e-02 1.75256073e+01] [-2.49286350e-01 -6.22670594e-02 9.66425956e-01 -1.14501049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:260.20, Y:17.59, Z:-114.51 [[ 9.61609441e-01 1.16332028e-01 2.48544046e-01 2.60199734e+02] [-1.11541577e-01 9.93200992e-01 -3.33206614e-02 1.75863336e+01] [-2.50730453e-01 4.31846766e-03 9.68047308e-01 -1.14514058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:260.23, Y:17.57, Z:-114.52 [[ 9.60608439e-01 1.18521732e-01 2.51364330e-01 2.60229240e+02] [-1.18278573e-01 9.92849415e-01 -1.61313134e-02 1.75663088e+01] [-2.51478839e-01 -1.42351383e-02 9.67758107e-01 -1.14518749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:260.27, Y:17.66, Z:-114.53 [[ 9.44906058e-01 1.47580428e-01 2.92185831e-01 2.60270630e+02] [-1.15837888e-01 9.85597257e-01 -1.23205643e-01 1.76572848e+01] [-3.06160295e-01 8.25715691e-02 9.48392224e-01 -1.14530425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:260.29, Y:17.57, Z:-114.54 [[ 9.44057517e-01 1.27256167e-01 3.04238843e-01 2.60292891e+02] [-1.21364143e-01 9.91869575e-01 -3.82817287e-02 1.75746371e+01] [-3.06636838e-01 -7.83532629e-04 9.51826263e-01 -1.14540666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:260.32, Y:17.56, Z:-114.55 [[ 9.50856182e-01 1.24025657e-01 2.83707874e-01 2.60323933e+02] [-1.23721190e-01 9.92133851e-01 -1.90653677e-02 1.75556231e+01] [-2.83840780e-01 -1.69722529e-02 9.58721208e-01 -1.14550052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:260.34, Y:17.46, Z:-114.55 [[ 9.57516639e-01 9.32517269e-02 2.72884595e-01 2.60342573e+02] [-1.20775287e-01 9.88962285e-01 8.58308102e-02 1.74566349e+01] [-2.61868701e-01 -1.15142144e-01 9.58210348e-01 -1.14545057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:260.38, Y:17.55, Z:-114.56 [[ 9.56090981e-01 1.25364233e-01 2.64903465e-01 2.60384760e+02] [-1.24235383e-01 9.92028797e-01 -2.10816409e-02 1.75536105e+01] [-2.65434749e-01 -1.27544167e-02 9.64044459e-01 -1.14562765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:260.41, Y:17.57, Z:-114.57 [[ 9.53052865e-01 1.28479649e-01 2.74195579e-01 2.60414138e+02] [-1.22115323e-01 9.91700247e-01 -4.02301955e-02 1.75673565e+01] [-2.77088584e-01 4.85802158e-03 9.60832096e-01 -1.14570140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:260.45, Y:17.58, Z:-114.58 [[ 9.54522864e-01 1.32344670e-01 2.67153498e-01 2.60447094e+02] [-1.22005939e-01 9.91003659e-01 -5.50117964e-02 1.75780266e+01] [-2.72030612e-01 1.99157040e-02 9.62082487e-01 -1.14578038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:260.49, Y:17.67, Z:-114.59 [[ 9.39311195e-01 1.57921607e-01 3.04557456e-01 2.60489153e+02] [-1.11435638e-01 9.80061887e-01 -1.64501658e-01 1.76710699e+01] [-3.24463521e-01 1.20579694e-01 9.38181198e-01 -1.14586386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:260.51, Y:17.55, Z:-114.60 [[ 9.38629247e-01 1.20607394e-01 3.23154752e-01 2.60506392e+02] [-1.13170259e-01 9.92696761e-01 -4.17807695e-02 1.75518011e+01] [-3.25833746e-01 2.64514521e-03 9.45423383e-01 -1.14599729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:260.54, Y:17.55, Z:-114.61 [[ 9.38909150e-01 1.19527897e-01 3.22742452e-01 2.60540247e+02] [-1.11969635e-01 9.92825505e-01 -4.19561472e-02 1.75474739e+01] [-3.25441868e-01 3.25565590e-03 9.45556445e-01 -1.14609273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:260.57, Y:17.54, Z:-114.62 [[ 9.38791804e-01 1.18814830e-01 3.23346540e-01 2.60573939e+02] [-1.11099822e-01 9.92909260e-01 -4.22851062e-02 1.75426153e+01] [-3.26077872e-01 3.77316817e-03 9.45335382e-01 -1.14620395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75591999999995 meters Centerline goodness : 0.874782 Centerline is valid? [True, False] Translation: X:260.63, Y:17.51, Z:-114.64 [[ 9.48250604e-01 1.04191695e-01 2.99941466e-01 2.60633731e+02] [-1.03491516e-01 9.94462591e-01 -1.82663975e-02 1.75130858e+01] [-3.00183775e-01 -1.37202746e-02 9.53782709e-01 -1.14638777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters Centerline goodness : 0.999453 Centerline is valid? [False, True] Translation: X:260.69, Y:17.49, Z:-114.65 [[ 9.57039548e-01 9.10755880e-02 2.75282657e-01 2.60691636e+02] [-9.44703620e-02 9.95527239e-01 -9.31247030e-04 1.74909558e+01] [-2.74136197e-01 -2.51148120e-02 9.61362882e-01 -1.14654734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:260.71, Y:17.39, Z:-114.65 [[ 9.70371509e-01 6.40475726e-02 2.32974339e-01 2.60710900e+02] [-8.98532548e-02 9.90729681e-01 1.01887648e-01 1.73938289e+01] [-2.24288936e-01 -1.19802373e-01 9.67130738e-01 -1.14648642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:260.74, Y:17.48, Z:-114.66 [[ 9.69919873e-01 8.89185813e-02 2.26603012e-01 2.60744909e+02] [-9.12526767e-02 9.95827755e-01 -1.75666660e-04 1.74841159e+01] [-2.25673189e-01 -2.05077488e-02 9.73987189e-01 -1.14662873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87591999999995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:260.78, Y:17.50, Z:-114.67 [[ 9.66235937e-01 9.56793032e-02 2.39235416e-01 2.60778826e+02] [-9.19853267e-02 9.95405403e-01 -2.65853908e-02 1.75007498e+01] [-2.40679898e-01 3.68161211e-03 9.70597565e-01 -1.14672088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:260.81, Y:17.51, Z:-114.68 [[ 9.71899612e-01 9.92879406e-02 2.13431603e-01 2.60809929e+02] [-9.19852797e-02 9.94792034e-01 -4.39035017e-02 1.75080389e+01] [-2.16679147e-01 2.30372305e-02 9.75971021e-01 -1.14677476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93591999999995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:260.84, Y:17.52, Z:-114.69 [[ 9.70465196e-01 1.05246234e-01 2.17072648e-01 2.60841352e+02] [-9.37258217e-02 9.93619818e-01 -6.27305932e-02 1.75182994e+01] [-2.22289843e-01 4.05325451e-02 9.74137741e-01 -1.14685079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:260.87, Y:17.56, Z:-114.70 [[ 9.54230253e-01 1.18952677e-01 2.74399133e-01 2.60874906e+02] [-8.74062539e-02 9.88362252e-01 -1.24499824e-01 1.75604185e+01] [-2.86015333e-01 9.48172982e-02 9.53522370e-01 -1.14698466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:260.88, Y:17.37, Z:-114.69 [[ 9.68728702e-01 6.68686453e-02 2.38942014e-01 2.60884182e+02] [-8.88558836e-02 9.92625803e-01 8.24539047e-02 1.73656346e+01] [-2.31666428e-01 -1.01106868e-01 9.67526779e-01 -1.14686040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:260.92, Y:17.46, Z:-114.71 [[ 9.67138304e-01 9.76149628e-02 2.34765458e-01 2.60920757e+02] [-9.45294863e-02 9.95223278e-01 -2.43885807e-02 1.74583758e+01] [-2.36024739e-01 1.39487242e-03 9.71746046e-01 -1.14705104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:260.95, Y:17.50, Z:-114.71 [[ 9.63539545e-01 1.17086108e-01 2.40587589e-01 2.60953776e+02] [-1.00416918e-01 9.91686957e-01 -8.04575781e-02 1.75016112e+01] [-2.48008038e-01 5.33649940e-02 9.67287026e-01 -1.14713616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters Centerline goodness : 0.948374 Centerline is valid? [True, False] Translation: X:261.00, Y:17.46, Z:-114.72 [[ 9.70203332e-01 1.02150488e-01 2.19706104e-01 2.61003441e+02] [-9.53502683e-02 9.94583975e-01 -4.13647595e-02 1.74581041e+01] [-2.22741601e-01 1.91831916e-02 9.74688763e-01 -1.14720893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11591999999996 meters Centerline goodness : 0.994277 Centerline is valid? [False, True] Translation: X:261.03, Y:17.43, Z:-114.72 [[ 9.73232624e-01 9.38105014e-02 2.09804314e-01 2.61025816e+02] [-9.29004448e-02 9.95573981e-01 -1.42111030e-02 1.74289442e+01] [-2.10208866e-01 -5.66020501e-03 9.77640115e-01 -1.14723927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters Centerline goodness : 0.754009 Centerline is valid? [True, False] Translation: X:261.07, Y:17.41, Z:-114.73 [[ 9.78666739e-01 8.42030252e-02 1.87406681e-01 2.61072023e+02] [-8.58413719e-02 9.96308618e-01 6.29091128e-04 1.74104168e+01] [-1.86661920e-01 -1.67029172e-02 9.82282210e-01 -1.14732584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17591999999996 meters Centerline goodness : 0.970737 Centerline is valid? [False, True] Translation: X:261.11, Y:17.40, Z:-114.74 [[ 9.82859741e-01 7.49699530e-02 1.68422788e-01 2.61105484e+02] [-7.82275971e-02 9.96853589e-01 1.27814600e-02 1.73959911e+01] [-1.66934635e-01 -2.57376925e-02 9.85631979e-01 -1.14738384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:261.17, Y:17.39, Z:-114.71 [[ 9.76548121e-01 9.13370343e-02 1.94964902e-01 2.61172769e+02] [-9.62972732e-02 9.95222456e-01 1.60965055e-02 1.73931550e+01] [-1.92563241e-01 -3.44936006e-02 9.80678127e-01 -1.14705807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23591999999996 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:261.24, Y:17.39, Z:-114.74 [[ 9.77723726e-01 9.08525920e-02 1.89214487e-01 2.61242772e+02] [-9.71451614e-02 9.94975188e-01 2.42320473e-02 1.73851965e+01] [-1.86062175e-01 -4.20735194e-02 9.81636738e-01 -1.14736240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.25, Y:17.49, Z:-114.73 [[ 9.66061242e-01 1.15542719e-01 2.31031504e-01 2.61246516e+02] [-9.06372624e-02 9.89141924e-01 -1.15685527e-01 1.74944728e+01] [-2.41889567e-01 9.08192412e-02 9.66044152e-01 -1.14731034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:261.26, Y:17.37, Z:-114.73 [[ 9.74531635e-01 8.96539075e-02 2.05548701e-01 2.61263683e+02] [-9.56696295e-02 9.95222186e-01 1.94967060e-02 1.73675653e+01] [-2.02818672e-01 -3.86649248e-02 9.78452661e-01 -1.14731431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:261.30, Y:17.43, Z:-114.74 [[ 9.66211282e-01 1.05792661e-01 2.35039723e-01 2.61303220e+02] [-9.46340126e-02 9.93804080e-01 -5.82911167e-02 1.74275768e+01] [-2.39750208e-01 3.40787825e-02 9.70236298e-01 -1.14743782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:261.32, Y:17.24, Z:-114.72 [[ 9.78429480e-01 6.17037363e-02 1.97150705e-01 2.61318311e+02] [-9.05134549e-02 9.85915306e-01 1.40635432e-01 1.72426521e+01] [-1.85696166e-01 -1.55446644e-01 9.70233619e-01 -1.14715956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:261.38, Y:17.43, Z:-114.77 [[ 9.63501564e-01 1.75842694e-01 2.01851639e-01 2.61377981e+02] [-1.73101889e-01 9.84406630e-01 -3.12941376e-02 1.74286341e+01] [-2.04206937e-01 -4.78894952e-03 9.78916030e-01 -1.14768695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.40, Y:17.49, Z:-114.77 [[ 9.65003709e-01 1.27377233e-01 2.29222340e-01 2.61402283e+02] [-9.88710822e-02 9.86325682e-01 -1.31856585e-01 1.74869173e+01] [-2.42883408e-01 1.04578633e-01 9.64401866e-01 -1.14765959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.43, Y:17.38, Z:-114.77 [[ 9.65239383e-01 1.05591372e-01 2.39088678e-01 2.61425778e+02] [-1.03118684e-01 9.94406244e-01 -2.28639227e-02 1.73801379e+01] [-2.40165507e-01 -2.58535117e-03 9.70728513e-01 -1.14768346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:261.45, Y:17.24, Z:-114.75 [[ 9.76566941e-01 7.24624108e-02 2.02647992e-01 2.61445568e+02] [-1.00759482e-01 9.85981251e-01 1.32998116e-01 1.72356474e+01] [-1.90169757e-01 -1.50300270e-01 9.70177970e-01 -1.14746974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:17.40, Z:-114.78 [[ 9.76527961e-01 1.15094794e-01 1.82061334e-01 2.61488232e+02] [-1.09175266e-01 9.93124522e-01 -4.22426994e-02 1.73991445e+01] [-1.85671490e-01 2.13745826e-02 9.82379369e-01 -1.14782834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:261.52, Y:17.43, Z:-114.79 [[ 9.75273536e-01 1.20554630e-01 1.85224491e-01 2.61520370e+02] [-1.08529457e-01 9.91351441e-01 -7.37812769e-02 1.74266481e+01] [-1.92517240e-01 5.18546134e-02 9.79922554e-01 -1.14791332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.55, Y:17.43, Z:-114.80 [[ 9.63289255e-01 1.21187147e-01 2.39556853e-01 2.61550303e+02] [-1.03737171e-01 9.91033938e-01 -8.42041194e-02 1.74285118e+01] [-2.47613429e-01 5.62619733e-02 9.67223956e-01 -1.14800127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:261.57, Y:17.30, Z:-114.79 [[ 9.76041482e-01 8.62733156e-02 1.99749693e-01 2.61570791e+02] [-9.84932502e-02 9.93775510e-01 5.20510924e-02 1.73028018e+01] [-1.94015733e-01 -7.04780219e-02 9.78463461e-01 -1.14789513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:261.61, Y:17.37, Z:-114.80 [[ 9.75402224e-01 1.03253895e-01 1.94754034e-01 2.61606454e+02] [-1.00143709e-01 9.94639051e-01 -2.57758922e-02 1.73739765e+01] [-1.96371429e-01 5.63847121e-03 9.80513370e-01 -1.14803626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:261.64, Y:17.37, Z:-114.81 [[ 9.74568349e-01 1.01496037e-01 1.99787606e-01 2.61637258e+02] [-9.74064733e-02 9.94785776e-01 -3.02198313e-02 1.73748424e+01] [-2.01813062e-01 9.99068500e-03 9.79373103e-01 -1.14810931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.67, Y:17.41, Z:-114.82 [[ 9.62961473e-01 1.08442471e-01 2.46871285e-01 2.61670431e+02] [-9.28409301e-02 9.92925874e-01 -7.40187209e-02 1.74070304e+01] [-2.53151660e-01 4.83574168e-02 9.66217262e-01 -1.14823814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:261.69, Y:17.32, Z:-114.82 [[ 9.74058774e-01 8.50587257e-02 2.09701021e-01 2.61694831e+02] [-9.15577990e-02 9.95568427e-01 2.14633943e-02 1.73171026e+01] [-2.06946067e-01 -4.01063715e-02 9.77529951e-01 -1.14818907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters Centerline goodness : 0.824854 Centerline is valid? [True, False] Translation: X:261.72, Y:17.32, Z:-114.82 [[ 9.76550561e-01 7.14174728e-02 2.03097381e-01 2.61720696e+02] [-7.58634207e-02 9.97017381e-01 1.41804110e-02 1.73171871e+01] [-2.01478890e-01 -2.92555504e-02 9.79055856e-01 -1.14822864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:261.74, Y:17.31, Z:-114.83 [[ 9.78598757e-01 6.23529598e-02 1.96103499e-01 2.61744682e+02] [-6.59966591e-02 9.97746541e-01 1.20946264e-02 1.73139596e+01] [-1.94907452e-01 -2.47779621e-02 9.80508612e-01 -1.14825983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters Centerline goodness : 0.774237 Centerline is valid? [True, False] Translation: X:261.78, Y:17.31, Z:-114.83 [[ 9.82911125e-01 5.50787382e-02 1.75647525e-01 2.61782833e+02] [-5.88190979e-02 9.98137914e-01 1.61560424e-02 1.73056897e+01] [-1.74430600e-01 -2.62113828e-02 9.84320542e-01 -1.14832422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:261.81, Y:17.30, Z:-114.84 [[ 9.86512617e-01 4.78416349e-02 1.56537645e-01 2.61812863e+02] [-5.13973624e-02 9.98502363e-01 1.87441233e-02 1.73001711e+01] [-1.55406459e-01 -2.65369362e-02 9.87494113e-01 -1.14837409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:261.84, Y:17.26, Z:-114.83 [[ 9.92756217e-01 4.32267973e-02 1.12100573e-01 2.61841992e+02] [-4.99898469e-02 9.97050365e-01 5.82373235e-02 1.72617900e+01] [-1.09252504e-01 -6.34193554e-02 9.91988849e-01 -1.14833438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:261.88, Y:17.30, Z:-114.85 [[ 9.88565224e-01 8.96878958e-02 1.21222434e-01 2.61876223e+02] [-9.30334886e-02 9.95415116e-01 2.22152309e-02 1.73040393e+01] [-1.18674206e-01 -3.32389507e-02 9.92376746e-01 -1.14852454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:17.40, Z:-114.86 [[ 9.86270156e-01 6.53768413e-02 1.51647774e-01 2.61909178e+02] [-4.98607654e-02 9.93331304e-01 -1.03955882e-01 1.73996570e+01] [-1.57432788e-01 9.49673097e-02 9.82952759e-01 -1.14857082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.93, Y:17.22, Z:-114.84 [[ 9.91440980e-01 5.27406615e-02 1.19428667e-01 2.61931018e+02] [-6.29533307e-02 9.94524057e-01 8.34192952e-02 1.72243486e+01] [-1.14375093e-01 -9.02237401e-02 9.89332105e-01 -1.14842048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:17.28, Z:-114.85 [[ 9.90856211e-01 5.19491774e-02 1.24520085e-01 2.61962180e+02] [-5.43225402e-02 9.98399395e-01 1.57388190e-02 1.72794215e+01] [-1.23503159e-01 -2.23591539e-02 9.92092253e-01 -1.14850115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:17.32, Z:-114.86 [[ 9.91522616e-01 6.25796912e-02 1.13871351e-01 2.61994636e+02] [-5.91691775e-02 9.97699344e-01 -3.30911962e-02 1.73224552e+01] [-1.15680209e-01 2.60729953e-02 9.92944252e-01 -1.14863770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:262.02, Y:17.32, Z:-114.87 [[ 9.90866655e-01 6.16040788e-02 1.19950863e-01 2.62023482e+02] [-5.72571567e-02 9.97583372e-01 -3.93577606e-02 1.73233151e+01] [-1.22085585e-01 3.21302472e-02 9.91999374e-01 -1.14865686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:262.05, Y:17.28, Z:-114.87 [[ 9.90497866e-01 5.90115440e-02 1.24224051e-01 2.62050692e+02] [-5.97349943e-02 9.98212054e-01 2.10385914e-03 1.72782342e+01] [-1.23877793e-01 -9.50439095e-03 9.92251963e-01 -1.14867611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:262.08, Y:17.29, Z:-114.87 [[ 9.89780009e-01 6.41538531e-02 1.27357044e-01 2.62080147e+02] [-6.27108323e-02 9.97914269e-01 -1.53122056e-02 1.72898848e+01] [-1.28073748e-01 7.16904883e-03 9.91738736e-01 -1.14873450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:262.11, Y:17.30, Z:-114.87 [[ 9.88590617e-01 6.83565678e-02 1.34223588e-01 2.62111971e+02] [-6.48012614e-02 9.97426286e-01 -3.06855050e-02 1.72969645e+01] [-1.35975691e-01 2.16375445e-02 9.90475859e-01 -1.14874953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.14, Y:17.28, Z:-114.88 [[ 9.88120738e-01 6.93614786e-02 1.37136398e-01 2.62141322e+02] [-6.82961795e-02 9.97587231e-01 -1.24638978e-02 1.72783147e+01] [-1.37670034e-01 2.94994386e-03 9.90473755e-01 -1.14879207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:17.28, Z:-114.88 [[ 9.87505375e-01 7.21686490e-02 1.40088614e-01 2.62174263e+02] [-7.12142251e-02 9.97391000e-01 -1.18205961e-02 1.72752625e+01] [-1.40576199e-01 1.69660017e-03 9.90068409e-01 -1.14882352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.20, Y:17.28, Z:-114.89 [[ 9.86871157e-01 7.91203945e-02 1.40802279e-01 2.62204849e+02] [-7.67655537e-02 9.96804509e-01 -2.20866818e-02 1.72833180e+01] [-1.42099853e-01 1.09879443e-02 9.89791340e-01 -1.14891822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.23, Y:17.27, Z:-114.90 [[ 9.86783708e-01 7.71418521e-02 1.42502800e-01 2.62234761e+02] [-7.63794592e-02 9.97020106e-01 -1.08206404e-02 1.72705948e+01] [-1.42912881e-01 -2.06655109e-04 9.89735250e-01 -1.14895001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:262.27, Y:17.27, Z:-114.90 [[ 9.86604890e-01 7.90437062e-02 1.42698575e-01 2.62266500e+02] [-7.84050638e-02 9.96870403e-01 -1.01017958e-02 1.72674043e+01] [-1.43050469e-01 -1.22180971e-03 9.89714641e-01 -1.14897027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:17.27, Z:-114.90 [[ 9.86254938e-01 8.22349841e-02 1.43312957e-01 2.62296782e+02] [-8.05126559e-02 9.96594888e-01 -1.77859723e-02 1.72733895e+01] [-1.44287590e-01 6.00299622e-03 9.89517587e-01 -1.14903057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.33, Y:17.27, Z:-114.91 [[ 9.86813235e-01 8.11686918e-02 1.40040290e-01 2.62327967e+02] [-7.99291997e-02 9.96695625e-01 -1.44621805e-02 1.72695472e+01] [-1.40751421e-01 3.07816281e-03 9.90040182e-01 -1.14906947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.36, Y:17.27, Z:-114.91 [[ 9.85798971e-01 8.20437902e-02 1.46523734e-01 2.62360017e+02] [-7.99571556e-02 9.96595943e-01 -2.00843012e-02 1.72736601e+01] [-1.47672751e-01 8.08346244e-03 9.89003244e-01 -1.14914776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:262.39, Y:17.27, Z:-114.92 [[ 9.85775469e-01 7.87198775e-02 1.48492108e-01 2.62393193e+02] [-7.77499370e-02 9.96896586e-01 -1.23346393e-02 1.72650613e+01] [-1.49002257e-01 6.13932842e-04 9.88836665e-01 -1.14918399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:262.42, Y:17.26, Z:-114.92 [[ 9.86034234e-01 7.57325135e-02 1.48327594e-01 2.62424155e+02] [-7.55286369e-02 9.97118958e-01 -7.01490093e-03 1.72571671e+01] [-1.48431512e-01 -4.28604854e-03 9.88913402e-01 -1.14922665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.46, Y:17.27, Z:-114.93 [[ 9.81190192e-01 7.60850822e-02 1.77417212e-01 2.62455312e+02] [-7.19920162e-02 9.96971686e-01 -2.94042068e-02 1.72730593e+01] [-1.79117158e-01 1.60784966e-02 9.83696358e-01 -1.14927833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.49, Y:17.25, Z:-114.93 [[ 9.81392358e-01 7.09583588e-02 1.78420711e-01 2.62486549e+02] [-6.99480958e-02 9.97478998e-01 -1.19545874e-02 1.72532783e+01] [-1.78819190e-01 -7.48048261e-04 9.83881669e-01 -1.14930574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.52, Y:17.21, Z:-114.93 [[ 9.87342869e-01 6.18620826e-02 1.46038155e-01 2.62516395e+02] [-6.82646890e-02 9.96895230e-01 3.92406953e-02 1.72051757e+01] [-1.43157229e-01 -4.87132699e-02 9.88500392e-01 -1.14926122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:262.55, Y:17.25, Z:-114.94 [[ 9.86788868e-01 7.17805672e-02 1.45242143e-01 2.62549557e+02] [-7.00147284e-02 9.97396973e-01 -1.72399401e-02 1.72537836e+01] [-1.46101566e-01 6.84309183e-03 9.89245927e-01 -1.14939978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:262.60, Y:17.23, Z:-114.95 [[ 9.83566605e-01 9.12509446e-02 1.55788316e-01 2.62598076e+02] [-9.44554167e-02 9.95440562e-01 1.32763611e-02 1.72331826e+01] [-1.53866529e-01 -2.77732357e-02 9.87701240e-01 -1.14945991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.61, Y:17.29, Z:-114.96 [[ 9.85853452e-01 7.44973949e-02 1.50143631e-01 2.62610278e+02] [-6.59622830e-02 9.95952560e-01 -6.10530514e-02 1.72877158e+01] [-1.54084227e-01 5.02855448e-02 9.86777287e-01 -1.14955559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:262.64, Y:17.22, Z:-114.95 [[ 9.86421752e-01 6.42556586e-02 1.51140125e-01 2.62637646e+02] [-6.55587708e-02 9.97842036e-01 3.64959601e-03 1.72237495e+01] [-1.50579463e-01 -1.35086017e-02 9.88505611e-01 -1.14951541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:262.67, Y:17.24, Z:-114.96 [[ 9.85831563e-01 6.86304475e-02 1.53055516e-01 2.62668893e+02] [-6.68809024e-02 9.97623592e-01 -1.65564044e-02 1.72399688e+01] [-1.53828067e-01 6.08533502e-03 9.88078891e-01 -1.14959515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:262.70, Y:17.23, Z:-114.97 [[ 9.85224952e-01 6.79835463e-02 1.57194247e-01 2.62698739e+02] [-6.77590304e-02 9.97678589e-01 -6.79313108e-03 1.72285203e+01] [-1.57291155e-01 -3.95856749e-03 9.87544339e-01 -1.14965411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:262.73, Y:17.27, Z:-114.98 [[ 9.79325695e-01 7.80291299e-02 1.86635042e-01 2.62730435e+02] [-6.82746988e-02 9.95970846e-01 -5.81432698e-02 1.72712097e+01] [-1.90419930e-01 4.41987467e-02 9.80707256e-01 -1.14976624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:262.76, Y:17.20, Z:-114.97 [[ 9.84330529e-01 6.69995918e-02 1.63108749e-01 2.62759953e+02] [-7.13131792e-02 9.97238546e-01 2.07295067e-02 1.71971737e+01] [-1.61269463e-01 -3.20364897e-02 9.86390300e-01 -1.14969752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79591999999997 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:262.75, Y:17.17, Z:-114.98 [[ 9.83697168e-01 -1.24310129e-02 1.79402762e-01 2.62745971e+02] [ 1.13853584e-02 9.99911673e-01 6.85702955e-03 1.71687295e+01] [-1.79472156e-01 -4.70267580e-03 9.83751813e-01 -1.14976501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:262.82, Y:17.26, Z:-114.99 [[ 9.76312970e-01 9.09553851e-02 1.96316330e-01 2.62815428e+02] [-8.28278386e-02 9.95346750e-01 -4.92381544e-02 1.72607732e+01] [-1.99881297e-01 3.18113914e-02 9.79303580e-01 -1.14985382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85591999999997 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:262.85, Y:17.20, Z:-114.98 [[ 9.81728919e-01 8.19728203e-02 1.71722994e-01 2.62845541e+02] [-8.68136682e-02 9.96006159e-01 2.08594933e-02 1.71968318e+01] [-1.69327248e-01 -3.53862709e-02 9.84924411e-01 -1.14982165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:262.88, Y:17.22, Z:-114.99 [[ 9.82272714e-01 8.75307585e-02 1.65766949e-01 2.62877539e+02] [-8.75454376e-02 9.96134272e-01 -7.23240573e-03 1.72203993e+01] [-1.65759197e-01 -7.40794529e-03 9.86138434e-01 -1.14991956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91591999999997 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:262.91, Y:17.26, Z:-115.00 [[ 9.75974537e-01 9.56722610e-02 1.95756279e-01 2.62908912e+02] [-8.59443355e-02 9.94632415e-01 -5.76188359e-02 1.72618144e+01] [-2.00218065e-01 3.94103734e-02 9.78958400e-01 -1.15004109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:262.94, Y:17.12, Z:-114.98 [[ 9.86452544e-01 6.83186484e-02 1.49144028e-01 2.62935963e+02] [-8.40421816e-02 9.91248541e-01 1.01800008e-01 1.71172650e+01] [-1.40883961e-01 -1.12955266e-01 9.83561293e-01 -1.14977859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97592 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:262.97, Y:17.26, Z:-115.01 [[ 9.82010906e-01 9.67345004e-02 1.62163552e-01 2.62972082e+02] [-8.74556101e-02 9.94146980e-01 -6.34294724e-02 1.72646655e+01] [-1.67350224e-01 4.81063213e-02 9.84723151e-01 -1.15012112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:263.00, Y:17.22, Z:-115.01 [[ 9.81751905e-01 8.92685835e-02 1.67911633e-01 2.63001376e+02] [-8.72152986e-02 9.95997075e-01 -1.95785273e-02 1.72210792e+01] [-1.68987242e-01 4.57679334e-03 9.85607612e-01 -1.15012242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03592 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:263.03, Y:17.22, Z:-115.02 [[ 9.80691713e-01 9.13710703e-02 1.72901969e-01 2.63032053e+02] [-8.80869825e-02 9.95757857e-01 -2.65889818e-02 1.72247372e+01] [-1.74597958e-01 1.08451814e-02 9.84580081e-01 -1.15019160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:263.06, Y:17.21, Z:-115.02 [[ 9.80518622e-01 8.97589337e-02 1.74718532e-01 2.63062352e+02] [-8.83424928e-02 9.95963511e-01 -1.58836236e-02 1.72123525e+01] [-1.75438980e-01 1.39118049e-04 9.84490297e-01 -1.15023548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09592 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:263.09, Y:17.20, Z:-115.03 [[ 9.80671589e-01 8.82787745e-02 1.74614124e-01 2.63091532e+02] [-8.80370403e-02 9.96075221e-01 -9.14516868e-03 1.72030074e+01] [-1.74736127e-01 -6.40410359e-03 9.84594472e-01 -1.15028290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:263.12, Y:17.22, Z:-115.04 [[ 9.79293833e-01 9.39151650e-02 1.79341935e-01 2.63123268e+02] [-8.99777543e-02 9.95492359e-01 -2.99827770e-02 1.72185149e+01] [-1.81349364e-01 1.32251640e-02 9.83329804e-01 -1.15037704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15592 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:263.15, Y:17.20, Z:-115.04 [[ 9.79049680e-01 9.21745159e-02 1.81564264e-01 2.63153327e+02] [-9.13846508e-02 9.95734305e-01 -1.27294565e-02 1.72000666e+01] [-1.81963098e-01 -4.12941657e-03 9.83296689e-01 -1.15041548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:263.18, Y:17.20, Z:-115.05 [[ 9.78935722e-01 9.42577443e-02 1.81108614e-01 2.63183564e+02] [-9.24617219e-02 9.95547079e-01 -1.83532938e-02 1.72040489e+01] [-1.82032092e-01 1.22108063e-03 9.83291832e-01 -1.15048243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21592 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:263.22, Y:17.20, Z:-115.06 [[ 9.77749602e-01 9.87626211e-02 1.85072041e-01 2.63215314e+02] [-9.66209204e-02 9.95108503e-01 -2.05782444e-02 1.72043625e+01] [-1.86199123e-01 2.23853933e-03 9.82509479e-01 -1.15056429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:263.25, Y:17.21, Z:-115.06 [[ 9.77049464e-01 1.01023179e-01 1.87533097e-01 2.63246070e+02] [-9.84452587e-02 9.94875855e-01 -2.30339853e-02 1.72055758e+01] [-1.88899116e-01 4.04359877e-03 9.81988174e-01 -1.15063256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27592 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:263.28, Y:17.22, Z:-115.07 [[ 9.71239791e-01 1.05777638e-01 2.13317510e-01 2.63275942e+02] [-9.89571658e-02 9.94186588e-01 -4.24323903e-02 1.72212189e+01] [-2.16565806e-01 2.01027297e-02 9.76061029e-01 -1.15071579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters Centerline goodness : 0.987934 Centerline is valid? [True, True] Translation: X:263.34, Y:17.17, Z:-115.07 [[ 9.67997027e-01 1.47660268e-01 2.02924128e-01 2.63342417e+02] [-1.58578148e-01 9.86593612e-01 3.85488832e-02 1.71735596e+01] [-1.94511510e-01 -6.94945367e-02 9.78435374e-01 -1.15073128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33592 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:263.34, Y:17.28, Z:-115.09 [[ 9.69188015e-01 1.26791512e-01 2.11183578e-01 2.63338044e+02] [-1.06284250e-01 9.88688687e-01 -1.05822206e-01 1.72810249e+01] [-2.22212171e-01 8.01161261e-02 9.71701167e-01 -1.15087145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:263.37, Y:17.09, Z:-115.08 [[ 9.76841254e-01 5.07307272e-02 2.07864278e-01 2.63372578e+02] [-6.69999352e-02 9.95152708e-01 7.19867804e-02 1.70900542e+01] [-2.03204757e-01 -8.42465500e-02 9.75505175e-01 -1.15082187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39592 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:263.40, Y:17.29, Z:-115.10 [[ 9.68076138e-01 1.35331681e-01 2.10983240e-01 2.63401903e+02] [-1.12960467e-01 9.86950491e-01 -1.14754784e-01 1.72927280e+01] [-2.23759971e-01 8.72586023e-02 9.70730350e-01 -1.15097527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:263.43, Y:17.21, Z:-115.10 [[ 9.68437608e-01 1.19698346e-01 2.18634182e-01 2.63429994e+02] [-1.19360721e-01 9.92740625e-01 -1.48009798e-02 1.72086050e+01] [-2.18818688e-01 -1.17625081e-02 9.75694637e-01 -1.15096791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45592 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:263.46, Y:17.17, Z:-115.10 [[ 9.74901141e-01 1.13477307e-01 1.91548077e-01 2.63462534e+02] [-1.21253139e-01 9.92188064e-01 2.93346422e-02 1.71736303e+01] [-1.86722900e-01 -5.18241819e-02 9.81044756e-01 -1.15095816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:263.50, Y:17.26, Z:-115.11 [[ 9.68005770e-01 1.28940400e-01 2.15265423e-01 2.63495289e+02] [-1.18805886e-01 9.91137442e-01 -5.94283795e-02 1.72618062e+01] [-2.21020340e-01 3.19522151e-02 9.74745641e-01 -1.15112484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51592 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:263.55, Y:17.18, Z:-115.11 [[ 9.69352964e-01 1.40332531e-01 2.01647244e-01 2.63550331e+02] [-1.52543055e-01 9.87213164e-01 4.62686241e-02 1.71830951e+01] [-1.92575820e-01 -7.56105145e-02 9.78364760e-01 -1.15110883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:263.56, Y:17.30, Z:-115.12 [[ 9.67579793e-01 1.35337123e-01 2.13244480e-01 2.63561373e+02] [-1.16447615e-01 9.88266600e-01 -9.88386604e-02 1.73027888e+01] [-2.24118937e-01 7.08024793e-02 9.71986477e-01 -1.15124550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57592 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:263.59, Y:17.24, Z:-115.13 [[ 9.68310507e-01 1.19317208e-01 2.19404114e-01 2.63590616e+02] [-1.18993778e-01 9.92785619e-01 -1.47375670e-02 1.72358592e+01] [-2.19579694e-01 -1.18371834e-02 9.75522752e-01 -1.15126526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters Centerline goodness : 0.973574 Centerline is valid? [True, True] Translation: X:263.58, Y:17.13, Z:-115.13 [[ 9.78719915e-01 1.00257457e-02 2.04955633e-01 2.63584743e+02] [-2.16338474e-02 9.98280745e-01 5.44750503e-02 1.71340976e+01] [-2.04057109e-01 -5.77497955e-02 9.77254142e-01 -1.15128665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63592 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:263.65, Y:17.29, Z:-115.14 [[ 9.66666447e-01 1.31266685e-01 2.19829566e-01 2.63652881e+02] [-1.21630343e-01 9.90944839e-01 -5.68716582e-02 1.72912602e+01] [-2.25304328e-01 2.82379781e-02 9.73879138e-01 -1.15140675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:263.68, Y:17.24, Z:-115.14 [[ 9.72133219e-01 1.19891982e-01 2.01452022e-01 2.63683623e+02] [-1.22973039e-01 9.92406054e-01 2.80288952e-03 1.72408752e+01] [-1.99586162e-01 -2.74979494e-02 9.79494373e-01 -1.15143581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69592 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:263.70, Y:17.21, Z:-115.15 [[ 9.77297978e-01 7.63862237e-02 1.97620359e-01 2.63699410e+02] [-8.49012358e-02 9.95775608e-01 3.49673873e-02 1.72060081e+01] [-1.94114507e-01 -5.09517697e-02 9.79654774e-01 -1.15147413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:263.75, Y:17.27, Z:-115.15 [[ 9.75385834e-01 1.16330887e-01 1.87322182e-01 2.63745465e+02] [-1.14634306e-01 9.93208375e-01 -1.99022498e-02 1.72709343e+01] [-1.88365207e-01 -2.06117585e-03 9.82096890e-01 -1.15154819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75591999999995 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:263.78, Y:17.31, Z:-115.16 [[ 9.67506616e-01 1.20986776e-01 2.22020603e-01 2.63777433e+02] [-1.08742709e-01 9.91835468e-01 -6.66140200e-02 1.73133534e+01] [-2.28267324e-01 4.03063833e-02 9.72763807e-01 -1.15163439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:263.80, Y:17.22, Z:-115.16 [[ 9.76434471e-01 9.69354175e-02 1.92819214e-01 2.63804071e+02] [-1.06226916e-01 9.93599279e-01 3.84228392e-02 1.72191190e+01] [-1.87860498e-01 -5.79999752e-02 9.80481737e-01 -1.15162767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81591999999995 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:263.84, Y:17.28, Z:-115.17 [[ 9.76341665e-01 1.03239567e-01 1.89996172e-01 2.63838791e+02] [-1.01078272e-01 9.94655597e-01 -2.10577123e-02 1.72752321e+01] [-1.91154745e-01 1.35503719e-03 9.81558978e-01 -1.15172886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:263.87, Y:17.27, Z:-115.18 [[ 9.76161198e-01 9.96025290e-02 1.92843595e-01 2.63868697e+02] [-9.88002528e-02 9.95011632e-01 -1.37972004e-02 1.72678941e+01] [-1.93255856e-01 -5.58470430e-03 9.81132501e-01 -1.15178692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87591999999995 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:263.90, Y:17.28, Z:-115.19 [[ 9.75175327e-01 1.01343275e-01 1.96882257e-01 2.63900652e+02] [-9.71277314e-02 9.94789763e-01 -3.09763094e-02 1.72845916e+01] [-1.98995694e-01 1.10846057e-02 9.79937674e-01 -1.15185880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:263.93, Y:17.26, Z:-115.19 [[ 9.75708837e-01 9.58771891e-02 1.96976723e-01 2.63929452e+02] [-9.55036604e-02 9.95363602e-01 -1.14170790e-02 1.72642567e+01] [-1.97158098e-01 -7.67225312e-03 9.80341686e-01 -1.15191546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93591999999995 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:263.96, Y:17.30, Z:-115.20 [[ 9.67886798e-01 1.03002117e-01 2.29315744e-01 2.63961851e+02] [-9.26296226e-02 9.94148422e-01 -5.55757886e-02 1.72997671e+01] [-2.33698309e-01 3.25496412e-02 9.71764180e-01 -1.15200530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:263.99, Y:17.26, Z:-115.21 [[ 9.68273435e-01 9.37598882e-02 2.31636869e-01 2.63991221e+02] [-9.23505859e-02 9.95582361e-01 -1.69449358e-02 1.72623122e+01] [-2.32202336e-01 -4.98446942e-03 9.72654733e-01 -1.15208289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99591999999996 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:264.02, Y:17.23, Z:-115.21 [[ 9.76078015e-01 8.75645070e-02 1.99007953e-01 2.64022926e+02] [-9.28308816e-02 9.95532103e-01 1.72701887e-02 1.72313234e+01] [-1.96606550e-01 -3.53311352e-02 9.79845690e-01 -1.15212842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:264.06, Y:17.25, Z:-115.22 [[ 9.76174587e-01 9.39412333e-02 1.95597089e-01 2.64055024e+02] [-9.42792440e-02 9.95516762e-01 -7.60272250e-03 1.72521084e+01] [-1.95434390e-01 -1.10191612e-02 9.80654872e-01 -1.15220597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05591999999996 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:264.09, Y:17.26, Z:-115.23 [[ 9.75339675e-01 9.66772750e-02 1.98408727e-01 2.64086222e+02] [-9.46176822e-02 9.95315603e-01 -1.98581031e-02 1.72607119e+01] [-1.99399129e-01 5.95421893e-04 9.79918177e-01 -1.15226044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:264.12, Y:17.27, Z:-115.23 [[ 9.74467280e-01 1.01414109e-01 2.00321490e-01 2.64116339e+02] [-9.73122819e-02 9.94794258e-01 -3.02440785e-02 1.72693929e+01] [-2.02345844e-01 9.97812360e-03 9.79263293e-01 -1.15234636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:264.15, Y:17.28, Z:-115.24 [[ 9.66882031e-01 1.04105812e-01 2.33026002e-01 2.64147334e+02] [-9.63268649e-02 9.94352301e-01 -4.45492707e-02 1.72790137e+01] [-2.36347779e-01 2.06272251e-02 9.71449559e-01 -1.15241490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:264.18, Y:17.25, Z:-115.25 [[ 9.67022288e-01 1.00368996e-01 2.34081094e-01 2.64177742e+02] [-9.90422421e-02 9.94930261e-01 -1.74473537e-02 1.72523615e+01] [-2.34645537e-01 -6.31193650e-03 9.72060508e-01 -1.15249535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:264.21, Y:17.25, Z:-115.26 [[ 9.66992101e-01 1.00680153e-01 2.34072175e-01 2.64210369e+02] [-9.93336194e-02 9.94899120e-01 -1.75662484e-02 1.72501535e+01] [-2.34646773e-01 -6.26481284e-03 9.72060515e-01 -1.15256825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:264.24, Y:17.25, Z:-115.27 [[ 9.66894467e-01 1.02325323e-01 2.33761882e-01 2.64242294e+02] [-1.01011702e-01 9.94729237e-01 -1.76176511e-02 1.72490125e+01] [-2.34332511e-01 -6.57827618e-03 9.72134250e-01 -1.15265496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:264.27, Y:17.25, Z:-115.27 [[ 9.66973007e-01 1.02721626e-01 2.33262667e-01 2.64274495e+02] [-1.01395572e-01 9.94688680e-01 -1.77021776e-02 1.72485261e+01] [-2.33842131e-01 -6.53427371e-03 9.72252622e-01 -1.15271741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:264.30, Y:17.21, Z:-115.27 [[ 9.75099094e-01 9.38050535e-02 2.00953647e-01 2.64304403e+02] [-1.00426866e-01 9.94678757e-01 2.29916295e-02 1.72128319e+01] [-1.97727592e-01 -4.26002620e-02 9.79330903e-01 -1.15273922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29591999999997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:264.34, Y:17.25, Z:-115.28 [[ 9.74425586e-01 1.00635952e-01 2.00915858e-01 2.64338510e+02] [-9.94343414e-02 9.94914027e-01 -1.60900869e-02 1.72475726e+01] [-2.01513247e-01 -4.29934369e-03 9.79476354e-01 -1.15281723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:264.37, Y:17.24, Z:-115.29 [[ 9.74135386e-01 9.77710094e-02 2.03718135e-01 2.64368868e+02] [-9.66354421e-02 9.95198539e-01 -1.55389310e-02 1.72440533e+01] [-2.04259248e-01 -4.54936951e-03 9.78906259e-01 -1.15286385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:264.40, Y:17.28, Z:-115.30 [[ 9.65484181e-01 1.05659337e-01 2.38068061e-01 2.64401497e+02] [-9.41887520e-02 9.93799450e-01 -5.90857980e-02 1.72789671e+01] [-2.42834874e-01 3.46230697e-02 9.69449569e-01 -1.15295675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:264.43, Y:17.19, Z:-115.30 [[ 9.75441443e-01 8.04130294e-02 2.05055446e-01 2.64425815e+02] [-9.02452132e-02 9.95154060e-01 3.90409933e-02 1.71879355e+01] [-2.00922355e-01 -5.65874752e-02 9.77971403e-01 -1.15295929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41591999999997 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:264.46, Y:17.27, Z:-115.31 [[ 9.71854753e-01 9.85690993e-02 2.13968388e-01 2.64463016e+02] [-8.97520558e-02 9.94679859e-01 -5.05623091e-02 1.72667805e+01] [-2.17813927e-01 2.99351177e-02 9.75531128e-01 -1.15307622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters Centerline goodness : 0.811983 Centerline is valid? [True, False] Translation: X:264.52, Y:17.23, Z:-115.32 [[ 9.77498312e-01 8.55181918e-02 1.92830728e-01 2.64521267e+02] [-8.35181097e-02 9.96334659e-01 -1.84925257e-02 1.72313134e+01] [-1.93705385e-01 1.97155467e-03 9.81057764e-01 -1.15318057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:264.58, Y:17.21, Z:-115.33 [[ 9.82940997e-01 7.25966218e-02 1.68987359e-01 2.64575879e+02] [-7.33517804e-02 9.97304545e-01 -1.77805408e-03 1.72097106e+01] [-1.68660941e-01 -1.06478014e-02 9.85616615e-01 -1.15327272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:264.60, Y:17.16, Z:-115.33 [[ 9.89555134e-01 6.15370407e-02 1.30360386e-01 2.64603436e+02] [-6.78600548e-02 9.96696288e-01 4.46264833e-02 1.71628972e+01] [-1.27183531e-01 -5.30066286e-02 9.90461835e-01 -1.15325427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53592 meters Centerline goodness : 0.807156 Centerline is valid? [True, False] Translation: X:264.64, Y:17.18, Z:-115.33 [[ 9.92491466e-01 5.41421605e-02 1.09678240e-01 2.64639234e+02] [-5.72455488e-02 9.98038372e-01 2.53447256e-02 1.71762206e+01] [-1.08090873e-01 -3.14330148e-02 9.93643965e-01 -1.15327885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [False, True] Translation: X:264.64, Y:17.17, Z:-115.33 [[ 9.92951401e-01 5.04346553e-02 1.07256051e-01 2.64644969e+02] [-5.31341352e-02 9.98334775e-01 2.24597473e-02 1.71725669e+01] [-1.05944696e-01 -2.80003951e-02 9.93977716e-01 -1.15330036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:264.68, Y:17.24, Z:-115.34 [[ 9.87196087e-01 6.35155083e-02 1.46320422e-01 2.64680546e+02] [-5.49555795e-02 9.96573052e-01 -6.18226136e-02 1.72449981e+01] [-1.49745684e-01 5.29899186e-02 9.87303549e-01 -1.15339381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:264.71, Y:17.15, Z:-115.34 [[ 9.92514088e-01 5.09064637e-02 1.11014941e-01 2.64706536e+02] [-5.59499128e-02 9.97515942e-01 4.27966503e-02 1.71460570e+01] [-1.08560547e-01 -4.86875546e-02 9.92896837e-01 -1.15335410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:264.74, Y:17.19, Z:-115.34 [[ 9.92095310e-01 6.12690681e-02 1.09512546e-01 2.64740607e+02] [-6.08973060e-02 9.98121286e-01 -6.73922193e-03 1.71872043e+01] [-1.09719709e-01 1.69314706e-05 9.93962567e-01 -1.15342240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:264.77, Y:17.19, Z:-115.35 [[ 9.91566102e-01 6.44709366e-02 1.12428485e-01 2.64771771e+02] [-6.34405610e-02 9.97904526e-01 -1.27221282e-02 1.71878702e+01] [-1.13013101e-01 5.48230497e-03 9.93578373e-01 -1.15346540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:264.80, Y:17.17, Z:-115.35 [[ 9.91280245e-01 6.87063052e-02 1.12440737e-01 2.64801940e+02] [-6.88994882e-02 9.97621243e-01 -2.17152738e-03 1.71722773e+01] [-1.12322465e-01 -5.59451702e-03 9.93656060e-01 -1.15349846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:264.83, Y:17.20, Z:-115.36 [[ 9.88823535e-01 7.70172120e-02 1.27657221e-01 2.64834219e+02] [-7.34530327e-02 9.96772128e-01 -3.24033595e-02 1.71984590e+01] [-1.29740776e-01 2.26643944e-02 9.91288886e-01 -1.15357679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:264.86, Y:17.17, Z:-115.36 [[ 9.89529720e-01 7.75378030e-02 1.21732588e-01 2.64864895e+02] [-7.78886552e-02 9.96960290e-01 -1.88093776e-03 1.71698721e+01] [-1.21508400e-01 -7.62034372e-03 9.92561151e-01 -1.15358628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:264.90, Y:17.18, Z:-115.36 [[ 9.87695754e-01 9.11808015e-02 1.27055735e-01 2.64897710e+02] [-9.01241247e-02 9.95831392e-01 -1.40528027e-02 1.71823164e+01] [-1.27807436e-01 2.42910662e-03 9.91796027e-01 -1.15364010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:264.93, Y:17.18, Z:-115.37 [[ 9.86520281e-01 9.66194924e-02 1.32069709e-01 2.64929593e+02] [-9.55193024e-02 9.95319686e-01 -1.46555470e-02 1.71834724e+01] [-1.32867593e-01 1.84278783e-03 9.91132083e-01 -1.15367969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:264.96, Y:17.20, Z:-115.37 [[ 9.82233301e-01 1.07651316e-01 1.53717068e-01 2.64960936e+02] [-1.04948318e-01 9.94147718e-01 -2.56157449e-02 1.71992699e+01] [-1.55575041e-01 9.02828999e-03 9.87782819e-01 -1.15372751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89592 meters Centerline goodness : 0.781311 Centerline is valid? [True, False] Translation: X:265.00, Y:17.19, Z:-115.38 [[ 9.85999942e-01 9.93629717e-02 1.33907109e-01 2.65002046e+02] [-9.89893446e-02 9.95043509e-01 -9.46172266e-03 1.71857170e+01] [-1.34183544e-01 -3.92611892e-03 9.90948718e-01 -1.15380287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:265.04, Y:17.18, Z:-115.39 [[ 9.89230010e-01 9.07941403e-02 1.14805974e-01 2.65035825e+02] [-9.14538376e-02 9.95809201e-01 4.81163510e-04 1.71782365e+01] [-1.14281159e-01 -1.09754283e-02 9.93387818e-01 -1.15385962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95592 meters Centerline goodness : 0.959340 Centerline is valid? [True, True] Translation: X:265.07, Y:17.07, Z:-115.40 [[ 9.95168806e-01 3.69492351e-03 9.81091024e-02 2.65072014e+02] [-1.18817541e-02 9.96479238e-01 8.29936901e-02 1.70729007e+01] [-9.74570282e-02 -8.37584397e-02 9.91708955e-01 -1.15395399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:265.10, Y:17.28, Z:-115.39 [[ 9.87984389e-01 1.03903286e-01 1.14415705e-01 2.65100231e+02] [-9.34263053e-02 9.91233697e-01 -9.34199268e-02 1.72790103e+01] [-1.23119340e-01 8.16079927e-02 9.89030719e-01 -1.15387208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01592 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:265.14, Y:17.12, Z:-115.40 [[ 9.93939778e-01 4.06876057e-02 1.02118736e-01 2.65144918e+02] [-4.76452535e-02 9.96638555e-01 6.66447362e-02 1.71183568e+01] [-9.90638545e-02 -7.11063273e-02 9.92537275e-01 -1.15402203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters Centerline goodness : 0.950433 Centerline is valid? [True, True] Translation: X:265.13, Y:17.28, Z:-115.41 [[ 9.78293702e-01 1.81380274e-01 1.00212917e-01 2.65127309e+02] [-1.78016767e-01 9.83146925e-01 -4.16191509e-02 1.72817349e+01] [-1.06072914e-01 2.28761737e-02 9.94095175e-01 -1.15410741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:265.18, Y:17.27, Z:-115.39 [[ 9.87039353e-01 1.02405239e-01 1.23557609e-01 2.65182960e+02] [-9.48296914e-02 9.93321546e-01 -6.57239387e-02 1.72740557e+01] [-1.29462911e-01 5.31551840e-02 9.90158513e-01 -1.15392607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:265.21, Y:17.23, Z:-115.40 [[ 9.87590138e-01 9.47218980e-02 1.25273625e-01 2.65214094e+02] [-9.50453903e-02 9.95467114e-01 -3.40569937e-03 1.72263743e+01] [-1.25028369e-01 -8.54324551e-03 9.92116384e-01 -1.15397562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:265.25, Y:17.25, Z:-115.41 [[ 9.88504958e-01 9.68806034e-02 1.16069363e-01 2.65247100e+02] [-9.49330268e-02 9.95235986e-01 -2.22047846e-02 1.72483567e+01] [-1.17667620e-01 1.09307237e-02 9.92992875e-01 -1.15405069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters Centerline goodness : 0.924629 Centerline is valid? [True, False] Translation: X:265.28, Y:17.24, Z:-115.41 [[ 9.91050251e-01 8.36247939e-02 1.04049480e-01 2.65276545e+02] [-8.32265058e-02 9.96497154e-01 -8.17130234e-03 1.72413524e+01] [-1.04368334e-01 -5.61503378e-04 9.94538554e-01 -1.15411445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19592 meters Centerline goodness : 0.834716 Centerline is valid? [False, False] Translation: X:265.28, Y:17.24, Z:-115.41 [[ 9.92655763e-01 6.81240461e-02 9.99682517e-02 2.65279762e+02] [-6.79856348e-02 9.97674779e-01 -4.79462643e-03 1.72405523e+01] [-1.00062433e-01 -2.03699150e-03 9.94979075e-01 -1.15412844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters Centerline goodness : 0.998211 Centerline is valid? [False, True] Translation: X:265.29, Y:17.23, Z:-115.42 [[ 9.94265904e-01 5.55441574e-02 9.13792055e-02 2.65292346e+02] [-5.61946429e-02 9.98409423e-01 4.55910349e-03 1.72337661e+01] [-9.09806283e-02 -9.66798297e-03 9.95805732e-01 -1.15415881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25591999999995 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:265.28, Y:17.09, Z:-115.44 [[ 9.99428297e-01 3.16823800e-02 1.18027769e-02 2.65282505e+02] [-3.31383811e-02 9.87170179e-01 1.56195022e-01 1.70877392e+01] [-6.70271931e-03 -1.56496850e-01 9.87655714e-01 -1.15443186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:265.34, Y:17.16, Z:-115.41 [[ 9.98129092e-01 4.02524618e-02 4.60223223e-02 2.65336707e+02] [-4.45091976e-02 9.94428420e-01 9.55565221e-02 1.71560262e+01] [-4.19195200e-02 -9.74261613e-02 9.94359541e-01 -1.15414992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31591999999995 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:265.37, Y:17.39, Z:-115.40 [[ 9.93352783e-01 5.51226363e-02 1.01053168e-01 2.65371033e+02] [-3.98825475e-02 9.88322294e-01 -1.47066056e-01 1.73882120e+01] [-1.07979767e-01 1.42058218e-01 9.83951133e-01 -1.15401063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:265.40, Y:17.25, Z:-115.42 [[ 9.93731659e-01 4.17743482e-02 1.03693268e-01 2.65401775e+02] [-4.19601731e-02 9.99119208e-01 -3.89622588e-04 1.72545418e+01] [-1.03618212e-01 -3.96380716e-03 9.94609247e-01 -1.15420817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37591999999995 meters Centerline goodness : 0.900035 Centerline is valid? [True, False] Translation: X:265.44, Y:17.25, Z:-115.42 [[ 9.96241549e-01 3.16221173e-02 8.06400450e-02 2.65443725e+02] [-3.19818600e-02 9.99483413e-01 3.17306430e-03 1.72498759e+01] [-8.04980484e-02 -5.74015712e-03 9.96738238e-01 -1.15423338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:265.47, Y:17.25, Z:-115.42 [[ 9.97772233e-01 2.51678880e-02 6.17830712e-02 2.65467767e+02] [-2.53467963e-02 9.99676484e-01 2.11358362e-03 1.72511704e+01] [-6.17098890e-02 -3.67487797e-03 9.98087363e-01 -1.15424578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43591999999995 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:265.48, Y:17.30, Z:-115.42 [[ 9.94838457e-01 -3.23401956e-03 1.01419850e-01 2.65475057e+02] [ 9.27941266e-03 9.98203449e-01 -5.91926241e-02 1.72954800e+01] [-1.01046214e-01 5.98282155e-02 9.93081189e-01 -1.15417751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:265.51, Y:17.20, Z:-115.43 [[ 9.98261457e-01 -1.09060143e-02 5.79234178e-02 2.65509143e+02] [ 8.07232149e-03 9.98769493e-01 4.89319705e-02 1.71974786e+01] [-5.83857954e-02 -4.83793237e-02 9.97121126e-01 -1.15425828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49591999999996 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:265.54, Y:17.29, Z:-115.42 [[ 9.94887039e-01 -3.10715277e-03 1.00946148e-01 2.65537723e+02] [ 7.35422876e-03 9.99101948e-01 -4.17278378e-02 1.72866593e+01] [-1.00725838e-01 4.22568661e-02 9.94016430e-01 -1.15423982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:265.57, Y:17.18, Z:-115.43 [[ 9.98867190e-01 -1.20494121e-02 4.60342138e-02 2.65570767e+02] [ 8.61225183e-03 9.97210132e-01 7.41470258e-02 1.71805029e+01] [-4.67992125e-02 -7.36665730e-02 9.96184255e-01 -1.15430163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55591999999996 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:265.60, Y:17.32, Z:-115.42 [[ 9.94576621e-01 1.76547655e-03 1.03991480e-01 2.65598309e+02] [ 5.13618931e-03 9.97802272e-01 -6.60624343e-02 1.73166000e+01] [-1.03879567e-01 6.62382727e-02 9.92381745e-01 -1.15423813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:265.63, Y:17.23, Z:-115.43 [[ 9.98211590e-01 -4.63953932e-03 5.95994673e-02 2.65630941e+02] [ 2.55507498e-03 9.99383932e-01 3.50032589e-02 1.72255809e+01] [-5.97251490e-02 -3.47883776e-02 9.97608478e-01 -1.15434031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61591999999996 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:265.64, Y:17.28, Z:-115.44 [[ 9.98556862e-01 6.64338989e-03 5.32922003e-02 2.65635740e+02] [-5.38777330e-03 9.99705305e-01 -2.36701450e-02 1.72803561e+01] [-5.34337454e-02 2.33488595e-02 9.98298385e-01 -1.15438274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:265.68, Y:17.16, Z:-115.45 [[ 9.96012054e-01 -4.85743298e-02 7.48366448e-02 2.65681213e+02] [ 4.15102155e-02 9.94780058e-01 9.32176957e-02 1.71616603e+01] [-7.89739889e-02 -8.97394633e-02 9.92829259e-01 -1.15445271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67591999999996 meters Centerline goodness : 0.805903 Centerline is valid? [True, False] Translation: X:265.64, Y:17.22, Z:-115.44 [[ 9.95832294e-01 -4.22475949e-02 8.08281103e-02 2.65644446e+02] [ 3.92024827e-02 9.98473905e-01 3.88976415e-02 1.72158031e+01] [-8.23480908e-02 -3.55668649e-02 9.95968770e-01 -1.15443260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters Centerline goodness : 0.997717 Centerline is valid? [False, True] Translation: X:265.66, Y:17.24, Z:-115.44 [[ 9.97407335e-01 -3.33947652e-02 6.37447857e-02 2.65656939e+02] [ 3.25699923e-02 9.99372315e-01 1.39345459e-02 1.72418720e+01] [-6.41701150e-02 -1.18222511e-02 9.97868945e-01 -1.15442351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73591999999996 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:265.69, Y:17.29, Z:-115.44 [[ 9.93993852e-01 -3.11420477e-02 1.04911364e-01 2.65685593e+02] [ 3.48395842e-02 9.98828011e-01 -3.35977228e-02 1.72930910e+01] [-1.03742107e-01 3.70509982e-02 9.93913879e-01 -1.15440147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:265.72, Y:17.21, Z:-115.45 [[ 9.97596811e-01 -3.99855702e-02 5.65840602e-02 2.65722660e+02] [ 3.64714322e-02 9.97420078e-01 6.18305939e-02 1.72063901e+01] [-5.89104093e-02 -5.96183016e-02 9.96481421e-01 -1.15446452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79591999999997 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:265.75, Y:17.29, Z:-115.44 [[ 9.96634699e-01 -3.31222690e-02 7.49812762e-02 2.65749535e+02] [ 3.48192073e-02 9.99163664e-01 -2.14381864e-02 1.72890796e+01] [-7.42084853e-02 2.39768290e-02 9.96954469e-01 -1.15442718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:265.78, Y:17.25, Z:-115.45 [[ 9.97301913e-01 -3.73911435e-02 6.31727465e-02 2.65781788e+02] [ 3.59744429e-02 9.99078323e-01 2.34167469e-02 1.72526603e+01] [-6.39901006e-02 -2.10809621e-02 9.97727849e-01 -1.15448201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85591999999997 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:265.81, Y:17.32, Z:-115.44 [[ 9.93562747e-01 -3.11038007e-02 1.08929434e-01 2.65808812e+02] [ 3.62412412e-02 9.98306505e-01 -4.55048779e-02 1.73222468e+01] [-1.07329588e-01 4.91596894e-02 9.93007394e-01 -1.15444369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:265.85, Y:17.23, Z:-115.45 [[ 9.97243084e-01 -3.98044713e-02 6.26245645e-02 2.65845229e+02] [ 3.62289161e-02 9.97703443e-01 5.72302912e-02 1.72284832e+01] [-6.47587651e-02 -5.48036920e-02 9.96394931e-01 -1.15452804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91591999999997 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:265.87, Y:17.29, Z:-115.45 [[ 9.96888209e-01 -3.54119391e-02 7.04265109e-02 2.65873604e+02] [ 3.56433480e-02 9.99362509e-01 -2.03146601e-03 1.72895830e+01] [-7.03096765e-02 4.53538115e-03 9.97514902e-01 -1.15450612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:265.90, Y:17.33, Z:-115.45 [[ 9.92882266e-01 -3.36788491e-02 1.14238963e-01 2.65902146e+02] [ 3.84636572e-02 9.98461437e-01 -3.99412853e-02 1.73296934e+01] [-1.12718023e-01 4.40510422e-02 9.92650066e-01 -1.15450722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97592 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:265.94, Y:17.25, Z:-115.46 [[ 9.96692024e-01 -4.56031707e-02 6.72707968e-02 2.65939226e+02] [ 4.21454802e-02 9.97759792e-01 5.19533937e-02 1.72461361e+01] [-6.94893357e-02 -4.89463731e-02 9.96381195e-01 -1.15458912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:265.97, Y:17.29, Z:-115.46 [[ 9.96664396e-01 -4.36480245e-02 6.89560190e-02 2.65967927e+02] [ 4.29697778e-02 9.99012585e-01 1.12894886e-02 1.72874068e+01] [-6.93806947e-02 -8.28880654e-03 9.97555820e-01 -1.15457020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03592 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:266.00, Y:17.30, Z:-115.46 [[ 9.96208472e-01 -4.40465221e-02 7.50238881e-02 2.65997089e+02] [ 4.43331863e-02 9.99014468e-01 -2.15908479e-03 1.73040282e+01] [-7.48548495e-02 5.47694656e-03 9.97179399e-01 -1.15457499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:266.03, Y:17.30, Z:-115.46 [[ 9.96095215e-01 -4.44872813e-02 7.62574910e-02 2.66028414e+02] [ 4.43177942e-02 9.99009816e-01 3.91421095e-03 1.73004304e+01] [-7.63561146e-02 -5.19363001e-04 9.97080475e-01 -1.15460533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09592 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:266.06, Y:17.31, Z:-115.46 [[ 9.95718962e-01 -4.68745255e-02 7.96650928e-02 2.66058793e+02] [ 4.70746515e-02 9.98891172e-01 -6.34825559e-04 1.73084799e+01] [-7.95470008e-02 4.38231432e-03 9.96821484e-01 -1.15462957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:266.09, Y:17.30, Z:-115.47 [[ 9.95836487e-01 -4.83887667e-02 7.72542449e-02 2.66090689e+02] [ 4.78674185e-02 9.98816786e-01 8.58710803e-03 1.73023133e+01] [-7.75783562e-02 -4.85339422e-03 9.96974445e-01 -1.15466763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15592 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:266.12, Y:17.32, Z:-115.47 [[ 9.95443990e-01 -4.88809839e-02 8.18652017e-02 2.66120144e+02] [ 4.93235605e-02 9.98777095e-01 -3.39136497e-03 1.73167891e+01] [-8.15993151e-02 7.41379711e-03 9.96637641e-01 -1.15468321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:266.15, Y:17.31, Z:-115.47 [[ 9.95354517e-01 -5.35745693e-02 7.99946948e-02 2.66151236e+02] [ 5.32417433e-02 9.98561847e-01 6.28930657e-03 1.73129656e+01] [-8.02165971e-02 -2.00103269e-03 9.96775448e-01 -1.15473334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21592 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:266.18, Y:17.36, Z:-115.47 [[ 9.90517441e-01 -5.20558655e-02 1.27143170e-01 2.66180480e+02] [ 5.70543327e-02 9.97722128e-01 -3.59911015e-02 1.73579016e+01] [-1.24980006e-01 4.29038824e-02 9.91231181e-01 -1.15471530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:266.21, Y:17.24, Z:-115.49 [[ 9.95465220e-01 -7.28579722e-02 6.11613654e-02 2.66214310e+02] [ 6.71201117e-02 9.93573857e-01 9.11366120e-02 1.72386727e+01] [-6.74083625e-02 -8.66181698e-02 9.93958453e-01 -1.15485011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27592 meters Centerline goodness : 0.871762 Centerline is valid? [True, False] Translation: X:266.19, Y:17.29, Z:-115.48 [[ 9.95920396e-01 -6.41001752e-02 6.35116645e-02 2.66192746e+02] [ 6.15935443e-02 9.97272344e-01 4.06707162e-02 1.72869206e+01] [-6.59454266e-02 -3.65928872e-02 9.97152025e-01 -1.15480854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters Centerline goodness : 0.999108 Centerline is valid? [False, True] Translation: X:266.19, Y:17.32, Z:-115.48 [[ 9.96909521e-01 -5.23613354e-02 5.85636217e-02 2.66190390e+02] [ 5.17831235e-02 9.98593869e-01 1.13486772e-02 1.73157907e+01] [-5.90755054e-02 -8.28099707e-03 9.98219169e-01 -1.15478240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:266.22, Y:17.37, Z:-115.48 [[ 9.92961894e-01 -5.28195863e-02 1.06003623e-01 2.66221009e+02] [ 5.72251610e-02 9.97600957e-01 -3.89565409e-02 1.73650380e+01] [-1.03691647e-01 4.47484350e-02 9.93602345e-01 -1.15475729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:266.25, Y:17.25, Z:-115.49 [[ 9.96366767e-01 -6.76844694e-02 5.16921395e-02 2.66253749e+02] [ 6.35538905e-02 9.94944752e-01 7.77550162e-02 1.72542134e+01] [-5.66936300e-02 -7.41872776e-02 9.95631498e-01 -1.15487633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:266.28, Y:17.39, Z:-115.47 [[ 9.92321694e-01 -5.54342266e-02 1.10565379e-01 2.66282181e+02] [ 6.33091206e-02 9.95603638e-01 -6.90315187e-02 1.73941318e+01] [-1.06252585e-01 7.55012705e-02 9.91468581e-01 -1.15474718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:266.31, Y:17.27, Z:-115.49 [[ 9.95730194e-01 -6.88547030e-02 6.14850506e-02 2.66314280e+02] [ 6.51535221e-02 9.96051703e-01 6.02994540e-02 1.72705783e+01] [-6.53941903e-02 -5.60360194e-02 9.96284881e-01 -1.15492475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:266.35, Y:17.38, Z:-115.48 [[ 9.92377317e-01 -5.78238056e-02 1.08828615e-01 2.66345832e+02] [ 6.37196323e-02 9.96638209e-01 -5.14984379e-02 1.73763304e+01] [-1.05484920e-01 5.80404010e-02 9.92725664e-01 -1.15481744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:266.38, Y:17.32, Z:-115.49 [[ 9.92235053e-01 -6.24406800e-02 1.07567473e-01 2.66379887e+02] [ 6.23486592e-02 9.98045501e-01 4.22167264e-03 1.73214430e+01] [-1.07620836e-01 2.51779612e-03 9.94188823e-01 -1.15491393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:266.41, Y:17.32, Z:-115.49 [[ 9.92199175e-01 -6.21463768e-02 1.08067690e-01 2.66413177e+02] [ 6.20575370e-02 9.98063786e-01 4.18821825e-03 1.73185257e+01] [-1.08118730e-01 2.55086798e-03 9.94134716e-01 -1.15493739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.45, Y:17.32, Z:-115.50 [[ 9.92315735e-01 -6.12396669e-02 1.07513650e-01 2.66446033e+02] [ 6.11521275e-02 9.98119979e-01 4.11405134e-03 1.73173432e+01] [-1.07563465e-01 2.49225055e-03 9.94195096e-01 -1.15497271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.48, Y:17.32, Z:-115.50 [[ 9.92388981e-01 -5.96345908e-02 1.07739623e-01 2.66479048e+02] [ 5.95430174e-02 9.98217445e-01 4.06957565e-03 1.73162002e+01] [-1.07790259e-01 2.37654024e-03 9.94170816e-01 -1.15500662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:17.32, Z:-115.50 [[ 9.92616263e-01 -5.71128972e-02 1.07009683e-01 2.66511894e+02] [ 5.70136189e-02 9.98365430e-01 3.98932972e-03 1.73154253e+01] [-1.07062610e-01 2.14113573e-03 9.94249975e-01 -1.15502846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:17.31, Z:-115.50 [[ 9.92603656e-01 -5.24450486e-02 1.09487439e-01 2.66545003e+02] [ 5.23189167e-02 9.98622310e-01 4.02646714e-03 1.73141364e+01] [-1.09547767e-01 1.73157820e-03 9.93980024e-01 -1.15504909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.58, Y:17.31, Z:-115.51 [[ 9.92853419e-01 -4.73326269e-02 1.09552316e-01 2.66578475e+02] [ 4.71813506e-02 9.98878434e-01 3.97412837e-03 1.73130844e+01] [-1.09617552e-01 1.22309931e-03 9.93973086e-01 -1.15507443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:266.61, Y:17.27, Z:-115.51 [[ 9.96370846e-01 -5.12633678e-02 6.79500158e-02 2.66609449e+02] [ 4.80007480e-02 9.97654061e-01 4.88088363e-02 1.72696026e+01] [-7.02927145e-02 -4.53700499e-02 9.96494101e-01 -1.15512375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:266.63, Y:17.27, Z:-115.51 [[ 9.96100346e-01 -5.03172987e-02 7.24725433e-02 2.66634297e+02] [ 4.65802633e-02 9.97541118e-01 5.23640794e-02 1.72668658e+01] [-7.49291609e-02 -4.87840875e-02 9.95994846e-01 -1.15512414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:266.67, Y:17.40, Z:-115.50 [[ 9.92359420e-01 -3.24608611e-02 1.19033921e-01 2.66666036e+02] [ 4.35326760e-02 9.94841448e-01 -9.16264122e-02 1.74024479e+01] [-1.15445606e-01 9.61081984e-02 9.88653390e-01 -1.15501335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.70, Y:17.23, Z:-115.52 [[ 9.96143767e-01 -5.30243869e-02 6.98999937e-02 2.66696158e+02] [ 4.68046684e-02 9.95038075e-01 8.77983648e-02 1.72333795e+01] [-7.42086096e-02 -8.41881479e-02 9.93682765e-01 -1.15517020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:266.73, Y:17.33, Z:-115.51 [[ 9.96391418e-01 -4.24704793e-02 7.34874148e-02 2.66725204e+02] [ 4.38659450e-02 9.98884495e-01 -1.74798350e-02 1.73319610e+01] [-7.26630622e-02 2.06403525e-02 9.97142946e-01 -1.15512652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.76, Y:17.37, Z:-115.51 [[ 9.91578790e-01 -3.75910195e-02 1.23929087e-01 2.66759028e+02] [ 4.48732460e-02 9.97393525e-01 -5.65026311e-02 1.73684702e+01] [-1.21482078e-01 6.15879110e-02 9.90681096e-01 -1.15512865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.79, Y:17.31, Z:-115.52 [[ 9.91501514e-01 -4.44363647e-02 1.22270837e-01 2.66792829e+02] [ 4.42844411e-02 9.99011110e-01 3.96113803e-03 1.73120480e+01] [-1.22325943e-01 1.48722132e-03 9.92488867e-01 -1.15522271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.83, Y:17.31, Z:-115.53 [[ 9.91673467e-01 -4.56098922e-02 1.20430361e-01 2.66825689e+02] [ 4.54784426e-02 9.98957935e-01 3.84121484e-03 1.73100243e+01] [-1.20480063e-01 1.66775444e-03 9.92714346e-01 -1.15526029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.85, Y:17.23, Z:-115.53 [[ 9.95974335e-01 -5.69397939e-02 6.92313736e-02 2.66854491e+02] [ 5.12957176e-02 9.95414683e-01 8.07363532e-02 1.72342831e+01] [-7.35110371e-02 -7.68600628e-02 9.94328245e-01 -1.15530668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.89, Y:17.38, Z:-115.52 [[ 9.91440374e-01 -3.97185416e-02 1.24372110e-01 2.66887852e+02] [ 4.89859742e-02 9.96174592e-01 -7.23640583e-02 1.73764482e+01] [-1.21022141e-01 7.78371380e-02 9.89593362e-01 -1.15524665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.92, Y:17.30, Z:-115.53 [[ 9.91255977e-01 -4.82674265e-02 1.22808155e-01 2.66922070e+02] [ 4.81668932e-02 9.98832115e-01 3.78911995e-03 1.73033944e+01] [-1.22847620e-01 2.15929948e-03 9.92423196e-01 -1.15534769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:266.97, Y:17.27, Z:-115.54 [[ 9.95395557e-01 -5.83085009e-02 7.60776143e-02 2.66970371e+02] [ 5.62000699e-02 9.97981587e-01 2.95686241e-02 1.72734841e+01] [-7.76481604e-02 -2.51569098e-02 9.96663380e-01 -1.15544599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.98, Y:17.26, Z:-115.54 [[ 9.93989464e-01 -5.80358991e-02 9.28266074e-02 2.66979933e+02] [ 5.50020972e-02 9.97875577e-01 3.49156484e-02 1.72636425e+01] [-9.46557655e-02 -2.96001286e-02 9.95069906e-01 -1.15538589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:267.04, Y:17.31, Z:-115.56 [[ 9.95910940e-01 -5.79189733e-02 6.93310319e-02 2.67041839e+02] [ 5.91253799e-02 9.98130606e-01 -1.54752170e-02 1.73054574e+01] [-6.83051162e-02 1.95111615e-02 9.97473672e-01 -1.15559398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:267.04, Y:17.31, Z:-115.55 [[ 9.90336574e-01 -5.75158365e-02 1.26195873e-01 2.67042870e+02] [ 6.21098369e-02 9.97531104e-01 -3.27729195e-02 1.73131362e+01] [-1.23999347e-01 4.02942260e-02 9.91463836e-01 -1.15545942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:267.07, Y:17.23, Z:-115.55 [[ 9.93690598e-01 -6.77737077e-02 8.93628552e-02 2.67073353e+02] [ 6.29685263e-02 9.96468934e-01 5.55394266e-02 1.72271410e+01] [-9.28114219e-02 -4.95619588e-02 9.94449422e-01 -1.15547615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:267.10, Y:17.29, Z:-115.55 [[ 9.93879842e-01 -5.62458061e-02 9.50750749e-02 2.67101690e+02] [ 5.78345258e-02 9.98227511e-01 -1.40358378e-02 1.72857727e+01] [-9.41170984e-02 1.94485581e-02 9.95371150e-01 -1.15550138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:267.13, Y:17.25, Z:-115.55 [[ 9.94592567e-01 -5.68384327e-02 8.69196043e-02 2.67132975e+02] [ 5.53838991e-02 9.98283251e-01 1.90571611e-02 1.72527095e+01] [-8.78535643e-02 -1.41401642e-02 9.96033035e-01 -1.15553009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:267.17, Y:17.22, Z:-115.55 [[ 9.93729765e-01 -5.62382199e-02 9.66354810e-02 2.67166844e+02] [ 5.15470020e-02 9.97399172e-01 5.03765667e-02 1.72228144e+01] [-9.92172372e-02 -4.50794245e-02 9.94044157e-01 -1.15554333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:267.20, Y:17.28, Z:-115.56 [[ 9.93264962e-01 -4.41549645e-02 1.07121681e-01 2.67195496e+02] [ 4.56238630e-02 9.98894782e-01 -1.12994947e-02 1.72758586e+01] [-1.06504359e-01 1.61106971e-02 9.94181707e-01 -1.15556805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29591999999997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:267.22, Y:17.29, Z:-115.56 [[ 9.93854498e-01 -4.07533223e-02 1.02919401e-01 2.67224539e+02] [ 4.40523255e-02 9.98579094e-01 -2.99864372e-02 1.72912211e+01] [-1.01551115e-01 3.43359945e-02 9.94237603e-01 -1.15559367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:267.26, Y:17.29, Z:-115.56 [[ 9.89488549e-01 -3.56934271e-02 1.40137045e-01 2.67258015e+02] [ 4.07681698e-02 9.98606558e-01 -3.35096745e-02 1.72924158e+01] [-1.38745697e-01 3.88705700e-02 9.89564910e-01 -1.15563728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35591999999997 meters Centerline goodness : 0.928713 Centerline is valid? [True, False] Translation: X:267.26, Y:17.28, Z:-115.57 [[ 9.89915521e-01 -3.02471490e-02 1.38392090e-01 2.67263733e+02] [ 3.39992381e-02 9.99113410e-01 -2.48283069e-02 1.72834789e+01] [-1.37518408e-01 2.92831520e-02 9.90066253e-01 -1.15569214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters Centerline goodness : 0.998908 Centerline is valid? [False, True] Translation: X:267.27, Y:17.27, Z:-115.57 [[ 9.90230246e-01 -2.57330068e-02 1.37046968e-01 2.67268173e+02] [ 2.83967817e-02 9.99443231e-01 -1.75171524e-02 1.72748385e+01] [-1.36519895e-01 2.12377069e-02 9.90409652e-01 -1.15573316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:267.30, Y:17.26, Z:-115.58 [[ 9.89840126e-01 -2.34417864e-02 1.40239108e-01 2.67299423e+02] [ 2.36129108e-02 9.99721078e-01 4.43823517e-04 1.72552735e+01] [-1.40210396e-01 2.87213922e-03 9.90117567e-01 -1.15577906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:267.33, Y:17.31, Z:-115.58 [[ 9.82984553e-01 -1.10025987e-02 1.83358421e-01 2.67330507e+02] [ 2.11923201e-02 9.98331875e-01 -5.37061692e-02 1.73062907e+01] [-1.82461649e-01 5.66781251e-02 9.81577983e-01 -1.15582624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:267.36, Y:17.20, Z:-115.59 [[ 9.89974315e-01 -2.32026281e-02 1.39328722e-01 2.67362403e+02] [ 1.50348542e-02 9.98121545e-01 5.93913684e-02 1.72005596e+01] [-1.40445035e-01 -5.67011422e-02 9.88463541e-01 -1.15585129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:267.39, Y:17.25, Z:-115.59 [[ 9.89831709e-01 -1.23222482e-02 1.41708677e-01 2.67392153e+02] [ 1.17482364e-02 9.99919047e-01 4.88660078e-03 1.72520494e+01] [-1.41757420e-01 -3.17208536e-03 9.89896344e-01 -1.15591200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:267.42, Y:17.25, Z:-115.60 [[ 9.89628699e-01 -1.00027691e-02 1.43300321e-01 2.67422754e+02] [ 9.31492367e-03 9.99941653e-01 5.47011782e-03 1.72526599e+01] [-1.43346676e-01 -4.07855403e-03 9.89664133e-01 -1.15595056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:267.45, Y:17.27, Z:-115.60 [[ 9.88723338e-01 -4.26773914e-03 1.49692841e-01 2.67452950e+02] [ 5.95584738e-03 9.99923609e-01 -1.08306595e-02 1.72711077e+01] [-1.49635183e-01 1.16000735e-02 9.88673227e-01 -1.15599536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59592 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:267.48, Y:17.26, Z:-115.60 [[ 9.88574646e-01 -5.71655118e-03 1.50623673e-01 2.67484878e+02] [ 5.43352310e-03 9.99982615e-01 2.29053391e-03 1.72606086e+01] [-1.50634148e-01 -1.44594654e-03 9.88588520e-01 -1.15604184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:267.51, Y:17.26, Z:-115.61 [[ 9.88787164e-01 -6.76582807e-03 1.49178311e-01 2.67514122e+02] [ 5.78520484e-03 9.99958720e-01 7.00646414e-03 1.72575604e+01] [-1.49219557e-01 -6.06487472e-03 9.88785488e-01 -1.15608810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65592 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:267.54, Y:17.28, Z:-115.62 [[ 9.88320058e-01 -5.25532831e-03 1.52301822e-01 2.67544605e+02] [ 8.20100810e-03 9.99791143e-01 -1.87193434e-02 1.72841538e+01] [-1.52171636e-01 1.97497310e-02 9.88156739e-01 -1.15615188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:267.58, Y:17.29, Z:-115.62 [[ 9.81221194e-01 -4.69622568e-03 1.92828716e-01 2.67576025e+02] [ 1.01092585e-02 9.99581679e-01 -2.70974035e-02 1.72944286e+01] [-1.92620797e-01 2.85379020e-02 9.80858204e-01 -1.15619722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71592 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:267.61, Y:17.23, Z:-115.62 [[ 9.88688498e-01 -1.84153097e-02 1.48848684e-01 2.67608737e+02] [ 1.19927477e-02 9.98962570e-01 4.39312813e-02 1.72306921e+01] [-1.49503272e-01 -4.16492479e-02 9.87883653e-01 -1.15624012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:267.64, Y:17.23, Z:-115.63 [[ 9.88312870e-01 -1.80794610e-02 1.51363153e-01 2.67637266e+02] [ 1.18122690e-02 9.99039256e-01 4.22023042e-02 1.72338358e+01] [-1.51980727e-01 -3.99211381e-02 9.87576914e-01 -1.15627591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77592 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:267.67, Y:17.35, Z:-115.63 [[ 9.79708658e-01 3.82784375e-03 2.00390351e-01 2.67667777e+02] [ 1.17168611e-02 9.97013868e-01 -7.63286431e-02 1.73457707e+01] [-2.00084133e-01 7.71277784e-02 9.76738269e-01 -1.15629991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:267.70, Y:17.27, Z:-115.64 [[ 9.80204895e-01 -1.02286542e-02 1.97721364e-01 2.67701228e+02] [ 9.73013230e-03 9.99946561e-01 3.49271448e-03 1.72713954e+01] [-1.97746524e-01 -1.49972080e-03 9.80252041e-01 -1.15639245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83592 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:267.73, Y:17.21, Z:-115.64 [[ 9.88122987e-01 -2.32784090e-02 1.51891666e-01 2.67730954e+02] [ 1.27219771e-02 9.97458489e-01 7.01050222e-02 1.72090496e+01] [-1.53137565e-01 -6.73400216e-02 9.85907809e-01 -1.15641250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:267.76, Y:17.33, Z:-115.65 [[ 9.79816841e-01 -3.16194169e-03 1.99872358e-01 2.67760738e+02] [ 1.56998440e-02 9.98003528e-01 -6.11757560e-02 1.73316473e+01] [-1.99279884e-01 6.30790008e-02 9.77910306e-01 -1.15646900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89592 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:267.79, Y:17.23, Z:-115.65 [[ 9.87532850e-01 -2.39270702e-02 1.55583947e-01 2.67791832e+02] [ 1.66468767e-02 9.98712038e-01 4.79285661e-02 1.72290641e+01] [-1.56530351e-01 -4.47410467e-02 9.86659256e-01 -1.15652348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:267.82, Y:17.32, Z:-115.66 [[ 9.81369860e-01 -7.93653719e-03 1.91964086e-01 2.67822178e+02] [ 1.77606514e-02 9.98615682e-01 -4.95103940e-02 1.73193695e+01] [-1.91305405e-01 5.19974156e-02 9.80152290e-01 -1.15660795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95592 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:267.85, Y:17.21, Z:-115.66 [[ 9.87422838e-01 -3.20966699e-02 1.54809376e-01 2.67853074e+02] [ 2.16973930e-02 9.97421807e-01 6.84029438e-02 1.72051034e+01] [-1.56605755e-01 -6.41836690e-02 9.85573485e-01 -1.15662426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:267.88, Y:17.27, Z:-115.67 [[ 9.87238304e-01 -2.04526393e-02 1.57931061e-01 2.67883343e+02] [ 2.00117735e-02 9.99790144e-01 4.38139137e-03 1.72655165e+01] [-1.57987529e-01 -1.16499675e-03 9.87440420e-01 -1.15669564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01592 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:267.91, Y:17.24, Z:-115.67 [[ 9.88118743e-01 -2.51862112e-02 1.51614655e-01 2.67914739e+02] [ 2.08654665e-02 9.99331425e-01 3.00222545e-02 1.72402521e+01] [-1.52269436e-01 -2.65020419e-02 9.87983634e-01 -1.15672798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:267.95, Y:17.34, Z:-115.68 [[ 9.79002255e-01 -7.30393183e-03 2.03718525e-01 2.67945451e+02] [ 2.34206934e-02 9.96770274e-01 -7.68146611e-02 1.73372973e+01] [-2.02499521e-01 7.99729556e-02 9.76011409e-01 -1.15677745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07592 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:267.98, Y:17.15, Z:-115.68 [[ 9.86370592e-01 -4.41021970e-02 1.58518300e-01 2.67975768e+02] [ 2.56501215e-02 9.92845522e-01 1.16618354e-01 1.71543504e+01] [-1.62527310e-01 -1.10962902e-01 9.80444852e-01 -1.15675830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:268.01, Y:17.29, Z:-115.69 [[ 9.87637464e-01 -1.57663315e-02 1.55960451e-01 2.68006635e+02] [ 2.03123680e-02 9.99412709e-01 -2.75979173e-02 1.72879293e+01] [-1.55433738e-01 3.04246632e-02 9.87377685e-01 -1.15686938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13592 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:268.04, Y:17.33, Z:-115.69 [[ 9.78532657e-01 -6.23151439e-03 2.05997588e-01 2.68036319e+02] [ 2.16471330e-02 9.97121444e-01 -7.26651708e-02 1.73285225e+01] [-2.04951799e-01 7.55644999e-02 9.75850791e-01 -1.15694484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:268.07, Y:17.26, Z:-115.70 [[ 9.78284113e-01 -1.88763122e-02 2.06407073e-01 2.68069240e+02] [ 1.87078251e-02 9.99821161e-01 2.76816213e-03 1.72569510e+01] [-2.06422413e-01 1.15337840e-03 9.78462292e-01 -1.15702909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19592 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:268.10, Y:17.26, Z:-115.71 [[ 9.78282207e-01 -1.74164130e-02 2.06544405e-01 2.68102177e+02] [ 1.72373127e-02 9.99847870e-01 2.66677345e-03 1.72556207e+01] [-2.06559429e-01 9.51413477e-04 9.78433594e-01 -1.15708397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:268.14, Y:17.25, Z:-115.71 [[ 9.78416070e-01 -1.47083477e-02 2.06120494e-01 2.68135184e+02] [ 1.44822302e-02 9.99891732e-01 2.60579838e-03 1.72521242e+01] [-2.06136505e-01 4.35529441e-04 9.78523148e-01 -1.15713499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25591999999995 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:268.17, Y:17.25, Z:-115.72 [[ 9.78555361e-01 -1.37662732e-02 2.05523465e-01 2.68168005e+02] [ 1.35443456e-02 9.99905179e-01 2.48670289e-03 1.72510210e+01] [-2.05538209e-01 3.50304402e-04 9.78649029e-01 -1.15719734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:268.20, Y:17.20, Z:-115.72 [[ 9.86372458e-01 -2.04855798e-02 1.63247406e-01 2.68197773e+02] [ 1.17256362e-02 9.98447943e-01 5.44446039e-02 1.72008180e+01] [-1.64109366e-01 -5.17884780e-02 9.85081758e-01 -1.15721297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31591999999995 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:268.23, Y:17.25, Z:-115.73 [[ 9.85801635e-01 -8.39138173e-03 1.67704266e-01 2.68228713e+02] [ 8.21334076e-03 9.99964729e-01 1.75523866e-03 1.72503044e+01] [-1.67713080e-01 -3.52904858e-04 9.85835787e-01 -1.15729184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:268.26, Y:17.24, Z:-115.73 [[ 9.85720564e-01 -7.23817911e-03 1.68233704e-01 2.68257201e+02] [ 5.71664387e-03 9.99938279e-01 9.52674106e-03 1.72432319e+01] [-1.68292277e-01 -8.42897239e-03 9.85701102e-01 -1.15734216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37591999999995 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:268.29, Y:17.25, Z:-115.74 [[ 9.85048171e-01 -5.41334389e-03 1.72194069e-01 2.68287476e+02] [ 4.72508281e-03 9.99979127e-01 4.40663680e-03 1.72465938e+01] [-1.72214329e-01 -3.52711829e-03 9.85053189e-01 -1.15738296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters Centerline goodness : 0.851729 Centerline is valid? [True, False] Translation: X:268.29, Y:17.25, Z:-115.74 [[ 9.85185323e-01 -5.49578686e-03 1.71405005e-01 2.68289518e+02] [ 4.82832058e-03 9.99979052e-01 4.31073270e-03 1.72464286e+01] [-1.71425106e-01 -3.41927227e-03 9.85191221e-01 -1.15739820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43591999999995 meters Centerline goodness : 0.995775 Centerline is valid? [False, True] Translation: X:268.29, Y:17.25, Z:-115.74 [[ 9.85210949e-01 -5.54085172e-03 1.71256195e-01 2.68289854e+02] [ 4.85535863e-03 9.99978438e-01 4.42132772e-03 1.72458553e+01] [-1.71277001e-01 -3.52443023e-03 9.85216609e-01 -1.15740281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:268.32, Y:17.25, Z:-115.74 [[ 9.85237277e-01 -2.71554617e-03 1.71172817e-01 2.68321712e+02] [ 3.32278843e-03 9.99989162e-01 -3.26113865e-03 1.72524789e+01] [-1.71162107e-01 3.78176642e-03 9.85235622e-01 -1.15744679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49591999999996 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:268.35, Y:17.24, Z:-115.75 [[ 9.85998980e-01 -5.45919347e-03 1.66661961e-01 2.68352156e+02] [ 3.59283727e-03 9.99927442e-01 1.14979055e-02 1.72386170e+01] [-1.66712638e-01 -1.07381338e-02 9.85947052e-01 -1.15748500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:268.38, Y:17.26, Z:-115.75 [[ 9.85165313e-01 -1.93787397e-03 1.71597062e-01 2.68382781e+02] [ 3.07247130e-03 9.99975140e-01 -6.34664920e-03 1.72560004e+01] [-1.71580497e-01 6.77972569e-03 9.85146775e-01 -1.15753328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55591999999996 meters Centerline goodness : 0.925661 Centerline is valid? [True, False] Translation: X:268.41, Y:17.25, Z:-115.76 [[ 9.86522069e-01 -3.05034733e-03 1.63599824e-01 2.68406292e+02] [ 2.91736959e-03 9.99995190e-01 1.05307676e-03 1.72478775e+01] [-1.63602249e-01 -5.61602310e-04 9.86526223e-01 -1.15756605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters Centerline goodness : 0.998708 Centerline is valid? [False, True] Translation: X:268.43, Y:17.24, Z:-115.76 [[ 9.87909496e-01 -4.99073692e-03 1.54951347e-01 2.68432649e+02] [ 3.79075596e-03 9.99960504e-01 8.03875554e-03 1.72397192e+01] [-1.54985347e-01 -7.35418019e-03 9.87889396e-01 -1.15761347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61591999999996 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:268.49, Y:17.34, Z:-115.76 [[ 9.81201935e-01 7.19223720e-02 1.79080806e-01 2.68487309e+02] [-5.91634622e-02 9.95381338e-01 -7.56020907e-02 1.73405284e+01] [-1.83691174e-01 6.35858772e-02 9.80925272e-01 -1.15760125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:268.51, Y:17.24, Z:-115.76 [[ 9.87555886e-01 5.60327093e-02 1.46947977e-01 2.68514503e+02] [-6.10594998e-02 9.97685596e-01 2.99197143e-02 1.72417834e+01] [-1.44931397e-01 -3.85199599e-02 9.88691612e-01 -1.15761923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67591999999996 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:268.55, Y:17.27, Z:-115.77 [[ 9.87831926e-01 5.92584045e-02 1.43793351e-01 2.68546291e+02] [-6.03175681e-02 9.98174688e-01 3.01390842e-03 1.72663032e+01] [-1.43352284e-01 -1.16505002e-02 9.89603147e-01 -1.15767926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:268.58, Y:17.28, Z:-115.77 [[ 9.87389285e-01 6.07347737e-02 1.46197423e-01 2.68576932e+02] [-5.99062195e-02 9.98153239e-01 -1.00675633e-02 1.72759187e+01] [-1.46538883e-01 1.18246918e-03 9.89204204e-01 -1.15774124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73591999999996 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:268.61, Y:17.26, Z:-115.78 [[ 9.87845266e-01 5.69409812e-02 1.44635594e-01 2.68605696e+02] [-5.80349384e-02 9.98308924e-01 3.35221400e-03 1.72590735e+01] [-1.44200126e-01 -1.17053865e-02 9.89479311e-01 -1.15777672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:268.63, Y:17.22, Z:-115.78 [[ 9.85883392e-01 4.98695724e-02 1.59834177e-01 2.68627377e+02] [-5.65734952e-02 9.97687612e-01 3.76678810e-02 1.72249636e+01] [-1.57586097e-01 -4.61785163e-02 9.86424942e-01 -1.15776979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79591999999997 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:268.67, Y:17.37, Z:-115.78 [[ 9.78678525e-01 7.60750917e-02 1.90790265e-01 2.68668085e+02] [-5.30762005e-02 9.91000192e-01 -1.22888308e-01 1.73702238e+01] [-1.98421928e-01 1.10141726e-01 9.73908383e-01 -1.15782563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:268.69, Y:17.26, Z:-115.79 [[ 9.78914071e-01 5.52598039e-02 1.96656032e-01 2.68694016e+02] [-5.41128011e-02 9.98471956e-01 -1.12052605e-02 1.72617285e+01] [-1.96974734e-01 3.27378407e-04 9.80408510e-01 -1.15788623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85591999999997 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:268.73, Y:17.26, Z:-115.79 [[ 9.78906065e-01 5.40319508e-02 1.97036707e-01 2.68726090e+02] [-5.28340072e-02 9.98538972e-01 -1.13353422e-02 1.72575085e+01] [-1.97361302e-01 6.85996474e-04 9.80330580e-01 -1.15794268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:268.75, Y:17.18, Z:-115.79 [[ 9.87725731e-01 3.76852549e-02 1.51583977e-01 2.68750915e+02] [-4.76451856e-02 9.96899625e-01 6.26184872e-02 1.71843777e+01] [-1.48754216e-01 -6.90721377e-02 9.86458931e-01 -1.15792559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91591999999997 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:268.78, Y:17.24, Z:-115.80 [[ 9.87433950e-01 4.64202440e-02 1.51060767e-01 2.68782560e+02] [-4.73354573e-02 9.98876004e-01 2.46635660e-03 1.72358398e+01] [-1.50776486e-01 -9.58589472e-03 9.88521402e-01 -1.15799990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:268.81, Y:17.23, Z:-115.81 [[ 9.87933257e-01 4.61743692e-02 1.47837096e-01 2.68813071e+02] [-4.64504566e-02 9.98919335e-01 -1.58633582e-03 1.72328362e+01] [-1.47750582e-01 -5.29990672e-03 9.89010453e-01 -1.15805168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:268.84, Y:17.19, Z:-115.81 [[ 9.85910868e-01 3.87468637e-02 1.62721972e-01 2.68840368e+02] [-4.58660129e-02 9.98137491e-01 4.02226153e-02 1.71896970e+01] [-1.60860401e-01 -4.71193217e-02 9.85851764e-01 -1.15805523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:268.87, Y:17.23, Z:-115.81 [[ 9.85162647e-01 4.85168454e-02 1.64622827e-01 2.68868041e+02] [-4.81003933e-02 9.98821242e-01 -6.51759529e-03 1.72298150e+01] [-1.64744989e-01 -1.49753129e-03 9.86335058e-01 -1.15814358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:268.90, Y:17.31, Z:-115.82 [[ 9.83912337e-01 6.78111503e-02 1.65282062e-01 2.68902920e+02] [-5.24027293e-02 9.94013576e-01 -9.58695208e-02 1.73069697e+01] [-1.70793636e-01 8.56659732e-02 9.81575710e-01 -1.15822680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:268.92, Y:17.17, Z:-115.82 [[ 9.86659417e-01 4.44133523e-02 1.56622635e-01 2.68923603e+02] [-5.20139461e-02 9.97642489e-01 4.47662142e-02 1.71729447e+01] [-1.54265178e-01 -5.23155681e-02 9.86643470e-01 -1.15817019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:268.96, Y:17.32, Z:-115.83 [[ 9.74538779e-01 7.67002817e-02 2.10692274e-01 2.68961720e+02] [-5.15718680e-02 9.91155067e-01 -1.22278273e-01 1.73220065e+01] [-2.18207493e-01 1.08299125e-01 9.69874626e-01 -1.15830815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:268.98, Y:17.16, Z:-115.82 [[ 9.83084556e-01 4.27032213e-02 1.78104438e-01 2.68983136e+02] [-5.37547668e-02 9.96886172e-01 5.76921627e-02 1.71555516e+01] [-1.75086210e-01 -6.62902367e-02 9.82318901e-01 -1.15824820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:269.02, Y:17.23, Z:-115.84 [[ 9.81417330e-01 5.93287491e-02 1.82483215e-01 2.69016594e+02] [-5.52802264e-02 9.98100394e-01 -2.71974362e-02 1.72323299e+01] [-1.83750158e-01 1.66043218e-02 9.82832730e-01 -1.15839377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:269.05, Y:17.26, Z:-115.85 [[ 9.73183620e-01 6.42769657e-02 2.20866732e-01 2.69049471e+02] [-5.12116107e-02 9.96610147e-01 -6.43862269e-02 1.72599991e+01] [-2.24256577e-01 5.13486803e-02 9.73176397e-01 -1.15846418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:269.07, Y:17.15, Z:-115.84 [[ 9.81943103e-01 3.93733855e-02 1.85033722e-01 2.69074597e+02] [-5.06136695e-02 9.97123377e-01 5.64200971e-02 1.71474803e+01] [-1.82280000e-01 -6.47665609e-02 9.81111255e-01 -1.15840466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:269.11, Y:17.21, Z:-115.85 [[ 9.81792825e-01 5.17930490e-02 1.82757570e-01 2.69107712e+02] [-5.05930492e-02 9.98656262e-01 -1.12255819e-02 1.72073777e+01] [-1.83093399e-01 1.77493307e-03 9.83093921e-01 -1.15851453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:269.14, Y:17.21, Z:-115.86 [[ 9.81346592e-01 4.84520477e-02 1.86041034e-01 2.69136507e+02] [-4.63420462e-02 9.98802618e-01 -1.56762356e-02 1.72072373e+01] [-1.86577818e-01 6.76229815e-03 9.82416912e-01 -1.15857291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:269.16, Y:17.14, Z:-115.85 [[ 9.81461263e-01 3.27758729e-02 1.88837313e-01 2.69161454e+02] [-4.37036006e-02 9.97584228e-01 5.39972582e-02 1.71387691e+01] [-1.86611318e-01 -6.12490877e-02 9.80522700e-01 -1.15853344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:269.20, Y:17.32, Z:-115.87 [[ 9.71551900e-01 7.10191305e-02 2.25927395e-01 2.69200948e+02] [-3.83978782e-02 9.88592625e-01 -1.45637305e-01 1.73154163e+01] [-2.33693192e-01 1.32819068e-01 9.63196027e-01 -1.15872692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:269.23, Y:17.19, Z:-115.88 [[ 9.71017098e-01 4.35785355e-02 2.35003633e-01 2.69225721e+02] [-4.13085640e-02 9.99040113e-01 -1.45758730e-02 1.71892988e+01] [-2.35413251e-01 4.44575927e-03 9.71885197e-01 -1.15877441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:269.25, Y:17.13, Z:-115.87 [[ 9.80754809e-01 3.03554619e-02 1.92869256e-01 2.69252102e+02] [-4.07471704e-02 9.97910515e-01 5.01425109e-02 1.71284012e+01] [-1.90944159e-01 -5.70363851e-02 9.79942436e-01 -1.15874203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:269.29, Y:17.23, Z:-115.89 [[ 9.71100116e-01 5.76175337e-02 2.31613436e-01 2.69288688e+02] [-4.14684907e-02 9.96395557e-01 -7.40017451e-02 1.72332769e+01] [-2.35042396e-01 6.22584436e-02 9.69989154e-01 -1.15893583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:269.31, Y:17.13, Z:-115.89 [[ 9.79266768e-01 3.46012650e-02 1.99597969e-01 2.69313206e+02] [-4.31627296e-02 9.98318169e-01 3.87015723e-02 1.71256753e+01] [-1.97923156e-01 -4.65143568e-02 9.79113292e-01 -1.15886822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:269.35, Y:17.21, Z:-115.90 [[ 9.70631287e-01 5.78816333e-02 2.33505077e-01 2.69348438e+02] [-4.40727158e-02 9.96980573e-01 -6.39322587e-02 1.72125999e+01] [-2.36500529e-01 5.17634477e-02 9.70251537e-01 -1.15904956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:269.37, Y:17.10, Z:-115.90 [[ 9.80327918e-01 3.49855725e-02 1.94250311e-01 2.69373052e+02] [-4.57854549e-02 9.97628667e-01 5.13880752e-02 1.71039180e+01] [-1.91991837e-01 -5.92710036e-02 9.79605065e-01 -1.15897790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:269.41, Y:17.16, Z:-115.91 [[ 9.79239559e-01 5.39776295e-02 1.95387567e-01 2.69406328e+02] [-5.07835315e-02 9.98482007e-01 -2.13240224e-02 1.71627321e+01] [-1.96241990e-01 1.09588556e-02 9.80494255e-01 -1.15914214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:269.44, Y:17.13, Z:-115.91 [[ 9.80110845e-01 4.91601909e-02 1.92265460e-01 2.69435115e+02] [-5.20234849e-02 9.98597091e-01 9.86946981e-03 1.71294214e+01] [-1.91510544e-01 -1.96754937e-02 9.81293323e-01 -1.15914821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:269.47, Y:17.16, Z:-115.93 [[ 9.78253074e-01 5.97145771e-02 1.98633059e-01 2.69466517e+02] [-5.52687138e-02 9.98082843e-01 -2.78569223e-02 1.71607500e+01] [-1.99915713e-01 1.62729262e-02 9.79677957e-01 -1.15925188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:269.49, Y:17.10, Z:-115.93 [[ 9.75625595e-01 2.35088283e-02 2.18178901e-01 2.69487423e+02] [-2.82128209e-02 9.99431292e-01 1.84696666e-02 1.71017592e+01] [-2.17620621e-01 -2.41749217e-02 9.75734000e-01 -1.15929250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:269.53, Y:17.17, Z:-115.94 [[ 9.76847116e-01 7.04866775e-02 2.01993416e-01 2.69526163e+02] [-6.16940479e-02 9.96866525e-01 -4.95073388e-02 1.71723443e+01] [-2.04850082e-01 3.58993096e-02 9.78134798e-01 -1.15937271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:269.55, Y:17.12, Z:-115.94 [[ 9.77765157e-01 6.05102461e-02 2.00782988e-01 2.69552071e+02] [-6.25419854e-02 9.98035156e-01 3.78528716e-03 1.71198556e+01] [-2.00159432e-01 -1.62584886e-02 9.79628431e-01 -1.15937208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:269.58, Y:17.16, Z:-115.95 [[ 9.74924441e-01 7.66984377e-02 2.08901134e-01 2.69584214e+02] [-6.95494015e-02 9.96720472e-01 -4.13664178e-02 1.71592544e+01] [-2.11388777e-01 2.58001829e-02 9.77061480e-01 -1.15947444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75591999999995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:269.61, Y:17.13, Z:-115.95 [[ 9.75367320e-01 7.30717212e-02 2.08132443e-01 2.69611627e+02] [-7.24853483e-02 9.97314696e-01 -1.04532552e-02 1.71300175e+01] [-2.08337382e-01 -4.89078907e-03 9.78044792e-01 -1.15952338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:269.64, Y:17.13, Z:-115.96 [[ 9.75131465e-01 7.60777465e-02 2.08160521e-01 2.69642435e+02] [-7.53283762e-02 9.97092044e-01 -1.15365103e-02 1.71298363e+01] [-2.08432871e-01 -4.43077984e-03 9.78026639e-01 -1.15957593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:269.67, Y:17.13, Z:-115.97 [[ 9.74188881e-01 7.92914895e-02 2.11350144e-01 2.69671294e+02] [-7.85661390e-02 9.96838581e-01 -1.18408097e-02 1.71291404e+01] [-2.11620853e-01 -5.06977963e-03 9.77338688e-01 -1.15967066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:269.71, Y:17.18, Z:-115.98 [[ 9.63239143e-01 9.80517572e-02 2.50112388e-01 2.69705694e+02] [-8.20835387e-02 9.93909926e-01 -7.35210975e-02 1.71846336e+01] [-2.55798058e-01 5.02882890e-02 9.65421380e-01 -1.15980091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:269.74, Y:17.13, Z:-115.98 [[ 9.63349579e-01 8.52140006e-02 2.54354404e-01 2.69735737e+02] [-8.34931512e-02 9.96353365e-01 -1.75745502e-02 1.71304142e+01] [-2.54924465e-01 -4.30641517e-03 9.66951380e-01 -1.15983158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:269.77, Y:17.13, Z:-115.99 [[ 9.63118905e-01 8.71663688e-02 2.54566295e-01 2.69768292e+02] [-8.54768272e-02 9.96182685e-01 -1.77135747e-02 1.71304618e+01] [-2.55138564e-01 -4.69924052e-03 9.66893081e-01 -1.15990738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:269.80, Y:17.08, Z:-115.99 [[ 9.73571878e-01 7.61773661e-02 2.15301667e-01 2.69798401e+02] [-8.71271188e-02 9.95319057e-01 4.18191300e-02 1.70814165e+01] [-2.11108181e-01 -5.94725428e-02 9.75651758e-01 -1.15986259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:269.83, Y:17.15, Z:-116.00 [[ 9.71175617e-01 9.43292917e-02 2.18906156e-01 2.69832308e+02] [-8.88420512e-02 9.95437655e-01 -3.47989075e-02 1.71525663e+01] [-2.21189987e-01 1.43477786e-02 9.75125187e-01 -1.16003818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:269.86, Y:17.13, Z:-116.01 [[ 9.72071361e-01 8.66264907e-02 2.18112631e-01 2.69861320e+02] [-8.77760827e-02 9.96130372e-01 -4.43194024e-03 1.71263188e+01] [-2.17652540e-01 -1.48369102e-02 9.75913540e-01 -1.16007384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:269.89, Y:17.15, Z:-116.02 [[ 9.70606682e-01 8.98907805e-02 2.23253930e-01 2.69894169e+02] [-8.55959511e-02 9.95911837e-01 -2.88608148e-02 1.71518720e+01] [-2.24935553e-01 8.90286719e-03 9.74332970e-01 -1.16017097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:269.92, Y:17.15, Z:-116.02 [[ 9.69507812e-01 8.67993867e-02 2.29173449e-01 2.69923635e+02] [-8.29702502e-02 9.96204648e-01 -2.63104070e-02 1.71483343e+01] [-2.30587382e-01 6.49356670e-03 9.73029955e-01 -1.16023690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:269.95, Y:17.12, Z:-116.03 [[ 9.71260966e-01 7.83989008e-02 2.24734842e-01 2.69953687e+02] [-8.04046703e-02 9.96762277e-01 -2.27597581e-04 1.71227918e+01] [-2.24025056e-01 -1.78486742e-02 9.74419930e-01 -1.16027652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:269.99, Y:17.18, Z:-116.04 [[ 9.61774792e-01 8.87287607e-02 2.59068438e-01 2.69986323e+02] [-7.41090687e-02 9.95084713e-01 -6.56830269e-02 1.71790266e+01] [-2.63623016e-01 4.39729588e-02 9.63622999e-01 -1.16042201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:270.01, Y:17.09, Z:-116.04 [[ 9.72105832e-01 6.34237337e-02 2.25804522e-01 2.70012008e+02] [-7.28272746e-02 9.96780025e-01 3.35525060e-02 1.70879077e+01] [-2.22949412e-01 -4.90613147e-02 9.73594652e-01 -1.16038449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:270.04, Y:17.13, Z:-116.05 [[ 9.71762080e-01 7.28565776e-02 2.24433463e-01 2.70043865e+02] [-7.14138129e-02 9.97340641e-01 -1.45503722e-02 1.71288700e+01] [-2.24896704e-01 -1.88814935e-03 9.74380781e-01 -1.16049571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:270.07, Y:17.13, Z:-116.06 [[ 9.70545321e-01 7.51574034e-02 2.28895486e-01 2.70074822e+02] [-7.19896824e-02 9.97158951e-01 -2.21700666e-02 1.71324570e+01] [-2.29911428e-01 5.03894104e-03 9.73198512e-01 -1.16057301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:270.10, Y:17.12, Z:-116.06 [[ 9.70678085e-01 7.43965713e-02 2.28580849e-01 2.70103917e+02] [-7.27106498e-02 9.97227910e-01 -1.58005492e-02 1.71211997e+01] [-2.29122709e-01 -1.28301519e-03 9.73396701e-01 -1.16064269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:270.13, Y:17.13, Z:-116.07 [[ 9.69355025e-01 7.78926249e-02 2.32988359e-01 2.70133828e+02] [-7.33830196e-02 9.96911396e-01 -2.79749889e-02 1.71278758e+01] [-2.34447796e-01 1.00203068e-02 9.72077067e-01 -1.16073633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29591999999997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:270.17, Y:17.15, Z:-116.09 [[ 9.59429614e-01 8.57449948e-02 2.68593768e-01 2.70166971e+02] [-7.33627662e-02 9.95741833e-01 -5.58220988e-02 1.71463512e+01] [-2.72236516e-01 3.38525929e-02 9.61634692e-01 -1.16085617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:270.19, Y:17.08, Z:-116.09 [[ 9.68588761e-01 7.00420218e-02 2.38599931e-01 2.70193834e+02] [-7.46709571e-02 9.97153936e-01 1.04055859e-02 1.70832989e+01] [-2.37192032e-01 -2.78952187e-02 9.71062200e-01 -1.16085625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:270.23, Y:17.13, Z:-116.10 [[ 9.58840629e-01 8.84689161e-02 2.69810860e-01 2.70228608e+02] [-7.87674903e-02 9.95803429e-01 -4.65962718e-02 1.71282485e+01] [-2.72800901e-01 2.34260743e-02 9.61785261e-01 -1.16100378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:270.26, Y:17.10, Z:-116.11 [[ 9.58496173e-01 8.46851185e-02 2.72237979e-01 2.70259165e+02] [-8.22210400e-02 9.96403925e-01 -2.04675054e-02 1.71016071e+01] [-2.72992284e-01 -2.76566422e-03 9.62012247e-01 -1.16105575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:270.29, Y:17.05, Z:-116.10 [[ 9.69256854e-01 7.34351106e-02 2.34837041e-01 2.70287134e+02] [-8.37467271e-02 9.95899037e-01 3.42285581e-02 1.70526023e+01] [-2.31360405e-01 -5.28430981e-02 9.71431917e-01 -1.16103362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters Centerline goodness : 0.909317 Centerline is valid? [True, False] Translation: X:270.32, Y:17.07, Z:-116.11 [[ 9.71805346e-01 7.35865406e-02 2.24007569e-01 2.70321927e+02] [-7.95929777e-02 9.96666889e-01 1.78905240e-02 1.70660488e+01] [-2.21944425e-01 -3.52155363e-02 9.74423182e-01 -1.16113924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47592 meters Centerline goodness : 0.939951 Centerline is valid? [False, False] Translation: X:270.36, Y:17.07, Z:-116.13 [[ 9.74542077e-01 7.36765500e-02 2.11753409e-01 2.70355742e+02] [-7.70535589e-02 9.96996997e-01 7.72897193e-03 1.70749749e+01] [-2.10548069e-01 -2.38485621e-02 9.77292565e-01 -1.16125179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:270.40, Y:17.08, Z:-116.14 [[ 9.78024246e-01 7.34537023e-02 1.95123368e-01 2.70402142e+02] [-7.55479618e-02 9.97136701e-01 3.30230022e-03 1.70789017e+01] [-1.94322105e-01 -1.79709024e-02 9.80773147e-01 -1.16136817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53592 meters Centerline goodness : 0.972590 Centerline is valid? [True, True] Translation: X:270.40, Y:17.04, Z:-116.15 [[ 9.78053468e-01 -1.65557482e-02 2.07695260e-01 2.70396209e+02] [ 1.75257181e-02 9.99842405e-01 -2.83083173e-03 1.70404219e+01] [-2.07615662e-01 6.40871338e-03 9.78189483e-01 -1.16146771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:270.46, Y:17.07, Z:-116.15 [[ 9.76292806e-01 8.14505190e-02 2.00544681e-01 2.70459203e+02] [-8.56395094e-02 9.96250420e-01 1.22871529e-02 1.70724040e+01] [-1.98791928e-01 -2.91704071e-02 9.79607501e-01 -1.16147238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:270.49, Y:17.15, Z:-116.16 [[ 9.66867470e-01 9.84941779e-02 2.35512614e-01 2.70490911e+02] [-8.38521740e-02 9.93915298e-01 -7.14226325e-02 1.71482775e+01] [-2.41114304e-01 4.93079753e-02 9.69243321e-01 -1.16161078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:270.52, Y:17.09, Z:-116.16 [[ 9.66862977e-01 8.52944672e-02 2.40625928e-01 2.70520890e+02] [-8.46697245e-02 9.96324867e-01 -1.29536198e-02 1.70937092e+01] [-2.40846468e-01 -7.84935558e-03 9.70531487e-01 -1.16164638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:270.55, Y:17.06, Z:-116.16 [[ 9.74855669e-01 7.43456864e-02 2.10069376e-01 2.70552632e+02] [-8.19975300e-02 9.96240786e-01 2.79410163e-02 1.70573611e+01] [-2.07202386e-01 -4.44636281e-02 9.77287142e-01 -1.16164388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:270.56, Y:17.05, Z:-116.18 [[ 9.75540500e-01 2.40305255e-02 2.18502327e-01 2.70563088e+02] [-2.65704917e-02 9.99609143e-01 8.69307788e-03 1.70507158e+01] [-2.18208025e-01 -1.42861638e-02 9.75797706e-01 -1.16175213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:270.61, Y:17.10, Z:-116.18 [[ 9.73414252e-01 8.68185210e-02 2.11960465e-01 2.70614995e+02] [-8.37117248e-02 9.96210395e-01 -2.36050016e-02 1.71039174e+01] [-2.13206570e-01 5.23386889e-03 9.76993124e-01 -1.16182210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:270.65, Y:17.12, Z:-116.19 [[ 9.65532882e-01 9.07034026e-02 2.43965461e-01 2.70645120e+02] [-8.12245690e-02 9.95507384e-01 -4.86581778e-02 1.71244045e+01] [-2.47282881e-01 2.71650812e-02 9.68562458e-01 -1.16193198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:270.67, Y:17.06, Z:-116.19 [[ 9.74079831e-01 7.42819835e-02 2.13660175e-01 2.70672933e+02] [-8.14819776e-02 9.96359235e-01 2.50791272e-02 1.70571007e+01] [-2.11019361e-01 -4.18385256e-02 9.76586078e-01 -1.16192546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:270.70, Y:17.09, Z:-116.20 [[ 9.73381731e-01 7.97227731e-02 2.14877370e-01 2.70704603e+02] [-7.95947212e-02 9.96784270e-01 -9.26276510e-03 1.70870453e+01] [-2.14924836e-01 -8.08689807e-03 9.76597111e-01 -1.16203089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:270.73, Y:17.08, Z:-116.21 [[ 9.72817247e-01 7.72181415e-02 2.18320780e-01 2.70734573e+02] [-7.79496127e-02 9.96943351e-01 -5.27382287e-03 1.70809744e+01] [-2.18060685e-01 -1.18875544e-02 9.75862810e-01 -1.16209470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:270.77, Y:17.13, Z:-116.22 [[ 9.64686800e-01 8.73415358e-02 2.48497151e-01 2.70767769e+02] [-7.37820862e-02 9.95258088e-01 -6.33840879e-02 1.71301882e+01] [-2.52854863e-01 4.28111547e-02 9.66556581e-01 -1.16219313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:270.80, Y:17.06, Z:-116.22 [[ 9.73079365e-01 6.61748672e-02 2.20765568e-01 2.70796608e+02] [-7.05423376e-02 9.97437211e-01 1.19494092e-02 1.70588560e+01] [-2.19409042e-01 -2.72010428e-02 9.75253698e-01 -1.16220239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:270.83, Y:17.07, Z:-116.23 [[ 9.72938585e-01 6.72321113e-02 2.21066399e-01 2.70827701e+02] [-6.77369301e-02 9.97689110e-01 -5.30552067e-03 1.70719145e+01] [-2.20912240e-01 -9.81241343e-03 9.75244328e-01 -1.16229119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:270.86, Y:17.00, Z:-116.22 [[ 9.78238389e-01 4.68844385e-02 2.02117550e-01 2.70856456e+02] [-6.25254107e-02 9.95464146e-01 7.17056958e-02 1.69996422e+01] [-1.97838893e-01 -8.27827471e-02 9.76732711e-01 -1.16222411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:270.89, Y:17.09, Z:-116.24 [[ 9.74426410e-01 6.91879665e-02 2.13790076e-01 2.70886014e+02] [-6.28950264e-02 9.97366802e-01 -3.61064751e-02 1.70940200e+01] [-2.15725258e-01 2.17367705e-02 9.76212132e-01 -1.16241116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:270.91, Y:17.07, Z:-116.25 [[ 9.72716104e-01 6.27438557e-02 2.23353060e-01 2.70914219e+02] [-6.08587812e-02 9.98028804e-01 -1.53204024e-02 1.70704240e+01] [-2.23874049e-01 1.30940708e-03 9.74617205e-01 -1.16245234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:270.95, Y:17.11, Z:-116.26 [[ 9.71077871e-01 7.51026760e-02 2.26643678e-01 2.70945931e+02] [-6.11137552e-02 9.95802894e-01 -6.81300579e-02 1.71145912e+01] [-2.30809180e-01 5.23085454e-02 9.71591961e-01 -1.16258625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:270.97, Y:17.06, Z:-116.26 [[ 9.71673551e-01 6.23582111e-02 2.27951671e-01 2.70974648e+02] [-6.00313874e-02 9.98049431e-01 -1.71337448e-02 1.70646728e+01] [-2.28575465e-01 2.96415160e-03 9.73521685e-01 -1.16260653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:271.00, Y:17.06, Z:-116.27 [[ 9.71548035e-01 6.08662751e-02 2.28887989e-01 2.71004862e+02] [-5.99307085e-02 9.98141455e-01 -1.10429135e-02 1.70553957e+01] [-2.29134731e-01 -2.98869839e-03 9.73390129e-01 -1.16266955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:271.04, Y:17.07, Z:-116.28 [[ 9.70065827e-01 6.44477637e-02 2.34134100e-01 2.71035659e+02] [-5.96483100e-02 9.97839751e-01 -2.75301773e-02 1.70660912e+01] [-2.35402570e-01 1.27403808e-02 9.71814443e-01 -1.16276015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters Centerline goodness : 0.892117 Centerline is valid? [True, False] Translation: X:271.09, Y:17.04, Z:-116.29 [[ 9.76329931e-01 5.32839405e-02 2.09620339e-01 2.71090775e+02] [-5.28833225e-02 9.98572384e-01 -7.51978998e-03 1.70400280e+01] [-2.09721766e-01 -3.74362397e-03 9.77753939e-01 -1.16286206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19592 meters Centerline goodness : 0.999455 Centerline is valid? [False, True] Translation: X:271.13, Y:17.03, Z:-116.29 [[ 9.81129902e-01 4.65423504e-02 1.87664394e-01 2.71133956e+02] [-4.78449268e-02 9.98851857e-01 2.41481722e-03 1.70271586e+01] [-1.87336538e-01 -1.13480386e-02 9.82230240e-01 -1.16294017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:271.17, Y:17.04, Z:-116.30 [[ 9.81549681e-01 5.12795937e-02 1.84202678e-01 2.71165884e+02] [-4.98605080e-02 9.98680071e-01 -1.23306711e-02 1.70357063e+01] [-1.84591855e-01 2.91872719e-03 9.82810932e-01 -1.16301489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:271.20, Y:17.03, Z:-116.31 [[ 9.81480826e-01 5.09004176e-02 1.84674136e-01 2.71196754e+02] [-5.03620118e-02 9.98702051e-01 -7.60800901e-03 1.70283911e+01] [-1.84821689e-01 -1.83344605e-03 9.82770361e-01 -1.16306810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:271.23, Y:17.03, Z:-116.31 [[ 9.81194727e-01 5.19375999e-02 1.85901570e-01 2.71228591e+02] [-5.04800041e-02 9.98645980e-01 -1.25688103e-02 1.70301786e+01] [-1.86302649e-01 2.94813841e-03 9.82487980e-01 -1.16312456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:271.25, Y:17.03, Z:-116.32 [[ 9.83063292e-01 5.43197898e-02 1.75031212e-01 2.71246517e+02] [-5.14553338e-02 9.98457297e-01 -2.08656534e-02 1.70315482e+01] [-1.75894609e-01 1.15059684e-02 9.84341759e-01 -1.16321532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters Centerline goodness : 0.819691 Centerline is valid? [True, False] Translation: X:271.28, Y:17.01, Z:-116.32 [[ 9.85919392e-01 4.38530621e-02 1.61368713e-01 2.71276413e+02] [-4.47255647e-02 9.98997731e-01 1.77662652e-03 1.70073481e+01] [-1.61129068e-01 -8.96891735e-03 9.86892589e-01 -1.16324453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37591999999995 meters Centerline goodness : 0.800258 Centerline is valid? [False, False] Translation: X:271.29, Y:16.99, Z:-116.33 [[ 9.87706799e-01 3.41663388e-02 1.52538323e-01 2.71290631e+02] [-3.76108054e-02 9.99097233e-01 1.97521096e-02 1.69861404e+01] [-1.51725759e-01 -2.52463821e-02 9.88100154e-01 -1.16326103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:271.31, Y:16.98, Z:-116.33 [[ 9.88908202e-01 2.87569273e-02 1.45717558e-01 2.71313008e+02] [-3.22531149e-02 9.99244421e-01 2.16869587e-02 1.69803450e+01] [-1.44983807e-01 -2.61462565e-02 9.89088504e-01 -1.16328670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:271.35, Y:17.04, Z:-116.34 [[ 9.82862589e-01 3.65603173e-02 1.80677819e-01 2.71345797e+02] [-2.85731731e-02 9.98504232e-01 -4.66140708e-02 1.70378181e+01] [-1.82111792e-01 4.06526877e-02 9.82437099e-01 -1.16343614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:271.37, Y:16.95, Z:-116.33 [[ 9.89244232e-01 1.78564999e-02 1.45179185e-01 2.71373626e+02] [-2.40706107e-02 9.98862598e-01 4.11596394e-02 1.69503197e+01] [-1.44279091e-01 -4.42114875e-02 9.88548880e-01 -1.16334112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:271.40, Y:16.97, Z:-116.34 [[ 9.90802648e-01 2.15903822e-02 1.33581314e-01 2.71404391e+02] [-2.38952859e-02 9.99591564e-01 1.56754606e-02 1.69688493e+01] [-1.33188316e-01 -1.87232516e-02 9.90913877e-01 -1.16341279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:271.44, Y:17.04, Z:-116.36 [[ 9.82516799e-01 3.42117715e-02 1.83003535e-01 2.71436665e+02] [-2.09505307e-02 9.97044575e-01 -7.39133961e-02 1.70440099e+01] [-1.84991390e-01 6.87871322e-02 9.80329800e-01 -1.16360459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:271.47, Y:16.97, Z:-116.36 [[ 9.82070927e-01 2.37771634e-02 1.87006261e-01 2.71467733e+02] [-2.27264049e-02 9.99711597e-01 -7.76104760e-03 1.69736455e+01] [-1.87136864e-01 3.37191920e-03 9.82328064e-01 -1.16356839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:271.50, Y:16.97, Z:-116.36 [[ 9.82219759e-01 2.39548650e-02 1.86200188e-01 2.71499715e+02] [-2.28974296e-02 9.99707174e-01 -7.82782538e-03 1.69695069e+01] [-1.86333178e-01 3.42513907e-03 9.82480644e-01 -1.16362477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61591999999996 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:271.53, Y:16.92, Z:-116.36 [[ 9.88331853e-01 1.72355208e-02 1.51337656e-01 2.71530052e+02] [-2.38484490e-02 9.98833337e-01 4.19906660e-02 1.69213853e+01] [-1.50437365e-01 -4.51098811e-02 9.87589843e-01 -1.16355944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:271.56, Y:16.96, Z:-116.37 [[ 9.88031431e-01 2.56209525e-02 1.52110019e-01 2.71560916e+02] [-2.40976929e-02 9.99639380e-01 -1.18495488e-02 1.69626950e+01] [-1.52358762e-01 8.04222616e-03 9.88292533e-01 -1.16370284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67591999999996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:271.59, Y:16.96, Z:-116.38 [[ 9.87376386e-01 2.68538285e-02 1.56098509e-01 2.71591641e+02] [-2.44642239e-02 9.99552563e-01 -1.72097488e-02 1.69617341e+01] [-1.56490813e-01 1.31736707e-02 9.87591555e-01 -1.16375337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:271.62, Y:16.94, Z:-116.38 [[ 9.87618884e-01 2.49360033e-02 1.54877812e-01 2.71622181e+02] [-2.46644330e-02 9.99689031e-01 -3.67508574e-03 1.69402905e+01] [-1.54921292e-01 -1.90389339e-04 9.87926797e-01 -1.16378688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73591999999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:271.65, Y:16.93, Z:-116.38 [[ 9.87911020e-01 2.41670821e-02 1.53126642e-01 2.71652475e+02] [-2.45923054e-02 9.99697173e-01 8.83228853e-04 1.69317283e+01] [-1.53058926e-01 -4.63828867e-03 9.88206179e-01 -1.16382211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:271.68, Y:16.97, Z:-116.40 [[ 9.81064412e-01 3.13011401e-02 1.91135704e-01 2.71683810e+02] [-2.15952073e-02 9.98379272e-01 -5.26543174e-02 1.69747081e+01] [-1.92474065e-01 4.75296619e-02 9.80150328e-01 -1.16398055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79591999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:271.72, Y:16.93, Z:-116.40 [[ 9.80853535e-01 2.41223251e-02 1.93247139e-01 2.71716258e+02] [-2.29078985e-02 9.99701302e-01 -8.51669349e-03 1.69324771e+01] [-1.93394859e-01 3.92674308e-03 9.81113148e-01 -1.16396153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:271.75, Y:16.89, Z:-116.39 [[ 9.87275355e-01 1.83582596e-02 1.57956790e-01 2.71747119e+02] [-2.40525538e-02 9.99125064e-01 3.42137637e-02 1.68911191e+01] [-1.57190483e-01 -3.75776699e-02 9.86853115e-01 -1.16389677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85591999999997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:271.78, Y:16.92, Z:-116.40 [[ 9.87138573e-01 2.55254779e-02 1.57815996e-01 2.71777877e+02] [-2.52369340e-02 9.99674152e-01 -3.83237105e-03 1.69193892e+01] [-1.57862395e-01 -1.99710596e-04 9.87461100e-01 -1.16401446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:271.81, Y:16.96, Z:-116.42 [[ 9.80224089e-01 3.43435982e-02 1.94887793e-01 2.71809264e+02] [-2.45041834e-02 9.98310941e-01 -5.26764600e-02 1.69585356e+01] [-1.96367715e-01 4.68591689e-02 9.79409995e-01 -1.16417818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91591999999997 meters Centerline goodness : 0.890291 Centerline is valid? [True, False] Translation: X:271.84, Y:16.92, Z:-116.41 [[ 9.84052417e-01 2.68713816e-02 1.75837340e-01 2.71836730e+02] [-2.49513173e-02 9.99602546e-01 -1.31217713e-02 1.69166702e+01] [-1.76120053e-01 8.52513752e-03 9.84331778e-01 -1.16413476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters Centerline goodness : 0.999060 Centerline is valid? [False, True] Translation: X:271.88, Y:16.90, Z:-116.42 [[ 9.88033829e-01 2.41715266e-02 1.52331514e-01 2.71882650e+02] [-2.43625554e-02 9.99703001e-01 -6.12603317e-04 1.69022835e+01] [-1.52301080e-01 -3.10591216e-03 9.88329264e-01 -1.16418772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:271.91, Y:16.93, Z:-116.43 [[ 9.82162248e-01 3.37374945e-02 1.84984052e-01 2.71912707e+02] [-2.83257278e-02 9.99092122e-01 -3.18211456e-02 1.69275295e+01] [-1.85889674e-01 2.60137200e-02 9.82226204e-01 -1.16432112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters Centerline goodness : 0.859774 Centerline is valid? [True, False] Translation: X:271.97, Y:16.90, Z:-116.44 [[ 9.87081100e-01 2.78695217e-02 1.57778934e-01 2.71974088e+02] [-2.70521779e-02 9.99607178e-01 -7.32594871e-03 1.69017706e+01] [-1.57921125e-01 2.96304173e-03 9.87447284e-01 -1.16436146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03592 meters Centerline goodness : 0.999356 Centerline is valid? [False, True] Translation: X:272.01, Y:16.89, Z:-116.44 [[ 9.90324025e-01 2.51252203e-02 1.36480950e-01 2.72013325e+02] [-2.59793127e-02 9.99652442e-01 4.48011001e-03 1.68887274e+01] [-1.36320951e-01 -7.98244184e-03 9.90632565e-01 -1.16438673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:272.05, Y:16.99, Z:-116.46 [[ 9.87995878e-01 4.80731355e-02 1.46809803e-01 2.72045847e+02] [-3.31454212e-02 9.94182103e-01 -1.02485741e-01 1.69876357e+01] [-1.50882490e-01 9.63894164e-02 9.83841224e-01 -1.16462246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:272.08, Y:16.90, Z:-116.45 [[ 9.87867963e-01 3.55428002e-02 1.51174061e-01 2.72077763e+02] [-3.53355764e-02 9.99367266e-01 -4.05775379e-03 1.68964712e+01] [-1.51222632e-01 -1.33329761e-03 9.88498831e-01 -1.16450272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:272.10, Y:16.92, Z:-116.46 [[ 9.82646609e-01 4.04531435e-02 1.81022609e-01 2.72104922e+02] [-3.62316871e-02 9.98990202e-01 -2.65676730e-02 1.69179078e+01] [-1.81914559e-01 1.95478793e-02 9.83120020e-01 -1.16461548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:272.14, Y:16.90, Z:-116.46 [[ 9.82664519e-01 3.98779365e-02 1.81053014e-01 2.72137733e+02] [-3.97534029e-02 9.99200191e-01 -4.31797937e-03 1.68978977e+01] [-1.81080398e-01 -2.95434829e-03 9.83463859e-01 -1.16461092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:272.17, Y:16.87, Z:-116.46 [[ 9.88386870e-01 4.01799151e-02 1.46550231e-01 2.72173569e+02] [-4.46532423e-02 9.98627764e-01 2.73619464e-02 1.68710420e+01] [-1.45249729e-01 -3.35881316e-02 9.88824734e-01 -1.16458135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:272.20, Y:16.91, Z:-116.47 [[ 9.87735021e-01 4.80381714e-02 1.48566017e-01 2.72204863e+02] [-4.67623450e-02 9.98833109e-01 -1.20707971e-02 1.69110758e+01] [-1.48972516e-01 4.97545371e-03 9.88828820e-01 -1.16471548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:272.24, Y:16.90, Z:-116.47 [[ 9.87955581e-01 4.60805626e-02 1.47717136e-01 2.72235550e+02] [-4.65444608e-02 9.98916169e-01 -3.16545984e-04 1.69016572e+01] [-1.47571622e-01 -6.56268106e-03 9.89029599e-01 -1.16472954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:272.27, Y:16.92, Z:-116.48 [[ 9.87369511e-01 5.01486004e-02 1.50288278e-01 2.72268024e+02] [-4.88613085e-02 9.98730471e-01 -1.22482536e-02 1.69165647e+01] [-1.50711716e-01 4.75027022e-03 9.88566343e-01 -1.16481177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:272.30, Y:16.93, Z:-116.49 [[ 9.81651334e-01 5.00074535e-02 1.84010631e-01 2.72295652e+02] [-4.48180157e-02 9.98474276e-01 -3.22562399e-02 1.69348667e+01] [-1.85342934e-01 2.34173896e-02 9.82394840e-01 -1.16490954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:272.33, Y:16.90, Z:-116.49 [[ 9.86542348e-01 4.69576209e-02 1.56617933e-01 2.72332236e+02] [-4.94851727e-02 9.98699411e-01 1.22761815e-02 1.68975895e+01] [-1.55837777e-01 -1.98612384e-02 9.87582968e-01 -1.16487280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:272.36, Y:16.92, Z:-116.50 [[ 9.85899813e-01 5.13268788e-02 1.59270556e-01 2.72363583e+02] [-5.05176880e-02 9.98681452e-01 -9.12800691e-03 1.69224639e+01] [-1.59529062e-01 9.53320055e-04 9.87192772e-01 -1.16497179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:272.40, Y:16.92, Z:-116.50 [[ 9.85327430e-01 5.18455270e-02 1.62609643e-01 2.72396109e+02] [-5.13262951e-02 9.98654555e-01 -7.39541145e-03 1.69223472e+01] [-1.62774280e-01 -1.05924877e-03 9.86662765e-01 -1.16501789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:272.43, Y:16.93, Z:-116.51 [[ 9.85412690e-01 5.22083210e-02 1.61975680e-01 2.72427525e+02] [-5.15749721e-02 9.98636152e-01 -8.11532187e-03 1.69269003e+01] [-1.62178457e-01 -3.56950031e-04 9.86761380e-01 -1.16507497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:272.46, Y:16.94, Z:-116.51 [[ 9.80773391e-01 5.09109308e-02 1.88392230e-01 2.72456465e+02] [-4.83659419e-02 9.98665953e-01 -1.80845269e-02 1.69359895e+01] [-1.89061606e-01 8.62505510e-03 9.81927348e-01 -1.16513973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:272.49, Y:16.90, Z:-116.51 [[ 9.86651162e-01 4.70737095e-02 1.55895961e-01 2.72491127e+02] [-5.12455631e-02 9.98424685e-01 2.28481916e-02 1.69010515e+01] [-1.54574826e-01 -3.05321711e-02 9.87509195e-01 -1.16512346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:272.52, Y:16.93, Z:-116.52 [[ 9.86616694e-01 5.17823195e-02 1.54615942e-01 2.72522429e+02] [-5.11850086e-02 9.98658380e-01 -7.84436144e-03 1.69298153e+01] [-1.54814706e-01 -1.74640390e-04 9.87943509e-01 -1.16523305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:272.55, Y:16.92, Z:-116.53 [[ 9.87272429e-01 4.93058108e-02 1.51202145e-01 2.72554185e+02] [-5.01617123e-02 9.98739397e-01 1.84931058e-03 1.69202158e+01] [-1.50920357e-01 -9.41033184e-03 9.88501134e-01 -1.16526783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:272.58, Y:16.96, Z:-116.54 [[ 9.80820265e-01 5.23851037e-02 1.87742930e-01 2.72581717e+02] [-4.57486132e-02 9.98171253e-01 -3.95122076e-02 1.69553202e+01] [-1.89469447e-01 3.01653953e-02 9.81423139e-01 -1.16540437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters Centerline goodness : 0.891393 Centerline is valid? [True, False] Translation: X:272.62, Y:16.93, Z:-116.54 [[ 9.84084914e-01 4.02893176e-02 1.73071237e-01 2.72620521e+02] [-3.83635214e-02 9.99159232e-01 -1.44592541e-02 1.69297192e+01] [-1.73508278e-01 7.58951172e-03 9.84803167e-01 -1.16543774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63592 meters Centerline goodness : 0.999505 Centerline is valid? [False, True] Translation: X:272.66, Y:16.92, Z:-116.55 [[ 9.87996285e-01 3.49668614e-02 1.50468135e-01 2.72660950e+02] [-3.45454721e-02 9.99388461e-01 -5.41430073e-03 1.69208705e+01] [-1.50565439e-01 1.51316231e-04 9.88600033e-01 -1.16549161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters Centerline goodness : 0.933779 Centerline is valid? [True, False] Translation: X:272.69, Y:16.92, Z:-116.55 [[ 9.90469919e-01 3.22089024e-02 1.33910140e-01 2.72694393e+02] [-3.24078671e-02 9.99474486e-01 -6.94186967e-04 1.69164684e+01] [-1.33862127e-01 -3.65217071e-03 9.90993235e-01 -1.16553067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69592 meters Centerline goodness : 0.998662 Centerline is valid? [False, True] Translation: X:272.71, Y:16.91, Z:-116.56 [[ 9.91160176e-01 3.11355776e-02 1.28965425e-01 2.72706924e+02] [-3.14582547e-02 9.99504958e-01 4.65280653e-04 1.69143207e+01] [-1.28887095e-01 -4.51819485e-03 9.91648982e-01 -1.16555944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:272.74, Y:16.92, Z:-116.56 [[ 9.90854353e-01 3.33977727e-02 1.30737294e-01 2.72738629e+02] [-3.32214925e-02 9.99441781e-01 -3.52974251e-03 1.69194465e+01] [-1.30782199e-01 -8.45827298e-04 9.91410763e-01 -1.16559897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75591999999995 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:272.77, Y:16.93, Z:-116.57 [[ 9.89929734e-01 4.21025589e-02 1.35153603e-01 2.72768530e+02] [-4.06787407e-02 9.99084016e-01 -1.32804353e-02 1.69344101e+01] [-1.35588945e-01 7.64881939e-03 9.90735653e-01 -1.16565690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:272.80, Y:16.92, Z:-116.57 [[ 9.89740954e-01 4.33646805e-02 1.36133568e-01 2.72801283e+02] [-4.38693331e-02 9.99037027e-01 7.07791078e-04 1.69242546e+01] [-1.35971782e-01 -6.67261865e-03 9.90690240e-01 -1.16567049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81591999999995 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:272.81, Y:16.85, Z:-116.57 [[ 9.90294513e-01 -3.52327736e-02 1.34444892e-01 2.72809128e+02] [ 2.94900603e-02 9.98575373e-01 4.44697828e-02 1.68531459e+01] [-1.35820152e-01 -4.00733940e-02 9.89922729e-01 -1.16567623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:272.86, Y:17.00, Z:-116.58 [[ 9.83749651e-01 6.53614836e-02 1.67225899e-01 2.72855759e+02] [-5.52802800e-02 9.96401516e-01 -6.42503663e-02 1.69978234e+01] [-1.70823638e-01 5.39619809e-02 9.83822844e-01 -1.16581213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87591999999995 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:272.89, Y:16.92, Z:-116.57 [[ 9.88303587e-01 5.84306288e-02 1.40861215e-01 2.72894381e+02] [-6.26279658e-02 9.97709914e-01 2.55473137e-02 1.69215912e+01] [-1.39045885e-01 -3.40703531e-02 9.89699678e-01 -1.16573109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:272.92, Y:16.96, Z:-116.58 [[ 9.87159544e-01 6.62097577e-02 1.45369540e-01 2.72923980e+02] [-6.66338605e-02 9.97775579e-01 -1.95521006e-03 1.69576747e+01] [-1.45175631e-01 -7.75642936e-03 9.89375497e-01 -1.16584709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:272.95, Y:16.94, Z:-116.59 [[ 9.89120774e-01 5.19437920e-02 1.37629713e-01 2.72953337e+02] [-5.44386213e-02 9.98412949e-01 1.44228789e-02 1.69442030e+01] [-1.36662108e-01 -2.17583410e-02 9.90378737e-01 -1.16585457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:272.98, Y:17.01, Z:-116.59 [[ 9.82464732e-01 7.25560722e-02 1.71751756e-01 2.72982531e+02] [-6.51575127e-02 9.96703590e-01 -4.83368533e-02 1.70106097e+01] [-1.74692724e-01 3.62983364e-02 9.83953700e-01 -1.16593480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99591999999996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:273.02, Y:16.98, Z:-116.59 [[ 9.83172010e-01 6.52624907e-02 1.70627097e-01 2.73015783e+02] [-6.61740581e-02 9.97808035e-01 -3.45524619e-04 1.69793646e+01] [-1.70275638e-01 -1.09513773e-02 9.85335615e-01 -1.16594157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:273.05, Y:16.94, Z:-116.59 [[ 9.89084784e-01 5.83231011e-02 1.35313361e-01 2.73050782e+02] [-6.53492070e-02 9.96703754e-01 4.80739848e-02 1.69427920e+01] [-1.32063511e-01 -5.63918677e-02 9.89635886e-01 -1.16593468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05591999999996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:273.08, Y:17.04, Z:-116.61 [[ 9.82522569e-01 6.88880783e-02 1.72927253e-01 2.73077849e+02] [-6.11342261e-02 9.96887553e-01 -4.97776416e-02 1.70361345e+01] [-1.75818112e-01 3.83358825e-02 9.83675938e-01 -1.16606497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:273.11, Y:17.00, Z:-116.61 [[ 9.82607572e-01 5.73293437e-02 1.76623060e-01 2.73111460e+02] [-5.81654439e-02 9.98306859e-01 -4.44287171e-04 1.70027192e+01] [-1.76349483e-01 -9.83679878e-03 9.84278465e-01 -1.16607419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11591999999996 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:273.14, Y:17.01, Z:-116.61 [[ 9.82753988e-01 5.41339430e-02 1.76816614e-01 2.73144363e+02] [-5.49095443e-02 9.98491204e-01 -5.07261477e-04 1.70089332e+01] [-1.76577294e-01 -9.21040647e-03 9.84243683e-01 -1.16612136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:273.18, Y:17.02, Z:-116.62 [[ 9.83552689e-01 4.77070272e-02 1.74207199e-01 2.73176378e+02] [-4.83447417e-02 9.98830539e-01 -5.83414692e-04 1.70197614e+01] [-1.74031304e-01 -7.84818296e-03 9.84708846e-01 -1.16618712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17591999999996 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:273.21, Y:17.02, Z:-116.62 [[ 9.83757411e-01 4.39510012e-02 1.74039266e-01 2.73208642e+02] [-4.45140400e-02 9.99008535e-01 -6.68863866e-04 1.70241225e+01] [-1.73896109e-01 -7.08919107e-03 9.84738486e-01 -1.16623636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:273.24, Y:17.00, Z:-116.63 [[ 9.89511153e-01 3.49176638e-02 1.40172878e-01 2.73238299e+02] [-3.92851712e-02 9.98821175e-01 2.85120284e-02 1.70015785e+01] [-1.39012065e-01 -3.37196856e-02 9.89716438e-01 -1.16627435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23591999999996 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:273.27, Y:17.06, Z:-116.63 [[ 9.83509656e-01 3.78726538e-02 1.76845746e-01 2.73270474e+02] [-3.32821547e-02 9.99029423e-01 -2.88532526e-02 1.70554430e+01] [-1.77766852e-01 2.24916451e-02 9.83815568e-01 -1.16633496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:273.30, Y:17.00, Z:-116.64 [[ 9.89982473e-01 1.86868752e-02 1.39948221e-01 2.73301386e+02] [-2.39188364e-02 9.99072814e-01 3.57966662e-02 1.70016820e+01] [-1.39149536e-01 -3.87854707e-02 9.89511543e-01 -1.16635118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29591999999997 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:273.33, Y:17.07, Z:-116.64 [[ 9.83838061e-01 2.28319865e-02 1.77598902e-01 2.73333663e+02] [-1.67660288e-02 9.99226124e-01 -3.55816395e-02 1.70703579e+01] [-1.78273862e-01 3.20289429e-02 9.83459494e-01 -1.16644190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:273.36, Y:16.97, Z:-116.64 [[ 9.92242171e-01 1.87146098e-03 1.24305958e-01 2.73362496e+02] [-1.17691017e-02 9.96810152e-01 7.89367456e-02 1.69669838e+01] [-1.23761714e-01 -7.97873373e-02 9.89099095e-01 -1.16637518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35591999999997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:273.39, Y:17.11, Z:-116.65 [[ 9.83738734e-01 2.54781551e-02 1.77789109e-01 2.73393626e+02] [-1.19430307e-02 9.96975819e-01 -7.67891954e-02 1.71111186e+01] [-1.79207889e-01 7.34171651e-02 9.81068016e-01 -1.16652696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:273.42, Y:16.98, Z:-116.65 [[ 9.90920936e-01 7.50027151e-04 1.34443800e-01 2.73422094e+02] [-9.06702169e-03 9.98080619e-01 6.12606460e-02 1.69848819e+01] [-1.34139804e-01 -6.19234616e-02 9.89025782e-01 -1.16648446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41591999999997 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:273.45, Y:17.04, Z:-116.66 [[ 9.89797567e-01 6.14914175e-03 1.42348038e-01 2.73450298e+02] [-6.78081622e-03 9.99969197e-01 3.95286843e-03 1.70397102e+01] [-1.42319346e-01 -4.87777544e-03 9.89808775e-01 -1.16657921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:273.48, Y:17.05, Z:-116.66 [[ 9.89834241e-01 6.17341127e-03 1.42091749e-01 2.73481555e+02] [-5.45704816e-03 9.99970364e-01 -5.43068261e-03 1.70493090e+01] [-1.42121064e-01 4.60007408e-03 9.89838594e-01 -1.16660996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:273.51, Y:17.10, Z:-116.67 [[ 9.81815193e-01 1.45640978e-02 1.89279725e-01 2.73513754e+02] [-3.16696078e-03 9.98170639e-01 -6.03766970e-02 1.70993401e+01] [-1.89812796e-01 5.86793170e-02 9.80065222e-01 -1.16669121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:273.54, Y:16.98, Z:-116.66 [[ 9.90123741e-01 -1.00120345e-02 1.39838251e-01 2.73541636e+02] [-1.99695635e-04 9.97344999e-01 7.28211046e-02 1.69767964e+01] [-1.40196068e-01 -7.21298296e-02 9.87492962e-01 -1.16664947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:273.57, Y:17.05, Z:-116.67 [[ 9.90015597e-01 2.17825159e-03 1.40941030e-01 2.73573133e+02] [-2.10621095e-03 9.99997564e-01 -6.60308717e-04 1.70450533e+01] [-1.40942125e-01 3.56864388e-04 9.90017773e-01 -1.16674407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:273.60, Y:17.07, Z:-116.68 [[ 9.88378021e-01 6.73865656e-03 1.51866647e-01 2.73603113e+02] [-2.74587953e-03 9.99645420e-01 -2.64857378e-02 1.70709277e+01] [-1.51991277e-01 2.57609136e-02 9.88046065e-01 -1.16678977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.63, Y:16.99, Z:-116.68 [[ 9.88900239e-01 -7.56907703e-03 1.48388091e-01 2.73631602e+02] [-2.17517759e-03 9.97857063e-01 6.53953465e-02 1.69861502e+01] [-1.48565087e-01 -6.49922443e-02 9.86764624e-01 -1.16677260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:17.06, Z:-116.69 [[ 9.86111132e-01 1.05602598e-02 1.65750766e-01 2.73658535e+02] [-7.72532216e-03 9.99812806e-01 -1.77390241e-02 1.70626439e+01] [-1.65907067e-01 1.62121711e-02 9.86008119e-01 -1.16687374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.69, Y:17.14, Z:-116.69 [[ 9.78638221e-01 2.45720593e-02 2.04116255e-01 2.73688903e+02] [-4.37331676e-03 9.95095288e-01 -9.88242977e-02 1.71373960e+01] [-2.05543440e-01 9.58205699e-02 9.73945744e-01 -1.16691320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:17.05, Z:-116.70 [[ 9.78554745e-01 7.29687616e-03 2.05857637e-01 2.73720949e+02] [-7.05832875e-03 9.99973298e-01 -1.89315409e-03 1.70474527e+01] [-2.05865954e-01 3.99544040e-04 9.78580119e-01 -1.16697788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:17.05, Z:-116.70 [[ 9.78479784e-01 9.43880791e-03 2.06126709e-01 2.73753313e+02] [-9.23466201e-03 9.99955453e-01 -1.95247548e-03 1.70482837e+01] [-2.06135956e-01 6.94729341e-06 9.78523361e-01 -1.16703840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:273.78, Y:17.00, Z:-116.70 [[ 9.86821643e-01 2.45280177e-03 1.61793165e-01 2.73784485e+02] [-1.11840706e-02 9.98527792e-01 5.30769774e-02 1.69990407e+01] [-1.61424785e-01 -5.41870162e-02 9.85396269e-01 -1.16702372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:273.81, Y:17.02, Z:-116.71 [[ 9.84617241e-01 6.47042643e-03 1.74605331e-01 2.73808386e+02] [-1.23811238e-02 9.99385778e-01 3.27837399e-02 1.70174788e+01] [-1.74285960e-01 -3.44412458e-02 9.84092579e-01 -1.16708084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:273.82, Y:17.05, Z:-116.72 [[ 9.81098578e-01 -5.22931038e-02 1.86308917e-01 2.73820734e+02] [ 5.93905623e-02 9.97698571e-01 -3.27157787e-02 1.70476906e+01] [-1.84169330e-01 4.31623952e-02 9.81946366e-01 -1.16722940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:273.87, Y:17.04, Z:-116.72 [[ 9.85764545e-01 1.62055557e-02 1.67348865e-01 2.73872169e+02] [-1.78298295e-02 9.99807345e-01 8.20788455e-03 1.70428413e+01] [-1.67183611e-01 -1.10748433e-02 9.85863575e-01 -1.16718609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:17.06, Z:-116.73 [[ 9.84667616e-01 2.13080214e-02 1.73134786e-01 2.73901194e+02] [-1.90873633e-02 9.99712943e-01 -1.44811816e-02 1.70641347e+01] [-1.73393651e-01 1.09544640e-02 9.84791674e-01 -1.16725561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:17.05, Z:-116.73 [[ 9.84724352e-01 1.79460501e-02 1.73193214e-01 2.73932091e+02] [-1.88766889e-02 9.99814870e-01 3.72767196e-03 1.70472277e+01] [-1.73094254e-01 -6.94004378e-03 9.84880813e-01 -1.16731332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:273.96, Y:17.07, Z:-116.74 [[ 9.84431500e-01 2.24663652e-02 1.74326946e-01 2.73963936e+02] [-1.98895408e-02 9.99665779e-01 -1.65147503e-02 1.70655839e+01] [-1.74639708e-01 1.27903575e-02 9.84549328e-01 -1.16735673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:273.99, Y:17.04, Z:-116.74 [[ 9.84630589e-01 1.85988781e-02 1.73656800e-01 2.73992485e+02] [-2.04259321e-02 9.99753169e-01 8.73971137e-03 1.70424972e+01] [-1.73451387e-01 -1.21524892e-02 9.84767451e-01 -1.16741494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:17.10, Z:-116.75 [[ 9.75386088e-01 3.13048119e-02 2.18270448e-01 2.74024475e+02] [-1.91062878e-02 9.98146726e-01 -5.77759760e-02 1.71015740e+01] [-2.19674599e-01 5.21835452e-02 9.74176549e-01 -1.16747513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:274.05, Y:17.02, Z:-116.75 [[ 9.82743032e-01 1.51515960e-02 1.84354449e-01 2.74054048e+02] [-2.16707476e-02 9.99207139e-01 3.33986692e-02 1.70173333e+01] [-1.83702239e-01 -3.68174082e-02 9.82292200e-01 -1.16750892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters Centerline goodness : 0.979528 Centerline is valid? [True, True] Translation: X:274.04, Y:17.02, Z:-116.77 [[ 9.79471759e-01 3.88364432e-02 1.97804962e-01 2.74038015e+02] [-4.95141370e-02 9.97554836e-01 4.93224082e-02 1.70165478e+01] [-1.95405790e-01 -5.81040479e-02 9.78999743e-01 -1.16766972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.11, Y:17.06, Z:-116.76 [[ 9.81473198e-01 3.75462259e-02 1.87884654e-01 2.74108683e+02] [-3.60848711e-02 9.99286039e-01 -1.11934927e-02 1.70579533e+01] [-1.88170785e-01 4.20631958e-03 9.82127315e-01 -1.16763408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:274.14, Y:17.03, Z:-116.77 [[ 9.82590411e-01 3.44188666e-02 1.82568964e-01 2.74136995e+02] [-3.84344979e-02 9.99089825e-01 1.85016645e-02 1.70285870e+01] [-1.81765987e-01 -2.51965045e-02 9.83018953e-01 -1.16767892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:17.05, Z:-116.77 [[ 9.82214015e-01 4.34152051e-02 1.82676621e-01 2.74167844e+02] [-4.21737082e-02 9.99053239e-01 -1.06773048e-02 1.70548579e+01] [-1.82967227e-01 2.78324795e-03 9.83115073e-01 -1.16774371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.20, Y:17.10, Z:-116.78 [[ 9.73496671e-01 5.48859579e-02 2.22017482e-01 2.74199764e+02] [-4.26877102e-02 9.97322501e-01 -5.93766623e-02 1.70975336e+01] [-2.24681975e-01 4.83255652e-02 9.73233091e-01 -1.16782804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.23, Y:17.05, Z:-116.79 [[ 9.73554433e-01 4.63843194e-02 2.23696807e-01 2.74230794e+02] [-4.63321245e-02 9.98911032e-01 -5.48493792e-03 1.70467546e+01] [-2.23707624e-01 -5.02446270e-03 9.74643347e-01 -1.16788645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:274.26, Y:17.05, Z:-116.79 [[ 9.72911603e-01 5.04289335e-02 2.25610142e-01 2.74262942e+02] [-5.04554718e-02 9.98710318e-01 -5.65214951e-03 1.70463777e+01] [-2.25604209e-01 -5.88422433e-03 9.74201271e-01 -1.16794176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:274.30, Y:17.05, Z:-116.80 [[ 9.72629404e-01 5.27334007e-02 2.26298985e-01 2.74295459e+02] [-5.27940617e-02 9.98588645e-01 -5.78844097e-03 1.70464494e+01] [-2.26284841e-01 -6.31723468e-03 9.74040689e-01 -1.16800753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:274.33, Y:17.02, Z:-116.81 [[ 9.79714530e-01 5.10633425e-02 1.93783320e-01 2.74325577e+02] [-5.76257059e-02 9.97934900e-01 2.83762801e-02 1.70182329e+01] [-1.91934150e-01 -3.89675546e-02 9.80633883e-01 -1.16805235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31591999999995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:274.36, Y:17.08, Z:-116.82 [[ 9.71626223e-01 6.69915047e-02 2.26836112e-01 2.74357416e+02] [-5.94000900e-02 9.97427027e-01 -4.01366971e-02 1.70813222e+01] [-2.28941286e-01 2.55237820e-02 9.73105556e-01 -1.16815328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:274.39, Y:17.02, Z:-116.82 [[ 9.79343883e-01 5.54310136e-02 1.94455550e-01 2.74388553e+02] [-6.21480346e-02 9.97656830e-01 2.86089456e-02 1.70205054e+01] [-1.92414084e-01 -4.01030261e-02 9.80494043e-01 -1.16815767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37591999999995 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:274.41, Y:17.02, Z:-116.82 [[ 9.78208252e-01 5.51230541e-02 2.00175087e-01 2.74414033e+02] [-6.31707504e-02 9.97422175e-01 3.40361674e-02 1.70195827e+01] [-1.97782893e-01 -4.59396702e-02 9.79168767e-01 -1.16820385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:274.45, Y:17.13, Z:-116.83 [[ 9.69909765e-01 8.45535688e-02 2.28310626e-01 2.74450618e+02] [-6.75365101e-02 9.94394011e-01 -8.13595148e-02 1.71271266e+01] [-2.33909957e-01 6.34920849e-02 9.70182914e-01 -1.16829936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43591999999995 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:274.48, Y:16.99, Z:-116.84 [[ 9.77675834e-01 1.24951414e-02 2.09747076e-01 2.74484123e+02] [-2.44436358e-02 9.98216127e-01 5.44708444e-02 1.69861509e+01] [-2.08692293e-01 -5.83818094e-02 9.76237210e-01 -1.16844936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:274.51, Y:17.03, Z:-116.84 [[ 9.77662265e-01 6.33917938e-02 2.00394553e-01 2.74508754e+02] [-7.00444540e-02 9.97197734e-01 2.62764947e-02 1.70348941e+01] [-1.98167280e-01 -3.97260644e-02 9.79362838e-01 -1.16837712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49591999999996 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:274.54, Y:17.17, Z:-116.84 [[ 9.68132591e-01 9.42501800e-02 2.32026268e-01 2.74544711e+02] [-6.85842095e-02 9.90841453e-01 -1.16316041e-01 1.71674615e+01] [-2.40864052e-01 9.66960117e-02 9.65729978e-01 -1.16843563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:274.57, Y:17.07, Z:-116.85 [[ 9.68493471e-01 7.08777526e-02 2.38739903e-01 2.74573726e+02] [-7.13701312e-02 9.97428113e-01 -6.59276831e-03 1.70691603e+01] [-2.38593172e-01 -1.06538452e-02 9.71061169e-01 -1.16854054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55591999999996 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:274.60, Y:17.01, Z:-116.85 [[ 9.78134544e-01 5.74854598e-02 1.99870546e-01 2.74604126e+02] [-7.03625153e-02 9.95838161e-01 5.79264555e-02 1.70123646e+01] [-1.95708788e-01 -7.07232615e-02 9.78108527e-01 -1.16853686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:274.63, Y:17.05, Z:-116.86 [[ 9.75357724e-01 6.13061526e-02 2.11940711e-01 2.74633833e+02] [-6.81092589e-02 9.97366045e-01 2.49419602e-02 1.70455401e+01] [-2.09853373e-01 -3.87624582e-02 9.76964193e-01 -1.16861529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61591999999996 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:274.67, Y:17.16, Z:-116.87 [[ 9.67924680e-01 8.71952178e-02 2.35624295e-01 2.74668681e+02] [-6.45907955e-02 9.92683285e-01 -1.02019235e-01 1.71622519e+01] [-2.42795889e-01 8.35277746e-02 9.66474659e-01 -1.16866969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:274.70, Y:17.07, Z:-116.88 [[ 9.68969394e-01 6.32634649e-02 2.38947792e-01 2.74697754e+02] [-6.34750912e-02 9.97960138e-01 -6.81737009e-03 1.70740078e+01] [-2.38891661e-01 -8.56140989e-03 9.71008484e-01 -1.16878485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67591999999996 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:274.73, Y:17.07, Z:-116.89 [[ 9.68493054e-01 6.15823822e-02 2.41306476e-01 2.74729753e+02] [-6.17164137e-02 9.98069108e-01 -7.00998721e-03 1.70742746e+01] [-2.41272231e-01 -8.10344638e-03 9.70423642e-01 -1.16885645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:274.72, Y:16.99, Z:-116.89 [[ 9.77445157e-01 -2.03855365e-02 2.10203225e-01 2.74715015e+02] [ 9.96019304e-03 9.98672548e-01 5.05364902e-02 1.69939181e+01] [-2.10954404e-01 -4.73029829e-02 9.76350689e-01 -1.16885786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73591999999996 meters Centerline goodness : 0.881634 Centerline is valid? [True, False] Translation: X:274.75, Y:17.02, Z:-116.89 [[ 9.82028515e-01 -1.92977493e-02 1.87743422e-01 2.74754787e+02] [ 1.41763708e-02 9.99490884e-01 2.85832870e-02 1.70167048e+01] [-1.88199432e-01 -2.54080826e-02 9.81802120e-01 -1.16892805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters Centerline goodness : 0.997571 Centerline is valid? [False, True] Translation: X:274.80, Y:17.03, Z:-116.90 [[ 9.86279931e-01 -1.51814305e-02 1.64381940e-01 2.74796933e+02] [ 1.26977350e-02 9.99788956e-01 1.61496174e-02 1.70288499e+01] [-1.64592423e-01 -1.38407652e-02 9.86264553e-01 -1.16899177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79591999999997 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:274.82, Y:17.07, Z:-116.91 [[ 9.79298579e-01 -1.27693484e-02 2.02017911e-01 2.74824801e+02] [ 1.75580657e-02 9.99605314e-01 -2.19301363e-02 1.70664718e+01] [-2.01658144e-01 2.50231951e-02 9.79136269e-01 -1.16905686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:274.86, Y:17.00, Z:-116.91 [[ 9.86687760e-01 -2.54510496e-02 1.60622256e-01 2.74858429e+02] [ 1.77884130e-02 9.98642075e-01 4.89650672e-02 1.70026926e+01] [-1.61650356e-01 -4.54560174e-02 9.85800646e-01 -1.16908199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85591999999997 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:274.89, Y:17.06, Z:-116.92 [[ 9.85736169e-01 -1.46743489e-02 1.67656997e-01 2.74886429e+02] [ 1.57821357e-02 9.99861530e-01 -5.27687512e-03 1.70553160e+01] [-1.67556347e-01 7.84759214e-03 9.85831266e-01 -1.16916221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:274.92, Y:17.07, Z:-116.92 [[ 9.79243263e-01 -1.24621092e-02 2.02305035e-01 2.74916255e+02] [ 1.75256952e-02 9.99575881e-01 -2.32574303e-02 1.70747503e+01] [-2.01929396e-01 2.63202183e-02 9.79046355e-01 -1.16922416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91591999999997 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:274.95, Y:17.01, Z:-116.93 [[ 9.86033079e-01 -2.57149237e-02 1.64552451e-01 2.74949582e+02] [ 1.80315562e-02 9.98683734e-01 4.80173045e-02 1.70102198e+01] [-1.65570618e-01 -4.43795139e-02 9.85198878e-01 -1.16925014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:274.98, Y:17.09, Z:-116.93 [[ 9.78831864e-01 -9.96622464e-03 2.04423228e-01 2.74977734e+02] [ 1.71091466e-02 9.99302136e-01 -3.32041928e-02 1.70892687e+01] [-2.03949648e-01 3.59988289e-02 9.78319286e-01 -1.16931763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97592 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:275.01, Y:17.02, Z:-116.94 [[ 9.84944493e-01 -2.32114030e-02 1.71305509e-01 2.75011472e+02] [ 1.64869527e-02 9.99040541e-01 4.05731222e-02 1.70212921e+01] [-1.72082907e-01 -3.71379674e-02 9.84382164e-01 -1.16938266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters Centerline goodness : 0.873428 Centerline is valid? [True, False] Translation: X:275.03, Y:17.05, Z:-116.94 [[ 9.86941904e-01 -1.67103610e-02 1.60207494e-01 2.75033528e+02] [ 1.46474928e-02 9.99794022e-01 1.40486220e-02 1.70470674e+01] [-1.60409252e-01 -1.15185357e-02 9.86983381e-01 -1.16941401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03592 meters Centerline goodness : 0.997813 Centerline is valid? [False, True] Translation: X:275.07, Y:17.06, Z:-116.95 [[ 9.90245221e-01 -1.25723712e-02 1.38767208e-01 2.75066364e+02] [ 1.22802396e-02 9.99920210e-01 2.96121503e-03 1.70583458e+01] [-1.38793366e-01 -1.22823447e-03 9.90320601e-01 -1.16946328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:275.10, Y:17.09, Z:-116.95 [[ 9.84850318e-01 -1.04007501e-02 1.73094414e-01 2.75096822e+02] [ 1.51521476e-02 9.99543163e-01 -2.61510384e-02 1.70879510e+01] [-1.72743348e-01 2.83776106e-02 9.84557996e-01 -1.16951378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09592 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:275.13, Y:17.02, Z:-116.95 [[ 9.90538166e-01 -2.24897724e-02 1.35382240e-01 2.75130081e+02] [ 1.65163324e-02 9.98846589e-01 4.50854914e-02 1.70226551e+01] [-1.36240052e-01 -4.24228819e-02 9.89767118e-01 -1.16954332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:275.16, Y:17.08, Z:-116.96 [[ 9.89661777e-01 -1.41514488e-02 1.42721067e-01 2.75160073e+02] [ 1.59499169e-02 9.99807058e-01 -1.14650540e-02 1.70769503e+01] [-1.42531283e-01 1.36229149e-02 9.89696544e-01 -1.16958884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15592 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:275.17, Y:17.00, Z:-116.97 [[ 9.86134486e-01 -7.61153230e-02 1.47462652e-01 2.75173052e+02] [ 6.90065449e-02 9.96220882e-01 5.27451553e-02 1.69990452e+01] [-1.50920088e-01 -4.18379284e-02 9.87660222e-01 -1.16967842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:275.21, Y:17.03, Z:-116.98 [[ 9.84957833e-01 -8.01745692e-02 1.53068960e-01 2.75209811e+02] [ 7.82571392e-02 9.96761160e-01 1.85205050e-02 1.70281784e+01] [-1.54058068e-01 -6.26317752e-03 9.88041945e-01 -1.16975635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:275.25, Y:17.13, Z:-116.97 [[ 9.83141061e-01 -5.66222768e-03 1.82761030e-01 2.75247931e+02] [ 1.68033374e-02 9.98088707e-01 -5.94691626e-02 1.71270866e+01] [-1.82074992e-01 6.15375708e-02 9.81357134e-01 -1.16968362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:275.28, Y:17.07, Z:-116.98 [[ 9.83350358e-01 -1.74603599e-02 1.80878990e-01 2.75281348e+02] [ 1.68389582e-02 9.99845860e-01 4.97057738e-03 1.70680997e+01] [-1.80937897e-01 -1.84200530e-03 9.83492798e-01 -1.16975759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27592 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:275.31, Y:17.07, Z:-116.98 [[ 9.83288363e-01 -1.87573325e-02 1.81086051e-01 2.75314446e+02] [ 1.81743760e-02 9.99822932e-01 4.87811627e-03 1.70688533e+01] [-1.81145487e-01 -1.50546898e-03 9.83455157e-01 -1.16980066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:275.35, Y:17.04, Z:-116.98 [[ 9.89298036e-01 -2.47835312e-02 1.43788638e-01 2.75346563e+02] [ 2.01845581e-02 9.99239707e-01 3.33555201e-02 1.70436153e+01] [-1.44505984e-01 -3.00962404e-02 9.89046125e-01 -1.16983379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:275.38, Y:17.08, Z:-116.99 [[ 9.88528278e-01 -1.91688662e-02 1.49814547e-01 2.75376136e+02] [ 1.99948913e-02 9.99792044e-01 -4.00919433e-03 1.70788836e+01] [-1.49706541e-01 6.95872757e-03 9.88705987e-01 -1.16989692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:275.41, Y:17.06, Z:-116.99 [[ 9.89100745e-01 -2.39727971e-02 1.45275674e-01 2.75407189e+02] [ 2.23080547e-02 9.99665607e-01 1.30776690e-02 1.70631448e+01] [-1.45540603e-01 -9.69431450e-03 9.89304783e-01 -1.16993014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39592 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:275.44, Y:17.06, Z:-117.00 [[ 9.89291077e-01 -2.60537627e-02 1.43611864e-01 2.75437879e+02] [ 2.41791802e-02 9.99598331e-01 1.47832525e-02 1.70614445e+01] [-1.43939339e-01 -1.11525227e-02 9.89523667e-01 -1.16998547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:275.47, Y:17.00, Z:-117.00 [[ 9.88381333e-01 -3.76146287e-02 1.47266695e-01 2.75466074e+02] [ 2.60215234e-02 9.96465423e-01 7.98720234e-02 1.70014912e+01] [-1.49750526e-01 -7.51119132e-02 9.85866614e-01 -1.16998880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:275.50, Y:17.18, Z:-117.00 [[ 9.81324359e-01 -8.23605387e-03 1.92183946e-01 2.75495947e+02] [ 3.01184411e-02 9.93339275e-01 -1.11220341e-01 1.71769991e+01] [-1.89987845e-01 1.14931511e-01 9.75036085e-01 -1.17000670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:275.53, Y:17.07, Z:-117.01 [[ 9.81497641e-01 -2.85341294e-02 1.89336168e-01 2.75530157e+02] [ 2.81947516e-02 9.99592382e-01 4.48628601e-03 1.70697482e+01] [-1.89387004e-01 9.35007096e-04 9.81902077e-01 -1.17012815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:275.56, Y:17.04, Z:-117.02 [[ 9.88499575e-01 -3.77188037e-02 1.46444126e-01 2.75560084e+02] [ 3.23577357e-02 9.98722166e-01 3.88202482e-02 1.70360163e+01] [-1.47721248e-01 -3.36351985e-02 9.88456932e-01 -1.17015824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:275.59, Y:17.06, Z:-117.02 [[ 9.88410131e-01 -3.52766948e-02 1.47651506e-01 2.75590380e+02] [ 3.33996539e-02 9.99326887e-01 1.51735214e-02 1.70571956e+01] [-1.48087392e-01 -1.00661531e-02 9.88923049e-01 -1.17020030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:17.11, Z:-117.02 [[ 9.80517496e-01 -2.51710463e-02 1.94812366e-01 2.75622288e+02] [ 3.36184195e-02 9.98626865e-01 -4.01769436e-02 1.71094959e+01] [-1.93533566e-01 4.59434800e-02 9.80017324e-01 -1.17024966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:17.07, Z:-117.03 [[ 9.80464769e-01 -3.24871513e-02 1.93993353e-01 2.75656072e+02] [ 3.22667173e-02 9.99470058e-01 4.29682439e-03 1.70693108e+01] [-1.94030139e-01 2.04664374e-03 9.80993433e-01 -1.17031439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:275.69, Y:17.03, Z:-117.03 [[ 9.87436587e-01 -4.15044136e-02 1.52467602e-01 2.75685717e+02] [ 3.56302387e-02 9.98521157e-01 4.10607474e-02 1.70323302e+01] [-1.53946329e-01 -3.51124272e-02 9.87455136e-01 -1.17032099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:275.72, Y:17.10, Z:-117.04 [[ 9.80053083e-01 -2.79076258e-02 1.96766659e-01 2.75718262e+02] [ 3.47046205e-02 9.98911114e-01 -3.11797375e-02 1.70993733e+01] [-1.95682250e-01 3.73865101e-02 9.79954441e-01 -1.17039911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69592 meters Centerline goodness : 0.842612 Centerline is valid? [True, False] Translation: X:275.75, Y:17.09, Z:-117.05 [[ 9.81844307e-01 -2.85970269e-02 1.87520578e-01 2.75748800e+02] [ 3.26833359e-02 9.99290146e-01 -1.87351180e-02 1.70869498e+01] [-1.86851697e-01 2.45237669e-02 9.82081986e-01 -1.17046853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:275.79, Y:17.09, Z:-117.05 [[ 9.84334607e-01 -2.38477925e-02 1.74690198e-01 2.75787305e+02] [ 2.77506464e-02 9.99416123e-01 -1.99327341e-02 1.70863601e+01] [-1.74112848e-01 2.44682459e-02 9.84421668e-01 -1.17054773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.82, Y:17.06, Z:-117.06 [[ 9.84017419e-01 -2.56697768e-02 1.76212318e-01 2.75820406e+02] [ 2.56948780e-02 9.99667542e-01 2.13966359e-03 1.70649048e+01] [-1.76208660e-01 2.42228777e-03 9.84349857e-01 -1.17059217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:275.85, Y:17.03, Z:-117.06 [[ 9.90389574e-01 -2.88075093e-02 1.35272392e-01 2.75850548e+02] [ 2.40216231e-02 9.99030949e-01 3.68798708e-02 1.70295004e+01] [-1.36203723e-01 -3.32759771e-02 9.90121839e-01 -1.17059493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:17.09, Z:-117.07 [[ 9.84166524e-01 -1.55340217e-02 1.76564287e-01 2.75882513e+02] [ 2.14375825e-02 9.99271382e-01 -3.15774369e-02 1.70930574e+01] [-1.75945115e-01 3.48625677e-02 9.83782455e-01 -1.17068153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters Centerline goodness : 0.757094 Centerline is valid? [True, False] Translation: X:275.93, Y:17.07, Z:-117.08 [[ 9.88618843e-01 -1.51218079e-02 1.49680037e-01 2.75934569e+02] [ 1.73233806e-02 9.99759933e-01 -1.34155692e-02 1.70740891e+01] [-1.49441236e-01 1.58558488e-02 9.88643469e-01 -1.17075243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:275.93, Y:17.07, Z:-117.08 [[ 9.88680652e-01 -1.19768380e-02 1.49556420e-01 2.75934787e+02] [ 1.32757073e-02 9.99882307e-01 -7.68944937e-03 1.70672553e+01] [-1.49446723e-01 9.58787707e-03 9.88723293e-01 -1.17075741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:275.97, Y:17.00, Z:-117.07 [[ 9.94478829e-01 -1.79578205e-02 1.03389440e-01 2.75965781e+02] [ 1.19002475e-02 9.98192283e-01 5.89113706e-02 1.70027625e+01] [-1.04260461e-01 -5.73557509e-02 9.92894795e-01 -1.17074192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:276.00, Y:17.10, Z:-117.08 [[ 9.87927353e-01 -1.00807353e-03 1.54914587e-01 2.75995569e+02] [ 9.56034764e-03 9.98469568e-01 -5.44712951e-02 1.71045277e+01] [-1.54622590e-01 5.52947197e-02 9.86425035e-01 -1.17082407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:276.03, Y:17.05, Z:-117.09 [[ 9.87842995e-01 -6.43747778e-03 1.55321525e-01 2.76028702e+02] [ 6.27108872e-03 9.99979118e-01 1.56122779e-03 1.70525459e+01] [-1.55328331e-01 -5.68212872e-04 9.87862737e-01 -1.17086150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99591999999996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:276.06, Y:16.99, Z:-117.08 [[ 9.94025266e-01 -1.23972590e-02 1.08443897e-01 2.76059651e+02] [ 5.39098548e-03 9.97892567e-01 6.46634528e-02 1.69912427e+01] [-1.09017008e-01 -6.36924864e-02 9.91997258e-01 -1.17084521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:276.09, Y:17.04, Z:-117.09 [[ 9.94066162e-01 -3.63437190e-03 1.08716402e-01 2.76090202e+02] [ 2.72326113e-03 9.99959928e-01 8.52791768e-03 1.70421020e+01] [-1.08743039e-01 -8.18125125e-03 9.94036226e-01 -1.17091097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05591999999996 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:276.12, Y:17.02, Z:-117.09 [[ 9.95088868e-01 -6.75381602e-03 9.87549051e-02 2.76119756e+02] [ 3.97253775e-03 9.99590646e-01 2.83330050e-02 1.70229900e+01] [-9.89058353e-02 -2.78015503e-02 9.94708354e-01 -1.17092570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:276.14, Y:17.02, Z:-117.10 [[ 9.92637727e-01 -6.95557338e-03 1.20921311e-01 2.76144719e+02] [ 3.20185287e-03 9.99507743e-01 3.12093003e-02 1.70188947e+01] [-1.21078865e-01 -3.05923566e-02 9.92171364e-01 -1.17096058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11591999999996 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:276.18, Y:17.09, Z:-117.10 [[ 9.93079385e-01 3.87043436e-03 1.17381235e-01 2.76176528e+02] [ 1.91753841e-03 9.98789262e-01 -4.91562057e-02 1.70876849e+01] [-1.17429373e-01 4.90410976e-02 9.91869605e-01 -1.17101030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:276.21, Y:17.04, Z:-117.10 [[ 9.93010210e-01 -3.60964581e-03 1.17973270e-01 2.76206408e+02] [ 3.01458454e-03 9.99981821e-01 5.22208940e-03 1.70351077e+01] [-1.17989975e-01 -4.82994770e-03 9.93003040e-01 -1.17103656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17591999999996 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:276.23, Y:17.04, Z:-117.11 [[ 9.92392043e-01 -1.33075667e-03 1.23110772e-01 2.76234628e+02] [ 2.12446918e-03 9.99977797e-01 -6.31609390e-03 1.70428825e+01] [-1.23099633e-01 6.52958637e-03 9.92372836e-01 -1.17109047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:276.26, Y:17.11, Z:-117.12 [[ 9.84200791e-01 1.03440558e-02 1.76753512e-01 2.76264455e+02] [ 3.16109342e-03 9.97106253e-01 -7.59547756e-02 1.71053704e+01] [-1.77027712e-01 7.53134845e-02 9.81320064e-01 -1.17117821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23591999999996 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:276.30, Y:17.03, Z:-117.12 [[ 9.84140342e-01 -9.56609510e-04 1.77389039e-01 2.76297439e+02] [ 7.36434706e-04 9.99998875e-01 1.30703301e-03 1.70303267e+01] [-1.77390090e-01 -1.15566846e-03 9.84139939e-01 -1.17121920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:276.33, Y:17.02, Z:-117.13 [[ 9.84618880e-01 -1.32888965e-03 1.74710889e-01 2.76329860e+02] [ 1.13772837e-03 9.99998640e-01 1.19431024e-03 1.70245857e+01] [-1.74712238e-01 -9.77166877e-04 9.84619053e-01 -1.17126251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29591999999997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:276.36, Y:17.02, Z:-117.13 [[ 9.84698289e-01 -1.07716376e-03 1.74264508e-01 2.76362181e+02] [ 8.99560260e-04 9.99998992e-01 1.09814230e-03 1.70218981e+01] [-1.74265515e-01 -9.24577423e-04 9.84698266e-01 -1.17131201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters Centerline goodness : 0.900605 Centerline is valid? [True, False] Translation: X:276.39, Y:17.01, Z:-117.14 [[ 9.86108132e-01 -3.26871952e-03 1.66072478e-01 2.76388307e+02] [ 1.51935171e-03 9.99942029e-01 1.06597130e-02 1.70056752e+01] [-1.66097694e-01 -1.02593072e-02 9.86055933e-01 -1.17135100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35591999999997 meters Centerline goodness : 0.995729 Centerline is valid? [False, True] Translation: X:276.39, Y:17.00, Z:-117.14 [[ 9.86327455e-01 -1.79964598e-03 1.64787478e-01 2.76393541e+02] [-5.87375670e-04 9.99895629e-01 1.44355804e-02 1.69999626e+01] [-1.64796258e-01 -1.43350015e-02 9.86223454e-01 -1.17140166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:276.42, Y:17.02, Z:-117.15 [[ 9.85642165e-01 1.71040589e-03 1.68838970e-01 2.76423083e+02] [ 8.53379236e-04 9.99885457e-01 -1.51110643e-02 1.70216496e+01] [-1.68845476e-01 1.50381858e-02 9.85527807e-01 -1.17145592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41591999999997 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:276.45, Y:17.14, Z:-117.15 [[ 9.75341937e-01 2.47800529e-02 2.19303569e-01 2.76453596e+02] [ 7.15710188e-03 9.89602629e-01 -1.43650316e-01 1.71381942e+01] [-2.20583051e-01 1.41677756e-01 9.65023591e-01 -1.17152000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:276.48, Y:16.91, Z:-117.14 [[ 9.85514864e-01 -2.29084537e-02 1.68034683e-01 2.76483280e+02] [ 7.27788815e-03 9.95634640e-01 9.30521176e-02 1.69136304e+01] [-1.69432831e-01 -9.04813075e-02 9.81379462e-01 -1.17141337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47592 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:276.51, Y:17.00, Z:-117.16 [[ 9.84841772e-01 -2.45508540e-03 1.73437762e-01 2.76513284e+02] [ 4.00156983e-03 9.99955291e-01 -8.56755452e-03 1.70018324e+01] [-1.73408974e-01 9.13170889e-03 9.84807565e-01 -1.17160877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters Centerline goodness : 0.981260 Centerline is valid? [True, True] Translation: X:276.50, Y:16.98, Z:-117.17 [[ 9.84634711e-01 3.60549818e-02 1.70864052e-01 2.76503590e+02] [-4.05348017e-02 9.98917919e-01 2.28017848e-02 1.69845302e+01] [-1.69857045e-01 -2.93773693e-02 9.85030738e-01 -1.17170407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53592 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:276.56, Y:17.09, Z:-117.17 [[ 9.72621866e-01 3.53110953e-02 2.29695086e-01 2.76564477e+02] [-1.06391029e-02 9.94118291e-01 -1.07775843e-01 1.70910134e+01] [-2.32149770e-01 1.02381392e-01 9.67276866e-01 -1.17171772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters Centerline goodness : 0.827256 Centerline is valid? [True, False] Translation: X:276.59, Y:17.04, Z:-117.18 [[ 9.76759077e-01 2.45739521e-02 2.12926812e-01 2.76594544e+02] [-1.33162883e-02 9.98444289e-01 -5.41449741e-02 1.70386012e+01] [-2.13926115e-01 5.00512001e-02 9.75566756e-01 -1.17176564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59592 meters Centerline goodness : 0.994836 Centerline is valid? [False, True] Translation: X:276.62, Y:17.01, Z:-117.18 [[ 9.79670860e-01 1.79525379e-02 1.99806687e-01 2.76624354e+02] [-1.37875738e-02 9.99658094e-01 -2.22170517e-02 1.70055948e+01] [-2.00137225e-01 1.90105487e-02 9.79583427e-01 -1.17180036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters Centerline goodness : 0.912449 Centerline is valid? [True, False] Translation: X:276.67, Y:16.99, Z:-117.19 [[ 9.84252557e-01 1.58672042e-02 1.76054357e-01 2.76671025e+02] [-1.54447759e-02 9.99873617e-01 -3.76951013e-03 1.69876614e+01] [-1.76091919e-01 9.91029882e-04 9.84373229e-01 -1.17186655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65592 meters Centerline goodness : 0.995189 Centerline is valid? [False, True] Translation: X:276.69, Y:16.98, Z:-117.19 [[ 9.85538052e-01 1.42206944e-02 1.68856508e-01 2.76693934e+02] [-1.50888941e-02 9.99878707e-01 3.85954814e-03 1.69782759e+01] [-1.68781141e-01 -6.35158952e-03 9.85633088e-01 -1.17188923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters Centerline goodness : 0.817708 Centerline is valid? [True, False] Translation: X:276.73, Y:16.98, Z:-117.20 [[ 9.87669890e-01 1.72695918e-02 1.55595466e-01 2.76730238e+02] [-1.81172066e-02 9.99827744e-01 4.03098177e-03 1.69761472e+01] [-1.55499051e-01 -6.80023454e-03 9.87812635e-01 -1.17195587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71592 meters Centerline goodness : 0.994890 Centerline is valid? [False, True] Translation: X:276.73, Y:16.98, Z:-117.20 [[ 9.87714914e-01 1.71403148e-02 1.55323723e-01 2.76730967e+02] [-1.79811689e-02 9.99830284e-01 4.01009488e-03 1.69758273e+01] [-1.55228628e-01 -6.75373262e-03 9.87855485e-01 -1.17196271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:276.76, Y:17.02, Z:-117.20 [[ 9.79885682e-01 2.49092994e-02 1.97998933e-01 2.76762001e+02] [-1.67176293e-02 9.98937904e-01 -4.29369876e-02 1.70178756e+01] [-1.98858170e-01 3.87632666e-02 9.79261373e-01 -1.17203822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77592 meters Centerline goodness : 0.986845 Centerline is valid? [True, True] Translation: X:276.78, Y:16.91, Z:-117.24 [[ 9.89960981e-01 3.70738428e-02 1.36392029e-01 2.76783756e+02] [-4.62595888e-02 9.96825062e-01 6.48062231e-02 1.69078827e+01] [-1.33556377e-01 -7.04650715e-02 9.88532937e-01 -1.17241753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:276.82, Y:17.00, Z:-117.22 [[ 9.86884175e-01 2.67374303e-02 1.59200301e-01 2.76822411e+02] [-2.36868756e-02 9.99498232e-01 -2.10289281e-02 1.69951207e+01] [-1.59682679e-01 1.69821586e-02 9.87022314e-01 -1.17215302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83592 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:276.86, Y:16.89, Z:-117.20 [[ 9.86843209e-01 6.37256753e-03 1.61554544e-01 2.76858601e+02] [-2.13723358e-02 9.95595926e-01 9.12796499e-02 1.68906111e+01] [-1.60261360e-01 -9.35315006e-02 9.82633276e-01 -1.17199911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:276.88, Y:17.06, Z:-117.23 [[ 9.86716311e-01 4.67459034e-02 1.55581948e-01 2.76879530e+02] [-3.23243627e-02 9.95050428e-01 -9.39669123e-02 1.70641402e+01] [-1.59204452e-01 8.76895977e-02 9.83343519e-01 -1.17229787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89592 meters Centerline goodness : 0.914327 Centerline is valid? [True, False] Translation: X:276.92, Y:17.02, Z:-117.23 [[ 9.90390243e-01 3.89420998e-02 1.32705238e-01 2.76919951e+02] [-3.25101651e-02 9.98205124e-01 -5.02953263e-02 1.70215337e+01] [-1.34425654e-01 4.54977312e-02 9.89878629e-01 -1.17231819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters Centerline goodness : 0.996275 Centerline is valid? [False, True] Translation: X:276.95, Y:16.99, Z:-117.23 [[ 9.92066900e-01 3.31522146e-02 1.21260861e-01 2.76947624e+02] [-3.07435422e-02 9.99292127e-01 -2.16813275e-02 1.69945922e+01] [-1.21893808e-01 1.77813389e-02 9.92383859e-01 -1.17232488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95592 meters Centerline goodness : 0.830100 Centerline is valid? [True, False] Translation: X:276.99, Y:16.98, Z:-117.24 [[ 9.94588796e-01 2.95279767e-02 9.96053470e-02 2.76986536e+02] [-2.89485355e-02 9.99554553e-01 -7.25798921e-03 1.69813960e+01] [-9.97752918e-02 4.33528583e-03 9.95000551e-01 -1.17235218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters Centerline goodness : 0.982306 Centerline is valid? [False, True] Translation: X:277.02, Y:16.97, Z:-117.24 [[ 9.96406884e-01 2.72205889e-02 8.02020035e-02 2.77015459e+02] [-2.73007492e-02 9.99627260e-01 -9.71082426e-05 1.69738837e+01] [-8.01747524e-02 -2.09281546e-03 9.96778626e-01 -1.17237294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01592 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:277.06, Y:16.95, Z:-117.24 [[ 9.96912048e-01 4.13916453e-03 7.84170576e-02 2.77061822e+02] [-5.72702678e-03 9.99782879e-01 2.00348778e-02 1.69459775e+01] [-7.83171039e-02 -2.04221077e-02 9.96719303e-01 -1.17239582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:277.11, Y:16.98, Z:-117.22 [[ 9.91309155e-01 1.90121477e-02 1.30171800e-01 2.77110125e+02] [-1.96517650e-02 9.99800293e-01 3.63076923e-03 1.69758798e+01] [-1.30076775e-01 -6.15732041e-03 9.91484806e-01 -1.17222601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07592 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:277.14, Y:16.98, Z:-117.23 [[ 9.91181991e-01 2.08684995e-02 1.30853988e-01 2.77142645e+02] [-2.10238282e-02 9.99778956e-01 -1.94466834e-04 1.69817899e+01] [-1.30829121e-01 -2.55829973e-03 9.91401632e-01 -1.17225451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:277.13, Y:16.95, Z:-117.25 [[ 9.96637221e-01 -2.88748947e-02 7.66843604e-02 2.77128934e+02] [ 2.78411629e-02 9.99506962e-01 1.45155945e-02 1.69474398e+01] [-7.70656883e-02 -1.23318000e-02 9.96949751e-01 -1.17248029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13592 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:277.20, Y:16.86, Z:-117.21 [[ 9.95148745e-01 1.11478547e-02 9.77481479e-02 2.77196256e+02] [-2.44511435e-02 9.90410109e-01 1.35977787e-01 1.68606726e+01] [-9.52948932e-02 -1.37708178e-01 9.85877954e-01 -1.17206448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:277.23, Y:17.06, Z:-117.24 [[ 9.90885148e-01 3.38606742e-02 1.30384345e-01 2.77227430e+02] [-2.35715636e-02 9.96543058e-01 -7.96637627e-02 1.70602073e+01] [-1.32631083e-01 7.58642764e-02 9.88257865e-01 -1.17240410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19592 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:277.26, Y:16.94, Z:-117.23 [[ 9.95890696e-01 2.22419563e-02 8.77896138e-02 2.77260851e+02] [-2.65185897e-02 9.98502319e-01 4.78527200e-02 1.69435902e+01] [-8.65937949e-02 -4.99841354e-02 9.94988995e-01 -1.17233090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters Centerline goodness : 0.819827 Centerline is valid? [True, False] Translation: X:277.30, Y:16.96, Z:-117.24 [[ 9.97774620e-01 1.86269802e-02 6.40222152e-02 2.77300190e+02] [-2.03291716e-02 9.99454181e-01 2.60396830e-02 1.69632023e+01] [-6.35022300e-02 -2.72832534e-02 9.97608686e-01 -1.17237952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25591999999995 meters Centerline goodness : 0.995439 Centerline is valid? [False, True] Translation: X:277.32, Y:16.98, Z:-117.24 [[ 9.98347187e-01 1.55458845e-02 5.53282924e-02 2.77324236e+02] [-1.63344662e-02 9.99770943e-01 1.38291778e-02 1.69752710e+01] [-5.51006323e-02 -1.47100789e-02 9.98372442e-01 -1.17239216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:277.39, Y:17.09, Z:-117.24 [[ 9.91736230e-01 1.00821243e-01 7.93367913e-02 2.77390967e+02] [-9.47964797e-02 9.92563520e-01 -7.63628578e-02 1.70897761e+01] [-8.64458031e-02 6.82109642e-02 9.93918703e-01 -1.17236632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31591999999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:277.41, Y:16.96, Z:-117.22 [[ 9.94489218e-01 9.27759692e-02 4.88243294e-02 2.77412913e+02] [-9.57550301e-02 9.93428555e-01 6.26951348e-02 1.69618092e+01] [-4.26868811e-02 -6.70248107e-02 9.96837753e-01 -1.17223665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:277.45, Y:17.08, Z:-117.24 [[ 9.91533083e-01 1.00102401e-01 8.27142913e-02 2.77453595e+02] [-9.41991754e-02 9.92914628e-01 -7.24365707e-02 1.70797813e+01] [-8.93793044e-02 6.40316383e-02 9.93937266e-01 -1.17239004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37591999999995 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:277.47, Y:16.91, Z:-117.23 [[ 9.96953439e-01 4.82947887e-02 6.12491196e-02 2.77471121e+02] [-5.38485116e-02 9.94252997e-01 9.25273760e-02 1.69073465e+01] [-5.64285307e-02 -9.55436596e-02 9.93824547e-01 -1.17228440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:277.51, Y:17.02, Z:-117.24 [[ 9.93557179e-01 1.00242145e-01 5.28738475e-02 2.77512642e+02] [-9.95906425e-02 9.94918085e-01 -1.48225531e-02 1.70249697e+01] [-5.40909916e-02 9.46131357e-03 9.98491186e-01 -1.17235443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43591999999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:277.55, Y:17.09, Z:-117.24 [[ 9.90751562e-01 1.04579834e-01 8.64546173e-02 2.77547673e+02] [-9.65632354e-02 9.91045081e-01 -9.22235793e-02 1.70931083e+01] [-9.53251499e-02 8.30223177e-02 9.91978029e-01 -1.17242499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:277.57, Y:17.01, Z:-117.24 [[ 9.90267273e-01 1.01284630e-01 9.54575934e-02 2.77574373e+02] [-1.00967254e-01 9.94856272e-01 -8.16155148e-03 1.70139032e+01] [-9.57932253e-02 -1.55597375e-03 9.95400039e-01 -1.17240078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49591999999996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:277.61, Y:17.01, Z:-117.24 [[ 9.90215611e-01 1.01792403e-01 9.54533932e-02 2.77606673e+02] [-1.01472670e-01 9.94804446e-01 -8.21042538e-03 1.70114786e+01] [-9.57932189e-02 -1.55581934e-03 9.95400039e-01 -1.17242298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters Centerline goodness : 0.794387 Centerline is valid? [True, False] Translation: X:277.61, Y:17.01, Z:-117.24 [[ 9.92064423e-01 8.81840664e-02 8.96200426e-02 2.77612034e+02] [-8.83839092e-02 9.96084958e-01 -1.74391982e-03 1.70052492e+01] [-8.94229623e-02 -6.19088890e-03 9.95974501e-01 -1.17244686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55591999999996 meters Centerline goodness : 0.998414 Centerline is valid? [False, True] Translation: X:277.64, Y:17.00, Z:-117.25 [[ 9.94486505e-01 7.70696936e-02 7.11115581e-02 2.77642861e+02] [-7.74898175e-02 9.96988122e-01 3.16416363e-03 1.70036922e+01] [-7.06535177e-02 -8.65713968e-03 9.97463350e-01 -1.17248222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:277.68, Y:17.01, Z:-117.25 [[ 9.94458335e-01 7.77275690e-02 7.07887389e-02 2.77676644e+02] [-7.76292395e-02 9.96973688e-01 -4.14327163e-03 1.70111936e+01] [-7.08965565e-02 -1.37496496e-03 9.97482726e-01 -1.17250320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61591999999996 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:277.71, Y:16.99, Z:-117.25 [[ 9.96446876e-01 7.79119327e-02 3.19899007e-02 2.77707825e+02] [-7.86843254e-02 9.96619267e-01 2.36392428e-02 1.69896142e+01] [-3.00399723e-02 -2.60723534e-02 9.99208603e-01 -1.17251417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:277.74, Y:16.98, Z:-117.25 [[ 9.96691694e-01 7.57814633e-02 2.93740825e-02 2.77737404e+02] [-7.68954414e-02 9.96281738e-01 3.88560159e-02 1.69753986e+01] [-2.63202962e-02 -4.09862013e-02 9.98812982e-01 -1.17249516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67591999999996 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:277.77, Y:17.04, Z:-117.26 [[ 9.96419133e-01 7.76499891e-02 3.34573023e-02 2.77772950e+02] [-7.65837755e-02 9.96547824e-01 -3.20524486e-02 1.70407191e+01] [-3.58306741e-02 2.93753865e-02 9.98926048e-01 -1.17257515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:277.80, Y:17.01, Z:-117.25 [[ 9.96769134e-01 7.27904698e-02 3.39535106e-02 2.77801047e+02] [-7.30592655e-02 9.97304808e-01 6.74261003e-03 1.70073745e+01] [-3.33712016e-02 -9.20144411e-03 9.99400669e-01 -1.17253937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73591999999996 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:277.83, Y:17.03, Z:-117.26 [[ 9.96559442e-01 7.38254323e-02 3.76707325e-02 2.77833490e+02] [-7.33137469e-02 9.97199250e-01 -1.47902352e-02 1.70283836e+01] [-3.86571217e-02 1.19775660e-02 9.99180747e-01 -1.17256764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:277.87, Y:17.03, Z:-117.26 [[ 9.96384630e-01 7.42641313e-02 4.12614662e-02 2.77865926e+02] [-7.38981208e-02 9.97212313e-01 -1.03281454e-02 1.70274390e+01] [-4.19134529e-02 7.24166050e-03 9.99095001e-01 -1.17258098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79591999999997 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:277.90, Y:17.02, Z:-117.26 [[ 9.96213247e-01 7.33254571e-02 4.67176953e-02 2.77896579e+02] [-7.32178266e-02 9.97307898e-01 -4.01322541e-03 1.70216626e+01] [-4.68861981e-02 5.77460201e-04 9.98900071e-01 -1.17259260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters Centerline goodness : 0.841193 Centerline is valid? [True, False] Translation: X:277.90, Y:17.01, Z:-117.26 [[ 9.97082901e-01 6.35919905e-02 4.22107425e-02 2.77900958e+02] [-6.39273380e-02 9.97932455e-01 6.64154192e-03 1.70137885e+01] [-4.17011210e-02 -9.32058828e-03 9.99086654e-01 -1.17260462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85591999999997 meters Centerline goodness : 0.996378 Centerline is valid? [False, True] Translation: X:277.93, Y:17.02, Z:-117.26 [[ 9.98236707e-01 5.45597685e-02 2.33817859e-02 2.77925030e+02] [-5.47497635e-02 9.98471459e-01 7.56366284e-03 1.70166430e+01] [-2.29333742e-02 -8.83047313e-03 9.99697996e-01 -1.17261220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:277.96, Y:17.05, Z:-117.26 [[ 9.97988055e-01 5.40413474e-02 3.31568230e-02 2.77956648e+02] [-5.33211309e-02 9.98329839e-01 -2.22348789e-02 1.70464285e+01] [-3.43030486e-02 2.04221843e-02 9.99202800e-01 -1.17263568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91591999999997 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:277.99, Y:17.06, Z:-117.27 [[ 9.97701698e-01 5.48646224e-02 3.97642531e-02 2.77988688e+02] [-5.36072871e-02 9.98048411e-01 -3.20254421e-02 1.70569278e+01] [-4.14437134e-02 2.98201842e-02 9.98695737e-01 -1.17265463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:278.02, Y:17.02, Z:-117.26 [[ 9.97914736e-01 5.13098089e-02 3.91597076e-02 2.78016948e+02] [-5.18880831e-02 9.98556225e-01 1.38957558e-02 1.70167071e+01] [-3.83901812e-02 -1.58987017e-02 9.99136340e-01 -1.17263838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97592 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:278.04, Y:17.02, Z:-117.27 [[ 9.98101672e-01 4.30432108e-02 4.40492363e-02 2.78044621e+02] [-4.36455876e-02 9.98965005e-01 1.28055028e-02 1.70206797e+01] [-4.34524556e-02 -1.47037485e-02 9.98947288e-01 -1.17272024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:278.07, Y:17.02, Z:-117.28 [[ 9.98373167e-01 2.06884878e-02 5.31319751e-02 2.78073681e+02] [-2.08774882e-02 9.99777527e-01 3.00457021e-03 1.70213973e+01] [-5.30579947e-02 -4.10894446e-03 9.98582979e-01 -1.17276976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:278.11, Y:17.06, Z:-117.27 [[ 9.97706555e-01 4.87339965e-02 4.69747605e-02 2.78107856e+02] [-4.79764809e-02 9.98701714e-01 -1.71214555e-02 1.70571931e+01] [-4.77481708e-02 1.48285047e-02 9.98749332e-01 -1.17272397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:278.14, Y:17.05, Z:-117.27 [[ 9.97684713e-01 4.86710986e-02 4.75009262e-02 2.78138643e+02] [-4.82724943e-02 9.98788991e-01 -9.50355819e-03 1.70519118e+01] [-4.79059507e-02 7.18856653e-03 9.98825983e-01 -1.17273203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09592 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:278.17, Y:17.05, Z:-117.28 [[ 9.97706754e-01 4.46494243e-02 5.08690662e-02 2.78168906e+02] [-4.45714406e-02 9.99002640e-01 -2.66695416e-03 1.70454071e+01] [-5.09374094e-02 3.93530614e-04 9.98701770e-01 -1.17275420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:278.25, Y:16.95, Z:-117.30 [[ 9.96499493e-01 3.84204667e-02 7.42470801e-02 2.78251789e+02] [-4.49599696e-02 9.95059706e-01 8.85143038e-02 1.69515535e+01] [-7.04795168e-02 -9.15426053e-02 9.93303876e-01 -1.17301470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15592 meters Centerline goodness : 0.892508 Centerline is valid? [True, False] Translation: X:278.28, Y:16.99, Z:-117.30 [[ 9.97713534e-01 3.22225941e-02 5.94088316e-02 2.78276723e+02] [-3.51990231e-02 9.98141039e-01 4.97543565e-02 1.69865186e+01] [-5.76951785e-02 -5.17317277e-02 9.96993026e-01 -1.17304019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters Centerline goodness : 0.933416 Centerline is valid? [False, False] Translation: X:278.30, Y:17.00, Z:-117.30 [[ 9.98946011e-01 2.57549837e-02 3.79940516e-02 2.78304911e+02] [-2.69718519e-02 9.99128008e-01 3.18707343e-02 1.70039222e+01] [-3.71400908e-02 -3.28619128e-02 9.98769597e-01 -1.17304360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21592 meters Centerline goodness : 0.996322 Centerline is valid? [False, True] Translation: X:278.31, Y:17.01, Z:-117.30 [[ 9.99565715e-01 1.94414612e-02 2.21452165e-02 2.78314171e+02] [-1.99937856e-02 9.99487522e-01 2.49988403e-02 1.70099464e+01] [-2.16478536e-02 -2.54307504e-02 9.99442168e-01 -1.17303397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:278.35, Y:17.03, Z:-117.30 [[ 9.99599316e-01 1.90819451e-02 2.09066157e-02 2.78347561e+02] [-1.90726011e-02 9.99817893e-01 -6.46260711e-04 1.70329436e+01] [-2.09151404e-02 2.47258223e-04 9.99781224e-01 -1.17304012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27592 meters Centerline goodness : 0.910566 Centerline is valid? [True, False] Translation: X:278.35, Y:17.02, Z:-117.30 [[ 9.99890505e-01 6.49676891e-03 1.32955142e-02 2.78352117e+02] [-6.57891085e-03 9.99959485e-01 6.14378657e-03 1.70242943e+01] [-1.32550608e-02 -6.23058386e-03 9.99892736e-01 -1.17303650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters Centerline goodness : 0.997072 Centerline is valid? [False, True] Translation: X:278.33, Y:17.02, Z:-117.31 [[ 9.99875440e-01 1.77249064e-03 1.56832174e-02 2.78330528e+02] [-1.97395055e-03 9.99915623e-01 1.28394313e-02 1.70189124e+01] [-1.56591363e-02 -1.28687900e-02 9.99794572e-01 -1.17306135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.35, Y:17.04, Z:-117.31 [[ 9.99469084e-01 2.28818434e-02 2.31941946e-02 2.78345998e+02] [-2.26737584e-02 9.99700631e-01 -9.19509161e-03 1.70426255e+01] [-2.33976516e-02 8.66431023e-03 9.99688691e-01 -1.17310389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters Centerline goodness : 0.986134 Centerline is valid? [True, True] Translation: X:278.40, Y:17.02, Z:-117.31 [[ 9.99863491e-01 -1.05971471e-02 1.26767143e-02 2.78401401e+02] [ 1.05496993e-02 9.99937115e-01 3.80394625e-03 1.70208124e+01] [-1.27162281e-02 -3.66969145e-03 9.99912412e-01 -1.17312090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39592 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:278.38, Y:16.99, Z:-117.29 [[ 9.99029484e-01 -1.78439876e-02 4.02701138e-02 2.78381140e+02] [ 1.75080605e-02 9.99809052e-01 8.67918205e-03 1.69898707e+01] [-4.04172955e-02 -7.96570718e-03 9.99151135e-01 -1.17289685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:278.41, Y:16.98, Z:-117.29 [[ 9.99303772e-01 -2.09734358e-02 3.08558802e-02 2.78413778e+02] [ 2.03376374e-02 9.99577260e-01 2.07769702e-02 1.69764604e+01] [-3.12786006e-02 -2.01349690e-02 9.99307877e-01 -1.17289291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45592 meters Centerline goodness : 0.915315 Centerline is valid? [True, False] Translation: X:278.43, Y:16.99, Z:-117.29 [[ 9.99725668e-01 -9.48148671e-03 2.14170382e-02 2.78430359e+02] [ 9.31807518e-03 9.99926809e-01 7.71693139e-03 1.69896847e+01] [-2.14886387e-02 -7.51524882e-03 9.99740846e-01 -1.17290511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters Centerline goodness : 0.903434 Centerline is valid? [False, False] Translation: X:278.47, Y:16.99, Z:-117.29 [[ 9.99998522e-01 -6.97771716e-04 -1.57129355e-03 2.78472005e+02] [ 6.98580417e-04 9.99999624e-01 5.14182148e-04 1.69936028e+01] [ 1.57093417e-03 -5.15279063e-04 9.99998633e-01 -1.17289806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51592 meters Centerline goodness : 0.906368 Centerline is valid? [False, False] Translation: X:278.45, Y:16.98, Z:-117.29 [[ 9.99990260e-01 7.14410251e-04 4.35544894e-03 2.78448887e+02] [-7.74191122e-04 9.99905311e-01 1.37393359e-02 1.69801763e+01] [-4.34522101e-03 -1.37425741e-02 9.99896125e-01 -1.17293231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters Centerline goodness : 0.996329 Centerline is valid? [False, True] Translation: X:278.45, Y:16.98, Z:-117.29 [[ 9.99985044e-01 -3.37683247e-03 4.30208595e-03 2.78448947e+02] [ 3.33681971e-03 9.99951426e-01 9.27425297e-03 1.69814362e+01] [-4.33319458e-03 -9.25975899e-03 9.99947739e-01 -1.17293314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57592 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:278.48, Y:17.08, Z:-117.30 [[ 9.99479569e-01 5.50717500e-04 3.22534982e-02 2.78477212e+02] [ 2.64586655e-03 9.95085753e-01 -9.89815331e-02 1.70813226e+01] [-3.21495074e-02 9.90153585e-02 9.94566422e-01 -1.17299272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:278.51, Y:16.95, Z:-117.30 [[ 9.99963974e-01 2.73926338e-04 8.48388908e-03 2.78509350e+02] [-6.24345925e-04 9.99145394e-01 4.13290637e-02 1.69504375e+01] [-8.46531758e-03 -4.13328716e-02 9.99109570e-01 -1.17295624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63592 meters Centerline goodness : 0.829262 Centerline is valid? [True, False] Translation: X:278.53, Y:16.96, Z:-117.29 [[ 9.99996267e-01 -8.79330556e-04 2.58704429e-03 2.78533079e+02] [ 8.03822154e-04 9.99577788e-01 2.90447825e-02 1.69603163e+01] [-2.61149197e-03 -2.90425945e-02 9.99574763e-01 -1.17292952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters Centerline goodness : 0.990311 Centerline is valid? [False, True] Translation: X:278.53, Y:16.98, Z:-117.29 [[ 9.99995814e-01 2.77564688e-03 -8.16789998e-04 2.78534937e+02] [-2.76709844e-03 9.99943256e-01 1.02872496e-02 1.69772057e+01] [ 8.45297423e-04 -1.02849464e-02 9.99946751e-01 -1.17292975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69592 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:278.54, Y:17.03, Z:-117.28 [[ 9.99136192e-01 4.08811903e-02 7.45635512e-03 2.78544305e+02] [-4.06359724e-02 9.98708054e-01 -3.05113264e-02 1.70274016e+01] [-8.69406125e-03 3.01819742e-02 9.99506609e-01 -1.17283489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:278.58, Y:16.99, Z:-117.28 [[ 9.99076685e-01 4.23181686e-02 7.41279772e-03 2.78576384e+02] [-4.23441903e-02 9.99097334e-01 3.38926365e-03 1.69937013e+01] [-7.26267901e-03 -3.70002321e-03 9.99966781e-01 -1.17281066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75591999999995 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:278.60, Y:16.91, Z:-117.27 [[ 9.98870085e-01 4.48579479e-02 -1.56945306e-02 2.78601846e+02] [-4.32108594e-02 9.94728807e-01 9.29915164e-02 1.69105387e+01] [ 1.97832103e-02 -9.22082697e-02 9.95543198e-01 -1.17265821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:278.64, Y:17.08, Z:-117.28 [[ 9.98974607e-01 4.37143975e-02 1.17807266e-02 2.78636679e+02] [-4.24257300e-02 9.94717071e-01 -9.34772994e-02 1.70807879e+01] [-1.58047937e-02 9.28816425e-02 9.95551711e-01 -1.17278574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81591999999995 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:278.66, Y:16.94, Z:-117.27 [[ 9.98875002e-01 4.51034838e-02 -1.46426222e-02 2.78662611e+02] [-4.42195374e-02 9.97455182e-01 5.59266730e-02 1.69416439e+01] [ 1.71278472e-02 -5.52162656e-02 9.98327502e-01 -1.17271420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:278.69, Y:16.99, Z:-117.28 [[ 9.98769712e-01 4.66874243e-02 -1.67136500e-02 2.78691341e+02] [-4.65814198e-02 9.98892183e-01 6.67669431e-03 1.69869983e+01] [ 1.70068520e-02 -5.88993451e-03 9.99838025e-01 -1.17275861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87591999999995 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:278.72, Y:17.06, Z:-117.28 [[ 9.98689536e-01 4.69833780e-02 2.02921664e-02 2.78722588e+02] [-4.54596265e-02 9.96513807e-01 -6.99546613e-02 1.70567556e+01] [-2.35081303e-02 6.89405140e-02 9.97343759e-01 -1.17278809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:278.75, Y:16.94, Z:-117.27 [[ 9.98606178e-01 5.24820934e-02 -5.59734966e-03 2.78749888e+02] [-5.20534781e-02 9.96843689e-01 5.99424371e-02 1.69378052e+01] [ 8.72558727e-03 -5.95675266e-02 9.98186142e-01 -1.17269335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93591999999995 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:278.78, Y:17.00, Z:-117.27 [[ 9.98494340e-01 5.47531048e-02 -3.33926517e-03 2.78781163e+02] [-5.47894246e-02 9.98426064e-01 -1.19797082e-02 1.70035969e+01] [ 2.67808316e-03 1.21446272e-02 9.99922665e-01 -1.17274071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:278.81, Y:17.02, Z:-117.27 [[ 9.97994019e-01 5.22385063e-02 3.57641697e-02 2.78811084e+02] [-5.09258620e-02 9.98028635e-01 -3.66797114e-02 1.70236514e+01] [-3.76097588e-02 3.47848114e-02 9.98686899e-01 -1.17274550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99591999999996 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:278.84, Y:16.97, Z:-117.27 [[ 9.98292360e-01 5.82889519e-02 3.84208870e-03 2.78844406e+02] [-5.83694707e-02 9.97955641e-01 2.60296630e-02 1.69680019e+01] [-2.31699232e-03 -2.62094744e-02 9.99653788e-01 -1.17273002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:278.87, Y:17.02, Z:-117.27 [[ 9.97888475e-01 5.31801595e-02 3.72888942e-02 2.78874278e+02] [-5.21803565e-02 9.98264666e-01 -2.72922505e-02 1.70152808e+01] [-3.86755917e-02 2.52888745e-02 9.98931765e-01 -1.17274886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05591999999996 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:278.91, Y:16.96, Z:-117.27 [[ 9.98349456e-01 5.73936873e-02 2.08040907e-03 2.78906818e+02] [-5.74296179e-02 9.97947394e-01 2.83343821e-02 1.69644729e+01] [-4.49924145e-04 -2.84070920e-02 9.99596336e-01 -1.17273156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:278.93, Y:16.90, Z:-117.26 [[ 9.98477380e-01 5.48493152e-02 -5.87142392e-03 2.78933502e+02] [-5.40654632e-02 9.94181414e-01 9.31678098e-02 1.69022726e+01] [ 1.09474511e-02 -9.27085094e-02 9.95633108e-01 -1.17261257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11591999999996 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:278.97, Y:17.08, Z:-117.27 [[ 9.98319685e-01 5.79441493e-02 -5.31256148e-04 2.78971403e+02] [-5.77235130e-02 9.93631074e-01 -9.67743971e-02 1.70767656e+01] [-5.07963750e-03 9.66424516e-02 9.95306201e-01 -1.17272649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:279.00, Y:17.01, Z:-117.27 [[ 9.98006277e-01 5.13857102e-02 3.66467006e-02 2.78996867e+02] [-5.05486928e-02 9.98447129e-01 -2.34128094e-02 1.70087076e+01] [-3.77928769e-02 2.15136879e-02 9.99053982e-01 -1.17273098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17591999999996 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:279.03, Y:16.99, Z:-117.27 [[ 9.97855787e-01 5.38461076e-02 3.72078618e-02 2.79029567e+02] [-5.38424972e-02 9.98548835e-01 -1.09978375e-03 1.69895522e+01] [-3.72130861e-02 -9.05938613e-04 9.99306943e-01 -1.17272949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:279.06, Y:16.99, Z:-117.27 [[ 9.97600799e-01 5.74746667e-02 3.85915558e-02 2.79062716e+02] [-5.74727296e-02 9.98346402e-01 -1.16050785e-03 1.69909946e+01] [-3.85944407e-02 -1.06023849e-03 9.99254395e-01 -1.17273605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23591999999996 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:279.10, Y:16.96, Z:-117.27 [[ 9.98030122e-01 6.26286792e-02 3.67738624e-03 2.79097447e+02] [-6.27186404e-02 9.97430167e-01 3.46328443e-02 1.69601230e+01] [-1.49892667e-03 -3.47952625e-02 9.99393337e-01 -1.17272249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:279.14, Y:16.93, Z:-117.30 [[ 9.97295609e-01 7.27596581e-02 1.03681991e-02 2.79136633e+02] [-7.33072487e-02 9.94872516e-01 6.96758564e-02 1.69296261e+01] [-5.24544485e-03 -7.02474899e-02 9.97515802e-01 -1.17295514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29591999999997 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:279.19, Y:16.97, Z:-117.30 [[ 9.99760173e-01 1.73272999e-02 -1.33925596e-02 2.79194391e+02] [-1.70917832e-02 9.99700688e-01 1.75044591e-02 1.69670799e+01] [ 1.36918560e-02 -1.72713583e-02 9.99757087e-01 -1.17298715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:279.18, Y:17.05, Z:-117.28 [[ 9.98116435e-01 4.83908416e-02 3.77082122e-02 2.79181376e+02] [-4.58759225e-02 9.96835112e-01 -6.49242610e-02 1.70486013e+01] [-4.07306095e-02 6.30720729e-02 9.97177482e-01 -1.17275388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35591999999997 meters Centerline goodness : 0.894559 Centerline is valid? [True, False] Translation: X:279.18, Y:17.02, Z:-117.28 [[ 9.98615296e-01 4.13801698e-02 3.24834044e-02 2.79182317e+02] [-4.04083626e-02 9.98732048e-01 -3.00243375e-02 1.70214423e+01] [-3.36846292e-02 2.86701615e-02 9.99021205e-01 -1.17275248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters Centerline goodness : 0.995636 Centerline is valid? [False, True] Translation: X:279.20, Y:17.00, Z:-117.28 [[ 9.99431472e-01 3.04014033e-02 1.45769310e-02 2.79201465e+02] [-3.03151056e-02 9.99521747e-01 -6.10506830e-03 1.70021486e+01] [-1.47555622e-02 5.65969620e-03 9.99875113e-01 -1.17276130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41591999999997 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:279.23, Y:17.00, Z:-117.28 [[ 9.99421901e-01 3.07112960e-02 1.45835605e-02 2.79234957e+02] [-3.07142280e-02 9.99528207e-01 -2.29333664e-05 1.69965577e+01] [-1.45773843e-02 -4.25002693e-04 9.99893654e-01 -1.17275573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:279.28, Y:16.95, Z:-117.30 [[ 9.97928853e-01 5.63983314e-02 -3.09391624e-02 2.79277099e+02] [-5.43258120e-02 9.96459238e-01 6.41692562e-02 1.69450611e+01] [ 3.44486531e-02 -6.23555572e-02 9.97459310e-01 -1.17304469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47592 meters Centerline goodness : 0.930935 Centerline is valid? [True, False] Translation: X:279.27, Y:16.96, Z:-117.31 [[ 9.98986477e-01 4.14811586e-02 -1.74737668e-02 2.79269887e+02] [-4.06441988e-02 9.98123412e-01 4.58006933e-02 1.69631274e+01] [ 1.93408416e-02 -4.50440660e-02 9.98797759e-01 -1.17306985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters Centerline goodness : 0.995685 Centerline is valid? [False, True] Translation: X:279.27, Y:16.98, Z:-117.31 [[ 9.99415258e-01 2.89789645e-02 -1.81482976e-02 2.79270734e+02] [-2.84199670e-02 9.99135609e-01 3.03371027e-02 1.69765508e+01] [ 1.90117482e-02 -2.98035893e-02 9.99374954e-01 -1.17307956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53592 meters Centerline goodness : 0.773343 Centerline is valid? [True, False] Translation: X:279.29, Y:16.99, Z:-117.31 [[ 9.99667100e-01 1.58219029e-02 -2.03802882e-02 2.79293992e+02] [-1.53108298e-02 9.99570362e-01 2.49933863e-02 1.69853571e+01] [ 2.07669750e-02 -2.46730269e-02 9.99479852e-01 -1.17306679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters Centerline goodness : 0.919349 Centerline is valid? [False, False] Translation: X:279.29, Y:16.99, Z:-117.31 [[ 9.99758949e-01 7.36724156e-03 -2.06825525e-02 2.79294574e+02] [-7.06492421e-03 9.99867691e-01 1.46522343e-02 1.69940260e+01] [ 2.07877626e-02 -1.45025817e-02 9.99678720e-01 -1.17307002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59592 meters Centerline goodness : 0.995728 Centerline is valid? [False, True] Translation: X:279.31, Y:16.99, Z:-117.30 [[ 9.99813424e-01 9.57865646e-04 -1.92924728e-02 2.79310849e+02] [-5.94834334e-04 9.99822820e-01 1.88142071e-02 1.69910711e+01] [ 1.93070761e-02 -1.87992210e-02 9.99636847e-01 -1.17302857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters Centerline goodness : 0.919005 Centerline is valid? [True, False] Translation: X:279.30, Y:16.99, Z:-117.30 [[ 9.99988332e-01 -3.15347236e-03 -3.65949880e-03 2.79302032e+02] [ 3.20382479e-03 9.99899144e-01 1.38360718e-02 1.69948055e+01] [ 3.61549805e-03 -1.38476348e-02 9.99897580e-01 -1.17303466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65592 meters Centerline goodness : 0.993648 Centerline is valid? [False, True] Translation: X:279.30, Y:17.01, Z:-117.30 [[ 9.99946848e-01 -2.98425940e-05 -1.03101808e-02 2.79304018e+02] [-6.54295202e-06 9.99993773e-01 -3.52903728e-03 1.70103720e+01] [ 1.03102219e-02 3.52891716e-03 9.99940621e-01 -1.17301935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters Centerline goodness : 0.890365 Centerline is valid? [True, False] Translation: X:279.30, Y:17.01, Z:-117.30 [[ 9.99945033e-01 -5.07409365e-05 -1.04846917e-02 2.79304411e+02] [ 2.17456058e-05 9.99996176e-01 -2.76558746e-03 1.70068997e+01] [ 1.04847920e-02 2.76520745e-03 9.99941210e-01 -1.17302132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71592 meters Centerline goodness : 0.893144 Centerline is valid? [False, False] Translation: X:279.30, Y:17.00, Z:-117.30 [[ 9.99936631e-01 4.06685951e-03 -1.04973196e-02 2.79304538e+02] [-4.03928871e-03 9.99988340e-01 2.64632794e-03 1.70014218e+01] [ 1.05079595e-02 -2.60375854e-03 9.99941400e-01 -1.17302255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters Centerline goodness : 0.962621 Centerline is valid? [False, True] Translation: X:279.30, Y:17.00, Z:-117.30 [[ 9.99952824e-01 1.95309860e-03 -9.51496222e-03 2.79299112e+02] [-1.94424747e-03 9.99997669e-01 9.39393481e-04 1.69997439e+01] [ 9.51677477e-03 -9.20849724e-04 9.99954290e-01 -1.17297450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77592 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:279.28, Y:16.96, Z:-117.27 [[ 9.99490826e-01 -4.32579199e-03 3.16129134e-02 2.79279281e+02] [ 3.79792596e-03 9.99852683e-01 1.67388107e-02 1.69560356e+01] [-3.16806649e-02 -1.66102242e-02 9.99360013e-01 -1.17270482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:279.31, Y:16.90, Z:-117.27 [[ 9.99979981e-01 6.10522808e-03 1.66219281e-03 2.79310255e+02] [-6.21288221e-03 9.97152996e-01 7.51485364e-02 1.69037308e+01] [-1.19866159e-03 -7.51573590e-02 9.97170966e-01 -1.17268238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83592 meters Centerline goodness : 0.891351 Centerline is valid? [True, False] Translation: X:279.29, Y:16.93, Z:-117.27 [[ 9.99971788e-01 5.63205534e-03 4.97016931e-03 2.79287382e+02] [-5.83497281e-03 9.99108799e-01 4.18038359e-02 1.69311763e+01] [-4.73029837e-03 -4.18316574e-02 9.99113475e-01 -1.17270326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters Centerline goodness : 0.996130 Centerline is valid? [False, True] Translation: X:279.27, Y:16.94, Z:-117.27 [[ 9.99928196e-01 2.53229116e-03 1.17128263e-02 2.79265576e+02] [-2.87094860e-03 9.99575650e-01 2.89875273e-02 1.69425866e+01] [-1.16344511e-02 -2.90190728e-02 9.99511147e-01 -1.17274017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89592 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:279.30, Y:16.94, Z:-117.27 [[ 9.99838517e-01 2.59825241e-03 -1.77817080e-02 2.79296491e+02] [-2.03693355e-03 9.99501272e-01 3.15128313e-02 1.69370584e+01] [ 1.78547180e-02 -3.14715224e-02 9.99345162e-01 -1.17271394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:279.33, Y:16.99, Z:-117.27 [[ 9.99796320e-01 -1.05889142e-03 2.01543208e-02 2.79326231e+02] [ 1.68537737e-03 9.99515078e-01 -3.10928935e-02 1.69917555e+01] [-2.01116235e-02 3.11205281e-02 9.99313282e-01 -1.17274248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:279.33, Y:16.92, Z:-117.28 [[ 9.99613170e-01 -2.68650570e-03 -2.76819995e-02 2.79330668e+02] [ 3.58167990e-03 9.99470537e-01 3.23391057e-02 1.69175764e+01] [ 2.75804637e-02 -3.24257440e-02 9.99093534e-01 -1.17283982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:279.38, Y:16.99, Z:-117.27 [[ 9.99731529e-01 3.13949087e-03 2.29567859e-02 2.79379436e+02] [-2.37917018e-03 9.99450131e-01 -3.30722743e-02 1.69896511e+01] [-2.30479927e-02 3.30087773e-02 9.99189277e-01 -1.17273315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01592 meters Centerline goodness : 0.788632 Centerline is valid? [True, False] Translation: X:279.38, Y:16.97, Z:-117.27 [[ 9.99884577e-01 2.79856139e-03 1.49332407e-02 2.79382892e+02] [-2.62865761e-03 9.99931733e-01 -1.13850804e-02 1.69682080e+01] [-1.49640831e-02 1.13445119e-02 9.99823674e-01 -1.17272825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters Centerline goodness : 0.998659 Centerline is valid? [False, True] Translation: X:279.39, Y:16.95, Z:-117.27 [[ 9.99978151e-01 -1.73472266e-03 6.37873479e-03 2.79387204e+02] [ 1.70085042e-03 9.99984446e-01 5.31177816e-03 1.69473109e+01] [-6.38785004e-03 -5.30081283e-03 9.99965548e-01 -1.17272936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:279.42, Y:16.94, Z:-117.27 [[ 9.99952147e-01 5.40536694e-06 9.78278817e-03 2.79419434e+02] [-5.97841205e-05 9.99984551e-01 5.55833115e-03 1.69447098e+01] [-9.78260699e-03 -5.55865003e-03 9.99936699e-01 -1.17274154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:279.45, Y:16.90, Z:-117.27 [[ 9.99996726e-01 1.21652401e-03 2.25130352e-03 2.79449428e+02] [-1.32825120e-03 9.98732735e-01 5.03106325e-02 1.69029825e+01] [-2.18724643e-03 -5.03134580e-02 9.98731081e-01 -1.17267884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:279.48, Y:17.01, Z:-117.27 [[ 9.98991949e-01 6.56554651e-03 4.44069692e-02 2.79481272e+02] [-3.70118316e-03 9.97925051e-01 -6.42798014e-02 1.70068254e+01] [-4.47368590e-02 6.40506458e-02 9.96943393e-01 -1.17274118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:16.95, Z:-117.27 [[ 9.98934532e-01 8.78295685e-03 4.53062888e-02 2.79514035e+02] [-8.77355088e-03 9.99961429e-01 -4.06458661e-04 1.69470577e+01] [-4.53081112e-02 8.52856273e-06 9.98973060e-01 -1.17274311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:279.54, Y:16.91, Z:-117.27 [[ 9.99906126e-01 1.30109897e-02 4.29576346e-03 2.79543431e+02] [-1.31579452e-02 9.99259183e-01 3.61656507e-02 1.69121083e+01] [-3.82203018e-03 -3.62187791e-02 9.99336576e-01 -1.17270813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:279.58, Y:16.95, Z:-117.27 [[ 9.99838506e-01 1.67063348e-02 6.62268761e-03 2.79575610e+02] [-1.66464298e-02 9.99820935e-01 -8.99963771e-03 1.69538106e+01] [-6.77185268e-03 8.88794022e-03 9.99937571e-01 -1.17273485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:279.61, Y:16.99, Z:-117.28 [[ 9.99090665e-01 2.01704754e-02 3.75632099e-02 2.79610365e+02] [-1.84882696e-02 9.98833627e-01 -4.46045905e-02 1.69861073e+01] [-3.84190930e-02 4.38695513e-02 9.98298270e-01 -1.17278531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:279.64, Y:16.91, Z:-117.27 [[ 9.99768223e-01 1.96931146e-02 8.69949597e-03 2.79638142e+02] [-1.99804457e-02 9.99212567e-01 3.42786644e-02 1.69109019e+01] [-8.01759204e-03 -3.44445392e-02 9.99374450e-01 -1.17274640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:279.67, Y:16.98, Z:-117.28 [[ 9.99033416e-01 2.30385184e-02 3.74360766e-02 2.79673554e+02] [-2.16451338e-02 9.99073067e-01 -3.72087949e-02 1.69762137e+01] [-3.82586114e-02 3.63625206e-02 9.98606051e-01 -1.17281624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:279.71, Y:16.94, Z:-117.28 [[ 9.99004595e-01 2.37043039e-02 3.77879005e-02 2.79705275e+02] [-2.37785748e-02 9.99716098e-01 1.51718700e-03 1.69403917e+01] [-3.77412086e-02 -2.41421920e-03 9.99284630e-01 -1.17280755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:279.74, Y:16.94, Z:-117.28 [[ 9.98854541e-01 2.58713377e-02 4.02526928e-02 2.79738519e+02] [-2.58473950e-02 9.99665278e-01 -1.11520803e-03 1.69419421e+01] [-4.02680713e-02 7.35033584e-05 9.99188910e-01 -1.17281148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:279.77, Y:16.94, Z:-117.28 [[ 9.98780153e-01 2.68505660e-02 4.14397552e-02 2.79771616e+02] [-2.67294603e-02 9.99636668e-01 -3.47385818e-03 1.69424211e+01] [-4.15179739e-02 2.36195832e-03 9.99134965e-01 -1.17282253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:279.80, Y:16.92, Z:-117.28 [[ 9.98471462e-01 2.81378432e-02 4.75710224e-02 2.79802492e+02] [-2.92376414e-02 9.99317342e-01 2.25834086e-02 1.69184104e+01] [-4.69030993e-02 -2.39397535e-02 9.98612531e-01 -1.17277109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:279.84, Y:16.94, Z:-117.28 [[ 9.98379287e-01 3.02862356e-02 4.81823998e-02 2.79835611e+02] [-3.02938864e-02 9.99540871e-01 -5.71612362e-04 1.69414518e+01] [-4.81775898e-02 -8.88946203e-04 9.98838390e-01 -1.17279106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:279.87, Y:16.94, Z:-117.28 [[ 9.98221801e-01 3.33958256e-02 4.93756586e-02 2.79868968e+02] [-3.34063973e-02 9.99441664e-01 -6.11342431e-04 1.69436019e+01] [-4.93685066e-02 -1.03920753e-03 9.98780091e-01 -1.17279782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:279.90, Y:16.94, Z:-117.28 [[ 9.98261189e-01 3.39968618e-02 4.81540353e-02 2.79902177e+02] [-3.40064382e-02 9.99421421e-01 -6.20601978e-04 1.69436384e+01] [-4.81472729e-02 -1.01802435e-03 9.98839729e-01 -1.17279897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:279.94, Y:16.94, Z:-117.28 [[ 9.98267855e-01 3.47234343e-02 4.74928793e-02 2.79935262e+02] [-3.47324178e-02 9.99396445e-01 -6.36319081e-04 1.69443063e+01] [-4.74863100e-02 -1.01432564e-03 9.98871374e-01 -1.17279646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:279.97, Y:16.95, Z:-117.28 [[ 9.98195921e-01 3.67249226e-02 4.74992971e-02 2.79968137e+02] [-3.67350159e-02 9.99324823e-01 -6.60720892e-04 1.69484316e+01] [-4.74914916e-02 -1.08535853e-03 9.98871053e-01 -1.17279372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:280.00, Y:16.95, Z:-117.28 [[ 9.98240279e-01 3.65582860e-02 4.66887215e-02 2.80001591e+02] [-3.65667471e-02 9.99330986e-01 -6.73143944e-04 1.69509774e+01] [-4.66820951e-02 -1.03529527e-03 9.98909260e-01 -1.17279405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:280.04, Y:16.95, Z:-117.28 [[ 9.99167544e-01 3.77797394e-02 1.53918709e-02 2.80036233e+02] [-3.78740893e-02 9.99265190e-01 5.88507902e-03 1.69500711e+01] [-1.51582240e-02 -6.46313304e-03 9.99864219e-01 -1.17277786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67591999999996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:280.07, Y:16.95, Z:-117.28 [[ 9.99261767e-01 3.66833789e-02 1.14127743e-02 2.80068837e+02] [-3.67938312e-02 9.99276541e-01 9.62331655e-03 1.69483561e+01] [-1.10515018e-02 -1.00361320e-02 9.99888564e-01 -1.17276637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:280.10, Y:16.98, Z:-117.28 [[ 9.99155857e-01 3.64082709e-02 1.90265934e-02 2.80101235e+02] [-3.61161895e-02 9.99227761e-01 -1.54758525e-02 1.69762319e+01] [-1.95753493e-02 1.47756206e-02 9.99699198e-01 -1.17278504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:280.13, Y:16.95, Z:-117.28 [[ 9.99266162e-01 3.56377163e-02 1.40388798e-02 2.80133457e+02] [-3.58429721e-02 9.99250037e-01 1.46507337e-02 1.69508739e+01] [-1.35062325e-02 -1.51431776e-02 9.99794112e-01 -1.17277125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:280.16, Y:16.98, Z:-117.28 [[ 9.99106871e-01 3.40555533e-02 2.50135717e-02 2.80164187e+02] [-3.35503787e-02 9.99229920e-01 -2.03455079e-02 1.69848453e+01] [-2.56871868e-02 1.94881220e-02 9.99480056e-01 -1.17281196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:280.20, Y:16.98, Z:-117.28 [[ 9.99110343e-01 3.20250855e-02 2.74393116e-02 2.80197428e+02] [-3.18932581e-02 9.99477604e-01 -5.22868961e-03 1.69756693e+01] [-2.75924266e-02 4.34890883e-03 9.99609796e-01 -1.17281718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:280.23, Y:16.98, Z:-117.28 [[ 9.99146689e-01 3.05542615e-02 2.77908515e-02 2.80230123e+02] [-3.04661103e-02 9.99529353e-01 -3.58996138e-03 1.69767123e+01] [-2.78874605e-02 2.74021888e-03 9.99607313e-01 -1.17282991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:280.26, Y:16.98, Z:-117.29 [[ 9.98990749e-01 3.28554225e-02 3.06268465e-02 2.80258679e+02] [-3.27580760e-02 9.99456554e-01 -3.67496169e-03 1.69841976e+01] [-3.07309449e-02 2.66797616e-03 9.99524132e-01 -1.17285760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:280.29, Y:16.99, Z:-117.29 [[ 9.99054000e-01 2.86817694e-02 3.26873258e-02 2.80294841e+02] [-2.84818012e-02 9.99572740e-01 -6.56699083e-03 1.69885266e+01] [-3.28617127e-02 5.62978454e-03 9.99444052e-01 -1.17285667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91591999999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:280.32, Y:16.93, Z:-117.28 [[ 9.99631331e-01 2.62514109e-02 6.93288862e-03 2.80323367e+02] [-2.66226575e-02 9.97819891e-01 6.03879099e-02 1.69295220e+01] [-5.33250633e-03 -6.05502187e-02 9.98150908e-01 -1.17282417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:280.35, Y:16.89, Z:-117.27 [[ 9.99742913e-01 2.01180330e-02 1.04581759e-02 2.80349998e+02] [-2.11127142e-02 9.94160690e-01 1.05824268e-01 1.68917070e+01] [-8.26813123e-03 -1.06017862e-01 9.94329850e-01 -1.17272322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:280.39, Y:17.13, Z:-117.27 [[ 9.99091916e-01 2.44239198e-02 3.49115494e-02 2.80387240e+02] [-1.87827072e-02 9.87947917e-01 -1.53642845e-01 1.71301557e+01] [-3.82433530e-02 1.52847591e-01 9.87509524e-01 -1.17271214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters Centerline goodness : 0.973793 Centerline is valid? [True, True] Translation: X:280.42, Y:16.95, Z:-117.29 [[ 9.94282054e-01 1.01710288e-01 3.25302194e-02 2.80421106e+02] [-1.04125320e-01 9.91005482e-01 8.40598097e-02 1.69503767e+01] [-2.36878783e-02 -8.69663798e-02 9.95929582e-01 -1.17293763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:280.45, Y:17.06, Z:-117.28 [[ 9.98447073e-01 9.85061895e-03 5.48307246e-02 2.80448162e+02] [-5.64889715e-03 9.97071607e-01 -7.62646795e-02 1.70591984e+01] [-5.54214130e-02 7.58365128e-02 9.95578872e-01 -1.17278268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:280.48, Y:17.02, Z:-117.29 [[ 9.99058400e-01 7.23580447e-03 4.27779930e-02 2.80480090e+02] [-6.07223451e-03 9.99609720e-01 -2.72678427e-02 1.70156049e+01] [-4.29586024e-02 2.69824093e-02 9.98712425e-01 -1.17286073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09592 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:280.51, Y:16.96, Z:-117.28 [[ 9.98445898e-01 4.68274260e-04 5.57276452e-02 2.80511542e+02] [-1.93098361e-03 9.99654947e-01 2.61965131e-02 1.69645577e+01] [-5.56961491e-02 -2.62634102e-02 9.98102285e-01 -1.17283222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:280.54, Y:16.93, Z:-117.28 [[ 9.99983187e-01 -2.68000917e-03 5.14238581e-03 2.80538122e+02] [ 2.34610233e-03 9.97955195e-01 6.38742813e-02 1.69281150e+01] [-5.30305430e-03 -6.38611428e-02 9.97944704e-01 -1.17278683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15592 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:280.57, Y:17.04, Z:-117.28 [[ 9.98250982e-01 6.48001615e-04 5.91147775e-02 2.80573252e+02] [ 3.10477324e-03 9.97985341e-01 -6.33689106e-02 1.70433925e+01] [-5.90367445e-02 6.34416153e-02 9.96237835e-01 -1.17282334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:280.60, Y:16.90, Z:-117.28 [[ 9.99988207e-01 -4.80518480e-03 -7.03944661e-04 2.80597277e+02] [ 4.85057775e-03 9.95366550e-01 9.60307429e-02 1.68966017e+01] [ 2.39237502e-04 -9.60330250e-02 9.95378120e-01 -1.17275075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21592 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:280.63, Y:17.07, Z:-117.28 [[ 9.98134397e-01 1.80581515e-03 6.10283965e-02 2.80633144e+02] [ 3.93472312e-03 9.95582118e-01 -9.38123903e-02 1.70681644e+01] [-6.09281881e-02 9.38775034e-02 9.93717651e-01 -1.17280058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:280.66, Y:16.98, Z:-117.29 [[ 9.98044141e-01 -1.97360345e-03 6.24819810e-02 2.80664510e+02] [ 2.04981847e-03 9.99997231e-01 -1.15571444e-03 1.69786037e+01] [-6.24795271e-02 1.28153074e-03 9.98045423e-01 -1.17286218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.27592 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:280.69, Y:16.86, Z:-117.28 [[ 9.99786184e-01 -6.03652781e-03 1.97774246e-02 2.80689779e+02] [ 3.50979869e-03 9.92101888e-01 1.25385506e-01 1.68597388e+01] [-2.03781134e-02 -1.25289282e-01 9.91910948e-01 -1.17276949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:280.72, Y:16.97, Z:-117.28 [[ 9.99766371e-01 -1.54176049e-03 2.15598497e-02 2.80723840e+02] [ 1.45091542e-03 9.99990007e-01 4.22863040e-03 1.69710288e+01] [-2.15661538e-02 -4.19636095e-03 9.99758617e-01 -1.17284845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33592 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:280.75, Y:17.04, Z:-117.28 [[ 9.99845182e-01 -3.55044064e-03 1.72338504e-02 2.80750765e+02] [ 4.82537987e-03 9.97208553e-01 -7.45105139e-02 1.70364086e+01] [-1.69211979e-02 7.45821383e-02 9.97071300e-01 -1.17282003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:280.78, Y:17.02, Z:-117.29 [[ 9.97609278e-01 -4.56498201e-03 6.89557054e-02 2.80784802e+02] [ 8.55089708e-03 9.98301971e-01 -5.76199418e-02 1.70158974e+01] [-6.85755826e-02 5.80718217e-02 9.95954343e-01 -1.17287343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39592 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:280.81, Y:16.90, Z:-117.28 [[ 9.99739868e-01 -9.54937600e-03 2.07124337e-02 2.80809527e+02] [ 8.21460030e-03 9.97941823e-01 6.35974649e-02 1.69007563e+01] [-2.12771200e-02 -6.34107768e-02 9.97760671e-01 -1.17281001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:280.84, Y:16.96, Z:-117.29 [[ 9.99769409e-01 -7.03573999e-03 2.02885864e-02 2.80840909e+02] [ 7.20245383e-03 9.99940802e-01 -8.15579348e-03 1.69603495e+01] [-2.02300034e-02 8.30004043e-03 9.99760900e-01 -1.17285639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45592 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:280.87, Y:16.97, Z:-117.29 [[ 9.99757557e-01 -6.33040564e-03 2.10891845e-02 2.80873199e+02] [ 6.89546929e-03 9.99616230e-01 -2.68299286e-02 1.69743104e+01] [-2.09112468e-02 2.69688437e-02 9.99417531e-01 -1.17290661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:280.93, Y:16.95, Z:-117.31 [[ 9.99783082e-01 -1.39047876e-02 1.55063140e-02 2.80934896e+02] [ 1.40997393e-02 9.99822023e-01 -1.25347564e-02 1.69543453e+01] [-1.53292611e-02 1.27506724e-02 9.99801197e-01 -1.17308363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51592 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:280.93, Y:16.90, Z:-117.29 [[ 9.99616408e-01 -1.07652924e-02 2.55175464e-02 2.80929207e+02] [ 1.00578296e-02 9.99565885e-01 2.76926129e-02 1.69048731e+01] [-2.58045879e-02 -2.74253391e-02 9.99290735e-01 -1.17289524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:280.96, Y:16.93, Z:-117.29 [[ 9.99682638e-01 -7.77692598e-03 2.39612796e-02 2.80961256e+02] [ 7.78131485e-03 9.99969721e-01 -8.99307591e-05 1.69275185e+01] [-2.39598547e-02 2.76352479e-04 9.99712883e-01 -1.17292676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57592 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:281.02, Y:16.94, Z:-117.31 [[ 9.99813766e-01 -8.98729269e-03 1.70781343e-02 2.81019489e+02] [ 9.27982225e-03 9.99810248e-01 -1.71275557e-02 1.69419303e+01] [-1.69209634e-02 1.72828480e-02 9.99707449e-01 -1.17309624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:281.02, Y:16.93, Z:-117.30 [[ 9.97475764e-01 -8.40405154e-03 7.05086644e-02 2.81023160e+02] [ 9.41131999e-03 9.99858183e-01 -1.39657148e-02 1.69275253e+01] [-7.03812965e-02 1.45940416e-02 9.97413398e-01 -1.17300928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63592 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:281.05, Y:16.87, Z:-117.30 [[ 9.99572498e-01 -3.57273585e-03 2.90182014e-02 2.81053112e+02] [ 2.39982884e-03 9.99182547e-01 4.03544101e-02 1.68743973e+01] [-2.91386560e-02 -4.02675198e-02 9.98763969e-01 -1.17296983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters Centerline goodness : 0.976631 Centerline is valid? [True, True] Translation: X:281.13, Y:16.93, Z:-117.33 [[ 9.99928868e-01 2.16382864e-03 1.17292706e-02 2.81125657e+02] [-2.16551165e-03 9.99997647e-01 1.30789167e-04 1.69294618e+01] [-1.17289600e-02 -1.56179736e-04 9.99931201e-01 -1.17328074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69592 meters Centerline goodness : 0.830099 Centerline is valid? [True, False] Translation: X:281.11, Y:16.92, Z:-117.33 [[ 9.99925818e-01 1.43035777e-03 1.20959956e-02 2.81106744e+02] [-1.58163758e-03 9.99920542e-01 1.25062985e-02 1.69177828e+01] [-1.20771460e-02 -1.25245022e-02 9.99848628e-01 -1.17330379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters Centerline goodness : 0.883261 Centerline is valid? [False, False] Translation: X:281.10, Y:16.92, Z:-117.33 [[ 9.99916813e-01 -7.02684034e-04 1.28791569e-02 2.81101881e+02] [ 5.67070672e-04 9.99944394e-01 1.05303059e-02 1.69171374e+01] [-1.28858402e-02 -1.05221265e-02 9.99861610e-01 -1.17326048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75591999999995 meters Centerline goodness : 0.885314 Centerline is valid? [False, False] Translation: X:281.10, Y:16.92, Z:-117.33 [[ 9.99916957e-01 -6.90904489e-04 1.28686452e-02 2.81101868e+02] [ 5.48698796e-04 9.99938787e-01 1.10508110e-02 1.69150307e+01] [-1.28754926e-02 -1.10428323e-02 9.99856128e-01 -1.17325993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters Centerline goodness : 0.994141 Centerline is valid? [False, True] Translation: X:281.10, Y:16.91, Z:-117.33 [[ 9.99910157e-01 3.47728117e-03 1.29455409e-02 2.81101659e+02] [-3.68137345e-03 9.99868788e-01 1.57751466e-02 1.69135388e+01] [-1.28889876e-02 -1.58213867e-02 9.99791757e-01 -1.17326023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81591999999995 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:281.13, Y:16.93, Z:-117.33 [[ 9.99907438e-01 5.16858296e-03 1.25857773e-02 2.81134710e+02] [-5.17156466e-03 9.99986606e-01 2.04376054e-04 1.69294195e+01] [-1.25845524e-02 -2.69445297e-04 9.99920775e-01 -1.17328291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters Centerline goodness : 0.937270 Centerline is valid? [True, False] Translation: X:281.14, Y:16.91, Z:-117.33 [[ 9.99983579e-01 2.92418496e-03 4.92865469e-03 2.81138750e+02] [-3.02034742e-03 9.99802992e-01 1.96177175e-02 1.69108592e+01] [-4.87031787e-03 -1.96322816e-02 9.99795406e-01 -1.17326558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87591999999995 meters Centerline goodness : 0.994284 Centerline is valid? [False, True] Translation: X:281.14, Y:16.92, Z:-117.33 [[ 9.99973765e-01 -5.22478879e-03 5.01708078e-03 2.81138546e+02] [ 5.17482701e-03 9.99937403e-01 9.92020964e-03 1.69169648e+01] [-5.06859772e-03 -9.89398686e-03 9.99938207e-01 -1.17327120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters Centerline goodness : 0.727851 Centerline is valid? [True, False] Translation: X:281.12, Y:16.93, Z:-117.33 [[ 9.99986991e-01 -3.30573460e-03 3.88469999e-03 2.81120478e+02] [ 3.30984904e-03 9.99993968e-01 -1.05318989e-03 1.69262464e+01] [-3.88119499e-03 1.06603396e-03 9.99991900e-01 -1.17328309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93591999999995 meters Centerline goodness : 0.993533 Centerline is valid? [False, True] Translation: X:281.12, Y:16.92, Z:-117.33 [[ 9.99983511e-01 4.64412566e-03 3.37794458e-03 2.81121971e+02] [-4.67198984e-03 9.99954737e-01 8.28827854e-03 1.69214909e+01] [-3.33929988e-03 -8.30392360e-03 9.99959946e-01 -1.17328877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:281.15, Y:16.93, Z:-117.33 [[ 9.99980052e-01 6.31110497e-03 2.56861834e-04 2.81151707e+02] [-6.31143793e-03 9.99979216e-01 1.31678809e-03 1.69270441e+01] [-2.48546107e-04 -1.31838299e-03 9.99999100e-01 -1.17328583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99591999999996 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:281.18, Y:17.00, Z:-117.33 [[ 9.99125733e-01 6.45562070e-03 4.13048863e-02 2.81184421e+02] [-3.28108576e-03 9.97066702e-01 -7.64671570e-02 1.69975640e+01] [-4.16773697e-02 7.62647794e-02 9.96216181e-01 -1.17334596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters Centerline goodness : 0.756355 Centerline is valid? [True, False] Translation: X:281.18, Y:16.96, Z:-117.33 [[ 9.99405927e-01 5.54551481e-03 3.40152820e-02 2.81182498e+02] [-4.42739808e-03 9.99450201e-01 -3.28587016e-02 1.69568491e+01] [-3.41787988e-02 3.26885819e-02 9.98881007e-01 -1.17333110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05591999999996 meters Centerline goodness : 0.993995 Centerline is valid? [False, True] Translation: X:281.18, Y:16.92, Z:-117.33 [[ 9.99610755e-01 1.50494445e-03 2.78580844e-02 2.81176732e+02] [-1.58915470e-03 9.99994234e-01 3.00093679e-03 1.69233475e+01] [-2.78534075e-02 -3.04403950e-03 9.99607384e-01 -1.17332711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:281.21, Y:16.93, Z:-117.34 [[ 9.99651143e-01 2.59683446e-03 2.62840050e-02 2.81210212e+02] [-2.55630134e-03 9.99995491e-01 -1.57560423e-03 1.69256956e+01] [-2.62879781e-02 1.50786474e-03 9.99653274e-01 -1.17336163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11591999999996 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:281.24, Y:16.93, Z:-117.34 [[ 9.99610616e-01 2.77177678e-03 2.77656955e-02 2.81243754e+02] [-2.63322744e-03 9.99983906e-01 -5.02526843e-03 1.69283848e+01] [-2.77791776e-02 4.95019827e-03 9.99601827e-01 -1.17337266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:281.27, Y:16.91, Z:-117.34 [[ 9.99777534e-01 4.03655998e-03 2.07023947e-02 2.81273218e+02] [-4.38273046e-03 9.99850885e-01 1.67032555e-02 1.69084374e+01] [-2.06318840e-02 -1.67902726e-02 9.99646143e-01 -1.17335678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17591999999996 meters Centerline goodness : 0.756943 Centerline is valid? [True, False] Translation: X:281.27, Y:16.91, Z:-117.34 [[ 9.99783835e-01 3.94316174e-03 2.04140945e-02 2.81274032e+02] [-4.28306388e-03 9.99852480e-01 1.66335073e-02 1.69089242e+01] [-2.03454944e-02 -1.67173466e-02 9.99653235e-01 -1.17336048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters Centerline goodness : 0.865638 Centerline is valid? [False, False] Translation: X:281.28, Y:16.91, Z:-117.34 [[ 9.99770841e-01 7.64225398e-03 1.99965487e-02 2.81275339e+02] [-8.07271348e-03 9.99735497e-01 2.15352645e-02 1.69056240e+01] [-1.98266816e-02 -2.16917559e-02 9.99568092e-01 -1.17336134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23591999999996 meters Centerline goodness : 0.781880 Centerline is valid? [False, False] Translation: X:281.28, Y:16.91, Z:-117.34 [[ 9.99796738e-01 3.51222574e-03 1.98531353e-02 2.81275705e+02] [-3.84819835e-03 9.99849609e-01 1.69101067e-02 1.69075187e+01] [-1.97907575e-02 -1.69830683e-02 9.99659893e-01 -1.17336292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters Centerline goodness : 0.995921 Centerline is valid? [False, True] Translation: X:281.30, Y:16.90, Z:-117.33 [[ 9.99992362e-01 3.75267089e-03 1.09280712e-03 2.81298055e+02] [-3.77858731e-03 9.99686111e-01 2.47669330e-02 1.69015918e+01] [-9.99521951e-04 -2.47708731e-02 9.99692655e-01 -1.17334919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29591999999997 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:281.33, Y:16.93, Z:-117.34 [[ 9.99957081e-01 4.79228255e-03 7.92901966e-03 2.81328016e+02] [-4.74239342e-03 9.99968917e-01 -6.29885071e-03 1.69304848e+01] [-7.95895908e-03 6.26097784e-03 9.99948726e-01 -1.17339060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:281.38, Y:16.90, Z:-117.38 [[ 9.99143074e-01 -3.27476825e-02 -2.53121910e-02 2.81377298e+02] [ 3.35677939e-02 9.98901872e-01 3.26841496e-02 1.68967687e+01] [ 2.42140648e-02 -3.35058161e-02 9.99145154e-01 -1.17377029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35591999999997 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:281.39, Y:16.95, Z:-117.34 [[ 9.99980842e-01 4.21024912e-03 4.53751876e-03 2.81385885e+02] [-4.09476999e-03 9.99674913e-01 -2.51654870e-02 1.69459410e+01] [-4.64199664e-03 2.51464248e-02 9.99673001e-01 -1.17340272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:281.42, Y:16.99, Z:-117.35 [[ 9.98980329e-01 3.47973578e-03 4.50132505e-02 2.81422673e+02] [ 5.97096534e-06 9.97015126e-01 -7.72064680e-02 1.69927836e+01] [-4.51475497e-02 7.71280116e-02 9.95998478e-01 -1.17347937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41591999999997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:281.45, Y:16.88, Z:-117.35 [[ 9.99867825e-01 1.06906051e-02 -1.22491986e-02 2.81447105e+02] [-1.01218797e-02 9.98909104e-01 4.55867258e-02 1.68790649e+01] [ 1.27231857e-02 -4.54567155e-02 9.98885282e-01 -1.17349731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:281.47, Y:16.85, Z:-117.36 [[ 9.99295906e-01 3.65752781e-02 -8.36310414e-03 2.81470066e+02] [-3.58772982e-02 9.96742317e-01 7.22327754e-02 1.68517836e+01] [ 1.09777936e-02 -7.18818711e-02 9.97352738e-01 -1.17361479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:281.52, Y:16.99, Z:-117.38 [[ 9.99670459e-01 2.48706571e-02 6.35794855e-03 2.81517045e+02] [-2.43617509e-02 9.97219336e-01 -7.04279811e-02 1.69856504e+01] [-8.09185940e-03 7.02498814e-02 9.97496604e-01 -1.17383671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:281.55, Y:16.92, Z:-117.37 [[ 9.99641674e-01 2.23865122e-02 -1.46754172e-02 2.81549632e+02] [-2.23912335e-02 9.99749273e-01 -1.57464951e-04 1.69187883e+01] [ 1.46682126e-02 4.86009221e-04 9.99892298e-01 -1.17373422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:281.58, Y:16.89, Z:-117.34 [[ 9.99995359e-01 2.18749983e-03 -2.12060325e-03 2.81580501e+02] [-2.13102334e-03 9.99652393e-01 2.62783653e-02 1.68914554e+01] [ 2.17735003e-03 -2.62737243e-02 9.99652415e-01 -1.17341505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:16.94, Z:-117.37 [[ 9.99829879e-01 6.92620105e-03 -1.70950229e-02 2.81607706e+02] [-7.38634644e-03 9.99608085e-01 -2.70022044e-02 1.69432754e+01] [ 1.69013004e-02 2.71238805e-02 9.99489190e-01 -1.17374476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:281.64, Y:16.89, Z:-117.34 [[ 9.99969350e-01 7.72351829e-03 -1.28346084e-03 2.81637487e+02] [-7.68402987e-03 9.99568423e-01 2.83535298e-02 1.68892273e+01] [ 1.50189593e-03 -2.83427986e-02 9.99597134e-01 -1.17340207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters Centerline goodness : 0.909263 Centerline is valid? [True, False] Translation: X:281.66, Y:16.90, Z:-117.34 [[ 9.99948454e-01 5.91487868e-03 -8.25250127e-03 2.81661749e+02] [-5.78584209e-03 9.99861989e-01 1.55732804e-02 1.69011110e+01] [ 8.34347640e-03 -1.55247300e-02 9.99844673e-01 -1.17337408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65592 meters Centerline goodness : 0.999106 Centerline is valid? [False, True] Translation: X:281.66, Y:16.91, Z:-117.34 [[ 9.99964004e-01 1.82233720e-03 -8.28672056e-03 2.81661790e+02] [-1.73451664e-03 9.99942392e-01 1.05926124e-02 1.69050926e+01] [ 8.30554649e-03 -1.05778577e-02 9.99909559e-01 -1.17337730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:281.69, Y:16.93, Z:-117.34 [[ 9.99967326e-01 7.70791749e-03 2.43616288e-03 2.81688551e+02] [-7.68989802e-03 9.99943629e-01 -7.32144273e-03 1.69272739e+01] [-2.49245863e-03 7.30246967e-03 9.99970230e-01 -1.17339863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:281.72, Y:16.92, Z:-117.34 [[ 9.99931920e-01 1.15447081e-02 1.69580190e-03 2.81720184e+02] [-1.15451486e-02 9.99933321e-01 2.50196610e-04 1.69237289e+01] [-1.69280038e-03 -2.69757861e-04 9.99998531e-01 -1.17338157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters Centerline goodness : 0.956159 Centerline is valid? [True, True] Translation: X:281.71, Y:16.92, Z:-117.37 [[ 9.99835465e-01 9.60800350e-03 -1.53860078e-02 2.81709059e+02] [-9.85342430e-03 9.99824153e-01 -1.59553477e-02 1.69227087e+01] [ 1.52300032e-02 1.61043273e-02 9.99754319e-01 -1.17366580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.77592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:281.77, Y:16.94, Z:-117.34 [[ 9.99609569e-01 2.43653474e-02 1.36762233e-02 2.81768758e+02] [-2.42353550e-02 9.99660267e-01 -9.59160675e-03 1.69437086e+01] [-1.39052799e-02 9.25641377e-03 9.99860471e-01 -1.17339383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:281.78, Y:16.90, Z:-117.35 [[ 9.99564613e-01 1.87252151e-02 -2.28024432e-02 2.81775923e+02] [-1.78894133e-02 9.99179996e-01 3.63222381e-02 1.68986684e+01] [ 2.34638868e-02 -3.58985015e-02 9.99079949e-01 -1.17349821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83592 meters Centerline goodness : 0.859696 Centerline is valid? [True, False] Translation: X:281.75, Y:16.92, Z:-117.35 [[ 9.99888801e-01 1.47425230e-02 -2.24597541e-03 2.81750323e+02] [-1.46887245e-02 9.99642635e-01 2.23348162e-02 1.69193845e+01] [ 2.57444432e-03 -2.22993421e-02 9.99748024e-01 -1.17351903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:281.75, Y:16.93, Z:-117.35 [[ 9.99976155e-01 6.56642652e-03 -2.13816230e-03 2.81749885e+02] [-6.54159293e-03 9.99913376e-01 1.14213789e-02 1.69310163e+01] [ 2.21297473e-03 -1.14071195e-02 9.99932488e-01 -1.17352277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:281.78, Y:16.88, Z:-117.34 [[ 9.99490894e-01 2.16570479e-03 -3.18317777e-02 2.81777708e+02] [ 2.95281630e-04 9.97022936e-01 7.71049820e-02 1.68781431e+01] [ 3.19039991e-02 -7.70751267e-02 9.96514706e-01 -1.17344919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:281.80, Y:16.96, Z:-117.35 [[ 9.99692797e-01 3.36687926e-03 -2.45555558e-02 2.81796780e+02] [-3.48242704e-03 9.99983058e-01 -4.66432173e-03 1.69611631e+01] [ 2.45394356e-02 4.74840177e-03 9.99687586e-01 -1.17347437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:281.83, Y:16.94, Z:-117.35 [[ 9.99701707e-01 5.33201517e-03 -2.38341280e-02 2.81826040e+02] [-4.61442865e-03 9.99537391e-01 3.00617806e-02 1.69409359e+01] [ 2.39833920e-02 -2.99428325e-02 9.99263841e-01 -1.17345422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:281.85, Y:17.01, Z:-117.35 [[ 9.99819664e-01 3.78097352e-03 -1.86102973e-02 2.81854603e+02] [-4.48502747e-03 9.99270096e-01 -3.79362496e-02 1.70104260e+01] [ 1.84532777e-02 3.80128760e-02 9.99106850e-01 -1.17347896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:281.88, Y:17.05, Z:-117.35 [[ 9.99649042e-01 5.51012941e-03 2.59119956e-02 2.81884770e+02] [-3.55659185e-03 9.97189086e-01 -7.48416796e-02 1.70513626e+01] [-2.62515465e-02 7.47232549e-02 9.96858712e-01 -1.17346783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:281.92, Y:16.99, Z:-117.35 [[ 9.99776447e-01 2.84800256e-03 2.09509998e-02 2.81920749e+02] [-2.86728166e-03 9.99995493e-01 8.90217511e-04 1.69935776e+01] [-2.09483700e-02 -9.50090918e-04 9.99780107e-01 -1.17349476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07592 meters Centerline goodness : 0.907345 Centerline is valid? [True, False] Translation: X:281.92, Y:17.00, Z:-117.35 [[ 9.99778845e-01 2.92851513e-03 2.08251009e-02 2.81921133e+02] [-2.92016903e-03 9.99995643e-01 -4.31169612e-04 1.69995175e+01] [-2.08262729e-02 3.70261442e-04 9.99783041e-01 -1.17349457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [False, True] Translation: X:281.94, Y:17.00, Z:-117.35 [[ 9.99864147e-01 -8.46674483e-04 1.64612085e-02 2.81944357e+02] [ 7.78179245e-04 9.99991015e-01 4.16696922e-03 1.70035538e+01] [-1.64645887e-02 -4.15359335e-03 9.99855822e-01 -1.17347051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:281.98, Y:17.07, Z:-117.35 [[ 9.97697775e-01 1.50349099e-03 6.78003587e-02 2.81975056e+02] [ 2.84558191e-03 9.97945643e-01 -6.40030983e-02 1.70731179e+01] [-6.77573006e-02 6.40486803e-02 9.95643869e-01 -1.17346179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:282.01, Y:17.02, Z:-117.35 [[ 9.97742002e-01 -2.52272937e-03 6.71158258e-02 2.82010330e+02] [ 2.36699682e-03 9.99994319e-01 2.39977525e-03 1.70165498e+01] [-6.71214985e-02 -2.23549362e-03 9.97742305e-01 -1.17350849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:282.04, Y:16.94, Z:-117.35 [[ 9.99914436e-01 -1.08638158e-02 7.28683189e-03 2.82041253e+02] [ 1.01374542e-02 9.95592981e-01 9.32300803e-02 1.69372447e+01] [-8.26755311e-03 -9.31482333e-02 9.95617926e-01 -1.17348235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:282.07, Y:17.02, Z:-117.35 [[ 9.99885013e-01 -6.68047252e-03 1.36136359e-02 2.82070112e+02] [ 6.64677982e-03 9.99974738e-01 2.51866767e-03 1.70231102e+01] [-1.36301179e-02 -2.42789122e-03 9.99904158e-01 -1.17350009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25591999999995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:282.10, Y:17.11, Z:-117.35 [[ 9.97297285e-01 -2.06552063e-03 7.34428964e-02 2.82098549e+02] [ 8.53235126e-03 9.96097325e-01 -8.78482671e-02 1.71122647e+01] [-7.29748202e-02 8.82374788e-02 9.93422782e-01 -1.17347706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:282.13, Y:17.03, Z:-117.35 [[ 9.97459779e-01 -1.07845088e-02 7.04108144e-02 2.82134188e+02] [ 1.06404369e-02 9.99940458e-01 2.42091775e-03 1.70332519e+01] [-7.04327305e-02 -1.66556625e-03 9.97515141e-01 -1.17354962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:282.17, Y:17.00, Z:-117.35 [[ 9.99374503e-01 -1.52755900e-02 3.18945125e-02 2.82166917e+02] [ 1.38986168e-02 9.98980247e-01 4.29568997e-02 1.69967256e+01] [-3.25181800e-02 -4.24867406e-02 9.98567697e-01 -1.17353122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:282.20, Y:17.04, Z:-117.35 [[ 9.99353107e-01 -1.67364447e-02 3.18317290e-02 2.82196132e+02] [ 1.66600323e-02 9.99857662e-01 2.66424427e-03 1.70354221e+01] [-3.18717882e-02 -2.13220316e-03 9.99489691e-01 -1.17354996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37591999999995 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:282.23, Y:17.03, Z:-117.35 [[ 9.99313225e-01 -2.11488298e-02 3.04270483e-02 2.82227753e+02] [ 2.08489122e-02 9.99731208e-01 1.01406983e-02 1.70279856e+01] [-3.06333336e-02 -9.49936307e-03 9.99485548e-01 -1.17354448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:282.26, Y:17.05, Z:-117.36 [[ 9.98966478e-01 -2.63099296e-02 3.70643221e-02 2.82256744e+02] [ 2.69938992e-02 9.99472163e-01 -1.80755551e-02 1.70526439e+01] [-3.65691916e-02 1.90573842e-02 9.99149393e-01 -1.17355682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:282.29, Y:17.04, Z:-117.36 [[ 9.98893160e-01 -2.92636254e-02 3.68251935e-02 2.82289553e+02] [ 2.92840001e-02 9.99571132e-01 -1.39103853e-05 1.70350366e+01] [-3.68089933e-02 1.09228396e-03 9.99321722e-01 -1.17356795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:282.32, Y:17.03, Z:-117.36 [[ 9.98919274e-01 -2.82892786e-02 3.68781763e-02 2.82320474e+02] [ 2.82679255e-02 9.99599777e-01 1.10040463e-03 1.70346101e+01] [-3.68945464e-02 -5.67458582e-05 9.99319163e-01 -1.17357308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49591999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:282.35, Y:17.03, Z:-117.36 [[ 9.98918377e-01 -2.75072100e-02 3.74890502e-02 2.82352499e+02] [ 2.73122021e-02 9.99610678e-01 5.70407178e-03 1.70318261e+01] [-3.76313580e-02 -4.67399362e-03 9.99280759e-01 -1.17357588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters Centerline goodness : 0.823600 Centerline is valid? [True, False] Translation: X:282.36, Y:17.04, Z:-117.36 [[ 9.99382366e-01 -1.78866064e-02 3.02482422e-02 2.82357746e+02] [ 1.80610624e-02 9.99821736e-01 -5.50410227e-03 1.70425156e+01] [-3.01444003e-02 6.04701814e-03 9.99527263e-01 -1.17357666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55591999999996 meters Centerline goodness : 0.826443 Centerline is valid? [False, False] Translation: X:282.36, Y:17.05, Z:-117.36 [[ 9.99706939e-01 -6.73334865e-03 2.32529312e-02 2.82361198e+02] [ 7.06814274e-03 9.99872110e-01 -1.43458821e-02 1.70514138e+01] [-2.31533616e-02 1.45060329e-02 9.99626679e-01 -1.17356463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:282.36, Y:17.05, Z:-117.36 [[ 9.99729767e-01 -2.78382096e-03 2.30790739e-02 2.82361630e+02] [ 2.99174398e-03 9.99955208e-01 -8.97953071e-03 1.70460307e+01] [-2.30530427e-02 9.04615083e-03 9.99693315e-01 -1.17356733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61591999999996 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:282.39, Y:17.00, Z:-117.35 [[ 9.99892625e-01 -1.64158220e-03 -1.45616886e-02 2.82392724e+02] [ 2.21394978e-03 9.99221941e-01 3.93777891e-02 1.70010295e+01] [ 1.44857169e-02 -3.94057997e-02 9.99118285e-01 -1.17354233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:282.42, Y:17.07, Z:-117.35 [[ 9.99659113e-01 -1.46952372e-03 2.60671919e-02 2.82421695e+02] [ 2.45778492e-03 9.99277731e-01 -3.79206461e-02 1.70726608e+01] [-2.59926391e-02 3.79717870e-02 9.98940702e-01 -1.17353751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:282.45, Y:16.97, Z:-117.35 [[ 9.99691483e-01 6.90931030e-04 -2.48286519e-02 2.82452230e+02] [ 1.16848946e-03 9.97198050e-01 7.47976187e-02 1.69694081e+01] [ 2.48107633e-02 -7.48035543e-02 9.96889590e-01 -1.17350503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:282.48, Y:17.02, Z:-117.35 [[ 9.99767881e-01 1.84073910e-03 -2.14661456e-02 2.82478674e+02] [-1.50028181e-03 9.99873009e-01 1.58655300e-02 1.70247855e+01] [ 2.14926238e-02 -1.58296421e-02 9.99643681e-01 -1.17351901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73591999999996 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:282.51, Y:17.07, Z:-117.35 [[ 9.99872382e-01 7.47391778e-03 -1.41195296e-02 2.82507918e+02] [-7.91971222e-03 9.99463340e-01 -3.17853853e-02 1.70720945e+01] [ 1.38743908e-02 3.18931515e-02 9.99394981e-01 -1.17350106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:282.51, Y:16.99, Z:-117.36 [[ 9.97890926e-01 -6.46860497e-02 5.42350472e-03 2.82512753e+02] [ 6.45592157e-02 9.97693318e-01 2.09797920e-02 1.69932114e+01] [-6.76809428e-03 -2.05854068e-02 9.99765189e-01 -1.17364856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79591999999997 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:282.56, Y:17.08, Z:-117.35 [[ 9.99879345e-01 1.50586708e-02 -3.81203317e-03 2.82562622e+02] [-1.51723676e-02 9.99379147e-01 -3.17980970e-02 1.70764248e+01] [ 3.33082939e-03 3.18520979e-02 9.99487043e-01 -1.17349453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:282.59, Y:17.04, Z:-117.35 [[ 9.99822703e-01 1.70385471e-02 -8.01569731e-03 2.82589949e+02] [-1.69058033e-02 9.99723453e-01 1.63465801e-02 1.70358618e+01] [ 8.29200258e-03 -1.62081701e-02 9.99834255e-01 -1.17350946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85591999999997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:282.62, Y:17.05, Z:-117.35 [[ 9.99833626e-01 1.70675476e-02 -6.43574115e-03 2.82617238e+02] [-1.70143081e-02 9.99821305e-01 8.23843343e-03 1.70493648e+01] [ 6.57520097e-03 -8.12756309e-03 9.99945353e-01 -1.17352835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:282.64, Y:17.04, Z:-117.35 [[ 9.99822615e-01 1.60284046e-02 -9.89088471e-03 2.82644029e+02] [-1.58049296e-02 9.99626989e-01 2.22730073e-02 1.70399241e+01] [ 1.02441961e-02 -2.21127316e-02 9.99702998e-01 -1.17352497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91591999999997 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:282.67, Y:17.10, Z:-117.35 [[ 9.99850924e-01 1.72664020e-02 3.63828929e-05 2.82673744e+02] [-1.72542159e-02 9.99220103e-01 -3.55173003e-02 1.70983899e+01] [-6.49610503e-04 3.55113778e-02 9.99369061e-01 -1.17347209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:282.70, Y:17.06, Z:-117.35 [[ 9.99889103e-01 1.43703193e-02 -3.90831041e-03 2.82700654e+02] [-1.43302566e-02 9.99846381e-01 1.00924339e-02 1.70597615e+01] [ 4.05274152e-03 -1.00353076e-02 9.99941432e-01 -1.17348733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:282.73, Y:17.08, Z:-117.35 [[ 9.99924645e-01 1.22251936e-02 -1.11722283e-03 2.82728290e+02] [-1.22284828e-02 9.99920770e-01 -2.98629574e-03 1.70787947e+01] [ 1.08062626e-03 2.99973265e-03 9.99994917e-01 -1.17347842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:282.76, Y:17.07, Z:-117.35 [[ 9.99945308e-01 9.63153849e-03 -4.07611173e-03 2.82755926e+02] [-9.58798466e-03 9.99898135e-01 1.05730931e-02 1.70688292e+01] [ 4.17753167e-03 -1.05334331e-02 9.99935795e-01 -1.17347745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:282.78, Y:17.01, Z:-117.35 [[ 9.99935846e-01 4.73877988e-04 -1.13172064e-02 2.82777491e+02] [ 4.31390411e-04 9.96806455e-01 7.98542805e-02 1.70075653e+01] [ 1.13189056e-02 -7.98540397e-02 9.96742301e-01 -1.17349642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:282.81, Y:17.22, Z:-117.33 [[ 9.98179082e-01 9.39288291e-03 5.95843427e-02 2.82807109e+02] [-3.11749211e-04 9.88591807e-01 -1.50619192e-01 1.72238591e+01] [-6.03193415e-02 1.50326351e-01 9.86794591e-01 -1.17329334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:282.83, Y:16.91, Z:-117.34 [[ 9.99928048e-01 -9.18496537e-03 -7.71591934e-03 2.82833235e+02] [ 1.04890938e-02 9.81558835e-01 1.90872292e-01 1.69061591e+01] [ 5.82047341e-03 -1.90939491e-01 9.81584552e-01 -1.17343782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:282.87, Y:17.06, Z:-117.35 [[ 9.99924478e-01 -5.39912934e-03 -1.10402670e-02 2.82865417e+02] [ 5.74565946e-03 9.99484054e-01 3.16008530e-02 1.70601357e+01] [ 1.08639538e-02 -3.16619000e-02 9.99439592e-01 -1.17347327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:282.89, Y:17.14, Z:-117.34 [[ 9.99996866e-01 -2.49008964e-03 -2.60825880e-04 2.82891342e+02] [ 2.47248517e-03 9.98553326e-01 -5.37135137e-02 1.71419407e+01] [ 3.94200014e-04 5.37127005e-02 9.98556353e-01 -1.17339085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:282.92, Y:17.22, Z:-117.33 [[ 9.97681198e-01 2.73440619e-03 6.80055131e-02 2.82918803e+02] [ 6.33702591e-03 9.91119988e-01 -1.32819470e-01 1.72193070e+01] [-6.77648057e-02 1.32942441e-01 9.88804449e-01 -1.17330610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:282.95, Y:17.10, Z:-117.35 [[ 9.97749840e-01 -3.19340850e-03 6.69705801e-02 2.82951696e+02] [ 3.15658659e-03 9.99994803e-01 6.55633187e-04 1.70983951e+01] [-6.69723258e-02 -4.42759472e-04 9.97754735e-01 -1.17352621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:282.98, Y:16.91, Z:-117.35 [[ 9.99879007e-01 -1.50488171e-02 -3.93768494e-03 2.82979285e+02] [ 1.55349892e-02 9.79021842e-01 2.03162241e-01 1.69084384e+01] [ 7.97728147e-04 -2.03198832e-01 9.79137170e-01 -1.17347834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.27592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:283.01, Y:17.28, Z:-117.32 [[ 9.97157722e-01 9.30602230e-03 7.47654671e-02 2.83011289e+02] [ 5.34794578e-03 9.81096942e-01 -1.93442989e-01 1.72838467e+01] [-7.51523559e-02 1.93293012e-01 9.78258624e-01 -1.17317265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:283.04, Y:17.10, Z:-117.35 [[ 9.98062347e-01 -3.84739733e-03 6.21027287e-02 2.83041583e+02] [ 3.21543844e-03 9.99942064e-01 1.02727595e-02 1.70974782e+01] [-6.21386541e-02 -1.00531670e-02 9.98016894e-01 -1.17354486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33592 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:283.07, Y:17.04, Z:-117.35 [[ 9.99856493e-01 -9.49562901e-03 1.40294787e-02 2.83071284e+02] [ 8.44937157e-03 9.97307852e-01 7.28399367e-02 1.70401464e+01] [-1.46833703e-02 -7.27109434e-02 9.97244964e-01 -1.17352717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:283.10, Y:17.18, Z:-117.34 [[ 9.96788774e-01 -8.21186862e-04 8.00716275e-02 2.83104613e+02] [ 7.00186044e-03 9.97011204e-01 -7.69391553e-02 1.71828241e+01] [-7.97691283e-02 7.72527366e-02 9.93815325e-01 -1.17343454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:283.13, Y:17.02, Z:-117.36 [[ 9.99853657e-01 -1.07690532e-02 1.32925594e-02 2.83132661e+02] [ 9.44548258e-03 9.95345626e-01 9.59055106e-02 1.70244446e+01] [-1.42635024e-02 -9.57659208e-02 9.95301683e-01 -1.17355324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:283.16, Y:17.12, Z:-117.35 [[ 9.99811007e-01 -1.78164207e-03 1.93591460e-02 2.83164720e+02] [ 1.87061720e-03 9.99987767e-01 -4.57888966e-03 1.71229692e+01] [-1.93507512e-02 4.61423783e-03 9.99802109e-01 -1.17348598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45592 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:283.20, Y:17.13, Z:-117.35 [[ 9.99634644e-01 1.15913022e-03 2.70043454e-02 2.83195668e+02] [-9.72016537e-04 9.99975438e-01 -6.94111773e-03 1.71280041e+01] [-2.70117278e-02 6.91233309e-03 9.99611218e-01 -1.17349069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:283.22, Y:17.13, Z:-117.35 [[ 9.99442710e-01 4.63213108e-03 3.30577097e-02 2.83224692e+02] [-4.43141560e-03 9.99971317e-01 -6.14235515e-03 1.71306285e+01] [-3.30852137e-02 5.99243962e-03 9.99434570e-01 -1.17350401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:283.25, Y:17.11, Z:-117.35 [[ 9.99481664e-01 9.32556064e-03 3.08129476e-02 2.83254411e+02] [-9.90608411e-03 9.99775285e-01 1.87416143e-02 1.71142180e+01] [-3.06312474e-02 -1.90371354e-02 9.99349445e-01 -1.17353939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:283.28, Y:17.10, Z:-117.36 [[ 9.99721763e-01 1.04550927e-02 2.11444322e-02 2.83283211e+02] [-1.12011456e-02 9.99307662e-01 3.54785987e-02 1.71021637e+01] [-2.07588610e-02 -3.57055691e-02 9.99146727e-01 -1.17355580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57592 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:283.31, Y:17.19, Z:-117.35 [[ 9.98758616e-01 2.05604263e-02 4.53706561e-02 2.83312901e+02] [-1.80341934e-02 9.98301169e-01 -5.54034662e-02 1.71903144e+01] [-4.64326979e-02 5.45164660e-02 9.97432684e-01 -1.17346035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:283.34, Y:17.15, Z:-117.35 [[ 9.98469585e-01 1.81960296e-02 5.22244325e-02 2.83342625e+02] [-1.78966973e-02 9.99820658e-01 -6.19361920e-03 1.71524448e+01] [-5.23277657e-02 5.24949553e-03 9.98616166e-01 -1.17354680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:283.37, Y:17.05, Z:-117.36 [[ 9.98553785e-01 9.19699349e-03 5.29693605e-02 2.83365631e+02] [-1.46128262e-02 9.94596370e-01 1.02783883e-01 1.70540437e+01] [-5.17378310e-02 -1.03409268e-01 9.93292364e-01 -1.17364474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters Centerline goodness : 0.915955 Centerline is valid? [True, False] Translation: X:283.33, Y:17.12, Z:-117.36 [[ 9.98365791e-01 1.04578422e-02 5.61816777e-02 2.83328199e+02] [-1.27530863e-02 9.99091974e-01 4.06520230e-02 1.71179038e+01] [-5.57055308e-02 -4.13020788e-02 9.97592618e-01 -1.17356972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69592 meters Centerline goodness : 0.998558 Centerline is valid? [False, True] Translation: X:283.33, Y:17.15, Z:-117.35 [[ 9.99048815e-01 1.25794556e-02 4.17519269e-02 2.83328859e+02] [-1.27075428e-02 9.99915325e-01 2.80382677e-03 1.71530530e+01] [-4.17131209e-02 -3.33172421e-03 9.99124074e-01 -1.17351554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:283.36, Y:17.15, Z:-117.35 [[ 9.99178848e-01 6.17659428e-03 4.00434671e-02 2.83357880e+02] [-6.53805012e-03 9.99939003e-01 8.90192302e-03 1.71489491e+01] [-3.99860410e-02 -9.15641939e-03 9.99158284e-01 -1.17353254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75591999999995 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:283.39, Y:17.16, Z:-117.35 [[ 9.99164206e-01 2.45261256e-03 4.08028635e-02 2.83387443e+02] [-2.17157182e-03 9.99973625e-01 -6.93066632e-03 1.71636462e+01] [-4.08187855e-02 6.83626736e-03 9.99143179e-01 -1.17352818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:283.42, Y:17.15, Z:-117.36 [[ 9.99425668e-01 -2.19097775e-03 3.38161711e-02 2.83416120e+02] [ 1.81464228e-03 9.99936128e-01 1.11555426e-02 1.71462873e+01] [-3.38384527e-02 -1.10877714e-02 9.99365809e-01 -1.17357263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81591999999995 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:283.45, Y:17.19, Z:-117.35 [[ 9.98920704e-01 -7.79145704e-03 4.57899504e-02 2.83445974e+02] [ 9.40292863e-03 9.99340155e-01 -3.50833358e-02 1.71877074e+01] [-4.54863858e-02 3.54760301e-02 9.98334834e-01 -1.17353462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:283.48, Y:17.15, Z:-117.36 [[ 9.98802302e-01 -1.27995043e-02 4.72243001e-02 2.83478381e+02] [ 1.28076889e-02 9.99917970e-01 1.29281825e-04 1.71547381e+01] [-4.72220811e-02 4.75707159e-04 9.98884302e-01 -1.17361478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87591999999995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:283.51, Y:17.15, Z:-117.36 [[ 9.98618623e-01 -1.76634335e-02 4.94858394e-02 2.83509653e+02] [ 1.78578983e-02 9.99834443e-01 -3.49030543e-03 1.71539447e+01] [-4.94159958e-02 4.36919709e-03 9.98768727e-01 -1.17362056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:283.54, Y:17.15, Z:-117.36 [[ 9.98501184e-01 -1.84383369e-02 5.15306982e-02 2.83541203e+02] [ 1.87628254e-02 9.99807022e-01 -5.82031102e-03 1.71534825e+01] [-5.14134370e-02 6.77844894e-03 9.98654450e-01 -1.17362433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93591999999995 meters Centerline goodness : 0.880425 Centerline is valid? [True, False] Translation: X:283.54, Y:17.15, Z:-117.36 [[ 9.98511698e-01 -1.85806254e-02 5.12752312e-02 2.83541909e+02] [ 1.88418810e-02 9.99811818e-01 -4.61645337e-03 1.71480208e+01] [-5.11798056e-02 5.57570449e-03 9.98673890e-01 -1.17363128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters Centerline goodness : 0.998859 Centerline is valid? [False, True] Translation: X:283.54, Y:17.15, Z:-117.36 [[ 9.98521210e-01 -1.86402303e-02 5.10679522e-02 2.83542487e+02] [ 1.88721572e-02 9.99813649e-01 -4.06306775e-03 1.71454484e+01] [-5.09826992e-02 5.02082174e-03 9.98686916e-01 -1.17363576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99591999999996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:283.57, Y:17.15, Z:-117.36 [[ 9.98573519e-01 -1.82803488e-02 5.01672883e-02 2.83573704e+02] [ 1.86571896e-02 9.99801058e-01 -7.05366825e-03 1.71456026e+01] [-5.00283644e-02 7.97958694e-03 9.98715920e-01 -1.17364819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:283.60, Y:17.10, Z:-117.37 [[ 9.99394532e-01 -2.07840422e-02 2.79032629e-02 2.83603247e+02] [ 1.98033810e-02 9.99192034e-01 3.49729275e-02 1.71000368e+01] [-2.86075968e-02 -3.43991735e-02 9.98998650e-01 -1.17369058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05591999999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:283.64, Y:17.17, Z:-117.36 [[ 9.96865091e-01 -1.48181160e-02 7.77201001e-02 2.83638398e+02] [ 1.85623877e-02 9.98690297e-01 -4.76773399e-02 1.71746073e+01] [-7.69118215e-02 4.89705464e-02 9.95834553e-01 -1.17362999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:283.67, Y:17.13, Z:-117.37 [[ 9.96788303e-01 -1.55483678e-02 7.85577983e-02 2.83671154e+02] [ 1.56137900e-02 9.99878073e-01 -2.18581011e-04 1.71263488e+01] [-7.85448214e-02 1.44446396e-03 9.96909537e-01 -1.17371394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11591999999996 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:283.70, Y:17.13, Z:-117.37 [[ 9.96796049e-01 -1.50442421e-02 7.85576691e-02 2.83704653e+02] [ 1.51112375e-02 9.99885785e-01 -2.58382831e-04 1.71265868e+01] [-7.85448095e-02 1.44465858e-03 9.96909537e-01 -1.17373585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:283.73, Y:17.08, Z:-117.38 [[ 9.99254464e-01 -1.50507559e-02 3.55526634e-02 2.83733895e+02] [ 1.34315559e-02 9.98880788e-01 4.53515600e-02 1.70815411e+01] [-3.61954477e-02 -4.48402211e-02 9.98338241e-01 -1.17376887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17591999999996 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:283.77, Y:17.16, Z:-117.37 [[ 9.96586807e-01 -8.22398825e-03 8.21407421e-02 2.83767245e+02] [ 1.19084994e-02 9.98939858e-01 -4.44673822e-02 1.71595958e+01] [-8.16879620e-02 4.52937794e-02 9.95628219e-01 -1.17369970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:283.80, Y:17.12, Z:-117.38 [[ 9.96541600e-01 -9.74381249e-03 8.25221005e-02 2.83799815e+02] [ 9.80654905e-03 9.99951852e-01 -3.54944215e-04 1.71162260e+01] [-8.25146687e-02 1.16297370e-03 9.96589172e-01 -1.17376847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23591999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:283.83, Y:17.08, Z:-117.38 [[ 9.99158757e-01 -9.26873712e-03 3.99483339e-02 2.83830206e+02] [ 7.67339570e-03 9.99174011e-01 3.99050620e-02 1.70766665e+01] [-4.02852065e-02 -3.95649528e-02 9.98404586e-01 -1.17380769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:283.86, Y:17.11, Z:-117.38 [[ 9.98993575e-01 -2.49386918e-03 4.47841179e-02 2.83863706e+02] [ 2.81879996e-03 9.99970151e-01 -7.19380705e-03 1.71142640e+01] [-4.47648407e-02 7.31280450e-03 9.98970786e-01 -1.17379545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29591999999997 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:283.90, Y:17.13, Z:-117.38 [[ 9.96254473e-01 -1.54704862e-04 8.64696589e-02 2.83895311e+02] [ 2.92184540e-03 9.99487572e-01 -3.18756428e-02 1.71345698e+01] [-8.64204181e-02 3.20089027e-02 9.95744416e-01 -1.17379007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters Centerline goodness : 0.890570 Centerline is valid? [True, False] Translation: X:283.93, Y:17.12, Z:-117.38 [[ 9.97842301e-01 -1.82897040e-04 6.56559944e-02 2.83925008e+02] [ 1.41793898e-03 9.99822922e-01 -1.87646969e-02 1.71209823e+01] [-6.56409362e-02 1.88173046e-02 9.97665864e-01 -1.17382001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35591999999997 meters Centerline goodness : 0.845688 Centerline is valid? [False, False] Translation: X:283.93, Y:17.12, Z:-117.38 [[ 9.97844131e-01 3.62936069e-03 6.55279926e-02 2.83925339e+02] [-2.73648858e-03 9.99902263e-01 -1.37104291e-02 1.71171476e+01] [-6.55713482e-02 1.35015546e-02 9.97756537e-01 -1.17382468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters Centerline goodness : 0.999255 Centerline is valid? [False, True] Translation: X:283.94, Y:17.12, Z:-117.38 [[ 9.98709319e-01 4.31120594e-03 5.06074137e-02 2.83937260e+02] [-3.64489512e-03 9.99905556e-01 -1.32511819e-02 1.71161021e+01] [-5.06597627e-02 1.30496201e-02 9.98630710e-01 -1.17383326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41591999999997 meters Centerline goodness : 0.949990 Centerline is valid? [True, False] Translation: X:283.95, Y:17.12, Z:-117.38 [[ 9.99318146e-01 4.22941103e-03 3.66790924e-02 2.83948385e+02] [-3.74832254e-03 9.99906180e-01 -1.31750123e-02 1.71155138e+01] [-3.67313738e-02 1.30285438e-02 9.99240243e-01 -1.17383834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters Centerline goodness : 0.999157 Centerline is valid? [False, True] Translation: X:283.96, Y:17.12, Z:-117.38 [[ 9.99765310e-01 3.24167236e-03 2.14199861e-02 2.83959344e+02] [-2.94901588e-03 9.99902072e-01 -1.36802670e-02 1.71172041e+01] [-2.14622355e-02 1.36138885e-02 9.99676965e-01 -1.17383555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:283.99, Y:17.01, Z:-117.39 [[ 9.99545895e-01 3.05094378e-03 -2.99782487e-02 2.83988070e+02] [-5.08318018e-05 9.95030429e-01 9.95712997e-02 1.70141920e+01] [ 3.01330561e-02 -9.95245600e-02 9.94578735e-01 -1.17386856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:284.02, Y:17.20, Z:-117.37 [[ 9.99628326e-01 4.16388073e-03 2.69420282e-02 2.84018128e+02] [-1.55289696e-03 9.95359326e-01 -9.62153889e-02 1.71967601e+01] [-2.72176285e-02 9.61377899e-02 9.94995842e-01 -1.17371462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53592 meters Centerline goodness : 0.980202 Centerline is valid? [True, True] Translation: X:284.09, Y:16.97, Z:-117.40 [[ 9.99759876e-01 -2.14935450e-02 -4.26823665e-03 2.84092108e+02] [ 2.18564604e-02 9.92083782e-01 1.23661092e-01 1.69721587e+01] [ 1.57653312e-03 -1.23724686e-01 9.92315331e-01 -1.17404584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:284.07, Y:17.19, Z:-117.37 [[ 9.99728527e-01 3.29128050e-03 -2.30659815e-02 2.84069894e+02] [-5.32293141e-03 9.96054820e-01 -8.85802571e-02 1.71872642e+01] [ 2.26834396e-02 8.86789886e-02 9.95801937e-01 -1.17369313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:284.10, Y:17.17, Z:-117.37 [[ 9.99644832e-01 3.94707797e-04 2.66468338e-02 2.84098601e+02] [ 1.38786782e-03 9.97762427e-01 -6.68446958e-02 1.71697869e+01] [-2.66135937e-02 6.68579370e-02 9.97407506e-01 -1.17373639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:17.04, Z:-117.38 [[ 9.99835807e-01 -3.04048246e-03 -1.78637965e-02 2.84128306e+02] [ 4.38764768e-03 9.97108446e-01 7.58649771e-02 1.70386302e+01] [ 1.75814763e-02 -7.59309007e-02 9.96958068e-01 -1.17382988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65592 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:284.13, Y:17.14, Z:-117.39 [[ 9.99405623e-01 -8.04250166e-03 -3.35219088e-02 2.84129395e+02] [ 6.30335095e-03 9.98644447e-01 -5.16675600e-02 1.71402315e+01] [ 3.38920045e-02 5.14255497e-02 9.98101570e-01 -1.17390379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.18, Y:17.06, Z:-117.38 [[ 9.99866139e-01 2.97788189e-03 -1.60883758e-02 2.84180810e+02] [-2.00338585e-03 9.98181220e-01 6.02514581e-02 1.70559849e+01] [ 1.62385363e-02 -6.02111615e-02 9.98053569e-01 -1.17382185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.21, Y:17.07, Z:-117.38 [[ 9.99809362e-01 1.75883085e-04 -1.95245661e-02 2.84208921e+02] [ 7.82558102e-04 9.98795011e-01 4.90704919e-02 1.70670554e+01] [ 1.95096699e-02 -4.90764163e-02 9.98604465e-01 -1.17378763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.24, Y:17.17, Z:-117.37 [[ 9.99970677e-01 -2.51675311e-04 -7.65393890e-03 2.84238178e+02] [-2.42883860e-04 9.97914736e-01 -6.45454903e-02 1.71721959e+01] [ 7.65422292e-03 6.45454567e-02 9.97885413e-01 -1.17369266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.26, Y:17.10, Z:-117.38 [[ 9.99925746e-01 -3.55428372e-03 -1.16563091e-02 2.84263706e+02] [ 3.64981194e-03 9.99959846e-01 8.18440253e-03 1.71043467e+01] [ 1.16267514e-02 -8.22633814e-03 9.99898568e-01 -1.17377169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:284.29, Y:17.13, Z:-117.37 [[ 9.99948321e-01 -9.50516148e-03 -3.60664699e-03 2.84292080e+02] [ 9.43454532e-03 9.99772763e-01 -1.91157611e-02 1.71253022e+01] [ 3.78752582e-03 1.90807462e-02 9.99810772e-01 -1.17373641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:284.32, Y:17.11, Z:-117.37 [[ 9.99904563e-01 -1.37370363e-02 1.46942804e-03 2.84318560e+02] [ 1.37497753e-02 9.99864581e-01 -9.04236351e-03 1.71135397e+01] [-1.34501377e-03 9.06170484e-03 9.99958037e-01 -1.17373605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.35, Y:17.03, Z:-117.38 [[ 9.99813018e-01 -1.90105091e-02 3.53979729e-03 2.84345785e+02] [ 1.86746875e-02 9.96747788e-01 7.83907026e-02 1.70291445e+01] [-5.01853229e-03 -7.83099403e-02 9.96916430e-01 -1.17378337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:17.14, Z:-117.37 [[ 9.99806241e-01 -1.95510255e-02 2.28874913e-03 2.84376206e+02] [ 1.96267345e-02 9.99012940e-01 -3.98489260e-02 1.71363420e+01] [-1.50740263e-03 3.98861256e-02 9.99203095e-01 -1.17369514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.41, Y:17.11, Z:-117.37 [[ 9.99779515e-01 -2.09830491e-02 -7.95722329e-04 2.84405741e+02] [ 2.09651847e-02 9.99615824e-01 -1.81291544e-02 1.71127311e+01] [ 1.17582157e-03 1.81084747e-02 9.99835337e-01 -1.17370993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.44, Y:17.15, Z:-117.37 [[ 9.98090362e-01 -2.04805431e-02 5.82767221e-02 2.84436678e+02] [ 2.42521391e-02 9.97605769e-01 -6.47654540e-02 1.71502285e+01] [-5.68107625e-02 6.60551107e-02 9.96197400e-01 -1.17371387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:284.46, Y:17.00, Z:-117.37 [[ 9.99666715e-01 -2.49679832e-02 -6.56196879e-03 2.84462844e+02] [ 2.54567259e-02 9.95634575e-01 8.97983805e-02 1.70042748e+01] [ 4.29123854e-03 -8.99354982e-02 9.95938347e-01 -1.17374841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01592 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:284.49, Y:17.10, Z:-117.38 [[ 9.99162637e-01 3.09445657e-02 2.67667637e-02 2.84488601e+02] [-3.11140806e-02 9.99498190e-01 5.93980596e-03 1.70998596e+01] [-2.65695271e-02 -6.76765543e-03 9.99624059e-01 -1.17384094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:284.53, Y:17.10, Z:-117.39 [[ 9.98468779e-01 4.65605170e-02 2.98699870e-02 2.84529041e+02] [-4.66323818e-02 9.98910649e-01 1.71345868e-03 1.71047072e+01] [-2.97576686e-02 -3.10374364e-03 9.99552324e-01 -1.17387206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:284.55, Y:17.10, Z:-117.37 [[ 9.99679481e-01 -2.03573419e-02 1.50503693e-02 2.84550130e+02] [ 2.08346816e-02 9.99261987e-01 -3.22706852e-02 1.71005739e+01] [-1.43823165e-02 3.25739115e-02 9.99365844e-01 -1.17374363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters Centerline goodness : 0.930106 Centerline is valid? [True, False] Translation: X:284.55, Y:17.08, Z:-117.38 [[ 9.99855029e-01 -8.41908776e-03 1.48000309e-02 2.84550479e+02] [ 8.65283596e-03 9.99837710e-01 -1.58013263e-02 1.70824342e+01] [-1.46645962e-02 1.59270978e-02 9.99765611e-01 -1.17375453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:284.55, Y:17.07, Z:-117.38 [[ 9.99883211e-01 -4.45761350e-03 1.46182918e-02 2.84550910e+02] [ 4.59665036e-03 9.99944391e-01 -9.49138956e-03 1.70729522e+01] [-1.45751699e-02 9.55747625e-03 9.99848098e-01 -1.17376091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:284.59, Y:17.10, Z:-117.38 [[ 9.98120876e-01 1.40580264e-03 6.12596137e-02 2.84585259e+02] [ 1.10151568e-03 9.99163603e-01 -4.08764025e-02 1.70984360e+01] [-6.12658405e-02 4.08670691e-02 9.97284503e-01 -1.17378102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:284.61, Y:17.02, Z:-117.38 [[ 9.99833076e-01 3.33515378e-04 1.82676781e-02 2.84613765e+02] [-1.03935265e-03 9.99252550e-01 3.86427361e-02 1.70226814e+01] [-1.82411359e-02 -3.86552722e-02 9.99086098e-01 -1.17380857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.65, Y:17.05, Z:-117.38 [[ 9.99733798e-01 4.16757627e-03 2.26928330e-02 2.84646324e+02] [-4.31395212e-03 9.99970181e-01 6.40518238e-03 1.70509566e+01] [-2.26654623e-02 -6.50137310e-03 9.99721966e-01 -1.17380843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.68, Y:17.09, Z:-117.38 [[ 9.98850336e-01 1.17264383e-02 4.64811428e-02 2.84677341e+02] [-1.03138550e-02 9.99481106e-01 -3.05146531e-02 1.70861276e+01] [-4.68148522e-02 3.00001717e-02 9.98452983e-01 -1.17382947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.71, Y:17.00, Z:-117.38 [[ 9.99819393e-01 1.34224712e-02 1.34543096e-02 2.84706225e+02] [-1.42258891e-02 9.98004834e-01 6.15140230e-02 1.70024127e+01] [-1.26017959e-02 -6.16943126e-02 9.98015534e-01 -1.17383315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31591999999995 meters Centerline goodness : 0.943636 Centerline is valid? [True, False] Translation: X:284.71, Y:17.02, Z:-117.38 [[ 9.99919768e-01 1.15151020e-02 5.27826685e-03 2.84709811e+02] [-1.17021804e-02 9.99250423e-01 3.69005476e-02 1.70248247e+01] [-4.84939682e-03 -3.69593542e-02 9.99305003e-01 -1.17383049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:284.70, Y:17.05, Z:-117.38 [[ 9.99817087e-01 1.52743494e-02 1.15102781e-02 2.84696807e+02] [-1.54383699e-02 9.99778582e-01 1.42984094e-02 1.70476897e+01] [-1.12893306e-02 -1.44734940e-02 9.99831520e-01 -1.17382670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.73, Y:17.07, Z:-117.38 [[ 9.99626036e-01 2.04655426e-02 1.81369768e-02 2.84728425e+02] [-2.03470875e-02 9.99770582e-01 -6.69179995e-03 1.70742124e+01] [-1.82697671e-02 6.32026280e-03 9.99813117e-01 -1.17382552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.76, Y:17.07, Z:-117.38 [[ 9.99602615e-01 2.06292829e-02 1.92105435e-02 2.84758491e+02] [-2.06651718e-02 9.99785055e-01 1.67153387e-03 1.70685954e+01] [-1.91719318e-02 -2.06785881e-03 9.99814063e-01 -1.17383182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.79, Y:17.07, Z:-117.38 [[ 9.99645492e-01 1.99293998e-02 1.76553084e-02 2.84790332e+02] [-1.99546075e-02 9.99800102e-01 1.25273778e-03 1.70703573e+01] [-1.76268129e-02 -1.60459842e-03 9.99843348e-01 -1.17382570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.82, Y:17.09, Z:-117.38 [[ 9.99509789e-01 1.92162565e-02 2.47167346e-02 2.84820682e+02] [-1.87761485e-02 9.99663169e-01 -1.79165918e-02 1.70895496e+01] [-2.50526991e-02 1.74437238e-02 9.99533931e-01 -1.17383068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.85, Y:17.08, Z:-117.38 [[ 9.99556524e-01 1.34698667e-02 2.65578359e-02 2.84850894e+02] [-1.32628420e-02 9.99880392e-01 -7.95604703e-03 1.70825473e+01] [-2.66618262e-02 7.60028633e-03 9.99615617e-01 -1.17384561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:284.88, Y:17.08, Z:-117.39 [[ 9.99219979e-01 1.19232026e-02 3.76466678e-02 2.84882757e+02] [-1.15814484e-02 9.99889842e-01 -9.28301507e-03 1.70835591e+01] [-3.77532039e-02 8.83977118e-03 9.99247994e-01 -1.17388027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.91, Y:17.05, Z:-117.39 [[ 9.99798740e-01 5.89829269e-03 1.91752272e-02 2.84911922e+02] [-6.40866034e-03 9.99623898e-01 2.66644141e-02 1.70488743e+01] [-1.90107408e-02 -2.67819352e-02 9.99460514e-01 -1.17388204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters Centerline goodness : 0.966817 Centerline is valid? [True, True] Translation: X:284.97, Y:16.94, Z:-117.40 [[ 9.98088968e-01 -6.01633437e-02 1.40990444e-02 2.84972506e+02] [ 5.82098321e-02 9.91977691e-01 1.12213527e-01 1.69403383e+01] [-2.07370785e-02 -1.11178381e-01 9.93584089e-01 -1.17404423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.97, Y:17.18, Z:-117.38 [[ 9.99005939e-01 5.04824910e-03 4.42905171e-02 2.84970302e+02] [ 3.43710878e-04 9.92665001e-01 -1.20896972e-01 1.71778422e+01] [-4.45759643e-02 1.20792016e-01 9.91676496e-01 -1.17378486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.00, Y:17.07, Z:-117.39 [[ 9.98648300e-01 -2.50209406e-03 5.19164031e-02 2.85001936e+02] [ 3.07896130e-03 9.99934378e-01 -1.10344624e-02 1.70736608e+01] [-5.18853870e-02 1.11793957e-02 9.98590470e-01 -1.17392794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.03, Y:17.06, Z:-117.40 [[ 9.98588481e-01 -4.80865401e-03 5.28953954e-02 2.85034140e+02] [ 4.96150047e-03 9.99983887e-01 -2.75866536e-03 1.70638450e+01] [-5.28812776e-02 3.01721198e-03 9.98596248e-01 -1.17395205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:285.04, Y:17.04, Z:-117.40 [[ 9.98419523e-01 1.91923318e-02 5.28215034e-02 2.85042003e+02] [-2.08963222e-02 9.99272652e-01 3.18984427e-02 1.70398668e+01] [-5.21708783e-02 -3.29518031e-02 9.98094373e-01 -1.17404358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:285.09, Y:16.99, Z:-117.39 [[ 9.99847784e-01 -1.03110249e-02 1.40744956e-02 2.85092418e+02] [ 9.36424625e-03 9.97792003e-01 6.57527876e-02 1.69918997e+01] [-1.47213978e-02 -6.56109819e-02 9.97736678e-01 -1.17394185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:17.11, Z:-117.40 [[ 9.98575200e-01 -2.62784754e-03 5.32978846e-02 2.85125485e+02] [ 6.14801489e-03 9.97801272e-01 -6.59910913e-02 1.71113699e+01] [-5.30072825e-02 6.62247434e-02 9.96395760e-01 -1.17395069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.16, Y:17.05, Z:-117.40 [[ 9.97574299e-01 -3.57068417e-03 6.95181206e-02 2.85159836e+02] [ 4.24511038e-03 9.99945328e-01 -9.55612799e-03 1.70532778e+01] [-6.94801980e-02 9.82805977e-03 9.97534917e-01 -1.17397943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.19, Y:16.94, Z:-117.39 [[ 9.99845111e-01 -9.41247246e-03 1.48714379e-02 2.85185348e+02] [ 7.64000121e-03 9.93330920e-01 1.15044832e-01 1.69360393e+01] [-1.58551154e-02 -1.14913395e-01 9.93248975e-01 -1.17393905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:17.14, Z:-117.39 [[ 9.97408380e-01 4.31625147e-03 7.18184710e-02 2.85221782e+02] [ 3.80239101e-03 9.93641665e-01 -1.12524589e-01 1.71441671e+01] [-7.18475096e-02 1.12506050e-01 9.91050112e-01 -1.17388983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.25, Y:16.97, Z:-117.40 [[ 9.99731793e-01 -5.41102615e-03 2.25180500e-02 2.85246357e+02] [ 3.92355355e-03 9.97839310e-01 6.55844255e-02 1.69743477e+01] [-2.28242745e-02 -6.54784845e-02 9.97592913e-01 -1.17396082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:17.09, Z:-117.40 [[ 9.97170117e-01 5.37876357e-03 7.49855148e-02 2.85282562e+02] [-5.03964366e-04 9.97893091e-01 -6.48777676e-02 1.70920068e+01] [-7.51764894e-02 6.46563810e-02 9.95071881e-01 -1.17396357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:17.03, Z:-117.40 [[ 9.97058260e-01 4.95654038e-03 7.64869820e-02 2.85314235e+02] [-4.87488854e-03 9.99987331e-01 -1.25419647e-03 1.70289543e+01] [-7.64922295e-02 8.77641442e-04 9.97069791e-01 -1.17402042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.34, Y:16.94, Z:-117.40 [[ 9.99759772e-01 2.55088713e-03 2.17690549e-02 2.85341387e+02] [-4.48155035e-03 9.96012042e-01 8.91062779e-02 1.69435022e+01] [-2.14549408e-02 -8.91824312e-02 9.95784203e-01 -1.17398003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:285.37, Y:17.02, Z:-117.40 [[ 9.99734441e-01 9.07960030e-03 2.11803638e-02 2.85372693e+02] [-9.26049929e-03 9.99921345e-01 8.45849208e-03 1.70160743e+01] [-2.11018981e-02 -8.65238659e-03 9.99739889e-01 -1.17402596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:285.40, Y:17.02, Z:-117.40 [[ 9.99663829e-01 9.84196547e-03 2.39867710e-02 2.85401827e+02] [-9.82674779e-03 9.99951433e-01 -7.52212933e-04 1.70241330e+01] [-2.39930093e-02 5.16248112e-04 9.99711993e-01 -1.17403237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.43, Y:17.11, Z:-117.40 [[ 9.96327157e-01 1.87616785e-02 8.35475699e-02 2.85433916e+02] [-1.07993488e-02 9.95442124e-01 -9.47541702e-02 1.71080732e+01] [-8.49445176e-02 9.35038936e-02 9.91988634e-01 -1.17401645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.47, Y:17.02, Z:-117.41 [[ 9.96157462e-01 1.47863735e-02 8.63230819e-02 2.85465120e+02] [-1.47086135e-02 9.99890641e-01 -1.53680091e-03 1.70201023e+01] [-8.63363655e-02 2.61202846e-04 9.96266011e-01 -1.17409332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:285.49, Y:16.89, Z:-117.40 [[ 9.99606972e-01 7.44022566e-03 2.70285920e-02 2.85490962e+02] [-1.10005349e-02 9.90911387e-01 1.34065698e-01 1.68920492e+01] [-2.57854605e-02 -1.34310336e-01 9.90603777e-01 -1.17400764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.53, Y:17.14, Z:-117.40 [[ 9.95493192e-01 2.59002416e-02 9.12276387e-02 2.85528550e+02] [-1.37411959e-02 9.91224908e-01 -1.31470000e-01 1.71357770e+01] [-9.38322126e-02 1.29623913e-01 9.87113548e-01 -1.17401418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.56, Y:17.01, Z:-117.41 [[ 9.95350382e-01 1.78377703e-02 9.46542677e-02 2.85558347e+02] [-1.77470930e-02 9.99840888e-01 -1.79977409e-03 1.70144422e+01] [-9.46713110e-02 1.11567743e-04 9.95508579e-01 -1.17411826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.59, Y:17.01, Z:-117.41 [[ 9.95495256e-01 1.70815239e-02 9.32599474e-02 2.85591482e+02] [-1.69856132e-02 9.99854074e-01 -1.82215362e-03 1.70122482e+01] [-9.32774635e-02 2.29867887e-04 9.95640127e-01 -1.17414780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:285.62, Y:16.91, Z:-117.41 [[ 9.99544901e-01 8.90286514e-03 2.88223706e-02 2.85619690e+02] [-1.20407875e-02 9.93792233e-01 1.10598452e-01 1.69074228e+01] [-2.76588050e-02 -1.10895163e-01 9.93447157e-01 -1.17406744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:17.11, Z:-117.41 [[ 9.94954035e-01 2.29159825e-02 9.76797109e-02 2.85654685e+02] [-1.21449537e-02 9.93916022e-01 -1.09468909e-01 1.71057066e+01] [-9.95940172e-02 1.07730217e-01 9.89179070e-01 -1.17411210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.69, Y:17.00, Z:-117.42 [[ 9.94792732e-01 1.51710598e-02 1.00783228e-01 2.85685630e+02] [-1.50386436e-02 9.99884763e-01 -2.07354076e-03 1.70033410e+01] [-1.00803072e-01 5.47100234e-04 9.94906248e-01 -1.17417713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:17.00, Z:-117.42 [[ 9.94736885e-01 1.40585863e-02 1.01493284e-01 2.85718915e+02] [-1.39130336e-02 9.99900915e-01 -2.14187163e-03 1.69986040e+01] [-1.01513339e-01 7.18519241e-04 9.94833919e-01 -1.17420467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.74, Y:16.85, Z:-117.41 [[ 9.98419276e-01 1.70063041e-03 5.61787984e-02 2.85743344e+02] [-1.07391734e-02 9.86898703e-01 1.60983291e-01 1.68462499e+01] [-5.51690102e-02 -1.61332135e-01 9.85356952e-01 -1.17405579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:17.14, Z:-117.41 [[ 9.94466516e-01 2.61957006e-02 1.01735611e-01 2.85782772e+02] [-9.83913375e-03 9.87380331e-01 -1.58060980e-01 1.71391597e+01] [-1.04592260e-01 1.56185362e-01 9.82174420e-01 -1.17412080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:285.80, Y:16.88, Z:-117.41 [[ 9.99027345e-01 5.35455159e-03 4.37686235e-02 2.85804886e+02] [-1.05218087e-02 9.92874852e-01 1.18696331e-01 1.68805461e+01] [-4.28211999e-02 -1.19041405e-01 9.91965467e-01 -1.17410989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:285.84, Y:17.01, Z:-117.42 [[ 9.98575728e-01 1.77032401e-02 5.03300155e-02 2.85840339e+02] [-1.65986414e-02 9.99613946e-01 -2.22810419e-02 1.70088594e+01] [-5.07050320e-02 2.14138978e-02 9.98484073e-01 -1.17422121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.87, Y:17.07, Z:-117.42 [[ 9.93704811e-01 2.18654480e-02 1.09875616e-01 2.85871343e+02] [-1.18222109e-02 9.95758859e-01 -9.12388576e-02 1.70661212e+01] [-1.11404597e-01 8.93655190e-02 9.89748867e-01 -1.17423227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51592 meters Centerline goodness : 0.949806 Centerline is valid? [True, False] Translation: X:285.88, Y:17.02, Z:-117.42 [[ 9.94810687e-01 1.69752391e-02 1.00317193e-01 2.85879152e+02] [-1.25776042e-02 9.98938724e-01 -4.43083433e-02 1.70201157e+01] [-1.00962874e-01 4.28166635e-02 9.93968426e-01 -1.17424342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters Centerline goodness : 0.912790 Centerline is valid? [False, False] Translation: X:285.90, Y:16.98, Z:-117.43 [[ 9.96700347e-01 8.47839164e-03 8.07250586e-02 2.85901121e+02] [-7.76858318e-03 9.99928390e-01 -9.10293492e-03 1.69849297e+01] [-8.07964561e-02 8.44577906e-03 9.96694839e-01 -1.17425821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57592 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:285.93, Y:16.97, Z:-117.43 [[ 9.98027434e-01 1.08299948e-02 6.18381162e-02 2.85925574e+02] [-1.09713957e-02 9.99937916e-01 1.94752777e-03 1.69723964e+01] [-6.18131854e-02 -2.62213659e-03 9.98084292e-01 -1.17427454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:285.96, Y:16.97, Z:-117.43 [[ 9.98043012e-01 1.19264341e-02 6.13832799e-02 2.85955596e+02] [-1.20842719e-02 9.99924561e-01 2.20074272e-03 1.69690572e+01] [-6.13524021e-02 -2.93820814e-03 9.98111842e-01 -1.17429503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63592 meters Centerline goodness : 0.922031 Centerline is valid? [True, False] Translation: X:285.98, Y:16.95, Z:-117.43 [[ 9.98989098e-01 1.45465810e-02 4.25344447e-02 2.85979359e+02] [-1.51044022e-02 9.99803698e-01 1.28227308e-02 1.69537018e+01] [-4.23395682e-02 -1.34522256e-02 9.99012712e-01 -1.17430237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters Centerline goodness : 0.894209 Centerline is valid? [False, False] Translation: X:285.98, Y:16.95, Z:-117.43 [[ 9.98990718e-01 1.45361899e-02 4.24999331e-02 2.85979433e+02] [-1.51184500e-02 9.99795767e-01 1.34110825e-02 1.69516248e+01] [-4.22963071e-02 -1.40400801e-02 9.99006456e-01 -1.17430122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69592 meters Centerline goodness : 0.999057 Centerline is valid? [False, True] Translation: X:286.00, Y:16.94, Z:-117.43 [[ 9.99578290e-01 1.58504062e-02 2.43312031e-02 2.86000616e+02] [-1.63658214e-02 9.99642727e-01 2.11323935e-02 1.69430627e+01] [-2.39875532e-02 -2.15216818e-02 9.99480572e-01 -1.17429823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:286.03, Y:16.94, Z:-117.43 [[ 9.99563300e-01 2.08090367e-02 2.09807922e-02 2.86031436e+02] [-2.11539188e-02 9.99642494e-01 1.63522668e-02 1.69422981e+01] [-2.06330165e-02 -1.67889517e-02 9.99646142e-01 -1.17430816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75591999999995 meters Centerline goodness : 0.946472 Centerline is valid? [True, False] Translation: X:286.03, Y:16.94, Z:-117.43 [[ 9.99568970e-01 2.06872848e-02 2.08305198e-02 2.86031894e+02] [-2.10401737e-02 9.99636346e-01 1.68667386e-02 1.69400722e+01] [-2.04740177e-02 -1.72977463e-02 9.99640737e-01 -1.17430996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters Centerline goodness : 0.999206 Centerline is valid? [False, True] Translation: X:286.03, Y:16.94, Z:-117.43 [[ 9.99576390e-01 2.07321519e-02 2.04259092e-02 2.86032955e+02] [-2.10879744e-02 9.99626867e-01 1.73615442e-02 1.69382200e+01] [-2.00583455e-02 -1.77849308e-02 9.99640615e-01 -1.17431770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81591999999995 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:286.06, Y:16.86, Z:-117.42 [[ 9.99628684e-01 5.13652367e-03 2.67602483e-02 2.86064782e+02] [-7.49892060e-03 9.96008562e-01 8.89421708e-02 1.68576635e+01] [-2.61965828e-02 -8.91098181e-02 9.95677247e-01 -1.17419082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:286.12, Y:17.00, Z:-117.42 [[ 9.96115272e-01 8.75107797e-02 9.80965317e-03 2.86116476e+02] [-8.71913289e-02 9.95761199e-01 -2.92798027e-02 1.70031805e+01] [-1.23303704e-02 2.83107420e-02 9.99523118e-01 -1.17423335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:286.15, Y:17.03, Z:-117.43 [[ 9.93424476e-01 9.66841682e-02 6.13186911e-02 2.86150005e+02] [-9.27081335e-02 9.93590471e-01 -6.46774941e-02 1.70323664e+01] [-6.71789569e-02 5.85674643e-02 9.96020502e-01 -1.17425444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters Centerline goodness : 0.979407 Centerline is valid? [True, True] Translation: X:286.13, Y:16.92, Z:-117.45 [[ 9.99472127e-01 3.16927725e-02 7.14386575e-03 2.86130075e+02] [-3.19092898e-02 9.98960172e-01 3.25633606e-02 1.69211687e+01] [-6.10441418e-03 -3.27741269e-02 9.99444142e-01 -1.17454649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:286.19, Y:16.89, Z:-117.42 [[ 9.95224738e-01 9.55261408e-02 2.00618315e-02 2.86190719e+02] [-9.70033103e-02 9.90803851e-01 9.43296678e-02 1.68903399e+01] [-1.08663908e-02 -9.58252830e-02 9.95338855e-01 -1.17419467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:286.23, Y:16.98, Z:-117.43 [[ 9.94171544e-01 1.05124437e-01 2.39121997e-02 2.86229093e+02] [-1.04987964e-01 9.94449581e-01 -6.89629505e-03 1.69846537e+01] [-2.45044461e-02 4.34560713e-03 9.99690276e-01 -1.17425988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99591999999996 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:286.26, Y:16.99, Z:-117.43 [[ 9.93504632e-01 1.10134011e-01 2.86189831e-02 2.86260261e+02] [-1.09869358e-01 9.93888809e-01 -1.06658259e-02 1.69935363e+01] [-2.96187572e-02 7.45219813e-03 9.99533488e-01 -1.17426435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:286.29, Y:17.04, Z:-117.43 [[ 9.91258325e-01 1.14892808e-01 6.48581245e-02 2.86292860e+02] [-1.11025473e-01 9.91981230e-01 -6.03869501e-02 1.70396383e+01] [-7.12760684e-02 5.26581630e-02 9.96065681e-01 -1.17430145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05591999999996 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:286.32, Y:16.94, Z:-117.43 [[ 9.93102910e-01 1.14477599e-01 2.53276455e-02 2.86319953e+02] [-1.15891852e-01 9.91191957e-01 6.40904267e-02 1.69365154e+01] [-1.77676403e-02 -6.65836569e-02 9.97622638e-01 -1.17425234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:286.35, Y:16.99, Z:-117.43 [[ 9.92905533e-01 1.15670235e-01 2.75499374e-02 2.86348402e+02] [-1.16048881e-01 9.93164075e-01 1.25609770e-02 1.69857585e+01] [-2.59086769e-02 -1.56690030e-02 9.99541506e-01 -1.17430905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11591999999996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:286.38, Y:17.02, Z:-117.43 [[ 9.92554493e-01 1.17658112e-01 3.14983705e-02 2.86383583e+02] [-1.16833277e-01 9.92788140e-01 -2.68643832e-02 1.70240046e+01] [-3.44320212e-02 2.29843064e-02 9.99142711e-01 -1.17430021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:286.42, Y:17.06, Z:-117.43 [[ 9.90537228e-01 1.17212107e-01 7.13955322e-02 2.86415833e+02] [-1.13021286e-01 9.91769258e-01 -6.01658425e-02 1.70579832e+01] [-7.78600591e-02 5.15272920e-02 9.95631834e-01 -1.17429072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:286.45, Y:17.01, Z:-117.43 [[ 9.90523307e-01 1.14646453e-01 7.56291509e-02 2.86446109e+02] [-1.14622507e-01 9.93398136e-01 -4.67157940e-03 1.70094365e+01] [-7.56654375e-02 -4.04149460e-03 9.97125071e-01 -1.17431392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:286.48, Y:17.02, Z:-117.43 [[ 9.90584793e-01 1.13701772e-01 7.62474553e-02 2.86479455e+02] [-1.13671770e-01 9.93507016e-01 -4.74746195e-03 1.70157137e+01] [-7.62921767e-02 -3.96441957e-03 9.97077623e-01 -1.17433290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23591999999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:286.51, Y:17.01, Z:-117.44 [[ 9.92079507e-01 1.16003147e-01 4.81821752e-02 2.86512360e+02] [-1.16406960e-01 9.93185520e-01 5.65174989e-03 1.70110995e+01] [-4.71982179e-02 -1.12157258e-02 9.98822575e-01 -1.17436852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:286.55, Y:17.02, Z:-117.44 [[ 9.92541642e-01 1.11838815e-01 4.85094692e-02 2.86545160e+02] [-1.12237946e-01 9.93665720e-01 5.57496717e-03 1.70173208e+01] [-4.75786990e-02 -1.09779903e-02 9.98807164e-01 -1.17438160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29591999999997 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:286.57, Y:17.00, Z:-117.44 [[ 9.93602904e-01 1.07080869e-01 3.58741890e-02 2.86573825e+02] [-1.08125647e-01 9.93726691e-01 2.85676096e-02 1.69994728e+01] [-3.25900946e-02 -3.22637798e-02 9.98947914e-01 -1.17437923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:286.61, Y:17.05, Z:-117.44 [[ 9.93597470e-01 1.05507352e-01 4.04013173e-02 2.86608522e+02] [-1.04769990e-01 9.94296182e-01 -1.99587635e-02 1.70451116e+01] [-4.22766719e-02 1.55981313e-02 9.98984175e-01 -1.17436256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35591999999997 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:286.64, Y:17.03, Z:-117.44 [[ 9.94668267e-01 9.50929080e-02 3.99046043e-02 2.86637822e+02] [-9.52639872e-02 9.95449143e-01 2.40351670e-03 1.70268374e+01] [-3.94944467e-02 -6.19217351e-03 9.99200603e-01 -1.17441175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:286.67, Y:17.01, Z:-117.44 [[ 9.95300551e-01 8.93665186e-02 3.72885963e-02 2.86667605e+02] [-9.01876989e-02 9.95704392e-01 2.09509441e-02 1.70098832e+01] [-3.52561062e-02 -2.42154589e-02 9.99084891e-01 -1.17438895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41591999999997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:286.70, Y:17.03, Z:-117.44 [[ 9.96032925e-01 8.02647464e-02 3.84185143e-02 2.86697919e+02] [-8.00824157e-02 9.96768563e-01 -6.26398895e-03 1.70343803e+01] [-3.87971448e-02 3.16249180e-03 9.99242103e-01 -1.17439854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:286.73, Y:17.03, Z:-117.44 [[ 9.96242456e-01 7.67998407e-02 4.00344101e-02 2.86728764e+02] [-7.66496151e-02 9.97044131e-01 -5.27620322e-03 1.70323034e+01] [-4.03212852e-02 2.18775553e-03 9.99184371e-01 -1.17438289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:286.76, Y:17.03, Z:-117.44 [[ 9.96330339e-01 7.48718368e-02 4.14736406e-02 2.86757784e+02] [-7.46795721e-02 9.97188506e-01 -6.16805523e-03 1.70320480e+01] [-4.18188513e-02 3.04818683e-03 9.99120559e-01 -1.17440629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:286.79, Y:17.02, Z:-117.44 [[ 9.96813068e-01 6.98338291e-02 3.85609106e-02 2.86787078e+02] [-7.02187391e-02 9.97493524e-01 8.71775406e-03 1.70175538e+01] [-3.78554644e-02 -1.13976697e-02 9.99218223e-01 -1.17441709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:286.82, Y:17.05, Z:-117.44 [[ 9.96472347e-01 7.10317942e-02 4.46916813e-02 2.86819756e+02] [-6.98325545e-02 9.97169955e-01 -2.78477222e-02 1.70484863e+01] [-4.65432755e-02 2.46285509e-02 9.98612617e-01 -1.17441716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters Centerline goodness : 0.839795 Centerline is valid? [True, False] Translation: X:286.82, Y:17.04, Z:-117.44 [[ 9.97209255e-01 5.87206458e-02 4.61041039e-02 2.86819262e+02] [-5.79202022e-02 9.98149587e-01 -1.85108632e-02 1.70386318e+01] [-4.71057621e-02 1.57888451e-02 9.98765117e-01 -1.17441782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59592 meters Centerline goodness : 0.999653 Centerline is valid? [False, True] Translation: X:286.83, Y:17.03, Z:-117.44 [[ 9.98182207e-01 4.68704034e-02 3.78873045e-02 2.86833425e+02] [-4.66712750e-02 9.98891531e-01 -6.12375967e-03 1.70269033e+01] [-3.81323307e-02 4.34437914e-03 9.99263254e-01 -1.17442217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:286.87, Y:17.08, Z:-117.44 [[ 9.94787856e-01 5.11685167e-02 8.81980982e-02 2.86866863e+02] [-4.57055659e-02 9.96973671e-01 -6.28848256e-02 1.70763824e+01] [-9.11489050e-02 5.85259169e-02 9.94115986e-01 -1.17442229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:286.89, Y:16.97, Z:-117.45 [[ 9.98079140e-01 4.33383242e-02 4.42698515e-02 2.86890377e+02] [-4.57379572e-02 9.97454050e-01 5.47124963e-02 1.69691333e+01] [-4.17859948e-02 -5.66322138e-02 9.97520287e-01 -1.17447125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:286.93, Y:17.07, Z:-117.45 [[ 9.94685317e-01 5.18779565e-02 8.89370484e-02 2.86928412e+02] [-4.67626026e-02 9.97181745e-01 -5.86670805e-02 1.70702753e+01] [-9.17299294e-02 5.41963557e-02 9.94307988e-01 -1.17446693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:286.95, Y:16.96, Z:-117.45 [[ 9.97943162e-01 4.39776659e-02 4.66413038e-02 2.86952157e+02] [-4.67690371e-02 9.97068954e-01 6.05488082e-02 1.69620662e+01] [-4.38418007e-02 -6.26056380e-02 9.97074937e-01 -1.17450705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:286.99, Y:17.07, Z:-117.45 [[ 9.94281280e-01 5.41059682e-02 9.20721523e-02 2.86991246e+02] [-4.82471146e-02 9.96736934e-01 -6.47124441e-02 1.70749153e+01] [-9.52730442e-02 5.99001560e-02 9.93647331e-01 -1.17447867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.01, Y:16.90, Z:-117.45 [[ 9.97627836e-01 4.03878191e-02 5.57451808e-02 2.87009776e+02] [-4.68418211e-02 9.91692064e-01 1.19802732e-01 1.69047933e+01] [-5.04434823e-02 -1.22129746e-01 9.91231446e-01 -1.17450322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.05, Y:17.13, Z:-117.44 [[ 9.93893706e-01 5.83048952e-02 9.36794504e-02 2.87054834e+02] [-4.65666543e-02 9.91321468e-01 -1.22936136e-01 1.71259838e+01] [-1.00034229e-01 1.17823113e-01 9.87983232e-01 -1.17441227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:287.08, Y:17.02, Z:-117.46 [[ 9.93839580e-01 5.05092822e-02 9.86493874e-02 2.87082380e+02] [-5.03134358e-02 9.98723458e-01 -4.47363137e-03 1.70162807e+01] [-9.87494171e-02 -5.17317699e-04 9.95112197e-01 -1.17455798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:287.12, Y:17.01, Z:-117.46 [[ 9.93860475e-01 4.92830079e-02 9.90582744e-02 2.87115653e+02] [-4.90741554e-02 9.98784795e-01 -4.54536016e-03 1.70149993e+01] [-9.91619073e-02 -3.43747348e-04 9.95071253e-01 -1.17459062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.15, Y:17.01, Z:-117.46 [[ 9.93835600e-01 4.96811363e-02 9.91089584e-02 2.87148797e+02] [-4.94687835e-02 9.98765075e-01 -4.60044897e-03 1.70131153e+01] [-9.92151218e-02 -3.30709647e-04 9.95065953e-01 -1.17461675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.18, Y:17.01, Z:-117.46 [[ 9.93824110e-01 4.99146052e-02 9.91068641e-02 2.87182194e+02] [-4.96989501e-02 9.98753441e-01 -4.64517664e-03 1.70116719e+01] [-9.92151837e-02 -3.09018551e-04 9.95065954e-01 -1.17464125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.21, Y:16.96, Z:-117.47 [[ 9.97473891e-01 4.57812339e-02 5.43131295e-02 2.87210075e+02] [-4.88191329e-02 9.97237009e-01 5.59914284e-02 1.69572135e+01] [-5.15997061e-02 -5.85015078e-02 9.96952879e-01 -1.17465736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:287.24, Y:17.01, Z:-117.47 [[ 9.97249686e-01 5.04703001e-02 5.42753313e-02 2.87244516e+02] [-5.02522176e-02 9.98722089e-01 -5.37620377e-03 1.70140746e+01] [-5.44773109e-02 2.63396176e-03 9.98511535e-01 -1.17466057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.28, Y:17.06, Z:-117.46 [[ 9.93578473e-01 5.27660252e-02 1.00087787e-01 2.87278485e+02] [-4.69878133e-02 9.97137464e-01 -5.92370049e-02 1.70611708e+01] [-1.02926983e-01 5.41537066e-02 9.93213679e-01 -1.17464404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters Centerline goodness : 0.765509 Centerline is valid? [True, False] Translation: X:287.29, Y:17.04, Z:-117.47 [[ 9.94727022e-01 4.54693371e-02 9.19276422e-02 2.87292438e+02] [-4.20272763e-02 9.98353460e-01 -3.90394281e-02 1.70414817e+01] [-9.35513766e-02 3.49701056e-02 9.95000116e-01 -1.17466296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:287.31, Y:17.03, Z:-117.47 [[ 9.95855137e-01 3.53572811e-02 8.37998094e-02 2.87306019e+02] [-3.35461230e-02 9.99174239e-01 -2.29237458e-02 1.70252081e+01] [-8.45411320e-02 2.00175713e-02 9.96218899e-01 -1.17467088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.34, Y:17.01, Z:-117.47 [[ 9.95958538e-01 3.10559951e-02 8.42740553e-02 2.87338025e+02] [-3.09013687e-02 9.99517510e-01 -3.13891185e-03 1.70091239e+01] [-8.43308760e-02 5.22042401e-04 9.96437670e-01 -1.17469789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:287.37, Y:17.01, Z:-117.47 [[ 9.95879177e-01 3.07484195e-02 8.53182260e-02 2.87370886e+02] [-3.05849659e-02 9.99526976e-01 -3.22257091e-03 1.70098117e+01] [-8.53769574e-02 5.99836226e-04 9.96348541e-01 -1.17471891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters Centerline goodness : 0.826917 Centerline is valid? [True, False] Translation: X:287.39, Y:17.01, Z:-117.47 [[ 9.97285106e-01 2.66761467e-02 6.86352776e-02 2.87393829e+02] [-2.66118485e-02 9.99644128e-01 -1.85113666e-03 1.70087255e+01] [-6.86602334e-02 1.95994123e-05 9.97640101e-01 -1.17472852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:287.42, Y:17.01, Z:-117.47 [[ 9.98540627e-01 2.11228624e-02 4.97035349e-02 2.87417550e+02] [-2.10954827e-02 9.99776887e-01 -1.07543939e-03 1.70085825e+01] [-4.97151618e-02 2.53498646e-05 9.98763436e-01 -1.17473029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters Centerline goodness : 0.787573 Centerline is valid? [True, False] Translation: X:287.44, Y:17.01, Z:-117.47 [[ 9.99399953e-01 1.60186777e-02 3.07105062e-02 2.87440822e+02] [-1.60609673e-02 9.99870375e-01 1.13084006e-03 1.70064138e+01] [-3.06884108e-02 -1.62340194e-03 9.99527681e-01 -1.17473535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:287.47, Y:17.01, Z:-117.47 [[ 9.99901050e-01 8.41401756e-03 1.12736136e-02 2.87465287e+02] [-8.42303509e-03 9.99964242e-01 7.52637177e-04 1.70054004e+01] [-1.12668778e-02 -8.47520746e-04 9.99936168e-01 -1.17473724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters Centerline goodness : 0.986843 Centerline is valid? [True, True] Translation: X:287.52, Y:16.98, Z:-117.49 [[ 9.95405705e-01 9.46856360e-02 -1.42166670e-02 2.87522619e+02] [-9.34774580e-02 9.93175787e-01 6.97411065e-02 1.69762153e+01] [ 2.07231305e-02 -6.80917574e-02 9.97463816e-01 -1.17485924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.52, Y:17.06, Z:-117.47 [[ 9.99958714e-01 -1.79570163e-03 8.90760377e-03 2.87523772e+02] [ 2.38635717e-03 9.97766996e-01 -6.67482347e-02 1.70613618e+01] [-8.76785314e-03 6.67667357e-02 9.97730088e-01 -1.17465952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:287.55, Y:17.00, Z:-117.47 [[ 9.99932859e-01 -5.11925252e-03 1.03957406e-02 2.87554313e+02] [ 5.12262499e-03 9.99986835e-01 -2.97806784e-04 1.69968204e+01] [-1.03940792e-02 3.51040269e-04 9.99945918e-01 -1.17469849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:287.59, Y:16.99, Z:-117.47 [[ 9.99912835e-01 -5.23987693e-03 1.21187947e-02 2.87587395e+02] [ 5.24459527e-03 9.99986183e-01 -3.57593021e-04 1.69939124e+01] [-1.21167535e-02 4.21120025e-04 9.99926501e-01 -1.17469458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:287.62, Y:16.99, Z:-117.47 [[ 9.99908095e-01 -6.34820556e-03 1.19792545e-02 2.87620013e+02] [ 6.35296479e-03 9.99979755e-01 -3.59277181e-04 1.69895436e+01] [-1.19767312e-02 4.35347943e-04 9.99928182e-01 -1.17469169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43591999999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:287.65, Y:16.99, Z:-117.47 [[ 9.99902710e-01 -7.23212503e-03 1.19275706e-02 2.87652955e+02] [ 7.23697601e-03 9.99973747e-01 -3.63590951e-04 1.69878434e+01] [-1.19246279e-02 4.49875119e-04 9.99928798e-01 -1.17468786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:287.69, Y:16.99, Z:-117.47 [[ 9.99921120e-01 -7.56096403e-03 1.00291989e-02 2.87685706e+02] [ 7.56446832e-03 9.99971340e-01 -3.11520248e-04 1.69856964e+01] [-1.00265560e-02 3.87361233e-04 9.99949658e-01 -1.17469088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49591999999996 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:287.71, Y:16.86, Z:-117.46 [[ 9.99183701e-01 -1.00647584e-02 -3.91233060e-02 2.87706656e+02] [ 1.49656565e-02 9.91780821e-01 1.27070183e-01 1.68627250e+01] [ 3.75228139e-02 -1.27551962e-01 9.91121857e-01 -1.17461607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:287.75, Y:17.09, Z:-117.45 [[ 9.99919385e-01 -8.93946068e-03 9.01720327e-03 2.87748239e+02] [ 9.98486069e-03 9.92296622e-01 -1.23481648e-01 1.70898015e+01] [-7.84388100e-03 1.23561729e-01 9.92305887e-01 -1.17454424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55591999999996 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:287.78, Y:16.98, Z:-117.46 [[ 9.99900097e-01 -6.92423982e-03 1.23227583e-02 2.87776624e+02] [ 6.92952705e-03 9.99975916e-01 -3.86416476e-04 1.69752670e+01] [-1.23197858e-02 4.71768759e-04 9.99923997e-01 -1.17464380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:287.81, Y:16.97, Z:-117.46 [[ 9.99896348e-01 -5.43244638e-03 1.33334820e-02 2.87809630e+02] [ 5.43855254e-03 9.99985122e-01 -4.21740236e-04 1.69738537e+01] [-1.33309926e-02 4.94211364e-04 9.99911016e-01 -1.17464545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61591999999996 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:287.84, Y:16.97, Z:-117.46 [[ 9.99917159e-01 -3.56912690e-03 1.23667440e-02 2.87842270e+02] [ 3.57434712e-03 9.99993532e-01 -4.00041043e-04 1.69707938e+01] [-1.23652362e-02 4.44210939e-04 9.99923449e-01 -1.17464409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters Centerline goodness : 0.967615 Centerline is valid? [True, True] Translation: X:287.88, Y:16.94, Z:-117.48 [[ 9.95671341e-01 9.20604096e-02 -1.27852369e-02 2.87882912e+02] [-9.07788515e-02 9.92750705e-01 7.87733308e-02 1.69352069e+01] [ 1.99444580e-02 -7.72717188e-02 9.96810564e-01 -1.17475297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67591999999996 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:287.91, Y:16.99, Z:-117.46 [[ 9.98694324e-01 4.77158331e-02 -1.82440722e-02 2.87906347e+02] [-4.78137911e-02 9.98843896e-01 -4.97109960e-03 1.69897805e+01] [ 1.79857800e-02 5.83692722e-03 9.99821205e-01 -1.17464329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters Centerline goodness : 0.907267 Centerline is valid? [True, False] Translation: X:287.90, Y:16.98, Z:-117.46 [[ 9.99375782e-01 3.24563233e-02 -1.39510872e-02 2.87904801e+02] [-3.24688553e-02 9.99472521e-01 -6.72664801e-04 1.69834410e+01] [ 1.39218961e-02 1.12522074e-03 9.99902453e-01 -1.17464623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73591999999996 meters Centerline goodness : 0.997470 Centerline is valid? [False, True] Translation: X:287.90, Y:16.98, Z:-117.47 [[ 9.99820644e-01 1.77622173e-02 -6.57142688e-03 2.87901558e+02] [-1.77420354e-02 9.99837740e-01 3.11682610e-03 1.69763806e+01] [ 6.62572234e-03 -2.99967659e-03 9.99973551e-01 -1.17465252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:287.93, Y:16.98, Z:-117.46 [[ 9.99820652e-01 1.80087602e-02 -5.86069192e-03 2.87929505e+02] [-1.80074495e-02 9.99837815e-01 2.76329805e-04 1.69756779e+01] [ 5.86471776e-03 -1.70744132e-04 9.99982788e-01 -1.17464461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79591999999997 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:287.96, Y:16.97, Z:-117.46 [[ 9.99794246e-01 1.96778114e-02 -4.92431781e-03 2.87957547e+02] [-1.96769062e-02 9.99806364e-01 2.32198070e-04 1.69744515e+01] [ 4.92793343e-03 -1.35254954e-04 9.99987849e-01 -1.17463243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:288.04, Y:16.89, Z:-117.48 [[ 9.98921986e-01 4.18343028e-02 -2.01185488e-02 2.88036157e+02] [-3.98438230e-02 9.95069870e-01 9.08208338e-02 1.68858630e+01] [ 2.38187880e-02 -8.99213278e-02 9.95664010e-01 -1.17480866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85591999999997 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:288.01, Y:17.03, Z:-117.45 [[ 9.98546240e-01 2.30149612e-02 -4.87413463e-02 2.88010073e+02] [-2.63502395e-02 9.97273469e-01 -6.89296170e-02 1.70327208e+01] [ 4.70220391e-02 7.01137560e-02 9.96430123e-01 -1.17453803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters Centerline goodness : 0.927936 Centerline is valid? [True, False] Translation: X:287.99, Y:17.01, Z:-117.46 [[ 9.99058251e-01 2.20212683e-02 -3.73854873e-02 2.87988453e+02] [-2.36656035e-02 9.98745632e-01 -4.41259694e-02 1.70087622e+01] [ 3.63668824e-02 4.49691639e-02 9.98326211e-01 -1.17456245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91591999999997 meters Centerline goodness : 0.997370 Centerline is valid? [False, True] Translation: X:287.98, Y:16.99, Z:-117.46 [[ 9.99421160e-01 1.66357192e-02 -2.96748785e-02 2.87983889e+02] [-1.75072509e-02 9.99415708e-01 -2.93554006e-02 1.69931880e+01] [ 2.91691915e-02 2.98579341e-02 9.99128451e-01 -1.17457748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:288.01, Y:17.00, Z:-117.46 [[ 9.99824195e-01 1.31392551e-02 1.33768190e-02 2.88012977e+02] [-1.25583797e-02 9.99012463e-01 -4.26190808e-02 1.70031254e+01] [-1.39235918e-02 4.24435970e-02 9.99001839e-01 -1.17457162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97592 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:288.04, Y:16.96, Z:-117.46 [[ 9.99826678e-01 1.22571470e-02 1.40134568e-02 2.88044972e+02] [-1.22519288e-02 9.99924837e-01 -4.58166148e-04 1.69625716e+01] [-1.40180194e-02 2.86394862e-04 9.99901702e-01 -1.17459732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters Centerline goodness : 0.967196 Centerline is valid? [True, True] Translation: X:288.11, Y:16.97, Z:-117.50 [[ 9.99398739e-01 -1.52251236e-02 -3.11505384e-02 2.88111512e+02] [ 1.52326377e-02 9.99883977e-01 3.91253691e-06 1.69671658e+01] [ 3.11468647e-02 -4.78415052e-04 9.99514704e-01 -1.17495279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03592 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:288.10, Y:16.95, Z:-117.46 [[ 9.99845374e-01 8.24479334e-03 1.55322745e-02 2.88100228e+02] [-8.33717053e-03 9.99947886e-01 5.89210028e-03 1.69477145e+01] [-1.54828859e-02 -6.02068442e-03 9.99862006e-01 -1.17460169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:288.16, Y:16.82, Z:-117.48 [[ 9.99051269e-01 4.26910316e-02 -8.60449866e-03 2.88155370e+02] [-4.09212325e-02 9.87851132e-01 1.49918623e-01 1.68171375e+01] [ 1.49001444e-02 -1.49424284e-01 9.88660897e-01 -1.17478016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09592 meters Centerline goodness : 0.773843 Centerline is valid? [True, False] Translation: X:288.15, Y:16.86, Z:-117.48 [[ 9.98922705e-01 4.26817356e-02 -1.82125913e-02 2.88146957e+02] [-4.04112890e-02 9.93029812e-01 1.10719103e-01 1.68555141e+01] [ 2.28113296e-02 -1.09863832e-01 9.93684850e-01 -1.17478888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters Centerline goodness : 0.734165 Centerline is valid? [False, False] Translation: X:288.14, Y:16.90, Z:-117.48 [[ 9.98845490e-01 4.01999310e-02 -2.62993068e-02 2.88142466e+02] [-3.83746953e-02 9.97043665e-01 6.65681130e-02 1.68966660e+01] [ 2.88975907e-02 -6.54820316e-02 9.97435227e-01 -1.17480128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15592 meters Centerline goodness : 0.995180 Centerline is valid? [False, True] Translation: X:288.17, Y:16.91, Z:-117.48 [[ 9.98986589e-01 2.93242276e-02 -3.41450677e-02 2.88168793e+02] [-2.77899464e-02 9.98619512e-01 4.45734102e-02 1.69133930e+01] [ 3.54050117e-02 -4.35793494e-02 9.98422418e-01 -1.17476946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters Centerline goodness : 0.966564 Centerline is valid? [True, True] Translation: X:288.23, Y:16.80, Z:-117.48 [[ 9.96516761e-01 -2.48101992e-02 -7.96165721e-02 2.88228588e+02] [ 3.52586176e-02 9.90536882e-01 1.32640552e-01 1.68017615e+01] [ 7.55723125e-02 -1.34985704e-01 9.87961378e-01 -1.17478927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21592 meters Centerline goodness : 0.754057 Centerline is valid? [True, False] Translation: X:288.20, Y:16.86, Z:-117.49 [[ 9.96335193e-01 -3.21378411e-02 -7.92675339e-02 2.88199021e+02] [ 3.76469521e-02 9.96905066e-01 6.90144675e-02 1.68592056e+01] [ 7.68042301e-02 -7.17457239e-02 9.94461493e-01 -1.17485139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters Centerline goodness : 0.994320 Centerline is valid? [False, True] Translation: X:288.19, Y:16.89, Z:-117.48 [[ 9.96171405e-01 -3.21358374e-02 -8.13007980e-02 2.88191736e+02] [ 3.47056861e-02 9.98935243e-01 3.03956621e-02 1.68946641e+01] [ 8.02374423e-02 -3.31008894e-02 9.96226021e-01 -1.17484405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.27592 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:288.22, Y:16.94, Z:-117.48 [[ 9.96589483e-01 -3.64432405e-02 -7.40357569e-02 2.88218602e+02] [ 3.50011121e-02 9.99173202e-01 -2.06841832e-02 1.69390120e+01] [ 7.47283429e-02 1.80223056e-02 9.97041058e-01 -1.17481909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:288.24, Y:16.88, Z:-117.48 [[ 9.97269514e-01 -3.39488966e-02 -6.55819206e-02 2.88242792e+02] [ 3.69726490e-02 9.98281887e-01 4.54565391e-02 1.68772242e+01] [ 6.39260442e-02 -4.77571580e-02 9.96811273e-01 -1.17477886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33592 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:288.29, Y:16.96, Z:-117.48 [[ 9.96405366e-01 -5.01136988e-02 -6.83005404e-02 2.88287162e+02] [ 4.67233150e-02 9.97637373e-01 -5.03647118e-02 1.69581938e+01] [ 7.06631337e-02 4.69924415e-02 9.96392710e-01 -1.17481052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters Centerline goodness : 0.853964 Centerline is valid? [True, False] Translation: X:288.26, Y:16.94, Z:-117.49 [[ 9.97934186e-01 -4.09987163e-02 -4.94617507e-02 2.88264450e+02] [ 3.94417388e-02 9.98707595e-01 -3.20544623e-02 1.69400665e+01] [ 5.07120179e-02 3.00373863e-02 9.98261512e-01 -1.17485273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39592 meters Centerline goodness : 0.993537 Centerline is valid? [False, True] Translation: X:288.26, Y:16.93, Z:-117.49 [[ 9.98854069e-01 -3.28898062e-02 -3.47679399e-02 2.88257249e+02] [ 3.21151820e-02 9.99228439e-01 -2.26084578e-02 1.69295829e+01] [ 3.54847021e-02 2.14659713e-02 9.99139654e-01 -1.17487554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters Centerline goodness : 0.987291 Centerline is valid? [True, True] Translation: X:288.33, Y:16.89, Z:-117.51 [[ 9.97553011e-01 -6.22260200e-02 -3.18733908e-02 2.88326571e+02] [ 6.23243177e-02 9.98053743e-01 2.09888509e-03 1.68886929e+01] [ 3.16807518e-02 -4.08023648e-03 9.99489711e-01 -1.17505258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45592 meters Centerline goodness : 0.969533 Centerline is valid? [True, True] Translation: X:288.36, Y:16.87, Z:-117.53 [[ 9.95177431e-01 -8.01089978e-02 -5.66076738e-02 2.88364872e+02] [ 8.09257138e-02 9.96644461e-01 1.22819936e-02 1.68679195e+01] [ 5.54338263e-02 -1.68037792e-02 9.98320952e-01 -1.17529674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters Centerline goodness : 0.871827 Centerline is valid? [True, False] Translation: X:288.39, Y:16.87, Z:-117.53 [[ 9.95700975e-01 -6.61806760e-02 -6.48049932e-02 2.88386600e+02] [ 6.64558244e-02 9.97787165e-01 2.09706199e-03 1.68727691e+01] [ 6.45228054e-02 -6.39471592e-03 9.97895744e-01 -1.17529334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51592 meters Centerline goodness : 0.994927 Centerline is valid? [False, True] Translation: X:288.38, Y:16.87, Z:-117.53 [[ 9.96808879e-01 -5.32957297e-02 -5.94274699e-02 2.88384156e+02] [ 5.32126736e-02 9.98578754e-01 -2.98040293e-03 1.68749543e+01] [ 5.95018516e-02 -1.91402455e-04 9.98228177e-01 -1.17530599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:288.43, Y:16.81, Z:-117.53 [[ 9.96155667e-01 -6.99145157e-02 -5.27811275e-02 2.88428606e+02] [ 7.21945784e-02 9.96480296e-01 4.26023697e-02 1.68136714e+01] [ 4.96168296e-02 -4.62491033e-02 9.97696943e-01 -1.17531881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57592 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:288.44, Y:16.95, Z:-117.52 [[ 9.98761569e-01 -4.95103850e-02 -4.90408089e-03 2.88440839e+02] [ 4.88167292e-02 9.94229897e-01 -9.55187886e-02 1.69498788e+01] [ 9.60495583e-03 9.51610940e-02 9.95415547e-01 -1.17523636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] Translation: X:288.51, Y:16.80, Z:-117.53 [[ 9.96178547e-01 -8.31411863e-02 -2.67553076e-02 2.88507259e+02] [ 8.42902851e-02 9.95417906e-01 4.51479801e-02 1.68010416e+01] [ 2.28790556e-02 -4.72306617e-02 9.98621957e-01 -1.17534433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63592 meters Centerline goodness : 0.870258 Centerline is valid? [True, False] Translation: X:288.50, Y:16.81, Z:-117.53 [[ 9.97086910e-01 -7.34209786e-02 -2.06652689e-02 2.88499249e+02] [ 7.40999943e-02 9.96661712e-01 3.42727757e-02 1.68084716e+01] [ 1.80799416e-02 -3.57042324e-02 9.99198841e-01 -1.17533250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters Centerline goodness : 0.980375 Centerline is valid? [False, True] Translation: X:288.50, Y:16.82, Z:-117.53 [[ 9.97861124e-01 -6.27652293e-02 -1.82675476e-02 2.88499439e+02] [ 6.32007888e-02 9.97704182e-01 2.43315905e-02 1.68177022e+01] [ 1.66984308e-02 -2.54340716e-02 9.99537028e-01 -1.17534456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69592 meters Centerline goodness : 0.978442 Centerline is valid? [True, True] Translation: X:288.52, Y:16.87, Z:-117.54 [[ 9.99398947e-01 -1.68964442e-02 -3.02697010e-02 2.88524614e+02] [ 1.69857823e-02 9.99852095e-01 2.69668477e-03 1.68720421e+01] [ 3.02196595e-02 -3.20921847e-03 9.99538130e-01 -1.17541743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters Centerline goodness : 0.983031 Centerline is valid? [True, True] Translation: X:288.56, Y:16.84, Z:-117.54 [[ 9.97973008e-01 -6.09053744e-02 -1.84502400e-02 2.88561455e+02] [ 6.09841181e-02 9.98131747e-01 3.73523475e-03 1.68424518e+01] [ 1.81882744e-02 -4.85283508e-03 9.99822803e-01 -1.17536103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75591999999995 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:288.58, Y:16.85, Z:-117.53 [[ 9.97574727e-01 -3.99247130e-02 -5.70147401e-02 2.88584572e+02] [ 4.06990207e-02 9.99093454e-01 1.24844038e-02 1.68496938e+01] [ 5.64646174e-02 -1.47745698e-02 9.98295276e-01 -1.17527301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters Centerline goodness : 0.963496 Centerline is valid? [True, True] Translation: X:288.63, Y:16.84, Z:-117.55 [[ 9.98051583e-01 -4.59587987e-02 -4.21998490e-02 2.88633438e+02] [ 4.72454739e-02 9.98432221e-01 3.00160905e-02 1.68395894e+01] [ 4.07541855e-02 -3.19513585e-02 9.98658203e-01 -1.17546134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81591999999995 meters Centerline goodness : 0.940387 Centerline is valid? [True, False] Translation: X:288.63, Y:16.85, Z:-117.55 [[ 9.98643935e-01 -3.61457606e-02 -3.74669792e-02 2.88632384e+02] [ 3.68830728e-02 9.99135548e-01 1.91780253e-02 1.68529783e+01] [ 3.67413864e-02 -2.05339160e-02 9.99113822e-01 -1.17547864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters Centerline goodness : 0.940387 Centerline is valid? [False, False] Translation: X:288.63, Y:16.86, Z:-117.55 [[ 9.99242718e-01 -2.46287775e-02 -3.01233225e-02 2.88626291e+02] [ 2.49986705e-02 9.99615880e-01 1.19648933e-02 1.68608208e+01] [ 2.98170709e-02 -1.27088755e-02 9.99474575e-01 -1.17546763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87591999999995 meters Centerline goodness : 0.925979 Centerline is valid? [False, False] Translation: X:288.62, Y:16.87, Z:-117.55 [[ 9.99688999e-01 -1.23545648e-02 -2.16626619e-02 2.88620469e+02] [ 1.24601814e-02 9.99911099e-01 4.74733040e-03 1.68746281e+01] [ 2.16020849e-02 -5.01577467e-03 9.99754066e-01 -1.17546809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:288.62, Y:16.89, Z:-117.55 [[ 9.99931508e-01 -1.73540435e-03 -1.15744529e-02 2.88615731e+02] [ 1.71271948e-03 9.99996594e-01 -1.96953267e-03 1.68851294e+01] [ 1.15778314e-02 1.94957398e-03 9.99931074e-01 -1.17546772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93591999999995 meters Centerline goodness : 0.907782 Centerline is valid? [True, False] Translation: X:288.62, Y:16.89, Z:-117.55 [[ 9.99930021e-01 2.50991845e-03 -1.15608851e-02 2.88615740e+02] [-2.48743842e-03 9.99994989e-01 1.95845892e-03 1.68864539e+01] [ 1.15657428e-02 -1.92956488e-03 9.99931253e-01 -1.17546501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters Centerline goodness : 0.995035 Centerline is valid? [False, True] Translation: X:288.62, Y:16.89, Z:-117.55 [[ 9.99929331e-01 2.53842950e-03 -1.16141969e-02 2.88615907e+02] [-2.52092862e-03 9.99995665e-01 1.52124377e-03 1.68885424e+01] [ 1.16180081e-02 -1.49185771e-03 9.99931396e-01 -1.17546517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99591999999996 meters Centerline goodness : 0.963321 Centerline is valid? [True, True] Translation: X:288.70, Y:16.92, Z:-117.59 [[ 9.97668546e-01 4.99860097e-02 -4.64636540e-02 2.88698104e+02] [-5.00486805e-02 9.98746762e-01 -1.85713975e-04 1.69175861e+01] [ 4.63961409e-02 2.51072557e-03 9.98919964e-01 -1.17589226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters Centerline goodness : 0.881300 Centerline is valid? [True, False] Translation: X:288.70, Y:16.91, Z:-117.59 [[ 9.98530829e-01 3.48872065e-02 -4.14616268e-02 2.88696527e+02] [-3.47752200e-02 9.99389310e-01 3.41935208e-03 1.69124451e+01] [ 4.15555982e-02 -1.97249128e-03 9.99134246e-01 -1.17590932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05591999999996 meters Centerline goodness : 0.827636 Centerline is valid? [False, False] Translation: X:288.68, Y:16.92, Z:-117.59 [[ 9.99245772e-01 2.96484462e-02 -2.50770245e-02 2.88682686e+02] [-2.96576033e-02 9.99560117e-01 6.76363227e-06 1.69156692e+01] [ 2.50661941e-02 7.36965916e-04 9.99685522e-01 -1.17591879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters Centerline goodness : 0.995479 Centerline is valid? [False, True] Translation: X:288.68, Y:16.91, Z:-117.59 [[ 9.99710147e-01 1.47080131e-02 -1.90603146e-02 2.88680204e+02] [-1.46394393e-02 9.99885872e-01 3.73228329e-03 1.69105113e+01] [ 1.91130338e-02 -3.45216916e-03 9.99811369e-01 -1.17593284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11591999999996 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:288.71, Y:16.95, Z:-117.59 [[ 9.99638943e-01 8.48642123e-03 2.54943928e-02 2.88710901e+02] [-7.37514153e-03 9.99031798e-01 -4.33713398e-02 1.69530378e+01] [-2.58377765e-02 4.31676555e-02 9.98733680e-01 -1.17592717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:288.74, Y:16.91, Z:-117.62 [[ 9.99337745e-01 2.86949243e-03 -3.62744714e-02 2.88742041e+02] [-2.84551098e-03 9.99995698e-01 7.12720482e-04 1.69072566e+01] [ 3.62763605e-02 -6.09029073e-04 9.99341611e-01 -1.17622098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17591999999996 meters Centerline goodness : 0.921475 Centerline is valid? [True, False] Translation: X:288.73, Y:16.91, Z:-117.62 [[ 9.99779391e-01 1.72688716e-03 -2.09329397e-02 2.88732597e+02] [-1.72869019e-03 9.99998503e-01 -6.80387656e-05 1.69068639e+01] [ 2.09327909e-02 1.04210323e-04 9.99780880e-01 -1.17622837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters Centerline goodness : 0.904554 Centerline is valid? [False, False] Translation: X:288.72, Y:16.91, Z:-117.62 [[ 9.99975559e-01 1.22109722e-03 -6.88401458e-03 2.88723218e+02] [-1.22433614e-03 9.99999142e-01 -4.66303296e-04 1.69062865e+01] [ 6.88343927e-03 4.74720247e-04 9.99976196e-01 -1.17623843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23591999999996 meters Centerline goodness : 0.877281 Centerline is valid? [False, False] Translation: X:288.72, Y:16.90, Z:-117.62 [[ 9.99975125e-01 1.16190069e-03 -6.95695571e-03 2.88723378e+02] [-1.16322782e-03 9.99999306e-01 -1.86719096e-04 1.69048348e+01] [ 6.95673393e-03 1.94806976e-04 9.99975783e-01 -1.17623918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters Centerline goodness : 0.947619 Centerline is valid? [False, False] Translation: X:288.70, Y:16.89, Z:-117.63 [[ 9.99996028e-01 2.64645763e-03 -9.69801012e-04 2.88700225e+02] [-2.63296306e-03 9.99903211e-01 1.36614486e-02 1.68880857e+01] [ 1.00586159e-03 -1.36588409e-02 9.99906208e-01 -1.17627702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29591999999997 meters Centerline goodness : 0.858341 Centerline is valid? [False, False] Translation: X:288.70, Y:16.89, Z:-117.63 [[ 9.99983135e-01 -5.70555107e-03 -1.08465341e-03 2.88700470e+02] [ 5.71023056e-03 9.99974186e-01 4.36127052e-03 1.68920388e+01] [ 1.05974196e-03 -4.36739059e-03 9.99989901e-01 -1.17627880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters Centerline goodness : 0.998309 Centerline is valid? [False, True] Translation: X:288.72, Y:16.89, Z:-117.62 [[ 9.99981629e-01 1.95304306e-03 -5.73824091e-03 2.88723615e+02] [-1.93733192e-03 9.99994363e-01 2.74225604e-03 1.68917036e+01] [ 5.74356431e-03 -2.73108878e-03 9.99979776e-01 -1.17624211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35591999999997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:288.75, Y:16.90, Z:-117.62 [[ 9.99993020e-01 3.70213622e-03 -5.04217922e-04 2.88751468e+02] [-3.70484543e-03 9.99978108e-01 -5.48254690e-03 1.68974685e+01] [ 4.83909748e-04 5.48437668e-03 9.99984844e-01 -1.17624684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:288.78, Y:16.88, Z:-117.62 [[ 9.99979627e-01 6.03476307e-03 -2.08027190e-03 2.88780987e+02] [-6.01167585e-03 9.99922180e-01 1.09312970e-02 1.68806121e+01] [ 2.14607781e-03 -1.09185684e-02 9.99938088e-01 -1.17621894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41591999999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:288.81, Y:16.87, Z:-117.62 [[ 9.99872020e-01 9.83802507e-03 -1.26157388e-02 2.88807738e+02] [-9.54868271e-03 9.99694588e-01 2.27937299e-02 1.68670541e+01] [ 1.28361311e-02 -2.26703491e-02 9.99660587e-01 -1.17619168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:288.84, Y:16.89, Z:-117.62 [[ 9.99871644e-01 1.25024366e-02 -1.00192503e-02 2.88836831e+02] [-1.25288992e-02 9.99918175e-01 -2.58277241e-03 1.68888562e+01] [ 9.98613952e-03 2.70797107e-03 9.99946471e-01 -1.17621721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:288.86, Y:16.89, Z:-117.62 [[ 9.99857655e-01 1.56383492e-02 -6.33333927e-03 2.88863681e+02] [-1.56608525e-02 9.99871168e-01 -3.51927364e-03 1.68872231e+01] [ 6.27748770e-03 3.61795818e-03 9.99973751e-01 -1.17621798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:288.89, Y:16.88, Z:-117.62 [[ 9.99824502e-01 1.86458988e-02 -1.81541566e-03 2.88892033e+02] [-1.86476960e-02 9.99825638e-01 -9.78081662e-04 1.68835114e+01] [ 1.79686191e-03 1.01176333e-03 9.99997874e-01 -1.17621016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:16.93, Z:-117.62 [[ 9.98768191e-01 2.61080087e-02 4.21956435e-02 2.88924255e+02] [-2.41115238e-02 9.98596744e-01 -4.71505903e-02 1.69262323e+01] [-4.33674402e-02 4.60751085e-02 9.97996167e-01 -1.17622197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:16.82, Z:-117.61 [[ 9.99635860e-01 2.61564012e-02 -6.63243692e-03 2.88951803e+02] [-2.56458602e-02 9.97358020e-01 6.79652123e-02 1.68229122e+01] [ 8.39263952e-03 -6.77703689e-02 9.97665646e-01 -1.17614123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:16.94, Z:-117.62 [[ 9.98997726e-01 3.26390695e-02 3.06306122e-02 2.88983487e+02] [-3.08807288e-02 9.97940681e-01 -5.62207938e-02 1.69380318e+01] [-3.24025284e-02 5.52185495e-02 9.97948389e-01 -1.17621985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:16.90, Z:-117.62 [[ 9.98672545e-01 3.88466544e-02 3.38243429e-02 2.89013879e+02] [-3.86808084e-02 9.99236238e-01 -5.54403846e-03 1.68965259e+01] [-3.40138765e-02 4.22832607e-03 9.99412416e-01 -1.17623517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.04, Y:16.83, Z:-117.62 [[ 9.99277958e-01 3.79660634e-02 -1.46294333e-03 2.89042461e+02] [-3.77886430e-02 9.97133836e-01 6.55448778e-02 1.68348780e+01] [ 3.94723128e-03 -6.54422691e-02 9.97848550e-01 -1.17616118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:16.97, Z:-117.62 [[ 9.97870310e-01 4.56694813e-02 4.65740508e-02 2.89078081e+02] [-4.23506776e-02 9.96653638e-01 -6.99138438e-02 1.69654204e+01] [-4.96111261e-02 6.77925064e-02 9.96465209e-01 -1.17618885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:289.11, Y:16.86, Z:-117.62 [[ 9.98964313e-01 4.50387801e-02 6.46603472e-03 2.89107447e+02] [-4.53048254e-02 9.97739384e-01 4.96346155e-02 1.68600734e+01] [-4.21593496e-03 -4.98761522e-02 9.98746512e-01 -1.17616766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:16.92, Z:-117.62 [[ 9.98949220e-01 4.58244402e-02 -7.59845135e-04 2.89138135e+02] [-4.58299173e-02 9.98893305e-01 -1.05727556e-02 1.69193612e+01] [ 2.74513615e-04 1.05964696e-02 9.99943818e-01 -1.17616937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:16.89, Z:-117.62 [[ 9.98927840e-01 4.61638603e-02 3.47410845e-03 2.89167046e+02] [-4.62563791e-02 9.98333799e-01 3.44959752e-02 1.68875174e+01] [-1.87585250e-03 -3.46196897e-02 9.99398798e-01 -1.17617739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:16.97, Z:-117.62 [[ 9.98646214e-01 4.78762032e-02 2.03373739e-02 2.89200500e+02] [-4.68478271e-02 9.97731495e-01 -4.83440324e-02 1.69680251e+01] [-2.26057672e-02 4.73258232e-02 9.98623676e-01 -1.17617832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:289.23, Y:16.91, Z:-117.62 [[ 9.99036544e-01 4.24390346e-02 1.11764200e-02 2.89230552e+02] [-4.26823655e-02 9.98834936e-01 2.25163721e-02 1.69109752e+01] [-1.02078257e-02 -2.29717146e-02 9.99684000e-01 -1.17619126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.26, Y:16.98, Z:-117.62 [[ 9.97870288e-01 4.04933676e-02 5.11387878e-02 2.89262936e+02] [-3.80967588e-02 9.98168103e-01 -4.70008044e-02 1.69763904e+01] [-5.29483277e-02 4.49524841e-02 9.97584958e-01 -1.17618845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:16.85, Z:-117.62 [[ 9.99109402e-01 3.34814162e-02 2.56787370e-02 2.89287559e+02] [-3.57670784e-02 9.94888380e-01 9.44342525e-02 1.68496685e+01] [-2.23856845e-02 -9.52686030e-02 9.95199867e-01 -1.17618277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.33, Y:16.98, Z:-117.62 [[ 9.99473811e-01 3.19734926e-02 5.45864132e-03 2.89325041e+02] [-3.17173247e-02 9.98618489e-01 -4.18942109e-02 1.69806919e+01] [-6.79060438e-03 4.16990331e-02 9.99107141e-01 -1.17616091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.35, Y:16.94, Z:-117.62 [[ 9.99633459e-01 2.57868434e-02 8.24541926e-03 2.89353140e+02] [-2.58099667e-02 9.99663193e-01 2.71036496e-03 1.69408640e+01] [-8.17275039e-03 -2.92218550e-03 9.99962333e-01 -1.17620625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:16.95, Z:-117.62 [[ 9.99763369e-01 1.85336463e-02 1.13890595e-02 2.89384859e+02] [-1.84489757e-02 9.99801710e-01 -7.49501901e-03 1.69514838e+01] [-1.15257112e-02 7.28312897e-03 9.99907053e-01 -1.17621841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:16.99, Z:-117.62 [[ 9.98294365e-01 1.28446045e-02 5.69506477e-02 2.89415182e+02] [-1.02284410e-02 9.98889384e-01 -4.59932269e-02 1.69860182e+01] [-5.74781622e-02 4.53322629e-02 9.97317024e-01 -1.17622705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:289.45, Y:16.95, Z:-117.63 [[ 9.98257842e-01 7.49014983e-03 5.85250185e-02 2.89446818e+02] [-7.42880373e-03 9.99971605e-01 -1.26570764e-03 1.69452004e+01] [-5.85328370e-02 8.28731697e-04 9.98285140e-01 -1.17625557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.48, Y:16.94, Z:-117.63 [[ 9.98206333e-01 6.91324780e-03 5.94670020e-02 2.89479558e+02] [-6.84707319e-03 9.99975692e-01 -1.31649365e-03 1.69436930e+01] [-5.94746577e-02 9.06957384e-04 9.98229404e-01 -1.17626003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.51, Y:16.94, Z:-117.63 [[ 9.98158769e-01 5.59703135e-03 6.03965691e-02 2.89512863e+02] [-5.52450648e-03 9.99983804e-01 -1.36772872e-03 1.69419795e+01] [-6.04032461e-02 1.03154918e-03 9.98173524e-01 -1.17627810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.55, Y:16.94, Z:-117.63 [[ 9.98239342e-01 3.00388205e-03 5.92384378e-02 2.89545806e+02] [-2.92780633e-03 9.99994774e-01 -1.37098285e-03 1.69382391e+01] [-5.92422465e-02 1.19513035e-03 9.98242920e-01 -1.17629376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.58, Y:16.94, Z:-117.63 [[ 9.98237387e-01 1.48258926e-03 5.93289251e-02 2.89578866e+02] [-1.40183906e-03 9.99998034e-01 -1.40265786e-03 1.69351292e+01] [-5.93308880e-02 1.31701591e-03 9.98237502e-01 -1.17631223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:16.79, Z:-117.62 [[ 9.99933405e-01 -5.67632750e-03 1.00481270e-02 2.89601820e+02] [ 4.13284034e-03 9.89059891e-01 1.47456610e-01 1.67907833e+01] [-1.07752114e-02 -1.47405263e-01 9.89017484e-01 -1.17621184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:289.64, Y:16.95, Z:-117.63 [[ 9.99962670e-01 2.08102587e-03 8.38617417e-03 2.89641821e+02] [-1.83055370e-03 9.99555246e-01 -2.97650580e-02 1.69507936e+01] [-8.44438624e-03 2.97485955e-02 9.99521742e-01 -1.17628852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:17.02, Z:-117.62 [[ 9.98188326e-01 2.64602197e-03 6.01087774e-02 2.89674154e+02] [ 3.73366590e-03 9.94382982e-01 -1.05775915e-01 1.70173113e+01] [-6.00510307e-02 1.05808710e-01 9.92571605e-01 -1.17623862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.71, Y:16.93, Z:-117.64 [[ 9.98393856e-01 1.27775197e-03 5.66398816e-02 2.89705744e+02] [-3.43385368e-04 9.99863753e-01 -1.65032837e-02 1.69301773e+01] [-5.66532516e-02 1.64573277e-02 9.98258266e-01 -1.17635157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.73, Y:16.81, Z:-117.63 [[ 9.99861534e-01 -1.12980842e-03 1.66023064e-02 2.89730634e+02] [-6.45145696e-04 9.94310614e-01 1.06517542e-01 1.68143121e+01] [-1.66281939e-02 -1.06513504e-01 9.94172207e-01 -1.17627092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.76, Y:16.93, Z:-117.63 [[ 9.99858319e-01 8.17732787e-03 1.47130130e-02 2.89764846e+02] [-7.85492277e-03 9.99730646e-01 -2.18388573e-02 1.69289363e+01] [-1.48876335e-02 2.17201936e-02 9.99653236e-01 -1.17628540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:16.97, Z:-117.63 [[ 9.97749518e-01 1.16448952e-02 6.60325326e-02 2.89797656e+02] [-7.21958877e-03 9.97735988e-01 -6.68638568e-02 1.69685191e+01] [-6.66616568e-02 6.62366531e-02 9.95574673e-01 -1.17629700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.82, Y:16.84, Z:-117.63 [[ 9.99877218e-01 9.99059834e-03 1.20721489e-02 2.89823017e+02] [-1.07908646e-02 9.97616519e-01 6.81530509e-02 1.68438774e+01] [-1.13624854e-02 -6.82749518e-02 9.97601837e-01 -1.17627410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:289.86, Y:16.92, Z:-117.63 [[ 9.99534042e-01 2.02635456e-02 2.28273521e-02 2.89858095e+02] [-1.98780206e-02 9.99658028e-01 -1.69909224e-02 1.69219459e+01] [-2.31638421e-02 1.65292428e-02 9.99595028e-01 -1.17630289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:16.90, Z:-117.63 [[ 9.99554388e-01 2.22159445e-02 1.99368122e-02 2.89887018e+02] [-2.24594702e-02 9.99674828e-01 1.20752293e-02 1.68962877e+01] [-1.96620667e-02 -1.25176187e-02 9.99728319e-01 -1.17632150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.92, Y:16.92, Z:-117.63 [[ 9.99311523e-01 2.89530478e-02 2.31991814e-02 2.89917852e+02] [-2.87726762e-02 9.99553393e-01 -8.07141810e-03 1.69175874e+01] [-2.34225126e-02 7.39835858e-03 9.99698280e-01 -1.17632128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.95, Y:16.96, Z:-117.63 [[ 9.96888767e-01 3.42442258e-02 7.09938008e-02 2.89951371e+02] [-3.03537582e-02 9.98015325e-01 -5.51730085e-02 1.69604622e+01] [-7.27422581e-02 5.28464237e-02 9.95949707e-01 -1.17633935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:289.98, Y:16.91, Z:-117.64 [[ 9.96737541e-01 3.53318611e-02 7.25667597e-02 2.89982744e+02] [-3.52847224e-02 9.99375433e-01 -1.93182973e-03 1.69124268e+01] [-7.25896921e-02 -6.34970752e-04 9.97361686e-01 -1.17635963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:16.92, Z:-117.64 [[ 9.96543086e-01 3.96392438e-02 7.30110186e-02 2.90016134e+02] [-3.96002487e-02 9.99213637e-01 -1.98215149e-03 1.69165048e+01] [-7.30321764e-02 -9.15955135e-04 9.97329164e-01 -1.17637235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.05, Y:16.89, Z:-117.64 [[ 9.98560441e-01 3.95685539e-02 3.62129276e-02 2.90046379e+02] [-4.06731864e-02 9.98713185e-01 3.02930065e-02 1.68895752e+01] [-3.49676778e-02 -3.17222931e-02 9.98884857e-01 -1.17637331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.08, Y:16.92, Z:-117.64 [[ 9.98349423e-01 4.45884927e-02 3.61979981e-02 2.90080780e+02] [-4.46243790e-02 9.99003819e-01 1.83669504e-04 1.69205844e+01] [-3.61537488e-02 -1.79867953e-03 9.99344621e-01 -1.17638986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:16.93, Z:-117.64 [[ 9.98291513e-01 4.48910762e-02 3.74011600e-02 2.90111725e+02] [-4.47898286e-02 9.98990156e-01 -3.54099916e-03 1.69257600e+01] [-3.75223500e-02 1.85975786e-03 9.99294058e-01 -1.17639838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:290.12, Y:16.90, Z:-117.64 [[ 9.99329963e-01 1.52433128e-02 3.32755987e-02 2.90118330e+02] [-1.58849689e-02 9.99691293e-01 1.91046401e-02 1.68952193e+01] [-3.29741083e-02 -1.96204212e-02 9.99263602e-01 -1.17638957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:290.15, Y:16.91, Z:-117.64 [[ 9.99202469e-01 1.98649011e-02 3.46382926e-02 2.90148934e+02] [-2.00438107e-02 9.99787458e-01 4.82547547e-03 1.69090310e+01] [-3.45350729e-02 -5.51591038e-03 9.99388265e-01 -1.17639652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.20, Y:16.92, Z:-117.64 [[ 9.97984328e-01 5.06996661e-02 3.81683656e-02 2.90199702e+02] [-5.10130958e-02 9.98671432e-01 7.28252226e-03 1.69213809e+01] [-3.77484349e-02 -9.21492958e-03 9.99244785e-01 -1.17641382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:16.94, Z:-117.64 [[ 9.97667985e-01 5.17414388e-02 4.45130957e-02 2.90231345e+02] [-5.10299947e-02 9.98552863e-01 -1.69741014e-02 1.69445707e+01] [-4.53269436e-02 1.46630145e-02 9.98864588e-01 -1.17641797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.26, Y:16.92, Z:-117.65 [[ 9.97889336e-01 4.88641358e-02 4.27687894e-02 2.90260916e+02] [-4.92608657e-02 9.98751697e-01 8.27131121e-03 1.69245690e+01] [-4.23112305e-02 -1.03606808e-02 9.99050758e-01 -1.17645063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:290.29, Y:16.93, Z:-117.65 [[ 9.97977867e-01 4.86416944e-02 4.09165286e-02 2.90293060e+02] [-4.90530725e-02 9.98754623e-01 9.11033904e-03 1.69251480e+01] [-4.04224298e-02 -1.10989982e-02 9.99121033e-01 -1.17645530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:290.32, Y:16.94, Z:-117.65 [[ 9.97870174e-01 4.81180090e-02 4.40428652e-02 2.90324086e+02] [-4.78772014e-02 9.98832036e-01 -6.50678881e-03 1.69404969e+01] [-4.43045184e-02 4.38428136e-03 9.99008452e-01 -1.17645127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91591999999997 meters Centerline goodness : 0.932550 Centerline is valid? [True, False] Translation: X:290.33, Y:16.94, Z:-117.64 [[ 9.98651136e-01 3.22166761e-02 4.07184887e-02 2.90327465e+02] [-3.21406145e-02 9.99480177e-01 -2.52140767e-03 1.69386247e+01] [-4.07785536e-02 1.20928939e-03 9.99167477e-01 -1.17644891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters Centerline goodness : 0.850144 Centerline is valid? [False, False] Translation: X:290.34, Y:16.93, Z:-117.65 [[ 9.99313258e-01 2.01447081e-02 3.10998899e-02 2.90342556e+02] [-2.04256422e-02 9.99753154e-01 8.74213935e-03 1.69280407e+01] [-3.09161051e-02 -9.37137098e-03 9.99478050e-01 -1.17645903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97592 meters Centerline goodness : 0.916538 Centerline is valid? [False, False] Translation: X:290.34, Y:16.94, Z:-117.65 [[ 9.99453040e-01 1.21531005e-02 3.07558607e-02 2.90343265e+02] [-1.20954665e-02 9.99924727e-01 -2.05928014e-03 1.69379016e+01] [-3.07785723e-02 1.68614732e-03 9.99524805e-01 -1.17646803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:290.38, Y:16.93, Z:-117.65 [[ 9.99959019e-01 4.13971640e-03 8.05129226e-03 2.90383422e+02] [-4.17923916e-03 9.99979270e-01 4.89825724e-03 1.69327781e+01] [-8.03084796e-03 -4.93170478e-03 9.99955591e-01 -1.17646066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03592 meters Centerline goodness : 0.804220 Centerline is valid? [True, False] Translation: X:290.39, Y:16.95, Z:-117.64 [[ 9.99982980e-01 5.83287888e-03 -1.32900757e-04 2.90387049e+02] [-5.83420051e-03 9.99875482e-01 -1.46622827e-02 1.69514621e+01] [ 4.73608889e-05 1.46628085e-02 9.99892494e-01 -1.17643577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters Centerline goodness : 0.774166 Centerline is valid? [False, False] Translation: X:290.39, Y:16.95, Z:-117.64 [[ 9.99983174e-01 5.79747984e-03 -2.01418825e-04 2.90387293e+02] [-5.79982674e-03 9.99873549e-01 -1.48069999e-02 1.69520551e+01] [ 1.15550072e-04 1.48079189e-02 9.99890350e-01 -1.17643396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:290.39, Y:16.94, Z:-117.64 [[ 9.99996214e-01 -1.68210334e-03 -2.17750872e-03 2.90389851e+02] [ 1.68283024e-03 9.99998529e-01 3.32031836e-04 1.69375338e+01] [ 2.17694700e-03 -3.35694957e-04 9.99997574e-01 -1.17643120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.42, Y:17.00, Z:-117.64 [[ 9.98930978e-01 -4.31145661e-03 4.60251207e-02 2.90420972e+02] [ 7.33270821e-03 9.97813926e-01 -6.56780014e-02 1.69975080e+01] [-4.56413386e-02 6.59452790e-02 9.96778856e-01 -1.17641234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:16.84, Z:-117.65 [[ 9.99937096e-01 -1.05597874e-02 -3.78089395e-03 2.90447591e+02] [ 1.08972020e-02 9.94462345e-01 1.04527006e-01 1.68393585e+01] [ 2.65617370e-03 -1.04561632e-01 9.94514862e-01 -1.17645307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:290.48, Y:16.98, Z:-117.64 [[ 9.99899930e-01 -1.03670571e-02 9.62574398e-03 2.90477843e+02] [ 1.08825101e-02 9.98419403e-01 -5.51386066e-02 1.69816781e+01] [-9.03890448e-03 5.52378411e-02 9.98432311e-01 -1.17641450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.50, Y:16.83, Z:-117.64 [[ 9.99778096e-01 -2.07146068e-02 -3.82923531e-03 2.90501509e+02] [ 2.10067686e-02 9.93949348e-01 1.07811920e-01 1.68277540e+01] [ 1.57278441e-03 -1.07868436e-01 9.94163934e-01 -1.17642966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:290.54, Y:17.07, Z:-117.63 [[ 9.98356068e-01 -9.79074044e-03 5.64739210e-02 2.90538190e+02] [ 1.84710103e-02 9.87694703e-01 -1.55299696e-01 1.70692119e+01] [-5.42584936e-02 1.56087524e-01 9.86251844e-01 -1.17627091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.27592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:290.56, Y:16.86, Z:-117.64 [[ 9.99808709e-01 -1.77068619e-02 8.30739935e-03 2.90563842e+02] [ 1.70648806e-02 9.97269384e-01 7.18509998e-02 1.68557153e+01] [-9.55697076e-03 -7.16954905e-02 9.97380780e-01 -1.17643300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:290.59, Y:16.92, Z:-117.65 [[ 9.99841137e-01 -1.36859161e-02 1.14191172e-02 2.90594608e+02] [ 1.36574349e-02 9.99903434e-01 2.56844033e-03 1.69170943e+01] [-1.14531659e-02 -2.41207645e-03 9.99931501e-01 -1.17645461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.63, Y:16.98, Z:-117.64 [[ 9.97911492e-01 -7.20453173e-03 6.41930541e-02 2.90627987e+02] [ 1.18939383e-02 9.97263078e-01 -7.29718235e-02 1.69828646e+01] [-6.34916350e-02 7.35829295e-02 9.95265977e-01 -1.17640978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:290.66, Y:16.84, Z:-117.64 [[ 9.99836769e-01 -8.49421529e-03 1.59462661e-02 2.90656271e+02] [ 7.12167908e-03 9.96420164e-01 8.42385781e-02 1.68364626e+01] [-1.66047217e-02 -8.41112636e-02 9.96318011e-01 -1.17643437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:290.69, Y:16.89, Z:-117.64 [[ 9.99798633e-01 -3.18592988e-03 1.98126963e-02 2.90686266e+02] [ 2.60483078e-03 9.99567662e-01 2.92865856e-02 1.68865027e+01] [-1.98974355e-02 -2.92290796e-02 9.99374681e-01 -1.17642555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:290.72, Y:16.92, Z:-117.64 [[ 9.99926047e-01 5.16760649e-03 1.10089630e-02 2.90717727e+02] [-5.07499760e-03 9.99951643e-01 -8.42352862e-03 1.69200996e+01] [-1.10519602e-02 8.36703521e-03 9.99903919e-01 -1.17642738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:290.75, Y:17.00, Z:-117.64 [[ 9.97281044e-01 1.02386358e-02 7.29773269e-02 2.90748788e+02] [-3.07999405e-03 9.95226923e-01 -9.75391490e-02 1.70011961e+01] [-7.36276683e-02 9.70491745e-02 9.92552479e-01 -1.17638578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:290.78, Y:16.85, Z:-117.64 [[ 9.99630159e-01 9.64967132e-03 2.54249822e-02 2.90777633e+02] [-1.13041942e-02 9.97771701e-01 6.57559751e-02 1.68504101e+01] [-2.47338042e-02 -6.60190648e-02 9.97511765e-01 -1.17643570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:290.81, Y:16.88, Z:-117.65 [[ 9.99374762e-01 1.24165593e-02 3.31046041e-02 2.90805634e+02] [-1.35906387e-02 9.99277976e-01 3.54798696e-02 1.68783940e+01] [-3.26401638e-02 -3.59075989e-02 9.98821938e-01 -1.17646013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:290.84, Y:16.90, Z:-117.64 [[ 9.99437650e-01 1.60410398e-02 2.94460399e-02 2.90837640e+02] [-1.62938835e-02 9.99832238e-01 8.36689445e-03 1.69042952e+01] [-2.93068863e-02 -8.84197967e-03 9.99531353e-01 -1.17644508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:290.87, Y:17.01, Z:-117.64 [[ 9.96305390e-01 2.57452165e-02 8.19313941e-02 2.90869846e+02] [-1.67389589e-02 9.93925939e-01 -1.08770558e-01 1.70131818e+01] [-8.42340594e-02 1.06997247e-01 9.90684719e-01 -1.17638815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:290.89, Y:16.80, Z:-117.64 [[ 9.99244871e-01 1.52869682e-02 3.57210911e-02 2.90894860e+02] [-1.97018843e-02 9.91744026e-01 1.26710786e-01 1.67981662e+01] [-3.34891549e-02 -1.27318876e-01 9.91296313e-01 -1.17643999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:290.93, Y:16.95, Z:-117.65 [[ 9.99085157e-01 2.72349817e-02 3.29712880e-02 2.90929224e+02] [-2.58938162e-02 9.98846302e-01 -4.04422568e-02 1.69549461e+01] [-3.40346932e-02 3.95515060e-02 9.98637731e-01 -1.17645279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.96, Y:16.99, Z:-117.65 [[ 9.95846184e-01 3.01809667e-02 8.59039434e-02 2.90959994e+02] [-2.33166893e-02 9.96536781e-01 -7.98171434e-02 1.69918237e+01] [-8.80153977e-02 7.74826021e-02 9.93101070e-01 -1.17646506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:290.99, Y:16.92, Z:-117.65 [[ 9.95816578e-01 2.77391879e-02 8.70625034e-02 2.90991570e+02] [-2.77731602e-02 9.99613914e-01 -8.21303873e-04 1.69222028e+01] [-8.70516721e-02 -1.60013284e-03 9.96202513e-01 -1.17654400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:291.02, Y:16.85, Z:-117.65 [[ 9.99418215e-01 2.02413126e-02 2.74503339e-02 2.91018565e+02] [-2.23450340e-02 9.96653286e-01 7.86315854e-02 1.68508660e+01] [-2.57668590e-02 -7.91992174e-02 9.96525741e-01 -1.17649603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:291.05, Y:16.91, Z:-117.65 [[ 9.98815015e-01 3.02769518e-02 3.81034408e-02 2.91051397e+02] [-3.09945141e-02 9.99350470e-01 1.83841666e-02 1.69129477e+01] [-3.75220750e-02 -1.95433793e-02 9.99104674e-01 -1.17653979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:291.08, Y:16.90, Z:-117.66 [[ 9.98684773e-01 2.92572169e-02 4.21039136e-02 2.91079193e+02] [-3.06930756e-02 9.98954825e-01 3.38702306e-02 1.69015429e+01] [-4.10689589e-02 -3.51179822e-02 9.98538967e-01 -1.17655070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:291.10, Y:16.92, Z:-117.66 [[ 9.98015188e-01 3.20518717e-02 5.42066597e-02 2.91104969e+02] [-3.31378130e-02 9.99265307e-01 1.92544119e-02 1.69220754e+01] [-5.35496945e-02 -2.10124857e-02 9.98344082e-01 -1.17655445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:291.14, Y:16.97, Z:-117.65 [[ 9.97971282e-01 3.49387158e-02 5.32222378e-02 2.91136373e+02] [-3.36296087e-02 9.99114154e-01 -2.52973549e-02 1.69663030e+01] [-5.40589482e-02 2.34561907e-02 9.98262209e-01 -1.17654083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:291.17, Y:17.06, Z:-117.65 [[ 9.93702414e-01 4.06204539e-02 1.04429361e-01 2.91167408e+02] [-2.76369508e-02 9.92034614e-01 -1.22896392e-01 1.70579281e+01] [-1.08589648e-01 1.19236333e-01 9.86909816e-01 -1.17645323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:291.19, Y:16.81, Z:-117.66 [[ 9.98774835e-01 1.46370926e-02 4.72713857e-02 2.91191241e+02] [-2.17222332e-02 9.87981108e-01 1.53040762e-01 1.68064751e+01] [-4.44631642e-02 -1.53880102e-01 9.87088619e-01 -1.17656999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93591999999995 meters Centerline goodness : 0.913387 Centerline is valid? [True, False] Translation: X:291.17, Y:16.84, Z:-117.66 [[ 9.98913902e-01 1.77651263e-02 4.30745517e-02 2.91169330e+02] [-2.28858508e-02 9.92331715e-01 1.21466064e-01 1.68382238e+01] [-4.05863838e-02 -1.22319938e-01 9.91660516e-01 -1.17655164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters Centerline goodness : 0.999703 Centerline is valid? [False, True] Translation: X:291.14, Y:16.88, Z:-117.65 [[ 9.98792309e-01 1.95809314e-02 4.50611935e-02 2.91137140e+02] [-2.32720957e-02 9.96285706e-01 8.29047760e-02 1.68776092e+01] [-4.32704703e-02 -8.38533211e-02 9.95538190e-01 -1.17654573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:291.17, Y:16.95, Z:-117.65 [[ 9.98683525e-01 2.33808866e-02 4.56568875e-02 2.91170719e+02] [-2.36224021e-02 9.99709633e-01 4.75736002e-03 1.69512915e+01] [-4.55323989e-02 -5.82962242e-03 9.98945852e-01 -1.17653759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:291.20, Y:16.96, Z:-117.65 [[ 9.98683312e-01 2.30553854e-02 4.58267647e-02 2.91200993e+02] [-2.29302210e-02 9.99731769e-01 -3.25513123e-03 1.69598924e+01] [-4.58895209e-02 2.20002740e-03 9.98944098e-01 -1.17654865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:291.23, Y:16.97, Z:-117.66 [[ 9.98386912e-01 2.34863152e-02 5.16910789e-02 2.91231717e+02] [-2.29459547e-02 9.99675942e-01 -1.10224702e-02 1.69692217e+01] [-5.19332051e-02 9.81858883e-03 9.98602292e-01 -1.17657492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:291.26, Y:16.96, Z:-117.66 [[ 9.98356409e-01 2.32450847e-02 5.23846094e-02 2.91262460e+02] [-2.32603554e-02 9.99729391e-01 -3.18213115e-04 1.69597824e+01] [-5.23778306e-02 -9.00794532e-04 9.98626933e-01 -1.17660780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:291.29, Y:16.97, Z:-117.66 [[ 9.98068579e-01 2.48186814e-02 5.69486081e-02 2.91293755e+02] [-2.42717282e-02 9.99652582e-01 -1.02761014e-02 1.69713979e+01] [-5.71838624e-02 8.87401278e-03 9.98324225e-01 -1.17661716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:291.32, Y:16.93, Z:-117.67 [[ 9.98575471e-01 2.20132644e-02 4.86049904e-02 2.91322468e+02] [-2.36602842e-02 9.99156113e-01 3.35745728e-02 1.69331306e+01] [-4.78248874e-02 -3.46767527e-02 9.98253627e-01 -1.17665480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:291.35, Y:16.99, Z:-117.66 [[ 9.97996835e-01 2.66118985e-02 5.73944614e-02 2.91354651e+02] [-2.49962924e-02 9.99275892e-01 -2.86858312e-02 1.69919965e+01] [-5.81162860e-02 2.71937200e-02 9.97939376e-01 -1.17662036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:291.38, Y:16.97, Z:-117.67 [[ 9.97914700e-01 2.19848228e-02 6.06870588e-02 2.91383846e+02] [-2.16418161e-02 9.99745916e-01 -6.30365679e-03 1.69712430e+01] [-6.08102239e-02 4.97713360e-03 9.98136937e-01 -1.17667145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23591999999996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:291.41, Y:16.96, Z:-117.67 [[ 9.98059082e-01 1.78316920e-02 5.96665748e-02 2.91412177e+02] [-1.84380992e-02 9.99783644e-01 9.62814272e-03 1.69560709e+01] [-5.94819795e-02 -1.07095935e-02 9.98171928e-01 -1.17670174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:291.44, Y:16.98, Z:-117.67 [[ 9.97734330e-01 1.70465119e-02 6.50816587e-02 2.91443115e+02] [-1.58227042e-02 9.99689037e-01 -1.92735689e-02 1.69848174e+01] [-6.53899678e-02 1.82001335e-02 9.97693794e-01 -1.17669722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29591999999997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:291.47, Y:16.97, Z:-117.67 [[ 9.97744756e-01 1.46032344e-02 6.55144823e-02 2.91473628e+02] [-1.43112327e-02 9.99885464e-01 -4.92417055e-03 1.69723518e+01] [-6.55788873e-02 3.97547235e-03 9.97839469e-01 -1.17673523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:291.50, Y:16.92, Z:-117.68 [[ 9.98079148e-01 3.31306130e-03 6.18630557e-02 2.91499450e+02] [-6.53828561e-03 9.98625394e-01 5.20055039e-02 1.69165518e+01] [-6.16057210e-02 -5.23100873e-02 9.96728845e-01 -1.17680971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:291.53, Y:17.06, Z:-117.67 [[ 9.92456559e-01 1.48553423e-02 1.21693453e-01 2.91534876e+02] [-2.29231950e-03 9.94706543e-01 -1.02730905e-01 1.70582549e+01] [-1.22575377e-01 1.01677001e-01 9.87237086e-01 -1.17666467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:291.56, Y:16.92, Z:-117.68 [[ 9.97180248e-01 1.97174585e-03 7.50177599e-02 2.91561938e+02] [-5.24911767e-03 9.99038945e-01 4.35159031e-02 1.69224742e+01] [-7.48598614e-02 -4.37869761e-02 9.96232253e-01 -1.17682570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41591999999997 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:291.59, Y:16.96, Z:-117.68 [[ 9.97227689e-01 2.88140279e-03 7.43547768e-02 2.91593585e+02] [-2.83352208e-03 9.99995705e-01 -7.49430479e-04 1.69620271e+01] [-7.43566168e-02 5.36666923e-04 9.97231571e-01 -1.17681977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:291.63, Y:17.00, Z:-117.68 [[ 9.92281557e-01 4.40366454e-03 1.23927074e-01 2.91626011e+02] [ 1.64954360e-03 9.98812090e-01 -4.86999722e-02 1.70041174e+01] [-1.23994319e-01 4.85285073e-02 9.91095552e-01 -1.17683246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:291.66, Y:16.96, Z:-117.69 [[ 9.92384141e-01 -2.19295268e-03 1.23162119e-01 2.91657321e+02] [ 2.50892393e-03 9.99993947e-01 -2.41045634e-03 1.69555373e+01] [-1.23156088e-01 2.70110303e-03 9.92383637e-01 -1.17691852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:291.69, Y:16.95, Z:-117.70 [[ 9.92358381e-01 -2.99674716e-03 1.23352599e-01 2.91689940e+02] [ 3.32754978e-03 9.99991399e-01 -2.47583375e-03 1.69520468e+01] [-1.23344118e-01 2.86737628e-03 9.92359817e-01 -1.17695082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:291.72, Y:16.94, Z:-117.70 [[ 9.92267305e-01 -6.26511967e-03 1.23961058e-01 2.91722566e+02] [ 6.63239852e-03 9.99974753e-01 -2.55040346e-03 1.69437340e+01] [-1.23941950e-01 3.35284111e-03 9.92283806e-01 -1.17696934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:291.75, Y:16.87, Z:-117.70 [[ 9.97545397e-01 -1.35355860e-02 6.87020266e-02 2.91750702e+02] [ 8.69360228e-03 9.97488446e-01 7.02938171e-02 1.68717343e+01] [-6.94809458e-02 -6.95240056e-02 9.95157681e-01 -1.17698266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:291.78, Y:16.97, Z:-117.70 [[ 9.96151758e-01 -4.62788871e-03 8.75229029e-02 2.91783375e+02] [ 8.36256030e-03 9.99067736e-01 -4.23523983e-02 1.69713761e+01] [-8.72453063e-02 4.29213315e-02 9.95261783e-01 -1.17696156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:291.81, Y:16.84, Z:-117.70 [[ 9.97192691e-01 -1.71548219e-02 7.28865546e-02 2.91810819e+02] [ 1.03912378e-02 9.95688010e-01 9.21813923e-02 1.68376558e+01] [-7.41536239e-02 -9.11652291e-02 9.93071065e-01 -1.17699667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:291.84, Y:16.92, Z:-117.70 [[ 9.97152330e-01 -7.13389497e-03 7.50755491e-02 2.91844024e+02] [ 7.05329367e-03 9.99974229e-01 1.33869017e-03 1.69215724e+01] [-7.50831644e-02 -8.05348129e-04 9.97176950e-01 -1.17700919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:291.87, Y:17.00, Z:-117.70 [[ 9.95444045e-01 4.17565749e-03 9.52560661e-02 2.91872238e+02] [ 4.50488123e-03 9.95865180e-01 -9.07317449e-02 1.69950203e+01] [-9.52410641e-02 9.07474924e-02 9.91309252e-01 -1.17697052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:291.90, Y:16.94, Z:-117.71 [[ 9.91303464e-01 1.11755684e-03 1.31591010e-01 2.91903178e+02] [ 3.60409100e-03 9.99358280e-01 -3.56375985e-02 1.69394172e+01] [-1.31546393e-01 3.58019408e-02 9.90663297e-01 -1.17707004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:291.93, Y:16.91, Z:-117.71 [[ 9.91167110e-01 2.11339499e-03 1.32602013e-01 2.91934718e+02] [-1.74339653e-03 9.99994257e-01 -2.90633255e-03 1.69052490e+01] [-1.32607394e-01 2.64948334e-03 9.91165102e-01 -1.17712992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.77592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:291.97, Y:16.90, Z:-117.72 [[ 9.91028666e-01 1.25696517e-02 1.33057085e-01 2.91967439e+02] [-1.22818203e-02 9.99920124e-01 -2.98376970e-03 1.68991896e+01] [-1.33083962e-01 1.32281809e-03 9.91103884e-01 -1.17716285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:292.00, Y:16.90, Z:-117.72 [[ 9.90846530e-01 1.83577580e-02 1.33739097e-01 2.92000790e+02] [-1.81100948e-02 9.99831291e-01 -3.06818519e-03 1.68966468e+01] [-1.33772859e-01 6.18072938e-04 9.91011827e-01 -1.17718757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:292.03, Y:16.90, Z:-117.72 [[ 9.90588948e-01 2.91532645e-02 1.33729666e-01 2.92033662e+02] [-2.89941027e-02 9.99574657e-01 -3.13787295e-03 1.68963866e+01] [-1.33764265e-01 -7.69029414e-04 9.91012881e-01 -1.17722917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:292.07, Y:16.90, Z:-117.73 [[ 9.90795069e-01 3.35752135e-02 1.31140524e-01 2.92066556e+02] [-3.34516936e-02 9.99435386e-01 -3.14535437e-03 1.68976647e+01] [-1.31172086e-01 -1.27047100e-03 9.91358800e-01 -1.17726782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:292.10, Y:16.84, Z:-117.73 [[ 9.95335531e-01 3.82703843e-02 8.85582175e-02 2.92096785e+02] [-4.39208516e-02 9.97061656e-01 6.27615551e-02 1.68395817e+01] [-8.58960941e-02 -6.63583581e-02 9.94091761e-01 -1.17727779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:292.13, Y:16.96, Z:-117.73 [[ 9.89504635e-01 5.50369224e-02 1.33609558e-01 2.92130837e+02] [-4.62729951e-02 9.96622755e-01 -6.78372583e-02 1.69604294e+01] [-1.36891880e-01 6.09427671e-02 9.88709559e-01 -1.17727220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:292.16, Y:16.91, Z:-117.73 [[ 9.89261263e-01 5.54891378e-02 1.35215047e-01 2.92161838e+02] [-5.55470849e-02 9.98450459e-01 -3.34708059e-03 1.69061471e+01] [-1.35191252e-01 -4.19966454e-03 9.90810622e-01 -1.17733865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:292.19, Y:16.86, Z:-117.74 [[ 9.93707504e-01 5.35435385e-02 9.83792939e-02 2.92193769e+02] [-5.86912894e-02 9.97013333e-01 5.01970760e-02 1.68609551e+01] [-9.53977386e-02 -5.56552187e-02 9.93882170e-01 -1.17738304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01592 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:292.23, Y:16.91, Z:-117.74 [[ 9.93950074e-01 6.15882132e-02 9.09403239e-02 2.92227466e+02] [-6.22917903e-02 9.98045873e-01 4.91605307e-03 1.69070853e+01] [-9.04598441e-02 -1.05511469e-02 9.95844210e-01 -1.17736717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:292.26, Y:16.98, Z:-117.74 [[ 9.88426690e-01 7.20144808e-02 1.33516264e-01 2.92258668e+02] [-6.39804982e-02 9.95927458e-01 -6.35216008e-02 1.69752155e+01] [-1.37546988e-01 5.42440086e-02 9.89008804e-01 -1.17737719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07592 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:292.29, Y:16.92, Z:-117.75 [[ 9.88472359e-01 6.65927715e-02 1.35969843e-01 2.92289613e+02] [-6.67439132e-02 9.97764167e-01 -3.45199959e-03 1.69235391e+01] [-1.35895715e-01 -5.66295321e-03 9.90706963e-01 -1.17746118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:292.32, Y:16.93, Z:-117.75 [[ 9.87989455e-01 6.88145898e-02 1.38352410e-01 2.92322404e+02] [-6.89828576e-02 9.97611407e-01 -3.58420810e-03 1.69332068e+01] [-1.38268588e-01 -6.00278477e-03 9.90376577e-01 -1.17749270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13592 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:292.35, Y:16.87, Z:-117.75 [[ 9.92395312e-01 5.81757757e-02 1.08476376e-01 2.92348335e+02] [-6.65299314e-02 9.94957638e-01 7.50537573e-02 1.68651349e+01] [-1.03563089e-01 -8.16999227e-02 9.91261726e-01 -1.17752746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:292.36, Y:16.95, Z:-117.76 [[ 9.93944080e-01 3.07927547e-02 1.05484460e-01 2.92359723e+02] [-2.80699831e-02 9.99235813e-01 -2.72004968e-02 1.69536301e+01] [-1.06241429e-01 2.40748257e-02 9.94048873e-01 -1.17755174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:292.41, Y:16.98, Z:-117.75 [[ 9.90979898e-01 7.44565213e-02 1.11422924e-01 2.92414986e+02] [-7.00139767e-02 9.96607049e-01 -4.32716206e-02 1.69849634e+01] [-1.14266726e-01 3.50801442e-02 9.92830549e-01 -1.17754431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:292.44, Y:16.97, Z:-117.76 [[ 9.87437006e-01 6.72895749e-02 1.42969483e-01 2.92444993e+02] [-6.50365015e-02 9.97674759e-01 -2.03796086e-02 1.69653755e+01] [-1.44008380e-01 1.08253446e-02 9.89517255e-01 -1.17758598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25591999999995 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:292.48, Y:16.96, Z:-117.76 [[ 9.87998652e-01 5.88231766e-02 1.42823308e-01 2.92477547e+02] [-5.87960213e-02 9.98260258e-01 -4.41419266e-03 1.69577981e+01] [-1.42834489e-01 -4.03622586e-03 9.89738358e-01 -1.17763674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:292.51, Y:16.93, Z:-117.77 [[ 9.92679310e-01 5.25443652e-02 1.08751444e-01 2.92508684e+02] [-5.61125733e-02 9.97973256e-01 3.00126531e-02 1.69296916e+01] [-1.06954037e-01 -3.58952632e-02 9.93615803e-01 -1.17768928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31591999999995 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:292.54, Y:16.99, Z:-117.77 [[ 9.88068137e-01 5.60325835e-02 1.43463261e-01 2.92542734e+02] [-5.11001721e-02 9.97976381e-01 -3.78406506e-02 1.69924182e+01] [-1.45293255e-01 3.00581438e-02 9.88931938e-01 -1.17766982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:292.57, Y:16.86, Z:-117.78 [[ 9.95238721e-01 3.07664773e-02 9.24841137e-02 2.92565142e+02] [-4.05246809e-02 9.93586924e-01 1.05559340e-01 1.68633158e+01] [-8.86433170e-02 -1.08804632e-01 9.90102982e-01 -1.17776025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37591999999995 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:292.61, Y:17.06, Z:-117.76 [[ 9.87995014e-01 5.40636848e-02 1.44716864e-01 2.92605878e+02] [-3.86461458e-02 9.93474864e-01 -1.07304099e-01 1.70580546e+01] [-1.49573822e-01 1.00423165e-01 9.83637565e-01 -1.17758741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:292.63, Y:16.91, Z:-117.78 [[ 9.93961704e-01 2.80958806e-02 1.06069566e-01 2.92628382e+02] [-3.41278750e-02 9.97875924e-01 5.54880940e-02 1.69111880e+01] [-1.04285279e-01 -5.87729693e-02 9.92809306e-01 -1.17780992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43591999999995 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:292.67, Y:17.02, Z:-117.77 [[ 9.88183524e-01 3.95508054e-02 1.48084624e-01 2.92665037e+02] [-3.07369068e-02 9.97643388e-01 -6.13425917e-02 1.70172250e+01] [-1.50161795e-01 5.60660751e-02 9.87070428e-01 -1.17773606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:292.69, Y:16.91, Z:-117.79 [[ 9.94282985e-01 2.25669411e-02 1.04365127e-01 2.92689520e+02] [-2.84523760e-02 9.98066964e-01 5.52521229e-02 1.69086788e+01] [-1.02916514e-01 -5.79056815e-02 9.93003083e-01 -1.17787688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49591999999996 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:292.73, Y:17.01, Z:-117.78 [[ 9.88051308e-01 3.66116189e-02 1.49713733e-01 2.92727179e+02] [-2.76095906e-02 9.97708377e-01 -6.17713984e-02 1.70137138e+01] [-1.51632197e-01 5.68997761e-02 9.86797898e-01 -1.17780102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:292.75, Y:16.92, Z:-117.79 [[ 9.93653204e-01 2.57798161e-02 1.09492970e-01 2.92754443e+02] [-2.99935571e-02 9.98864572e-01 3.70128703e-02 1.69231887e+01] [-1.08414464e-01 -4.00620408e-02 9.93298211e-01 -1.17794685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55591999999996 meters Centerline goodness : 0.822511 Centerline is valid? [True, False] Translation: X:292.76, Y:16.94, Z:-117.79 [[ 9.94407600e-01 3.32734659e-02 1.00231735e-01 2.92759746e+02] [-3.57433571e-02 9.99097514e-01 2.29471119e-02 1.69373834e+01] [-9.93777474e-02 -2.64014012e-02 9.94699467e-01 -1.17793653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters Centerline goodness : 0.998806 Centerline is valid? [False, True] Translation: X:292.77, Y:16.94, Z:-117.80 [[ 9.94896147e-01 2.94319429e-02 9.65164099e-02 2.92769286e+02] [-3.13731311e-02 9.99333605e-01 1.86566995e-02 1.69398840e+01] [-9.59029890e-02 -2.15895005e-02 9.95156525e-01 -1.17796891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61591999999996 meters Centerline goodness : 0.849970 Centerline is valid? [True, False] Translation: X:292.78, Y:16.95, Z:-117.80 [[ 9.95884296e-01 3.73394619e-02 8.25847013e-02 2.92782445e+02] [-3.82492479e-02 9.99223438e-01 9.46131427e-03 1.69501367e+01] [-8.21672887e-02 -1.25811770e-02 9.96539137e-01 -1.17798276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters Centerline goodness : 0.998958 Centerline is valid? [False, True] Translation: X:292.81, Y:16.96, Z:-117.80 [[ 9.96966646e-01 3.17729445e-02 7.10491806e-02 2.92814234e+02] [-3.16912732e-02 9.99495112e-01 -2.27673770e-03 1.69610316e+01] [-7.10856474e-02 1.81925521e-05 9.97470215e-01 -1.17799139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:292.85, Y:16.96, Z:-117.80 [[ 9.97040497e-01 3.37298795e-02 6.90835956e-02 2.92845449e+02] [-3.36851044e-02 9.99430851e-01 -1.81329583e-03 1.69636691e+01] [-6.91054389e-02 -5.19158752e-04 9.97609226e-01 -1.17800634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:292.88, Y:16.95, Z:-117.80 [[ 9.97094065e-01 3.34453681e-02 6.84458360e-02 2.92876940e+02] [-3.45288788e-02 9.99295460e-01 1.47085006e-02 1.69488578e+01] [-6.79056820e-02 -1.70291166e-02 9.97546404e-01 -1.17801886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73591999999996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:292.91, Y:17.04, Z:-117.79 [[ 9.92219334e-01 4.00875097e-02 1.17871901e-01 2.92911191e+02] [-3.06400336e-02 9.96251325e-01 -8.08979982e-02 1.70350121e+01] [-1.20673037e-01 7.66569589e-02 9.89728109e-01 -1.17791016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:292.93, Y:16.89, Z:-117.81 [[ 9.97164427e-01 2.52841847e-02 7.08788746e-02 2.92934892e+02] [-3.08103000e-02 9.96477986e-01 7.79894119e-02 1.68914759e+01] [-6.86573395e-02 -7.99520667e-02 9.94431414e-01 -1.17811556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79591999999997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:292.97, Y:17.04, Z:-117.80 [[ 9.91927327e-01 3.92750348e-02 1.20572173e-01 2.92972691e+02] [-2.95995534e-02 9.96273335e-01 -8.10142481e-02 1.70416641e+01] [-1.23304678e-01 7.67913642e-02 9.89393270e-01 -1.17795485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:293.00, Y:16.90, Z:-117.82 [[ 9.96565529e-01 2.22462205e-02 7.97637223e-02 2.92995001e+02] [-2.86296821e-02 9.96399585e-01 7.98010590e-02 1.68979376e+01] [-7.77012678e-02 -8.18105946e-02 9.93614382e-01 -1.17816514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85591999999997 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:293.03, Y:16.97, Z:-117.81 [[ 9.94970464e-01 3.06173721e-02 9.53748013e-02 2.93027284e+02] [-3.13998109e-02 9.99484357e-01 6.71351282e-03 1.69657161e+01] [-9.51200719e-02 -9.67449769e-03 9.95418794e-01 -1.17813723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:293.06, Y:17.02, Z:-117.81 [[ 9.95860453e-01 3.36928466e-02 8.44200823e-02 2.93060918e+02] [-2.96594099e-02 9.98378575e-01 -4.85853924e-02 1.70163191e+01] [-8.59201816e-02 4.58804211e-02 9.95245050e-01 -1.17807221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91591999999997 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:293.09, Y:17.02, Z:-117.81 [[ 9.91190552e-01 2.94721063e-02 1.29122749e-01 2.93092417e+02] [-2.33749159e-02 9.98550407e-01 -4.84840047e-02 1.70167734e+01] [-1.30364500e-01 4.50386540e-02 9.90442637e-01 -1.17811136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:293.12, Y:16.90, Z:-117.83 [[ 9.96760629e-01 1.45125433e-02 7.91052123e-02 2.93116438e+02] [-2.04405780e-02 9.97000137e-01 7.46519169e-02 1.69036496e+01] [-7.77845183e-02 -7.60270479e-02 9.94067129e-01 -1.17825881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:293.16, Y:17.04, Z:-117.81 [[ 9.91379740e-01 2.41449612e-02 1.28775894e-01 2.93156014e+02] [-1.39838324e-02 9.96757979e-01 -7.92337309e-02 1.70408587e+01] [-1.30271496e-01 7.67499351e-02 9.88503305e-01 -1.17811389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:293.18, Y:16.92, Z:-117.83 [[ 9.96138066e-01 8.27215490e-03 8.74101014e-02 2.93179718e+02] [-1.27720715e-02 9.98614562e-01 5.10473296e-02 1.69192456e+01] [-8.68667287e-02 -5.19665963e-02 9.94863631e-01 -1.17830019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:293.20, Y:16.88, Z:-117.83 [[ 9.96105685e-01 -6.65546618e-03 8.79156912e-02 2.93202823e+02] [-9.25743072e-04 9.96302317e-01 8.59117891e-02 1.68819390e+01] [-8.81623899e-02 -8.56586089e-02 9.92416241e-01 -1.17832608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:293.25, Y:17.09, Z:-117.80 [[ 9.91107158e-01 2.36140979e-02 1.30954099e-01 2.93250801e+02] [-4.75009339e-03 9.89779083e-01 -1.42530006e-01 1.70883092e+01] [-1.32981346e-01 1.40640465e-01 9.81089303e-01 -1.17802334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09592 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:293.27, Y:16.88, Z:-117.83 [[ 9.95811028e-01 -2.94027270e-03 9.13879196e-02 2.93266749e+02] [-4.68373098e-03 9.96530347e-01 8.30983129e-02 1.68783732e+01] [-9.13151670e-02 -8.31782528e-02 9.92342138e-01 -1.17833660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:293.30, Y:16.94, Z:-117.83 [[ 9.95586415e-01 7.81077321e-03 9.35236955e-02 2.93300186e+02] [-8.86850790e-03 9.99901270e-01 1.08995258e-02 1.69432519e+01] [-9.34293282e-02 -1.16808354e-02 9.95557391e-01 -1.17831561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:293.34, Y:17.04, Z:-117.82 [[ 9.90082131e-01 2.39853541e-02 1.38427155e-01 2.93338330e+02] [-1.03755531e-02 9.95111256e-01 -9.82137217e-02 1.70396435e+01] [-1.40106111e-01 9.58033925e-02 9.85490734e-01 -1.17819661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:293.37, Y:16.95, Z:-117.84 [[ 9.89809068e-01 1.82972661e-02 1.41220463e-01 2.93366738e+02] [-1.77807240e-02 9.99829811e-01 -4.91876438e-03 1.69519424e+01] [-1.41286429e-01 2.35763550e-03 9.89965952e-01 -1.17839339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21592 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:293.40, Y:16.95, Z:-117.84 [[ 9.89573040e-01 2.11362877e-02 1.42472650e-01 2.93399747e+02] [-2.06294667e-02 9.99774518e-01 -5.03365196e-03 1.69503715e+01] [-1.42546918e-01 2.04203149e-03 9.89785940e-01 -1.17842985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:293.43, Y:16.95, Z:-117.85 [[ 9.89475356e-01 2.44525135e-02 1.42620453e-01 2.93433237e+02] [-2.39685885e-02 9.99699650e-01 -5.11035787e-03 1.69512127e+01] [-1.42702579e-01 1.63816221e-03 9.89764260e-01 -1.17846146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.27592 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:293.46, Y:16.86, Z:-117.85 [[ 9.94320232e-01 1.47586974e-02 1.05401406e-01 2.93456845e+02] [-2.50548612e-02 9.94965057e-01 9.70401403e-02 1.68587283e+01] [-1.03438530e-01 -9.91297924e-02 9.89683664e-01 -1.17854467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters Centerline goodness : 0.890774 Centerline is valid? [True, False] Translation: X:293.45, Y:16.90, Z:-117.85 [[ 9.94866342e-01 2.47136335e-02 9.81335766e-02 2.93449541e+02] [-3.07459453e-02 9.97698094e-01 6.04417089e-02 1.68964059e+01] [-9.64139481e-02 -6.31486313e-02 9.93336097e-01 -1.17852434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33592 meters Centerline goodness : 0.998363 Centerline is valid? [False, True] Translation: X:293.45, Y:16.92, Z:-117.85 [[ 9.95103498e-01 3.08174720e-02 9.39111946e-02 2.93446482e+02] [-3.47444825e-02 9.98576414e-01 4.04718033e-02 1.69164863e+01] [-9.25302652e-02 -4.35365289e-02 9.94757619e-01 -1.17850730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:293.48, Y:16.93, Z:-117.85 [[ 9.97737601e-01 3.38396745e-02 5.80909230e-02 2.93476556e+02] [-3.58306601e-02 9.98793513e-01 3.35809680e-02 1.69279161e+01] [-5.68844681e-02 -3.55864306e-02 9.97746342e-01 -1.17850422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:293.51, Y:16.95, Z:-117.85 [[ 9.97837069e-01 3.73050557e-02 5.41250060e-02 2.93509254e+02] [-3.77976697e-02 9.99252534e-01 8.10613370e-03 1.69536974e+01] [-5.37821496e-02 -1.01343998e-02 9.98501264e-01 -1.17847792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:293.54, Y:17.00, Z:-117.84 [[ 9.94636309e-01 4.14877010e-02 9.47490501e-02 2.93544801e+02] [-3.70234061e-02 9.98141665e-01 -4.83992079e-02 1.70047521e+01] [-9.65809465e-02 4.46316770e-02 9.94323958e-01 -1.17842227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45592 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:293.58, Y:16.97, Z:-117.85 [[ 9.94591173e-01 3.89009932e-02 9.63073818e-02 2.93575555e+02] [-3.86988454e-02 9.99243046e-01 -3.96664251e-03 1.69658699e+01] [-9.63887879e-02 2.18203142e-04 9.95343737e-01 -1.17851839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:293.60, Y:16.90, Z:-117.86 [[ 9.96863718e-01 3.48712061e-02 7.10403204e-02 2.93602588e+02] [-3.96651758e-02 9.96948815e-01 6.72289627e-02 1.69020907e+01] [-6.84792082e-02 -6.98359405e-02 9.95205275e-01 -1.17860050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:293.64, Y:17.03, Z:-117.84 [[ 9.94685653e-01 4.38772080e-02 9.31409811e-02 2.93641201e+02] [-3.71614554e-02 9.96664777e-01 -7.26522431e-02 1.70327355e+01] [-9.60181128e-02 6.88048895e-02 9.92998695e-01 -1.17842424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:293.67, Y:16.97, Z:-117.86 [[ 9.94597381e-01 3.90136875e-02 9.61976202e-02 2.93671081e+02] [-3.88050172e-02 9.99238636e-01 -4.03976084e-03 1.69689160e+01] [-9.62819847e-02 2.84985244e-04 9.95354057e-01 -1.17857034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57592 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:293.70, Y:16.97, Z:-117.86 [[ 9.94615302e-01 3.86593594e-02 9.61553725e-02 2.93704671e+02] [-3.84465543e-02 9.99252387e-01 -4.06556537e-03 1.69701951e+01] [-9.62406577e-02 3.46830774e-04 9.95358034e-01 -1.17859165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:293.74, Y:16.97, Z:-117.86 [[ 9.94634951e-01 3.86426128e-02 9.59586490e-02 2.93737914e+02] [-3.84258688e-02 9.99253016e-01 -4.10630273e-03 1.69711145e+01] [-9.60456477e-02 3.96977760e-04 9.95376851e-01 -1.17861967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63592 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:293.77, Y:16.91, Z:-117.87 [[ 9.96981409e-01 3.41175616e-02 6.97428279e-02 2.93765456e+02] [-3.85868577e-02 9.97218143e-01 6.37732720e-02 1.69123539e+01] [-6.73730248e-02 -6.62719231e-02 9.95524439e-01 -1.17869698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:293.80, Y:17.03, Z:-117.85 [[ 9.94827679e-01 4.08086549e-02 9.30190426e-02 2.93803376e+02] [-3.43772458e-02 9.96973758e-01 -6.97246737e-02 1.70332596e+01] [-9.55829146e-02 6.61662969e-02 9.93219979e-01 -1.17851765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69592 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:293.83, Y:16.89, Z:-117.87 [[ 9.97492326e-01 2.82807263e-02 6.48788129e-02 2.93826276e+02] [-3.35569489e-02 9.96089264e-01 8.17319390e-02 1.68949499e+01] [-6.23136504e-02 -8.37041170e-02 9.94540411e-01 -1.17874212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:293.87, Y:17.05, Z:-117.85 [[ 9.94973686e-01 3.85265141e-02 9.24287430e-02 2.93866185e+02] [-3.05064510e-02 9.95770225e-01 -8.66661101e-02 1.70463008e+01] [-9.53767334e-02 8.34108260e-02 9.91940478e-01 -1.17851589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75591999999995 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:293.90, Y:16.97, Z:-117.87 [[ 9.94844332e-01 3.10708332e-02 9.65368208e-02 2.93895325e+02] [-3.08081153e-02 9.99516446e-01 -4.21113774e-03 1.69735194e+01] [-9.66209836e-02 1.21530900e-03 9.95320505e-01 -1.17869265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:293.93, Y:16.97, Z:-117.87 [[ 9.94729310e-01 3.11700522e-02 9.76833068e-02 2.93928477e+02] [-3.08966479e-02 9.99513289e-01 -4.31066600e-03 1.69741745e+01] [-9.77701270e-02 1.26985908e-03 9.95208214e-01 -1.17872282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81591999999995 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:293.96, Y:16.97, Z:-117.88 [[ 9.94789607e-01 3.06720980e-02 9.72258246e-02 2.93961799e+02] [-3.03941413e-02 9.99528574e-01 -4.33899594e-03 1.69735952e+01] [-9.73130759e-02 1.36129262e-03 9.95252889e-01 -1.17876020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:293.99, Y:16.97, Z:-117.88 [[ 9.94840076e-01 3.05202779e-02 9.67560682e-02 2.93994531e+02] [-3.02398948e-02 9.99533146e-01 -4.36324251e-03 1.69720858e+01] [-9.68440646e-02 1.41483519e-03 9.95298561e-01 -1.17877980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87591999999995 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:294.03, Y:16.97, Z:-117.88 [[ 9.94801696e-01 2.97475111e-02 9.73892747e-02 2.94027531e+02] [-2.94561273e-02 9.99556263e-01 -4.42867705e-03 1.69710991e+01] [-9.74778016e-02 1.53694457e-03 9.95236513e-01 -1.17879757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:294.06, Y:16.97, Z:-117.88 [[ 9.94777354e-01 2.68226933e-02 9.84812593e-02 2.94060803e+02] [-2.65054535e-02 9.99638412e-01 -4.52847162e-03 1.69696161e+01] [-9.85671154e-02 1.89453058e-03 9.95128602e-01 -1.17881280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93591999999995 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:294.09, Y:16.97, Z:-117.88 [[ 9.94933915e-01 2.59925684e-02 9.71127794e-02 2.94093300e+02] [-2.56755335e-02 9.99660142e-01 -4.51305763e-03 1.69677761e+01] [-9.71970808e-02 1.99677167e-03 9.95263151e-01 -1.17883822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:294.13, Y:16.96, Z:-117.89 [[ 9.94795940e-01 2.56572374e-02 9.86039724e-02 2.94126609e+02] [-2.53238657e-02 9.99668572e-01 -4.63120388e-03 1.69644155e+01] [-9.86901162e-02 2.11006907e-03 9.95115977e-01 -1.17886377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99591999999996 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:294.15, Y:16.89, Z:-117.90 [[ 9.97355550e-01 2.33727429e-02 6.88158546e-02 2.94153340e+02] [-2.85228380e-02 9.96788029e-01 7.48336337e-02 1.68906408e+01] [-6.68457528e-02 -7.65985634e-02 9.94818730e-01 -1.17895888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:294.19, Y:17.03, Z:-117.88 [[ 9.94684049e-01 3.23303442e-02 9.77670313e-02 2.94191316e+02] [-2.44086213e-02 9.96401851e-01 -8.11638481e-02 1.70281649e+01] [-1.00039306e-01 7.83460266e-02 9.91894166e-01 -1.17876216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05591999999996 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:294.22, Y:16.95, Z:-117.89 [[ 9.94464678e-01 2.68378664e-02 1.01586091e-01 2.94219406e+02] [-2.64850093e-02 9.99637586e-01 -4.82087429e-03 1.69544047e+01] [-1.01678657e-01 2.10368063e-03 9.94815071e-01 -1.17892736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:294.25, Y:16.95, Z:-117.90 [[ 9.94274775e-01 2.61558178e-02 1.03602825e-01 2.94252419e+02] [-2.57797063e-02 9.99655304e-01 -4.96791782e-03 1.69495400e+01] [-1.03697053e-01 2.26862499e-03 9.94606341e-01 -1.17896042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11591999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:294.29, Y:16.95, Z:-117.90 [[ 9.94365590e-01 2.59124489e-02 1.02789197e-01 2.94285009e+02] [-2.55363717e-02 9.99661523e-01 -4.97317580e-03 1.69463003e+01] [-1.02883272e-01 2.32029174e-03 9.94690730e-01 -1.17899732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:294.32, Y:16.94, Z:-117.90 [[ 9.94343851e-01 2.51645923e-02 1.03184536e-01 2.94318299e+02] [-2.47786276e-02 9.99680354e-01 -5.02083566e-03 1.69430021e+01] [-1.03277901e-01 2.43566587e-03 9.94649558e-01 -1.17902070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17591999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:294.35, Y:16.94, Z:-117.90 [[ 9.94344096e-01 2.55389911e-02 1.03090152e-01 2.94351600e+02] [-2.51504310e-02 9.99670834e-01 -5.06742781e-03 1.69404786e+01] [-1.03185635e-01 2.44600517e-03 9.94659108e-01 -1.17904509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:294.38, Y:16.94, Z:-117.91 [[ 9.94343571e-01 2.76128242e-02 1.02559223e-01 2.94384946e+02] [-2.72341166e-02 9.99616117e-01 -5.09125683e-03 1.69372917e+01] [-1.02660436e-01 2.26934865e-03 9.94713871e-01 -1.17907246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:294.42, Y:16.93, Z:-117.91 [[ 9.94314983e-01 3.01032137e-02 1.02134774e-01 2.94418172e+02] [-2.97356450e-02 9.99544686e-01 -5.11980300e-03 1.69339252e+01] [-1.02242393e-01 2.05365346e-03 9.94757395e-01 -1.17910534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.44, Y:16.80, Z:-117.92 [[ 9.97883973e-01 2.06452196e-02 6.16550993e-02 2.94437368e+02] [-2.88182465e-02 9.90458234e-01 1.34766445e-01 1.68049910e+01] [-5.82845179e-02 -1.36258068e-01 9.88957357e-01 -1.17920835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:294.49, Y:17.05, Z:-117.89 [[ 9.93969580e-01 4.64415995e-02 9.93360547e-02 2.94486886e+02] [-3.25428775e-02 9.90005963e-01 -1.37219364e-01 1.70511431e+01] [-1.04715973e-01 1.33159192e-01 9.85547155e-01 -1.17886128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:294.51, Y:16.93, Z:-117.91 [[ 9.93324344e-01 3.93179823e-02 1.08447422e-01 2.94511285e+02] [-3.89436425e-02 9.99225893e-01 -5.56839264e-03 1.69311823e+01] [-1.08582410e-01 1.30788233e-03 9.94086591e-01 -1.17914390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:294.54, Y:16.93, Z:-117.92 [[ 9.93420471e-01 4.02686353e-02 1.07211034e-01 2.94544173e+02] [-3.99025194e-02 9.99188115e-01 -5.55877655e-03 1.69303095e+01] [-1.07347835e-01 1.24421207e-03 9.94220747e-01 -1.17916659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:294.58, Y:16.93, Z:-117.92 [[ 9.93562250e-01 3.89176671e-02 1.06392997e-01 2.94576946e+02] [-3.85437120e-02 9.99241393e-01 -5.56960144e-03 1.69293100e+01] [-1.06529043e-01 1.43296470e-03 9.94308559e-01 -1.17919951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:294.61, Y:16.93, Z:-117.92 [[ 9.93782429e-01 3.72400213e-02 1.04926952e-01 2.94609790e+02] [-3.68614800e-02 9.99304999e-01 -5.54527119e-03 1.69277340e+01] [-1.05060533e-01 1.64303035e-03 9.94464471e-01 -1.17922843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:294.64, Y:16.92, Z:-117.93 [[ 9.93862086e-01 3.29775560e-02 1.05596564e-01 2.94642796e+02] [-3.25644864e-02 9.99453757e-01 -5.63402637e-03 1.69245365e+01] [-1.05724679e-01 2.16074732e-03 9.94393093e-01 -1.17925859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.67, Y:16.84, Z:-117.93 [[ 9.97645851e-01 2.31609855e-02 6.45470728e-02 2.94666127e+02] [-2.84500610e-02 9.96204267e-01 8.22657398e-02 1.68425771e+01] [-6.23967138e-02 -8.39084421e-02 9.94517985e-01 -1.17933390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:16.99, Z:-117.91 [[ 9.93962351e-01 3.42870524e-02 1.04226885e-01 2.94709803e+02] [-2.50342488e-02 9.95732862e-01 -8.88220343e-02 1.69922275e+01] [-1.06827581e-01 8.56765163e-02 9.90579327e-01 -1.17914215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:294.72, Y:16.80, Z:-117.94 [[ 9.97606345e-01 1.29688278e-02 6.79219403e-02 2.94723098e+02] [-2.11112693e-02 9.92480173e-01 1.20571228e-01 1.67993934e+01] [-6.58475115e-02 -1.21716540e-01 9.90378306e-01 -1.17936530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:294.77, Y:17.02, Z:-117.91 [[ 9.93607137e-01 3.53355055e-02 1.07220611e-01 2.94773007e+02] [-2.17380494e-02 9.91863993e-01 -1.25432362e-01 1.70154087e+01] [-1.10780479e-01 1.22299723e-01 9.86291267e-01 -1.17908496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:294.80, Y:16.90, Z:-117.93 [[ 9.93119317e-01 2.47803920e-02 1.14455031e-01 2.94798245e+02] [-2.42188465e-02 9.99686865e-01 -6.29441988e-03 1.69034013e+01] [-1.14575170e-01 3.47914113e-03 9.93408489e-01 -1.17932211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:294.83, Y:16.90, Z:-117.94 [[ 9.93076211e-01 2.46992268e-02 1.14845928e-01 2.94831024e+02] [-2.41268664e-02 9.99688602e-01 -6.37130537e-03 1.68998261e+01] [-1.14967532e-01 3.55631942e-03 9.93362884e-01 -1.17935507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:294.86, Y:16.90, Z:-117.94 [[ 9.93000903e-01 2.52091753e-02 1.15385023e-01 2.94863481e+02] [-2.46283082e-02 9.99675823e-01 -6.45725703e-03 1.68959563e+01] [-1.15510400e-01 3.57032414e-03 9.93299854e-01 -1.17939044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:294.90, Y:16.89, Z:-117.94 [[ 9.93146443e-01 2.55938354e-02 1.14039894e-01 2.94895578e+02] [-2.50234518e-02 9.99666182e-01 -6.43055278e-03 1.68891378e+01] [-1.14166408e-01 3.53280883e-03 9.93455359e-01 -1.17943270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:294.93, Y:16.88, Z:-117.95 [[ 9.93273027e-01 2.71544055e-02 1.12567007e-01 2.94927736e+02] [-2.66053682e-02 9.99625674e-01 -6.37705767e-03 1.68827983e+01] [-1.12698036e-01 3.33927270e-03 9.93623672e-01 -1.17947307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:294.96, Y:16.88, Z:-117.95 [[ 9.93244715e-01 2.88313157e-02 1.12399694e-01 2.94960713e+02] [-2.82883784e-02 9.99579170e-01 -6.42261732e-03 1.68788051e+01] [-1.12537565e-01 3.19962563e-03 9.93642319e-01 -1.17950926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.77592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:294.98, Y:16.83, Z:-117.95 [[ 9.96984946e-01 2.60859480e-02 7.30790014e-02 2.94984772e+02] [-2.91877586e-02 9.98703620e-01 4.17031592e-02 1.68301481e+01] [-7.18963969e-02 -4.37104341e-02 9.96453865e-01 -1.17951888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:295.03, Y:16.91, Z:-117.95 [[ 9.92720566e-01 3.93829856e-02 1.13819414e-01 2.95025464e+02] [-3.38566634e-02 9.98170893e-01 -5.00858662e-02 1.69081687e+01] [-1.15583757e-01 4.58677238e-02 9.92238150e-01 -1.17948129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:295.04, Y:16.77, Z:-117.96 [[ 9.97109252e-01 2.63280744e-02 7.12739285e-02 2.95042377e+02] [-3.33075919e-02 9.94571603e-01 9.85795648e-02 1.67693729e+01] [-6.82916152e-02 -1.00668559e-01 9.92573472e-01 -1.17956998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:295.09, Y:16.95, Z:-117.94 [[ 9.92480926e-01 4.99188743e-02 1.11757403e-01 2.95089123e+02] [-3.81799303e-02 9.93758032e-01 -1.04820167e-01 1.69482539e+01] [-1.16292322e-01 9.97651267e-02 9.88191791e-01 -1.17942943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:295.12, Y:16.86, Z:-117.96 [[ 9.92105914e-01 4.37181762e-02 1.17535423e-01 2.95115458e+02] [-4.31946224e-02 9.99042159e-01 -6.99925827e-03 1.68554534e+01] [-1.17728837e-01 1.86710733e-03 9.93044025e-01 -1.17959951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:295.15, Y:16.85, Z:-117.96 [[ 9.91933558e-01 4.84820649e-02 1.17120907e-01 2.95147907e+02] [-4.79882595e-02 9.98823132e-01 -7.03412316e-03 1.68502117e+01] [-1.17324100e-01 1.35695432e-03 9.93092752e-01 -1.17962283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:295.17, Y:16.75, Z:-117.97 [[ 9.95363975e-01 3.76998202e-02 8.84832194e-02 2.95168369e+02] [-4.66878100e-02 9.93707343e-01 1.01813384e-01 1.67494211e+01] [-8.40880786e-02 -1.05472462e-01 9.90860613e-01 -1.17967070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:295.21, Y:16.84, Z:-117.96 [[ 9.96084307e-01 5.24058817e-02 7.12016656e-02 2.95207191e+02] [-5.23063335e-02 9.98625755e-01 -3.26319965e-03 1.68406659e+01] [-7.12748280e-02 -4.73876113e-04 9.97456603e-01 -1.17963005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:295.24, Y:16.86, Z:-117.96 [[ 9.96169728e-01 5.51990315e-02 6.78154902e-02 2.95236699e+02] [-5.33755848e-02 9.98170182e-01 -2.84136491e-02 1.68593430e+01] [-6.92598061e-02 2.46851256e-02 9.97293199e-01 -1.17962344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:295.26, Y:16.79, Z:-117.97 [[ 9.95284896e-01 4.92962379e-02 8.35335609e-02 2.95257136e+02] [-5.28242852e-02 9.97779625e-01 4.05637149e-02 1.67918850e+01] [-8.13484466e-02 -4.47850534e-02 9.95679029e-01 -1.17971269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07592 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:295.30, Y:16.94, Z:-117.96 [[ 9.90010329e-01 7.21458004e-02 1.21138482e-01 2.95302265e+02] [-5.63641933e-02 9.90042116e-01 -1.28994908e-01 1.69426571e+01] [-1.29238640e-01 1.20878419e-01 9.84218361e-01 -1.17956197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:295.31, Y:16.72, Z:-117.98 [[ 9.95010638e-01 4.18490408e-02 9.05675925e-02 2.95310460e+02] [-5.24396493e-02 9.91638625e-01 1.17910649e-01 1.67180061e+01] [-8.48758753e-02 -1.22071683e-01 9.88885529e-01 -1.17975301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13592 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:295.36, Y:16.94, Z:-117.96 [[ 9.89317757e-01 7.78169474e-02 1.23267585e-01 2.95362789e+02] [-6.23182005e-02 9.90204117e-01 -1.24948982e-01 1.69350033e+01] [-1.31783218e-01 1.15932433e-01 9.84475929e-01 -1.17961572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:295.39, Y:16.83, Z:-117.98 [[ 9.89241361e-01 6.58102218e-02 1.30654291e-01 2.95387163e+02] [-6.52792087e-02 9.97832121e-01 -8.34767796e-03 1.68260083e+01] [-1.30920411e-01 -2.71140402e-04 9.91392845e-01 -1.17980657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:295.42, Y:16.82, Z:-117.98 [[ 9.89080120e-01 6.57975912e-02 1.31875677e-01 2.95420256e+02] [-6.52516336e-02 9.97832963e-01 -8.46184704e-03 1.68245274e+01] [-1.32146667e-01 -2.35658670e-04 9.91230146e-01 -1.17984179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:295.45, Y:16.82, Z:-117.99 [[ 9.88739396e-01 6.60299747e-02 1.34292400e-01 2.95453291e+02] [-6.54559629e-02 9.97817620e-01 -8.68986616e-03 1.68224908e+01] [-1.34573114e-01 -1.98225325e-04 9.90903647e-01 -1.17988093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25591999999995 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:295.49, Y:16.82, Z:-117.99 [[ 9.88752035e-01 6.51513116e-02 1.34628078e-01 2.95485852e+02] [-6.45565427e-02 9.97875396e-01 -8.78329347e-03 1.68195643e+01] [-1.34914290e-01 -6.62398543e-06 9.90857272e-01 -1.17991654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:295.52, Y:16.81, Z:-117.99 [[ 9.89061399e-01 6.22605936e-02 1.33720481e-01 2.95518336e+02] [-6.16380380e-02 9.98059823e-01 -8.79441101e-03 1.68147061e+01] [-1.34008585e-01 4.55944353e-04 9.90980066e-01 -1.17994742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31591999999995 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:295.55, Y:16.81, Z:-118.00 [[ 9.89203743e-01 6.00230950e-02 1.33690622e-01 2.95551141e+02] [-5.93709268e-02 9.98196644e-01 -8.86306669e-03 1.68121787e+01] [-1.33981518e-01 8.30042646e-04 9.90983483e-01 -1.17997086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:295.58, Y:16.81, Z:-118.00 [[ 9.89111645e-01 5.88978869e-02 1.34867312e-01 2.95583943e+02] [-5.82140328e-02 9.98263447e-01 -9.01204098e-03 1.68090906e+01] [-1.35163898e-01 1.06274453e-03 9.90822684e-01 -1.18001032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37591999999995 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:295.61, Y:16.75, Z:-118.00 [[ 9.94865206e-01 4.67023830e-02 8.97892451e-02 2.95605215e+02] [-5.15266029e-02 9.97307393e-01 5.21821143e-02 1.67526895e+01] [-8.71104489e-02 -5.65407047e-02 9.94592841e-01 -1.18002697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:295.65, Y:16.85, Z:-118.00 [[ 9.89054533e-01 6.46043725e-02 1.32655213e-01 2.95648974e+02] [-5.65154122e-02 9.96356920e-01 -6.38662348e-02 1.68517592e+01] [-1.36297977e-01 5.56701250e-02 9.89102471e-01 -1.18001615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43591999999995 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:295.68, Y:16.80, Z:-118.01 [[ 9.88883660e-01 5.85337032e-02 1.36685449e-01 2.95677580e+02] [-5.77966013e-02 9.98284514e-01 -9.35853006e-03 1.67970354e+01] [-1.36998756e-01 1.35454306e-03 9.90570293e-01 -1.18010251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:295.71, Y:16.79, Z:-118.01 [[ 9.88862808e-01 5.88956622e-02 1.36680827e-01 2.95710823e+02] [-5.81527327e-02 9.98263201e-01 -9.42559228e-03 1.67949891e+01] [-1.36998566e-01 1.37225407e-03 9.90570295e-01 -1.18014156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49591999999996 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:295.74, Y:16.79, Z:-118.02 [[ 9.88720756e-01 5.90866163e-02 1.37622815e-01 2.95743621e+02] [-5.83277320e-02 9.98251865e-01 -9.54409830e-03 1.67895789e+01] [-1.37946160e-01 1.40922140e-03 9.90438726e-01 -1.18017928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:295.78, Y:16.79, Z:-118.02 [[ 9.88663825e-01 5.94059981e-02 1.37894046e-01 2.95776390e+02] [-5.86371442e-02 9.98232866e-01 -9.63490828e-03 1.67858426e+01] [-1.38222740e-01 1.43997224e-03 9.90400122e-01 -1.18021846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55591999999996 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:295.80, Y:16.76, Z:-118.02 [[ 9.93379153e-01 5.52216819e-02 1.00739392e-01 2.95803580e+02] [-5.75078027e-02 9.98146103e-01 1.99300954e-02 1.67577505e+01] [-9.94520579e-02 -2.55914424e-02 9.94713208e-01 -1.18024856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:295.84, Y:16.80, Z:-118.03 [[ 9.88850796e-01 6.30108856e-02 1.34921202e-01 2.95841088e+02] [-5.88015866e-02 9.97657232e-01 -3.49631478e-02 1.67989919e+01] [-1.36808172e-01 2.66397558e-02 9.90239288e-01 -1.18027801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61591999999996 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:295.87, Y:16.77, Z:-118.03 [[ 9.88559203e-01 6.00242889e-02 1.38375526e-01 2.95872139e+02] [-5.92341227e-02 9.98195765e-01 -9.82510331e-03 1.67715177e+01] [-1.38715609e-01 1.51614339e-03 9.90331097e-01 -1.18032954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:295.90, Y:16.76, Z:-118.04 [[ 9.88662864e-01 6.03443602e-02 1.37492908e-01 2.95904650e+02] [-5.95575426e-02 9.98176441e-01 -9.83314807e-03 1.67630634e+01] [-1.37835557e-01 1.53292859e-03 9.90453941e-01 -1.18036530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67591999999996 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:295.93, Y:16.67, Z:-118.04 [[ 9.92754680e-01 4.88178441e-02 1.09795095e-01 2.95925359e+02] [-5.85999386e-02 9.94421148e-01 8.77076214e-02 1.66712694e+01] [-1.04900868e-01 -9.35061375e-02 9.90076972e-01 -1.18036576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:295.97, Y:16.84, Z:-118.03 [[ 9.88062589e-01 7.41175216e-02 1.35051520e-01 2.95971658e+02] [-6.06707293e-02 9.93024359e-01 -1.01102354e-01 1.68359432e+01] [-1.41602905e-01 9.17017792e-02 9.85666983e-01 -1.18034590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:296.00, Y:16.75, Z:-118.05 [[ 9.87865940e-01 6.75160490e-02 1.39865893e-01 2.95997591e+02] [-6.67484369e-02 9.97717930e-01 -1.01773578e-02 1.67473971e+01] [-1.40233844e-01 7.18035386e-04 9.90118151e-01 -1.18045301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:296.03, Y:16.74, Z:-118.05 [[ 9.87720661e-01 6.98735663e-02 1.39733962e-01 2.96029761e+02] [-6.91204774e-02 9.97555751e-01 -1.02412773e-02 1.67431432e+01] [-1.40108012e-01 4.57043056e-04 9.90136120e-01 -1.18049054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.05, Y:16.64, Z:-118.05 [[ 9.92320744e-01 6.00672045e-02 1.08127112e-01 2.96048923e+02] [-7.10514822e-02 9.92368406e-01 1.00780123e-01 1.66377523e+01] [-1.01248349e-01 -1.07688798e-01 9.89015619e-01 -1.18045435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:16.74, Z:-118.05 [[ 9.92151474e-01 7.82436625e-02 9.75365640e-02 2.96090712e+02] [-7.70273426e-02 9.96897687e-01 -1.61799286e-02 1.67407530e+01] [-9.84999520e-02 8.53995764e-03 9.95100411e-01 -1.18050195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:16.81, Z:-118.05 [[ 9.86200287e-01 9.38514860e-02 1.36385089e-01 2.96128044e+02] [-8.05534393e-02 9.91725323e-01 -9.99601242e-02 1.68102897e+01] [-1.44637953e-01 8.75944152e-02 9.85599859e-01 -1.18048732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.15, Y:16.73, Z:-118.06 [[ 9.85783272e-01 8.60289633e-02 1.44327258e-01 2.96154400e+02] [-8.53783866e-02 9.96291068e-01 -1.07069342e-02 1.67267721e+01] [-1.44713065e-01 -1.76771182e-03 9.89472084e-01 -1.18058298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.18, Y:16.67, Z:-118.06 [[ 9.90945659e-01 8.03226149e-02 1.07587073e-01 2.96179961e+02] [-8.64658061e-02 9.94806485e-01 5.37002902e-02 1.66694874e+01] [-1.02714970e-01 -6.25166724e-02 9.92744328e-01 -1.18058170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:16.78, Z:-118.06 [[ 9.85006601e-01 1.00311923e-01 1.40354956e-01 2.96220328e+02] [-9.10935781e-02 9.93333385e-01 -7.06452138e-02 1.67794768e+01] [-1.46505821e-01 5.68005667e-02 9.87577713e-01 -1.18062482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:16.73, Z:-118.07 [[ 9.84657174e-01 9.62034333e-02 1.45585540e-01 2.96248781e+02] [-9.56282896e-02 9.95356772e-01 -1.09602739e-02 1.67270239e+01] [-1.45963969e-01 -3.12998384e-03 9.89284955e-01 -1.18070655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:296.28, Y:16.68, Z:-118.07 [[ 9.89701660e-01 9.00510677e-02 1.11271869e-01 2.96275507e+02] [-9.54385483e-02 9.94459386e-01 4.40682832e-02 1.66790571e+01] [-1.06686959e-01 -5.42340787e-02 9.92812448e-01 -1.18071007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:296.31, Y:16.72, Z:-118.07 [[ 9.89861010e-01 9.62686996e-02 1.04439066e-01 2.96309959e+02] [-9.69936816e-02 9.95283234e-01 1.87325418e-03 1.67170065e+01] [-1.03766116e-01 -1.19841908e-02 9.94529523e-01 -1.18072873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:296.34, Y:16.74, Z:-118.08 [[ 9.88956884e-01 9.77345696e-02 1.11410215e-01 2.96341561e+02] [-9.60262722e-02 9.95165395e-01 -2.06104858e-02 1.67389417e+01] [-1.12885948e-01 9.68457414e-03 9.93560754e-01 -1.18075569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:16.77, Z:-118.08 [[ 9.83627231e-01 1.02368757e-01 1.48317594e-01 2.96375092e+02] [-9.41147026e-02 9.93650203e-01 -6.16579051e-02 1.67735454e+01] [-1.53687651e-01 4.66895281e-02 9.87015802e-01 -1.18078634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.40, Y:16.70, Z:-118.08 [[ 9.88354340e-01 9.13803749e-02 1.21677137e-01 2.96400048e+02] [-9.57791129e-02 9.94926161e-01 3.07944158e-02 1.66954204e+01] [-1.18245761e-01 -4.20899228e-02 9.92091920e-01 -1.18084838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:296.43, Y:16.73, Z:-118.09 [[ 9.87945495e-01 9.60090312e-02 1.21432966e-01 2.96433066e+02] [-9.58812970e-02 9.95368802e-01 -6.90832982e-03 1.67301584e+01] [-1.21533848e-01 -4.81809693e-03 9.92575594e-01 -1.18090033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:296.46, Y:16.73, Z:-118.09 [[ 9.88214090e-01 9.39437702e-02 1.20861406e-01 2.96464093e+02] [-9.40083165e-02 9.95557933e-01 -5.18050165e-03 1.67321443e+01] [-1.20811207e-01 -6.24253258e-03 9.92655873e-01 -1.18091783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:16.75, Z:-118.09 [[ 9.87783651e-01 9.68588894e-02 1.22072987e-01 2.96497640e+02] [-9.45006643e-02 9.95211453e-01 -2.49757538e-02 1.67495553e+01] [-1.23907559e-01 1.31346629e-02 9.92206832e-01 -1.18094895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:296.53, Y:16.73, Z:-118.10 [[ 9.87854167e-01 9.17046038e-02 1.25436875e-01 2.96526106e+02] [-9.20348415e-02 9.95750734e-01 -3.17231185e-03 1.67284261e+01] [-1.25194775e-01 -8.41078138e-03 9.92096531e-01 -1.18099704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.27592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:296.56, Y:16.74, Z:-118.10 [[ 9.88120936e-01 8.81193745e-02 1.25904696e-01 2.96557326e+02] [-8.73729262e-02 9.96109872e-01 -1.14496236e-02 1.67364043e+01] [-1.26423844e-01 3.12951082e-04 9.91976267e-01 -1.18103238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:296.59, Y:16.77, Z:-118.11 [[ 9.83565228e-01 8.66014836e-02 1.58428613e-01 2.96590511e+02] [-7.94937045e-02 9.95546422e-01 -5.06761590e-02 1.67682601e+01] [-1.62111669e-01 3.72492306e-02 9.86069116e-01 -1.18107693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:296.61, Y:16.68, Z:-118.11 [[ 9.90211563e-01 7.10354138e-02 1.20145873e-01 2.96612547e+02] [-7.71748540e-02 9.95897908e-01 4.72376847e-02 1.66787326e+01] [-1.16297475e-01 -5.60475418e-02 9.91631772e-01 -1.18114833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.64, Y:16.71, Z:-118.12 [[ 9.89709795e-01 7.51400253e-02 1.21772325e-01 2.96644643e+02] [-7.61204195e-02 9.97092792e-01 3.41249244e-03 1.67147944e+01] [-1.21161893e-01 -1.26467377e-02 9.92552193e-01 -1.18117122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:296.68, Y:16.73, Z:-118.12 [[ 9.88914761e-01 7.86708962e-02 1.25930482e-01 2.96677754e+02] [-7.70975631e-02 9.96872985e-01 -1.73268052e-02 1.67290636e+01] [-1.26899811e-01 7.42580016e-03 9.91887743e-01 -1.18120052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:296.71, Y:16.77, Z:-118.12 [[ 9.82781381e-01 8.58265262e-02 1.63629350e-01 2.96712511e+02] [-7.48343739e-02 9.94578206e-01 -7.22080915e-02 1.67731282e+01] [-1.68939555e-01 5.87196679e-02 9.83875717e-01 -1.18120801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:296.73, Y:16.66, Z:-118.13 [[ 9.88585122e-01 7.26898460e-02 1.31968343e-01 2.96732466e+02] [-7.97050834e-02 9.95629540e-01 4.86715330e-02 1.66624655e+01] [-1.27853654e-01 -5.86345012e-02 9.90058300e-01 -1.18129813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.77, Y:16.76, Z:-118.13 [[ 9.81826311e-01 9.03636400e-02 1.66887708e-01 2.96773611e+02] [-7.95270618e-02 9.94334709e-01 -7.05261164e-02 1.67649040e+01] [-1.72315238e-01 5.59723076e-02 9.83450334e-01 -1.18130479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.80, Y:16.71, Z:-118.14 [[ 9.81411227e-01 8.37877981e-02 1.72660382e-01 2.96801198e+02] [-8.26762479e-02 9.96483217e-01 -1.36321760e-02 1.67103737e+01] [-1.73195383e-01 -8.96141968e-04 9.84887078e-01 -1.18140411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:296.84, Y:16.66, Z:-118.15 [[ 9.88080081e-01 7.55683041e-02 1.34116315e-01 2.96835088e+02] [-8.19614869e-02 9.95716140e-01 4.27981679e-02 1.66588635e+01] [-1.30307594e-01 -5.32803898e-02 9.90040974e-01 -1.18148023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:296.87, Y:16.76, Z:-118.14 [[ 9.80815407e-01 9.22418127e-02 1.71734055e-01 2.96867876e+02] [-8.14172680e-02 9.94284892e-01 -6.90563670e-02 1.67551254e+01] [-1.77122461e-01 5.37494312e-02 9.82720017e-01 -1.18143314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:296.88, Y:16.61, Z:-118.15 [[ 9.90200995e-01 6.82985152e-02 1.21808464e-01 2.96884709e+02] [-7.97922934e-02 9.92545756e-01 9.21200924e-02 1.66095219e+01] [-1.14608808e-01 -1.00936784e-01 9.88269491e-01 -1.18147675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:296.92, Y:16.73, Z:-118.15 [[ 9.87403513e-01 8.81446955e-02 1.31395646e-01 2.96924200e+02] [-8.30210047e-02 9.95576591e-01 -4.39859606e-02 1.67296662e+01] [-1.34691558e-01 3.25232935e-02 9.90353684e-01 -1.18150423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:296.96, Y:16.76, Z:-118.15 [[ 9.79922938e-01 9.27833393e-02 1.76471774e-01 2.96957783e+02] [-7.99777119e-02 9.93712047e-01 -7.83577298e-02 1.67552800e+01] [-1.82632419e-01 6.26707282e-02 9.81181828e-01 -1.18153775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:296.99, Y:16.69, Z:-118.16 [[ 9.79371859e-01 8.44834364e-02 1.83557375e-01 2.96985158e+02] [-8.32184764e-02 9.96424403e-01 -1.45977446e-02 1.66932843e+01] [-1.84134315e-01 -9.78744771e-04 9.82900603e-01 -1.18164257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:297.01, Y:16.63, Z:-118.17 [[ 9.86664280e-01 7.52584536e-02 1.44325203e-01 2.97009357e+02] [-8.37224252e-02 9.95052501e-01 5.34890213e-02 1.66314957e+01] [-1.39585653e-01 -6.48589627e-02 9.88083580e-01 -1.18166655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75591999999995 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:297.04, Y:16.68, Z:-118.17 [[ 9.86243708e-01 8.69143345e-02 1.40603155e-01 2.97044810e+02] [-8.70641470e-02 9.96189667e-01 -5.09728799e-03 1.66830156e+01] [-1.40510438e-01 -7.21432559e-03 9.90052913e-01 -1.18170649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:297.08, Y:16.69, Z:-118.18 [[ 9.86071038e-01 8.88518401e-02 1.40603194e-01 2.97075518e+02] [-8.80325418e-02 9.96044730e-01 -1.20485687e-02 1.66873502e+01] [-1.41117608e-01 -4.96911859e-04 9.89992714e-01 -1.18175021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:297.10, Y:16.65, Z:-118.18 [[ 9.84161042e-01 8.33241651e-02 1.56474046e-01 2.97095417e+02] [-8.90542844e-02 9.95576032e-01 2.99616183e-02 1.66461763e+01] [-1.53285283e-01 -4.34217417e-02 9.87227519e-01 -1.18182596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:297.14, Y:16.72, Z:-118.18 [[ 9.85129321e-01 9.84904052e-02 1.40783026e-01 2.97138176e+02] [-9.19395108e-02 9.94389235e-01 -5.23180313e-02 1.67199920e+01] [-1.45145950e-01 3.85965041e-02 9.88657151e-01 -1.18183316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87591999999995 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:297.16, Y:16.68, Z:-118.19 [[ 9.85247721e-01 9.16852866e-02 1.44501682e-01 2.97163086e+02] [-9.16484503e-02 9.95767340e-01 -6.92578219e-03 1.66768472e+01] [-1.44525048e-01 -6.41974411e-03 9.89480317e-01 -1.18190826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:297.20, Y:16.75, Z:-118.19 [[ 9.76114716e-01 1.05221169e-01 1.90075162e-01 2.97199092e+02] [-8.91775347e-02 9.91841116e-01 -9.10964763e-02 1.67494374e+01] [-1.98109638e-01 7.19701767e-02 9.77534074e-01 -1.18192080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93591999999995 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:297.22, Y:16.61, Z:-118.20 [[ 9.84811093e-01 8.20940441e-02 1.52995682e-01 2.97217504e+02] [-9.25136987e-02 9.93762588e-01 6.22666397e-02 1.66105395e+01] [-1.46929665e-01 -7.54750740e-02 9.86263244e-01 -1.18201439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:297.25, Y:16.69, Z:-118.21 [[ 9.84240031e-01 9.52447837e-02 1.48996620e-01 2.97253190e+02] [-9.32230217e-02 9.95433960e-01 -2.05109521e-02 1.66856487e+01] [-1.50269857e-01 6.29778501e-03 9.88624958e-01 -1.18205868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99591999999996 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:297.28, Y:16.68, Z:-118.21 [[ 9.83877926e-01 9.47578194e-02 1.51674592e-01 2.97282528e+02] [-9.32674892e-02 9.95497197e-01 -1.69264988e-02 1.66803049e+01] [-1.52595549e-01 2.50730023e-03 9.88285542e-01 -1.18212193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:297.31, Y:16.69, Z:-118.22 [[ 9.82588168e-01 9.62275364e-02 1.58936316e-01 2.97312690e+02] [-9.24229591e-02 9.95231661e-01 -3.11759131e-02 1.66908333e+01] [-1.61178435e-01 1.59437188e-02 9.86796489e-01 -1.18216588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05591999999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:297.35, Y:16.71, Z:-118.22 [[ 9.73597663e-01 1.01048686e-01 2.04686965e-01 2.97346293e+02] [-9.00958412e-02 9.93991065e-01 -6.21651248e-02 1.67147091e+01] [-2.09738719e-01 4.20823759e-02 9.76851444e-01 -1.18219224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:297.37, Y:16.62, Z:-118.23 [[ 9.82424055e-01 8.37703898e-02 1.66809767e-01 2.97368991e+02] [-9.22559558e-02 9.94772663e-01 4.37742739e-02 1.66199234e+01] [-1.62270809e-01 -5.83940942e-02 9.85016911e-01 -1.18228633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11591999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:297.40, Y:16.65, Z:-118.23 [[ 9.83069870e-01 9.12760172e-02 1.58878318e-01 2.97401479e+02] [-9.40095240e-02 9.95523465e-01 9.75912684e-03 1.66543421e+01] [-1.57276319e-01 -2.45299786e-02 9.87249938e-01 -1.18232239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters Centerline goodness : 0.842437 Centerline is valid? [True, False] Translation: X:297.40, Y:16.66, Z:-118.23 [[ 9.83772828e-01 8.48296962e-02 1.58097896e-01 2.97401890e+02] [-8.57753266e-02 9.96314147e-01 -8.44987619e-04 1.66634440e+01] [-1.57586851e-01 -1.27296228e-02 9.87423081e-01 -1.18232861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17591999999996 meters Centerline goodness : 0.998808 Centerline is valid? [False, True] Translation: X:297.40, Y:16.67, Z:-118.23 [[ 9.84425904e-01 7.84256531e-02 1.57337394e-01 2.97402378e+02] [-7.76021391e-02 9.96919457e-01 -1.13800252e-02 1.66724482e+01] [-1.57745195e-01 -1.00692670e-03 9.87479336e-01 -1.18233719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:297.42, Y:16.59, Z:-118.24 [[ 9.90326463e-01 5.69886767e-02 1.26513980e-01 2.97424715e+02] [-6.62047864e-02 9.95356342e-01 6.98761610e-02 1.65936569e+01] [-1.21944342e-01 -7.75760424e-02 9.89500649e-01 -1.18241038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:297.46, Y:16.67, Z:-118.24 [[ 9.91329582e-01 7.51493262e-02 1.07787932e-01 2.97464313e+02] [-7.50738338e-02 9.97166599e-01 -4.76385171e-03 1.66668426e+01] [-1.07840526e-01 -3.36950617e-03 9.94162495e-01 -1.18239360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:297.48, Y:16.64, Z:-118.25 [[ 9.90467318e-01 1.71177648e-02 1.36680192e-01 2.97482545e+02] [-1.66580639e-02 9.99851089e-01 -4.50649027e-03 1.66410685e+01] [-1.36736980e-01 2.18670396e-03 9.90604975e-01 -1.18248233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:297.52, Y:16.70, Z:-118.24 [[ 9.90132303e-01 7.37092788e-02 1.19184585e-01 2.97523654e+02] [-6.93897339e-02 9.96787346e-01 -4.00006377e-02 1.66959315e+01] [-1.21750104e-01 3.13357370e-02 9.92066018e-01 -1.18243514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters Centerline goodness : 0.799026 Centerline is valid? [True, False] Translation: X:297.54, Y:16.68, Z:-118.25 [[ 9.92088640e-01 6.14941580e-02 1.09446789e-01 2.97541716e+02] [-5.90947403e-02 9.97938369e-01 -2.50364509e-02 1.66796568e+01] [-1.10760745e-01 1.83706490e-02 9.93677300e-01 -1.18247342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35591999999997 meters Centerline goodness : 0.799026 Centerline is valid? [False, False] Translation: X:297.56, Y:16.68, Z:-118.25 [[ 9.94123554e-01 5.75052171e-02 9.17142774e-02 2.97563541e+02] [-5.58456346e-02 9.98227662e-01 -2.05620944e-02 1.66753039e+01] [-9.27341564e-02 1.53194204e-02 9.95573047e-01 -1.18248919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters Centerline goodness : 0.998810 Centerline is valid? [False, True] Translation: X:297.59, Y:16.67, Z:-118.25 [[ 9.95931057e-01 5.30306362e-02 7.28634482e-02 2.97585276e+02] [-5.21003976e-02 9.98534974e-01 -1.46100810e-02 1.66698006e+01] [-7.35314833e-02 1.07544187e-02 9.97234909e-01 -1.18250549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41591999999997 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:297.62, Y:16.70, Z:-118.25 [[ 9.91077698e-01 5.68995532e-02 1.20529816e-01 2.97619241e+02] [-5.13856061e-02 9.97506612e-01 -4.83743568e-02 1.66975183e+01] [-1.22981768e-01 4.17492485e-02 9.91530375e-01 -1.18248132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:297.65, Y:16.66, Z:-118.25 [[ 9.91154291e-01 5.35515994e-02 1.21430625e-01 2.97649376e+02] [-5.31080191e-02 9.98565012e-01 -6.88880902e-03 1.66568606e+01] [-1.21625280e-01 3.78932674e-04 9.92576016e-01 -1.18254745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:297.68, Y:16.62, Z:-118.26 [[ 9.95935753e-01 5.04000970e-02 7.46445298e-02 2.97675992e+02] [-5.32879458e-02 9.97885510e-01 3.72143001e-02 1.66163726e+01] [-7.26110903e-02 -4.10407057e-02 9.96515574e-01 -1.18260430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:297.71, Y:16.66, Z:-118.26 [[ 9.96082922e-01 5.42833129e-02 6.98006777e-02 2.97710856e+02] [-5.38827500e-02 9.98518270e-01 -7.61013505e-03 1.66555584e+01] [-7.01103553e-02 3.81927309e-03 9.97531930e-01 -1.18261067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53592 meters Centerline goodness : 0.985073 Centerline is valid? [True, True] Translation: X:297.74, Y:16.63, Z:-118.28 [[ 9.89336838e-01 1.17627522e-01 8.58858953e-02 2.97736284e+02] [-1.21932289e-01 9.91438758e-01 4.67087325e-02 1.66310794e+01] [-7.96563729e-02 -5.66829335e-02 9.95209479e-01 -1.18279897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:297.77, Y:16.69, Z:-118.26 [[ 9.95596442e-01 5.85433417e-02 7.32147660e-02 2.97773566e+02] [-5.46918520e-02 9.97066346e-01 -5.35490689e-02 1.66945691e+01] [-7.61349207e-02 4.93090113e-02 9.95877550e-01 -1.18260834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59592 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:297.81, Y:16.68, Z:-118.26 [[ 9.90337351e-01 5.73816009e-02 1.26250877e-01 2.97805430e+02] [-5.18012922e-02 9.97548431e-01 -4.70505361e-02 1.66840504e+01] [-1.28641200e-01 4.00559447e-02 9.90881912e-01 -1.18262522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:297.83, Y:16.61, Z:-118.27 [[ 9.95642984e-01 4.72405406e-02 8.03951513e-02 2.97829110e+02] [-5.00601405e-02 9.98186758e-01 3.34242246e-02 1.66099411e+01] [-7.86703970e-02 -3.73031873e-02 9.96202510e-01 -1.18270604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65592 meters Centerline goodness : 0.926137 Centerline is valid? [True, False] Translation: X:297.86, Y:16.62, Z:-118.27 [[ 9.97003721e-01 3.50712874e-02 6.89462417e-02 2.97860058e+02] [-3.60349199e-02 9.99268779e-01 1.27825200e-02 1.66242534e+01] [-6.84475273e-02 -1.52286923e-02 9.97538482e-01 -1.18272637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters Centerline goodness : 0.993401 Centerline is valid? [False, True] Translation: X:297.86, Y:16.63, Z:-118.27 [[ 9.97241342e-01 2.75898709e-02 6.89094001e-02 2.97859596e+02] [-2.78614361e-02 9.99607345e-01 2.98273337e-03 1.66301992e+01] [-6.88000492e-02 -4.89441988e-03 9.97618463e-01 -1.18272786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71592 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:297.89, Y:16.63, Z:-118.27 [[ 9.97174447e-01 2.63953484e-02 7.03307042e-02 2.97893197e+02] [-2.62817771e-02 9.99651348e-01 -2.53984356e-03 1.66329496e+01] [-7.03732233e-02 6.84251201e-04 9.97520497e-01 -1.18273489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters Centerline goodness : 0.969215 Centerline is valid? [True, True] Translation: X:297.86, Y:16.51, Z:-118.31 [[ 9.99515693e-01 2.40056550e-02 1.98017205e-02 2.97859435e+02] [-2.62660147e-02 9.92039434e-01 1.23157859e-01 1.65149496e+01] [-1.66876025e-02 -1.23618325e-01 9.92189515e-01 -1.18308558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.77592 meters Centerline goodness : 0.898446 Centerline is valid? [True, False] Translation: X:297.86, Y:16.54, Z:-118.31 [[ 9.99763242e-01 1.86033325e-02 1.12860650e-02 2.97862414e+02] [-1.95925997e-02 9.95282666e-01 9.50186515e-02 1.65380404e+01] [-9.46516133e-03 -9.52172784e-02 9.95411513e-01 -1.18308171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters Centerline goodness : 0.992856 Centerline is valid? [False, True] Translation: X:297.87, Y:16.56, Z:-118.31 [[ 9.99890875e-01 1.45323505e-02 2.65509374e-03 2.97865938e+02] [-1.46811085e-02 9.97501915e-01 6.90969880e-02 1.65580590e+01] [-1.64431944e-03 -6.91284275e-02 9.97606414e-01 -1.18307590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83592 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:297.87, Y:16.47, Z:-118.31 [[ 9.97734796e-01 -5.70934226e-02 -3.55755348e-02 2.97867990e+02] [ 6.09625313e-02 9.90978370e-01 1.19354266e-01 1.64742416e+01] [ 2.84402419e-02 -1.21252679e-01 9.92214161e-01 -1.18307918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:297.93, Y:16.73, Z:-118.29 [[ 9.99958913e-01 9.03372947e-03 7.50435669e-04 2.97927097e+02] [-8.88781273e-03 9.93345816e-01 -1.14826378e-01 1.67267589e+01] [-1.78275257e-03 1.14814991e-01 9.93385293e-01 -1.18290837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89592 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:297.95, Y:16.59, Z:-118.30 [[ 9.99165419e-01 1.26914904e-02 -3.88251490e-02 2.97949570e+02] [-1.16050046e-02 9.99538239e-01 2.80825897e-02 1.65886742e+01] [ 3.91636310e-02 -2.76085864e-02 9.98851328e-01 -1.18303907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:297.98, Y:16.63, Z:-118.30 [[ 9.99908980e-01 1.28923588e-02 3.97730312e-03 2.97983065e+02] [-1.27821202e-02 9.99564493e-01 -2.65977719e-02 1.66346076e+01] [-4.31847900e-03 2.65445126e-02 9.99638304e-01 -1.18299695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95592 meters Centerline goodness : 0.981005 Centerline is valid? [True, True] Translation: X:298.03, Y:16.48, Z:-118.31 [[ 9.99012316e-01 -1.39605417e-02 -4.21840699e-02 2.98031042e+02] [ 1.89946836e-02 9.92421819e-01 1.21400725e-01 1.64762558e+01] [ 4.01695715e-02 -1.22082092e-01 9.91706795e-01 -1.18307168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:298.04, Y:16.71, Z:-118.29 [[ 9.99939731e-01 1.05200843e-02 3.14051857e-03 2.98040892e+02] [-1.01046781e-02 9.93720636e-01 -1.11432460e-01 1.67050906e+01] [-4.29307698e-03 1.11394010e-01 9.93767047e-01 -1.18286387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01592 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:298.07, Y:16.60, Z:-118.30 [[ 9.99793192e-01 1.95089447e-02 5.74227554e-03 2.98068358e+02] [-1.95084893e-02 9.99809682e-01 -1.35319400e-04 1.65982810e+01] [-5.74382262e-03 2.32682941e-05 9.99983504e-01 -1.18296086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:298.10, Y:16.54, Z:-118.29 [[ 9.98782882e-01 2.36574471e-02 -4.32790899e-02 2.98095374e+02] [-2.11000814e-02 9.98057264e-01 5.86215377e-02 1.65438355e+01] [ 4.45818460e-02 -5.76369960e-02 9.97341685e-01 -1.18292985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07592 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:298.12, Y:16.60, Z:-118.29 [[ 9.98688333e-01 2.49355993e-02 -4.47194543e-02 2.98124293e+02] [-2.47880388e-02 9.99685311e-01 3.85128167e-03 1.65950475e+01] [ 4.48014156e-02 -2.73772250e-03 9.98992161e-01 -1.18291105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:298.15, Y:16.60, Z:-118.29 [[ 9.98602255e-01 3.26151824e-02 -4.15907032e-02 2.98152667e+02] [-3.25115645e-02 9.99466346e-01 3.16550476e-03 1.65970000e+01] [ 4.16717517e-02 -1.80890136e-03 9.99129718e-01 -1.18293232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13592 meters Centerline goodness : 0.853274 Centerline is valid? [True, False] Translation: X:298.15, Y:16.59, Z:-118.29 [[ 9.99304711e-01 2.14085933e-02 -3.05248659e-02 2.98146446e+02] [-2.11929025e-02 9.99748224e-01 7.37221339e-03 1.65908606e+01] [ 3.06750092e-02 -6.72017706e-03 9.99506820e-01 -1.18292906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters Centerline goodness : 0.992878 Centerline is valid? [False, True] Translation: X:298.16, Y:16.59, Z:-118.29 [[ 9.99625695e-01 1.30434090e-02 -2.40486996e-02 2.98160639e+02] [-1.28713994e-02 9.99890560e-01 7.29353364e-03 1.65928540e+01] [ 2.41412002e-02 -6.98126321e-03 9.99684182e-01 -1.18293012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19592 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:298.19, Y:16.66, Z:-118.29 [[ 9.99842827e-01 1.63013750e-02 -6.97044548e-03 2.98188495e+02] [-1.66910203e-02 9.98054412e-01 -6.00732980e-02 1.66596742e+01] [ 5.97760650e-03 6.01801999e-02 9.98169631e-01 -1.18291500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:298.22, Y:16.60, Z:-118.30 [[ 9.99826112e-01 1.67866081e-02 -8.12132047e-03 2.98215791e+02] [-1.67306123e-02 9.99836125e-01 6.91441381e-03 1.65990993e+01] [ 8.23605914e-03 -6.77733681e-03 9.99943116e-01 -1.18296036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25591999999995 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:298.24, Y:16.61, Z:-118.29 [[ 9.99837711e-01 1.74786018e-02 -4.36463259e-03 2.98244388e+02] [-1.75057857e-02 9.99827104e-01 -6.26969071e-03 1.66147760e+01] [ 4.25429254e-03 6.34507954e-03 9.99970820e-01 -1.18294927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:298.27, Y:16.62, Z:-118.30 [[ 9.99762116e-01 1.95290573e-02 -9.71219884e-03 2.98269709e+02] [-1.95830144e-02 9.99793151e-01 -5.49188163e-03 1.66165130e+01] [ 9.60293861e-03 5.68076933e-03 9.99937754e-01 -1.18296959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31591999999995 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:298.30, Y:16.59, Z:-118.29 [[ 9.99879094e-01 1.55031936e-02 -1.20364566e-03 2.98298871e+02] [-1.54679944e-02 9.99563406e-01 2.51741462e-02 1.65907765e+01] [ 1.59339981e-03 -2.51524845e-02 9.99682356e-01 -1.18294632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:298.31, Y:16.66, Z:-118.30 [[ 9.99736133e-01 1.86890013e-02 -1.33560831e-02 2.98307047e+02] [-1.93812674e-02 9.98367213e-01 -5.37333602e-02 1.66599665e+01] [ 1.23300526e-02 5.39780395e-02 9.98465994e-01 -1.18299710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37591999999995 meters Centerline goodness : 0.922627 Centerline is valid? [True, False] Translation: X:298.31, Y:16.65, Z:-118.30 [[ 9.99846051e-01 1.51750362e-02 -8.80870892e-03 2.98307230e+02] [-1.54792221e-02 9.99247734e-01 -3.55578315e-02 1.66450006e+01] [ 8.26249104e-03 3.56887094e-02 9.99328798e-01 -1.18302518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters Centerline goodness : 0.860781 Centerline is valid? [False, False] Translation: X:298.31, Y:16.63, Z:-118.30 [[ 9.99959607e-01 8.04245623e-03 -4.01298364e-03 2.98306770e+02] [-8.12825255e-03 9.99728388e-01 -2.18422063e-02 1.66348575e+01] [ 3.83622868e-03 2.18739425e-02 9.99753377e-01 -1.18304686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43591999999995 meters Centerline goodness : 0.994535 Centerline is valid? [False, True] Translation: X:298.31, Y:16.63, Z:-118.31 [[ 9.99997948e-01 6.18709804e-04 -1.92882629e-03 2.98307716e+02] [-6.34037222e-04 9.99968149e-01 -7.95604270e-03 1.66253831e+01] [ 1.92384237e-03 7.95724932e-03 9.99966490e-01 -1.18306009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:298.33, Y:16.69, Z:-118.28 [[ 9.98774989e-01 4.68972706e-02 1.57850191e-02 2.98326795e+02] [-4.58582241e-02 9.97098253e-01 -6.07626362e-02 1.66850836e+01] [-1.85888167e-02 5.99643284e-02 9.98027422e-01 -1.18284570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49591999999996 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:298.38, Y:16.67, Z:-118.28 [[ 9.95392736e-01 5.33107764e-02 7.96948098e-02 2.98381332e+02] [-5.10913738e-02 9.98254207e-01 -2.96346086e-02 1.66666485e+01] [-8.11355232e-02 2.54263568e-02 9.96378707e-01 -1.18277596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters Centerline goodness : 0.874845 Centerline is valid? [True, False] Translation: X:298.40, Y:16.65, Z:-118.28 [[ 9.96599287e-01 4.24930526e-02 7.05988732e-02 2.98397256e+02] [-4.15136010e-02 9.99021032e-01 -1.52839277e-02 1.66534598e+01] [-7.11792199e-02 1.23011380e-02 9.97387688e-01 -1.18280525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55591999999996 meters Centerline goodness : 0.878487 Centerline is valid? [False, False] Translation: X:298.43, Y:16.65, Z:-118.28 [[ 9.98166122e-01 3.42968730e-02 4.98810318e-02 2.98432038e+02] [-3.40734808e-02 9.99405159e-01 -5.32221610e-03 1.66482880e+01] [-5.00338959e-02 3.61283543e-03 9.98740986e-01 -1.18284772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters Centerline goodness : 0.969014 Centerline is valid? [False, True] Translation: X:298.46, Y:16.65, Z:-118.29 [[ 9.99123046e-01 2.85593341e-02 3.06186609e-02 2.98455750e+02] [-2.84421897e-02 9.99586384e-01 -4.25473562e-03 1.66520415e+01] [-3.07275089e-02 3.38014265e-03 9.99522083e-01 -1.18285868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61591999999996 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:298.41, Y:16.63, Z:-118.26 [[ 9.97275991e-01 2.94599411e-02 6.76218155e-02 2.98407572e+02] [-2.92660202e-02 9.99564218e-01 -3.85679811e-03 1.66336519e+01] [-6.77059682e-02 1.86727074e-03 9.97703571e-01 -1.18255940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:298.44, Y:16.64, Z:-118.26 [[ 9.96640898e-01 3.12940252e-02 7.56809405e-02 2.98436005e+02] [-3.08467399e-02 9.99499106e-01 -7.07215970e-03 1.66395281e+01] [-7.58643487e-02 4.71389331e-03 9.97107005e-01 -1.18256853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67591999999996 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:298.47, Y:16.70, Z:-118.25 [[ 9.96977939e-01 3.57413104e-02 6.89749744e-02 2.98469305e+02] [-3.11264056e-02 9.97276763e-01 -6.68595916e-02 1.67026813e+01] [-7.11767886e-02 6.45105949e-02 9.95375431e-01 -1.18251172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:298.50, Y:16.65, Z:-118.26 [[ 9.96977569e-01 3.03332334e-02 7.15235795e-02 2.98497671e+02] [-2.99733425e-02 9.99532085e-01 -6.09994514e-03 1.66490291e+01] [-7.16751436e-02 3.93770773e-03 9.97420257e-01 -1.18261574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:298.53, Y:16.65, Z:-118.27 [[ 9.96692183e-01 2.92012258e-02 7.58418177e-02 2.98528124e+02] [-2.89386020e-02 9.99570791e-01 -4.55967439e-03 1.66537729e+01] [-7.59424138e-02 2.34983564e-03 9.97109436e-01 -1.18265070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:298.56, Y:16.64, Z:-118.27 [[ 9.96992749e-01 2.71301812e-02 7.25907185e-02 2.98558278e+02] [-2.82807045e-02 9.99489432e-01 1.48686759e-02 1.66377487e+01] [-7.21502661e-02 -1.68768787e-02 9.97250976e-01 -1.18268067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79591999999997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:298.59, Y:16.68, Z:-118.27 [[ 9.96319721e-01 2.79854496e-02 8.10174604e-02 2.98588671e+02] [-2.59429716e-02 9.99321226e-01 -2.61543568e-02 1.66784182e+01] [-8.16944092e-02 2.39562678e-02 9.96369470e-01 -1.18265822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:298.62, Y:16.66, Z:-118.27 [[ 9.96170920e-01 2.41167673e-02 8.40349864e-02 2.98620426e+02] [-2.39291280e-02 9.99708409e-01 -3.23952623e-03 1.66619612e+01] [-8.40886095e-02 1.21623788e-03 9.96457539e-01 -1.18272938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:298.65, Y:16.67, Z:-118.28 [[ 9.96103350e-01 2.22136520e-02 8.53502800e-02 2.98650805e+02] [-2.15600167e-02 9.99730803e-01 -8.57252391e-03 1.66698653e+01] [-8.55177310e-02 6.69896632e-03 9.96314128e-01 -1.18276358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:16.62, Z:-118.29 [[ 9.97365323e-01 1.31515024e-02 7.13403786e-02 2.98679118e+02] [-1.67329963e-02 9.98617040e-01 4.98398799e-02 1.66182336e+01] [-7.05862485e-02 -5.09023062e-02 9.96206071e-01 -1.18288870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91591999999997 meters Centerline goodness : 0.821515 Centerline is valid? [True, False] Translation: X:298.69, Y:16.65, Z:-118.29 [[ 9.98061379e-01 1.23267227e-02 6.10043919e-02 2.98692360e+02] [-1.36263251e-02 9.99688008e-01 2.09334428e-02 1.66472512e+01] [-6.07273183e-02 -2.17241264e-02 9.97917960e-01 -1.18286356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:298.71, Y:16.67, Z:-118.28 [[ 9.98671699e-01 1.23406604e-02 5.00254486e-02 2.98705550e+02] [-1.20553441e-02 9.99909323e-01 -6.00115303e-03 1.66746806e+01] [-5.00949707e-02 5.39010770e-03 9.98729914e-01 -1.18282474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:298.74, Y:16.70, Z:-118.28 [[ 9.98327311e-01 1.24262276e-02 5.64638809e-02 2.98735142e+02] [-1.04896995e-02 9.99350866e-01 -3.44646491e-02 1.67024780e+01] [-5.68554939e-02 3.38147113e-02 9.97809610e-01 -1.18281552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:298.76, Y:16.61, Z:-118.29 [[ 9.97850743e-01 4.68611517e-03 6.53600355e-02 2.98759828e+02] [-8.68617242e-03 9.98096841e-01 6.10511734e-02 1.66128447e+01] [-6.49495521e-02 -6.14876873e-02 9.95992379e-01 -1.18293703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:298.81, Y:16.72, Z:-118.29 [[ 9.98268305e-01 5.37702240e-03 5.85788339e-02 2.98807892e+02] [-2.24899700e-03 9.98574188e-01 -5.33341678e-02 1.67230585e+01] [-5.87820905e-02 5.31100656e-02 9.96857054e-01 -1.18286476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:298.82, Y:16.67, Z:-118.29 [[ 9.97981418e-01 6.24769984e-04 6.35035347e-02 2.98822156e+02] [-4.53887605e-04 9.99996238e-01 -2.70530197e-03 1.66743248e+01] [-6.35049859e-02 2.67101763e-03 9.97977947e-01 -1.18292955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09592 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:298.90, Y:16.74, Z:-118.31 [[ 9.96216961e-01 -4.22740813e-03 8.67980158e-02 2.98895059e+02] [ 9.31246216e-03 9.98257781e-01 -5.82638859e-02 1.67372347e+01] [-8.64004895e-02 5.88517746e-02 9.94520701e-01 -1.18306400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:298.86, Y:16.65, Z:-118.31 [[ 9.97116732e-01 1.86459316e-02 7.35564561e-02 2.98863207e+02] [-2.16994333e-02 9.98926195e-01 4.09339807e-02 1.66489312e+01] [-7.27142186e-02 -4.24120905e-02 9.96450629e-01 -1.18308591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:16.69, Z:-118.28 [[ 9.96143145e-01 9.62274908e-03 8.72137404e-02 2.98861631e+02] [-9.43869788e-03 9.99952273e-01 -2.52248807e-03 1.66855558e+01] [-8.72338512e-02 1.68957505e-03 9.96186429e-01 -1.18282324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:298.89, Y:16.74, Z:-118.27 [[ 9.93935656e-01 1.99890082e-02 1.08131176e-01 2.98892004e+02] [-1.33424461e-02 9.97996549e-01 -6.18455155e-02 1.67425831e+01] [-1.09150771e-01 6.00277286e-02 9.92211057e-01 -1.18273147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21592 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:298.97, Y:16.63, Z:-118.32 [[ 9.95992849e-01 -7.29686992e-04 8.94299324e-02 2.98973891e+02] [-4.73546375e-03 9.98133642e-01 6.08835657e-02 1.66329183e+01] [-8.93074500e-02 -6.10630882e-02 9.94130514e-01 -1.18320263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters Centerline goodness : 0.941188 Centerline is valid? [True, False] Translation: X:299.01, Y:16.67, Z:-118.32 [[ 9.97423561e-01 1.97202971e-03 7.17101879e-02 2.99012708e+02] [-4.03129125e-03 9.99583292e-01 2.85830645e-02 1.66652369e+01] [-7.16239391e-02 -2.87985066e-02 9.97015876e-01 -1.18318027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.27592 meters Centerline goodness : 0.941188 Centerline is valid? [False, False] Translation: X:299.05, Y:16.68, Z:-118.32 [[ 9.98766913e-01 8.22314764e-04 4.96384758e-02 2.99049295e+02] [-1.31130357e-03 9.99950930e-01 9.81924201e-03 1.66817867e+01] [-4.96279655e-02 -9.87222514e-03 9.98718982e-01 -1.18315823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters Centerline goodness : 0.935461 Centerline is valid? [False, False] Translation: X:299.08, Y:16.69, Z:-118.31 [[ 9.99590010e-01 -5.30687607e-04 2.86274352e-02 2.99081510e+02] [ 5.85404918e-04 9.99998018e-01 -1.90301201e-03 1.66917412e+01] [-2.86263686e-02 1.91899043e-03 9.99588340e-01 -1.18314600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:299.08, Y:16.69, Z:-118.32 [[ 9.99595303e-01 -5.49542164e-04 2.84416655e-02 2.99082018e+02] [ 6.02911612e-04 9.99998074e-01 -1.86791134e-03 1.66914569e+01] [-2.84405843e-02 1.88430321e-03 9.99593709e-01 -1.18315028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:299.11, Y:16.66, Z:-118.32 [[ 9.99860843e-01 -2.23562388e-03 1.65316671e-02 2.99112379e+02] [ 1.63915143e-03 9.99350211e-01 3.60065238e-02 1.66568084e+01] [-1.66014220e-02 -3.59744154e-02 9.99214809e-01 -1.18320089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:299.14, Y:16.71, Z:-118.31 [[ 9.99752896e-01 -6.23268056e-04 2.22206738e-02 2.99142280e+02] [ 1.01079900e-03 9.99847520e-01 -1.74331441e-02 1.67089773e+01] [-2.22064200e-02 1.74512969e-02 9.99601084e-01 -1.18312403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:299.17, Y:16.68, Z:-118.32 [[ 9.99611107e-01 -1.15648243e-03 2.78621090e-02 2.99173509e+02] [ 9.46560886e-04 9.99971078e-01 7.54631360e-03 1.66844494e+01] [-2.78700303e-02 -7.51700571e-03 9.99583291e-01 -1.18318256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:299.20, Y:16.65, Z:-118.32 [[ 9.99397937e-01 -2.37059343e-03 3.46142229e-02 2.99202515e+02] [ 7.23840797e-04 9.98870515e-01 4.75096866e-02 1.66463523e+01] [-3.46877528e-02 -4.74560276e-02 9.98270848e-01 -1.18322978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:299.24, Y:16.82, Z:-118.29 [[ 9.96533200e-01 7.77728729e-03 8.28317321e-02 2.99236524e+02] [ 2.82507745e-03 9.91883513e-01 -1.27118512e-01 1.68183415e+01] [-8.31480666e-02 1.26911823e-01 9.88422879e-01 -1.18292312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:299.26, Y:16.54, Z:-118.33 [[ 9.99338516e-01 -5.11720302e-03 3.60047915e-02 2.99259734e+02] [-9.68661855e-04 9.85953847e-01 1.67015190e-01 1.65361023e+01] [-3.63537133e-02 -1.66939589e-01 9.85296697e-01 -1.18331438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:299.30, Y:16.78, Z:-118.30 [[ 9.99472920e-01 9.00200613e-03 3.11904725e-02 2.99295718e+02] [-6.47522648e-03 9.96758944e-01 -8.01852750e-02 1.67808699e+01] [-3.18112108e-02 7.99410456e-02 9.96291863e-01 -1.18304724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:299.32, Y:16.73, Z:-118.32 [[ 9.99409289e-01 6.07515386e-03 3.38255232e-02 2.99322456e+02] [-5.33734155e-03 9.99746794e-01 -2.18600274e-02 1.67272927e+01] [-3.39497614e-02 2.16665761e-02 9.99188657e-01 -1.18318855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:299.35, Y:16.76, Z:-118.31 [[ 9.96021954e-01 6.90882553e-03 8.88399424e-02 2.99353271e+02] [-1.65109611e-03 9.98249527e-01 -5.91198475e-02 1.67647998e+01] [-8.90928792e-02 5.87379827e-02 9.94289851e-01 -1.18314361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.39, Y:16.71, Z:-118.33 [[ 9.97343233e-01 2.79079570e-03 7.27920811e-02 2.99385171e+02] [-2.95061456e-03 9.99993467e-01 2.08811175e-03 1.67070339e+01] [-7.27857780e-02 -2.29734550e-03 9.97344952e-01 -1.18331309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:299.42, Y:16.71, Z:-118.33 [[ 9.96130274e-01 1.79228726e-03 8.78707233e-02 2.99417507e+02] [-1.54531983e-03 9.99994663e-01 -2.87852222e-03 1.67122808e+01] [-8.78754135e-02 2.73159476e-03 9.96127728e-01 -1.18331719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:299.45, Y:16.71, Z:-118.33 [[ 9.96281688e-01 -1.29533725e-03 8.61459187e-02 2.99450362e+02] [ 1.33146123e-03 9.99999048e-01 -3.61879288e-04 1.67098980e+01] [-8.61453680e-02 4.75233659e-04 9.96282465e-01 -1.18333550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:299.48, Y:16.64, Z:-118.34 [[ 9.99459386e-01 -8.58831190e-03 3.17360310e-02 2.99478652e+02] [ 6.21657531e-03 9.97232174e-01 7.40901215e-02 1.66370565e+01] [-3.22845003e-02 -7.38527780e-02 9.96746446e-01 -1.18342657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:299.51, Y:16.78, Z:-118.32 [[ 9.96250714e-01 -2.93315687e-05 8.65130846e-02 2.99512761e+02] [ 6.34491084e-03 9.97331676e-01 -7.27273647e-02 1.67807667e+01] [-8.62801064e-02 7.30036068e-02 9.93592581e-01 -1.18321255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:299.54, Y:16.66, Z:-118.34 [[ 9.99078173e-01 -1.00623407e-02 4.17319185e-02 2.99540064e+02] [ 7.89552919e-03 9.98628042e-01 5.17657651e-02 1.66591815e+01] [-4.21955488e-02 -5.13885505e-02 9.97786927e-01 -1.18342948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:299.58, Y:16.76, Z:-118.33 [[ 9.95906731e-01 -5.08922754e-03 9.02434598e-02 2.99575912e+02] [ 9.76648033e-03 9.98627109e-01 -5.14637064e-02 1.67588440e+01] [-8.98576548e-02 5.21344126e-02 9.94589164e-01 -1.18329664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:299.60, Y:16.64, Z:-118.35 [[ 9.99376417e-01 -1.67357912e-02 3.10916599e-02 2.99601526e+02] [ 1.44629475e-02 9.97304072e-01 7.19403245e-02 1.66361256e+01] [-3.22118173e-02 -7.14457866e-02 9.96924219e-01 -1.18349540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:299.63, Y:16.61, Z:-118.35 [[ 9.99290093e-01 -1.77323317e-02 3.32396427e-02 2.99627434e+02] [ 1.44727167e-02 9.95289577e-01 9.58603104e-02 1.66114264e+01] [-3.47828968e-02 -9.53111906e-02 9.94839649e-01 -1.18351722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.67, Y:16.86, Z:-118.30 [[ 9.95741008e-01 1.19839145e-03 9.21868192e-02 2.99667520e+02] [ 1.38393683e-02 9.86642817e-01 -1.62309655e-01 1.68608440e+01] [-9.11499735e-02 1.62894187e-01 9.82424128e-01 -1.18304714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93591999999995 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:299.69, Y:16.64, Z:-118.35 [[ 9.98982003e-01 -1.40197785e-02 4.28766108e-02 2.99690168e+02] [ 1.11290765e-02 9.97695616e-01 6.69298320e-02 1.66385426e+01] [-4.37161480e-02 -6.63845206e-02 9.96835991e-01 -1.18352677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:299.72, Y:16.72, Z:-118.34 [[ 9.98855805e-01 -7.08490975e-03 4.72957245e-02 2.99723234e+02] [ 7.68244161e-03 9.99892807e-01 -1.24641519e-02 1.67161008e+01] [-4.72023473e-02 1.28132371e-02 9.98803163e-01 -1.18343419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99591999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:299.75, Y:16.71, Z:-118.34 [[ 9.98741630e-01 -2.96510380e-03 5.00635991e-02 2.99753256e+02] [ 3.41499656e-03 9.99954534e-01 -8.90328010e-03 1.67126299e+01] [-5.00349237e-02 9.06304350e-03 9.98706347e-01 -1.18344948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:299.79, Y:16.75, Z:-118.34 [[ 9.95294328e-01 2.40493754e-03 9.68680402e-02 2.99788807e+02] [ 2.04451654e-03 9.98948183e-01 -4.58077163e-02 1.67484736e+01] [-9.68763175e-02 4.57902085e-02 9.94242544e-01 -1.18344048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05591999999996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:299.81, Y:16.58, Z:-118.37 [[ 9.99170600e-01 -9.01611739e-03 3.97092212e-02 2.99810831e+02] [ 3.85350459e-03 9.91738884e-01 1.28215199e-01 1.65764337e+01] [-4.05371819e-02 -1.27955838e-01 9.90951079e-01 -1.18366392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:299.85, Y:16.74, Z:-118.35 [[ 9.99200961e-01 6.15177513e-03 3.94917004e-02 2.99845950e+02] [-4.80120163e-03 9.99403369e-01 -3.42031235e-02 1.67369613e+01] [-3.96785484e-02 3.39861863e-02 9.98634343e-01 -1.18350891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:299.88, Y:16.79, Z:-118.34 [[ 9.94685172e-01 1.52647465e-02 1.01825322e-01 2.99879982e+02] [-6.51237788e-03 9.96296311e-01 -8.57394284e-02 1.67877271e+01] [-1.02756983e-01 8.46206131e-02 9.91100577e-01 -1.18341246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:299.91, Y:16.65, Z:-118.37 [[ 9.99002617e-01 8.30070269e-03 4.38733376e-02 2.99905628e+02] [-1.09217242e-02 9.98148066e-01 5.98427385e-02 1.66510222e+01] [-4.32953503e-02 -6.02622248e-02 9.97243188e-01 -1.18367229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17591999999996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:299.94, Y:16.75, Z:-118.36 [[ 9.98368727e-01 2.35575739e-02 5.20089021e-02 2.99941110e+02] [-2.19274122e-02 9.99257028e-01 -3.16951271e-02 1.67470324e+01] [-5.27169212e-02 3.05030030e-02 9.98143523e-01 -1.18357504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:299.97, Y:16.75, Z:-118.36 [[ 9.94857918e-01 2.63909938e-02 9.77815819e-02 2.99973467e+02] [-2.34931755e-02 9.99253445e-01 -3.06695766e-02 1.67483037e+01] [-9.85179831e-02 2.82146713e-02 9.94735211e-01 -1.18361430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23591999999996 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:300.00, Y:16.67, Z:-118.37 [[ 9.98417242e-01 2.37497840e-02 5.09799747e-02 3.00002147e+02] [-2.63848346e-02 9.98316483e-01 5.16530852e-02 1.66714433e+01] [-4.96673994e-02 -5.29164290e-02 9.97363024e-01 -1.18374247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:300.03, Y:16.72, Z:-118.37 [[ 9.98449521e-01 3.15960360e-02 4.58284264e-02 3.00034115e+02] [-3.21778639e-02 9.99409951e-01 1.20139409e-02 1.67192427e+01] [-4.54217924e-02 -1.34699744e-02 9.98877080e-01 -1.18369643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.06, Y:16.65, Z:-118.38 [[ 9.98644293e-01 2.95989052e-02 4.28191702e-02 3.00060636e+02] [-3.34008324e-02 9.95291756e-01 9.09873843e-02 1.66522671e+01] [-3.99244402e-02 -9.22942280e-02 9.94931060e-01 -1.18382230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters Centerline goodness : 0.893707 Centerline is valid? [True, False] Translation: X:300.04, Y:16.69, Z:-118.38 [[ 9.98391153e-01 3.13001643e-02 4.72800746e-02 3.00039072e+02] [-3.39921355e-02 9.97781083e-01 5.72489686e-02 1.66901551e+01] [-4.53832620e-02 -5.87640145e-02 9.97239766e-01 -1.18379256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35591999999997 meters Centerline goodness : 0.983271 Centerline is valid? [False, True] Translation: X:300.07, Y:16.72, Z:-118.38 [[ 9.99018815e-01 2.13139404e-02 3.88216942e-02 3.00067005e+02] [-2.25694687e-02 9.99226752e-01 3.21949987e-02 1.67169023e+01] [-3.81054731e-02 -3.30395945e-02 9.98727369e-01 -1.18376461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:300.07, Y:16.80, Z:-118.34 [[ 9.96239082e-01 -5.63327627e-02 6.58354942e-02 3.00070772e+02] [ 6.12723419e-02 9.95254727e-01 -7.55892144e-02 1.68001019e+01] [-6.12649375e-02 7.93388244e-02 9.94963295e-01 -1.18341046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:300.11, Y:16.73, Z:-118.36 [[ 9.95171747e-01 -6.45094194e-02 7.39711297e-02 3.00107354e+02] [ 6.44570107e-02 9.97915676e-01 3.09803210e-03 1.67323505e+01] [-7.40168022e-02 1.68488388e-03 9.97255571e-01 -1.18361928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:300.14, Y:16.60, Z:-118.38 [[ 9.96834763e-01 -7.93633077e-02 4.68188586e-03 3.00142101e+02] [ 7.80016000e-02 9.87717935e-01 1.35384750e-01 1.66047538e+01] [-1.53689642e-02 -1.34591030e-01 9.90782039e-01 -1.18382785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:300.16, Y:16.73, Z:-118.36 [[ 9.97004235e-01 -7.32818900e-02 2.47450819e-02 3.00163706e+02] [ 7.28881391e-02 9.97204332e-01 1.64571999e-02 1.67319680e+01] [-2.58819175e-02 -1.46042751e-02 9.99558323e-01 -1.18364384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:300.19, Y:16.76, Z:-118.36 [[ 9.96822088e-01 -7.38285453e-02 2.99177269e-02 3.00189149e+02] [ 7.40933674e-02 9.97220488e-01 -7.84040987e-03 1.67621411e+01] [-2.92557241e-02 1.00321989e-02 9.99521614e-01 -1.18360882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:300.22, Y:16.74, Z:-118.37 [[ 9.96362058e-01 -7.92654121e-02 3.12992700e-02 3.00217805e+02] [ 7.86180327e-02 9.96675074e-01 2.14009991e-02 1.67419575e+01] [-3.28915612e-02 -1.88624565e-02 9.99280918e-01 -1.18366445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:300.24, Y:16.90, Z:-118.32 [[ 9.92064037e-01 -6.91933852e-02 1.04982005e-01 3.00238357e+02] [ 8.30237627e-02 9.87541295e-01 -1.33675900e-01 1.69042273e+01] [-9.44245776e-02 1.41331054e-01 9.85448899e-01 -1.18320122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59592 meters Centerline goodness : 0.824643 Centerline is valid? [True, False] Translation: X:300.27, Y:16.87, Z:-118.34 [[ 9.94096132e-01 -6.40068489e-02 8.76128050e-02 3.00270100e+02] [ 7.22198588e-02 9.92946592e-01 -9.40284907e-02 1.68710687e+01] [-8.09763688e-02 9.98007433e-02 9.91706932e-01 -1.18335239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:300.30, Y:16.84, Z:-118.35 [[ 9.95677059e-01 -5.92616769e-02 7.15209617e-02 3.00297446e+02] [ 6.34696057e-02 9.96292852e-01 -5.80703222e-02 1.68413596e+01] [-6.78144783e-02 6.23586949e-02 9.95747252e-01 -1.18348140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:300.32, Y:16.79, Z:-118.37 [[ 9.94782888e-01 -6.87210733e-02 7.53950885e-02 3.00324829e+02] [ 6.93609131e-02 9.97574196e-01 -5.89799614e-03 1.67934249e+01] [-7.48068782e-02 1.10966978e-02 9.97136297e-01 -1.18367457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:300.36, Y:16.87, Z:-118.35 [[ 9.88779442e-01 -6.22319696e-02 1.35802784e-01 3.00356680e+02] [ 7.23538252e-02 9.94854893e-01 -7.09130934e-02 1.68658714e+01] [-1.30691002e-01 7.99432598e-02 9.88194787e-01 -1.18349457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:300.39, Y:16.79, Z:-118.38 [[ 9.88550820e-01 -7.52148295e-02 1.30805221e-01 3.00391839e+02] [ 7.47536969e-02 9.97166319e-01 8.43900827e-03 1.67907645e+01] [-1.31069299e-01 1.43578526e-03 9.91372169e-01 -1.18378380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:300.42, Y:16.79, Z:-118.38 [[ 9.88756535e-01 -7.70041765e-02 1.28182959e-01 3.00424057e+02] [ 7.65844167e-02 9.97029318e-01 8.20763645e-03 1.67928281e+01] [-1.28434191e-01 1.70146300e-03 9.91716574e-01 -1.18384142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:300.45, Y:16.79, Z:-118.39 [[ 9.90089976e-01 -8.01605439e-02 1.15308835e-01 3.00454271e+02] [ 7.92796999e-02 9.96777601e-01 1.22124076e-02 1.67898410e+01] [-1.15916217e-01 -2.94973248e-03 9.93254615e-01 -1.18390430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:300.49, Y:16.80, Z:-118.39 [[ 9.88969582e-01 -7.71849821e-02 1.26418530e-01 3.00488184e+02] [ 7.72776176e-02 9.97000856e-01 4.17881867e-03 1.68032394e+01] [-1.26361925e-01 5.63659828e-03 9.91968191e-01 -1.18390908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83592 meters Centerline goodness : 0.796763 Centerline is valid? [True, False] Translation: X:300.53, Y:16.82, Z:-118.39 [[ 9.92011336e-01 -7.03870853e-02 1.04686040e-01 3.00530262e+02] [ 7.11694183e-02 9.97457186e-01 -3.75184462e-03 1.68183383e+01] [-1.04155761e-01 1.11723169e-02 9.94498244e-01 -1.18391925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters Centerline goodness : 0.999306 Centerline is valid? [False, True] Translation: X:300.57, Y:16.83, Z:-118.39 [[ 9.94653691e-01 -6.12871634e-02 8.31138928e-02 3.00571388e+02] [ 6.22983301e-02 9.98011159e-01 -9.62523765e-03 1.68298141e+01] [-8.23586890e-02 1.47516349e-02 9.96493570e-01 -1.18392405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:300.60, Y:16.82, Z:-118.40 [[ 9.94576085e-01 -6.08502599e-02 8.43543562e-02 3.00604275e+02] [ 6.07077134e-02 9.98146511e-01 4.25626684e-03 1.68188460e+01] [-8.44570013e-02 8.87778873e-04 9.96426729e-01 -1.18399250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:300.64, Y:16.82, Z:-118.40 [[ 9.94766646e-01 -5.98862225e-02 8.27826085e-02 3.00637559e+02] [ 5.97489363e-02 9.98204864e-01 4.13697477e-03 1.68215750e+01] [-8.28817503e-02 8.30848296e-04 9.96559042e-01 -1.18402193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95592 meters Centerline goodness : 0.864412 Centerline is valid? [True, False] Translation: X:300.68, Y:16.83, Z:-118.40 [[ 9.96626098e-01 -5.47758576e-02 6.11230431e-02 3.00675708e+02] [ 5.51413834e-02 9.98469262e-01 -4.30822176e-03 1.68314185e+01] [-6.07934932e-02 7.66409539e-03 9.98120941e-01 -1.18403561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:300.70, Y:16.83, Z:-118.40 [[ 9.97810323e-01 -5.07291487e-02 4.24395099e-02 3.00701725e+02] [ 5.10377019e-02 9.98677369e-01 -6.21809744e-03 1.68328394e+01] [-4.20679393e-02 8.37049687e-03 9.99079688e-01 -1.18403828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:300.73, Y:16.80, Z:-118.41 [[ 9.98058014e-01 -5.95357105e-02 1.83220992e-02 3.00731155e+02] [ 5.91314452e-02 9.98010661e-01 2.18676383e-02 1.67994255e+01] [-1.95875557e-02 -2.07417595e-02 9.99592971e-01 -1.18411701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:300.76, Y:16.82, Z:-118.41 [[ 9.97922609e-01 -6.18136924e-02 1.81530662e-02 3.00762558e+02] [ 6.18139988e-02 9.98087538e-01 5.44758574e-04 1.68196599e+01] [-1.81520227e-02 5.78486717e-04 9.99835071e-01 -1.18406537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:300.80, Y:16.74, Z:-118.42 [[ 9.97579363e-01 -6.55137675e-02 -2.33100811e-02 3.00795197e+02] [ 6.71128236e-02 9.94835587e-01 7.61447584e-02 1.67414148e+01] [ 1.82011682e-02 -7.75248449e-02 9.96824265e-01 -1.18422636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:300.82, Y:16.89, Z:-118.39 [[ 9.97870585e-01 -6.09350857e-02 2.32639553e-02 3.00820161e+02] [ 6.24187073e-02 9.95626113e-01 -6.95165327e-02 1.68859566e+01] [-1.89262055e-02 7.08206092e-02 9.97309501e-01 -1.18386903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:300.85, Y:16.75, Z:-118.42 [[ 9.97723007e-01 -6.64069339e-02 -1.17864678e-02 3.00854542e+02] [ 6.70247790e-02 9.95724869e-01 6.35583529e-02 1.67466417e+01] [ 7.51536377e-03 -6.42036164e-02 9.97908520e-01 -1.18423250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:300.88, Y:16.81, Z:-118.41 [[ 9.97952517e-01 -6.35818723e-02 -6.93682297e-03 3.00884120e+02] [ 6.35933917e-02 9.97974834e-01 1.45266636e-03 1.68104632e+01] [ 6.83041151e-03 -1.89082815e-03 9.99974885e-01 -1.18409692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.91, Y:16.87, Z:-118.39 [[ 9.97631831e-01 -6.31703465e-02 2.72072892e-02 3.00911798e+02] [ 6.47748870e-02 9.95921487e-01 -6.28061019e-02 1.68720126e+01] [-2.31288407e-02 6.44197156e-02 9.97654829e-01 -1.18391377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:300.94, Y:16.69, Z:-118.43 [[ 9.97119309e-01 -7.40399667e-02 -1.64671192e-02 3.00939655e+02] [ 7.53817495e-02 9.91402464e-01 1.06952078e-01 1.66932767e+01] [ 8.40681420e-03 -1.07885303e-01 9.94127802e-01 -1.18429425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.97, Y:16.91, Z:-118.38 [[ 9.97817455e-01 -5.70102579e-02 3.33190135e-02 3.00971680e+02] [ 6.02466724e-02 9.92545446e-01 -1.05942796e-01 1.69053054e+01] [-2.70308090e-02 1.07718931e-01 9.93813849e-01 -1.18378703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.01, Y:16.82, Z:-118.41 [[ 9.97830108e-01 -5.08952055e-02 4.17702502e-02 3.01007117e+02] [ 5.17376369e-02 9.98473414e-01 -1.93406134e-02 1.68179962e+01] [-4.07221398e-02 2.14597404e-02 9.98940032e-01 -1.18406958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31591999999995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:301.04, Y:16.77, Z:-118.41 [[ 9.98533067e-01 -5.11663279e-02 1.77121720e-02 3.01037903e+02] [ 5.07141300e-02 9.98397703e-01 2.51018616e-02 1.67729724e+01] [-1.89681619e-02 -2.41667815e-02 9.99527976e-01 -1.18414387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.07, Y:16.82, Z:-118.41 [[ 9.98508283e-01 -3.53903452e-02 4.15780183e-02 3.01070586e+02] [ 3.61963052e-02 9.99167963e-01 -1.87938601e-02 1.68188586e+01] [-4.08783027e-02 2.02707956e-02 9.98958487e-01 -1.18409349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.10, Y:16.82, Z:-118.41 [[ 9.98440376e-01 -2.89814744e-02 4.77167708e-02 3.01104653e+02] [ 2.95993182e-02 9.99486253e-01 -1.22927251e-02 1.68150352e+01] [-4.73359951e-02 1.36859370e-02 9.98785262e-01 -1.18412759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.14, Y:16.80, Z:-118.42 [[ 9.98501142e-01 -2.42281542e-02 4.90761224e-02 3.01138054e+02] [ 2.42251374e-02 9.99706313e-01 6.56355868e-04 1.68047915e+01] [-4.90776117e-02 5.33503724e-04 9.98794825e-01 -1.18416855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:301.17, Y:16.81, Z:-118.42 [[ 9.98737858e-01 -1.74906150e-02 4.70825852e-02 3.01170530e+02] [ 1.75019164e-02 9.99846815e-01 1.72233687e-04 1.68100304e+01] [-4.70783853e-02 6.52019168e-04 9.98890985e-01 -1.18419242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:301.20, Y:16.81, Z:-118.42 [[ 9.98852157e-01 -1.54848356e-02 4.53275596e-02 3.01203790e+02] [ 1.54016618e-02 9.99879003e-01 2.18363642e-03 1.68106347e+01] [-4.53558884e-02 -1.48301021e-03 9.98969791e-01 -1.18421417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.24, Y:16.82, Z:-118.42 [[ 9.98754169e-01 -1.29706873e-02 4.81857950e-02 3.01237731e+02] [ 1.30642441e-02 9.99913335e-01 -1.62713939e-03 1.68193637e+01] [-4.81605139e-02 2.25462324e-03 9.98837065e-01 -1.18422748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.27, Y:16.82, Z:-118.43 [[ 9.98811161e-01 -1.29951000e-02 4.69828894e-02 3.01271581e+02] [ 1.28516555e-02 9.99911789e-01 3.35391753e-03 1.68166462e+01] [-4.70223295e-02 -2.74612235e-03 9.98890064e-01 -1.18425980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.30, Y:16.81, Z:-118.43 [[ 9.99089937e-01 -1.44854550e-02 4.01182031e-02 3.01302121e+02] [ 1.38550143e-02 9.99776820e-01 1.59482922e-02 1.68061188e+01] [-4.03402679e-02 -1.53779400e-02 9.99067656e-01 -1.18428704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.33, Y:16.69, Z:-118.44 [[ 9.99688155e-01 -2.19909452e-02 -1.18318058e-02 3.01330938e+02] [ 2.33592889e-02 9.91008191e-01 1.31746381e-01 1.66921748e+01] [ 8.82818899e-03 -1.31981679e-01 9.91212843e-01 -1.18444403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.36, Y:16.82, Z:-118.42 [[ 9.99848875e-01 -1.69334276e-02 -3.93524761e-03 3.01355445e+02] [ 1.69602761e-02 9.99832408e-01 6.89239614e-03 1.68213536e+01] [ 3.81787620e-03 -6.95809741e-03 9.99968504e-01 -1.18422189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.39, Y:16.97, Z:-118.38 [[ 9.98260843e-01 -4.54763832e-03 5.87759079e-02 3.01385108e+02] [ 1.27740936e-02 9.90018502e-01 -1.40357362e-01 1.69704581e+01] [-5.75509417e-02 1.40864068e-01 9.88354796e-01 -1.18378158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:301.41, Y:16.69, Z:-118.45 [[ 9.99737918e-01 -2.27884920e-02 -2.18608671e-03 3.01414582e+02] [ 2.28636919e-02 9.89051565e-01 1.45788386e-01 1.66862286e+01] [-1.16014499e-03 -1.45800160e-01 9.89313382e-01 -1.18445617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.45, Y:16.96, Z:-118.38 [[ 9.97850002e-01 -8.28662194e-03 6.50131181e-02 3.01445456e+02] [ 1.65311819e-02 9.91723664e-01 -1.27322009e-01 1.69610281e+01] [-6.34199784e-02 1.28123010e-01 9.89728448e-01 -1.18379210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.48, Y:16.84, Z:-118.42 [[ 9.98022081e-01 -1.62839586e-02 6.07186829e-02 3.01479517e+02] [ 1.62181996e-02 9.99867235e-01 1.57571423e-03 1.68362399e+01] [-6.07362804e-02 -5.87849878e-04 9.98153675e-01 -1.18421981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.51, Y:16.75, Z:-118.44 [[ 9.99648616e-01 -2.64935775e-02 -8.56923510e-04 3.01509307e+02] [ 2.64697929e-02 9.95985255e-01 8.55144594e-02 1.67488134e+01] [-1.41210078e-03 -8.55070936e-02 9.96336561e-01 -1.18437482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.54, Y:16.92, Z:-118.40 [[ 9.97829840e-01 -1.63440079e-02 6.37846633e-02 3.01541040e+02] [ 2.21334280e-02 9.95591950e-01 -9.11415376e-02 1.69246483e+01] [-6.20138793e-02 9.23555192e-02 9.93793106e-01 -1.18399586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.57, Y:16.80, Z:-118.43 [[ 9.98944272e-01 -2.72108693e-02 3.70122859e-02 3.01571585e+02] [ 2.60209996e-02 9.99140779e-01 3.22584958e-02 1.68006839e+01] [-3.78582659e-02 -3.12613430e-02 9.98794013e-01 -1.18433033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.60, Y:16.81, Z:-118.43 [[ 9.99417448e-01 -2.74717739e-02 2.02501177e-02 3.01602847e+02] [ 2.71887864e-02 9.99530588e-01 1.41199594e-02 1.68137056e+01] [-2.06285123e-02 -1.35611577e-02 9.99695233e-01 -1.18426308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.63, Y:16.84, Z:-118.43 [[ 9.98844625e-01 -2.36274332e-02 4.18468657e-02 3.01634727e+02] [ 2.41583433e-02 9.99633371e-01 -1.22269760e-02 1.68405962e+01] [-4.15426313e-02 1.32238002e-02 9.99049218e-01 -1.18425048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.67, Y:16.83, Z:-118.43 [[ 9.98917573e-01 -2.05290458e-02 4.17401643e-02 3.01667136e+02] [ 2.06044105e-02 9.99786760e-01 -1.37612318e-03 1.68307470e+01] [-4.17030131e-02 2.23466510e-03 9.99127552e-01 -1.18428830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.70, Y:16.81, Z:-118.43 [[ 9.99659990e-01 -1.99346750e-02 1.68081227e-02 3.01698153e+02] [ 1.95486595e-02 9.99548315e-01 2.28257523e-02 1.68064363e+01] [-1.72555547e-02 -2.24894151e-02 9.99598155e-01 -1.18431127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.73, Y:16.84, Z:-118.43 [[ 9.99219073e-01 -9.44867793e-03 3.83662193e-02 3.01730491e+02] [ 1.00381186e-02 9.99834083e-01 -1.52000733e-02 1.68439414e+01] [-3.82162331e-02 1.55733278e-02 9.99148133e-01 -1.18425687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.76, Y:16.78, Z:-118.44 [[ 9.99880253e-01 -1.19593786e-02 9.82105110e-03 3.01760902e+02] [ 1.14730494e-02 9.98773480e-01 4.81653816e-02 1.67817415e+01] [-1.03850334e-02 -4.80469365e-02 9.98791091e-01 -1.18435289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:301.79, Y:16.84, Z:-118.42 [[ 9.99863323e-01 -6.59019365e-03 1.51626014e-02 3.01791660e+02] [ 6.69947710e-03 9.99951867e-01 -7.16796395e-03 1.68379192e+01] [-1.51146333e-02 7.26856575e-03 9.99859348e-01 -1.18423955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.82, Y:16.83, Z:-118.43 [[ 9.99907258e-01 -3.79400952e-03 1.30797567e-02 3.01823458e+02] [ 3.78716836e-03 9.99992679e-01 5.47763298e-04 1.68315162e+01] [-1.30817392e-02 -4.98177257e-04 9.99914306e-01 -1.18427251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.85, Y:16.87, Z:-118.42 [[ 9.99388798e-01 1.55593830e-04 3.49572002e-02 3.01854371e+02] [ 9.92415958e-04 9.99460763e-01 -3.28206868e-02 1.68654521e+01] [-3.49434567e-02 3.28353189e-02 9.98849737e-01 -1.18423543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:301.89, Y:16.82, Z:-118.43 [[ 9.99741320e-01 -1.92602859e-03 2.26623678e-02 3.01886487e+02] [ 1.61323828e-03 9.99903303e-01 1.38123865e-02 1.68216107e+01] [-2.26867795e-02 -1.37722537e-02 9.99647755e-01 -1.18433177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:301.92, Y:16.87, Z:-118.43 [[ 9.98843437e-01 4.16798053e-03 4.79000755e-02 3.01918716e+02] [-2.72377682e-03 9.99540885e-01 -3.01761602e-02 1.68678961e+01] [-4.80038575e-02 3.00107904e-02 9.98396205e-01 -1.18427481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.95, Y:16.85, Z:-118.43 [[ 9.98820324e-01 6.13208562e-03 4.81700912e-02 3.01951758e+02] [-5.99874434e-03 9.99977767e-01 -2.91221205e-03 1.68463731e+01] [-4.81868781e-02 2.61981652e-03 9.98834902e-01 -1.18434791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.98, Y:16.84, Z:-118.44 [[ 9.98767257e-01 6.94825940e-03 4.91496592e-02 3.01984835e+02] [-7.05310732e-03 9.99973205e-01 1.96012397e-03 1.68442040e+01] [-4.91347228e-02 -2.30436546e-03 9.98789502e-01 -1.18438399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.01, Y:16.82, Z:-118.44 [[ 9.99603552e-01 3.94886606e-03 2.78773254e-02 3.02013657e+02] [-4.73650739e-03 9.99589821e-01 2.82445783e-02 1.68203766e+01] [-2.77543567e-02 -2.83654219e-02 9.99212239e-01 -1.18442516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.05, Y:16.87, Z:-118.44 [[ 9.98922971e-01 7.16194381e-03 4.58432697e-02 3.02046089e+02] [-6.48846013e-03 9.99869081e-01 -1.48229894e-02 1.68662931e+01] [-4.59434293e-02 1.45095724e-02 9.98838662e-01 -1.18436327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.08, Y:16.86, Z:-118.44 [[ 9.98846873e-01 5.30458243e-03 4.77156771e-02 3.02078055e+02] [-5.15512441e-03 9.99981415e-01 -3.25477833e-03 1.68566700e+01] [-4.77320556e-02 3.00504490e-03 9.98855656e-01 -1.18441707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:302.11, Y:16.85, Z:-118.45 [[ 9.98872277e-01 1.47789074e-03 4.74551375e-02 3.02110703e+02] [-1.61939784e-03 9.99994356e-01 2.94360558e-03 1.68524012e+01] [-4.74505194e-02 -3.01713475e-03 9.98869033e-01 -1.18445880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:302.14, Y:16.86, Z:-118.45 [[ 9.98757378e-01 -4.92287037e-04 4.98342943e-02 3.02142425e+02] [ 7.51906680e-04 9.99986244e-01 -5.19104530e-03 1.68621223e+01] [-4.98310533e-02 5.22206553e-03 9.98744009e-01 -1.18445636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:302.18, Y:16.87, Z:-118.45 [[ 9.97640968e-01 6.64953309e-05 6.86476145e-02 3.02177223e+02] [ 6.54964475e-04 9.99944795e-01 -1.04870513e-02 1.68707377e+01] [-6.86445221e-02 1.05072737e-02 9.97585849e-01 -1.18445302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:302.21, Y:16.85, Z:-118.45 [[ 9.98589786e-01 -3.04748330e-03 5.30014288e-02 3.02208293e+02] [ 2.45534054e-03 9.99933885e-01 1.12337318e-02 1.68517127e+01] [-5.30321593e-02 -1.10877533e-02 9.98531247e-01 -1.18452673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:16.86, Z:-118.45 [[ 9.98442605e-01 -2.27543029e-03 5.57421501e-02 3.02240639e+02] [ 2.04078714e-03 9.99988818e-01 4.26600018e-03 1.68599875e+01] [-5.57512338e-02 -4.14559847e-03 9.98436084e-01 -1.18450282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:302.27, Y:16.86, Z:-118.45 [[ 9.98392228e-01 -1.68355126e-03 5.66579573e-02 3.02273152e+02] [ 1.49701682e-03 9.99993320e-01 3.33457240e-03 1.68591668e+01] [-5.66631927e-02 -3.24439325e-03 9.98388079e-01 -1.18451950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:302.31, Y:16.86, Z:-118.45 [[ 9.98257351e-01 -3.50575092e-04 5.90096426e-02 3.02305813e+02] [ 5.27624118e-04 9.99995406e-01 -2.98478629e-03 1.68647314e+01] [-5.90083252e-02 3.01071977e-03 9.98252950e-01 -1.18453184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:302.34, Y:16.89, Z:-118.45 [[ 9.97537008e-01 3.61681603e-03 7.00488173e-02 3.02339512e+02] [-1.68185849e-03 9.99615911e-01 -2.76622909e-02 1.68891055e+01] [-7.01219618e-02 2.74763467e-02 9.97159947e-01 -1.18451350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:302.37, Y:16.77, Z:-118.47 [[ 9.99724720e-01 -9.86571764e-03 2.12873799e-02 3.02367093e+02] [ 7.92548436e-03 9.95966262e-01 8.93778052e-02 1.67721439e+01] [-2.20832884e-02 -8.91844884e-02 9.95770282e-01 -1.18472579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:302.40, Y:16.93, Z:-118.44 [[ 9.97604887e-01 4.74422646e-03 6.90071099e-02 3.02401733e+02] [ 1.46388393e-04 9.97498033e-01 -7.06940827e-02 1.69287856e+01] [-6.91698452e-02 7.05348642e-02 9.95108218e-01 -1.18439819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:302.43, Y:16.75, Z:-118.48 [[ 9.99493759e-01 -1.02707827e-02 3.01120594e-02 3.02427891e+02] [ 6.98041342e-03 9.94190664e-01 1.07406689e-01 1.67529263e+01] [-3.10402791e-02 -1.07142121e-01 9.93759059e-01 -1.18477128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:302.46, Y:16.86, Z:-118.46 [[ 9.98976307e-01 2.89016755e-04 4.52355436e-02 3.02460968e+02] [-5.74303389e-04 9.99980029e-01 6.29382279e-03 1.68551997e+01] [-4.52328212e-02 -6.31335878e-03 9.98956522e-01 -1.18457605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:302.49, Y:16.87, Z:-118.45 [[ 9.98620122e-01 3.82204687e-03 5.23759770e-02 3.02489834e+02] [-3.52010799e-03 9.99976659e-01 -5.85587138e-03 1.68691468e+01] [-5.23971359e-02 5.66342190e-03 9.98610267e-01 -1.18454835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters Centerline goodness : 0.817490 Centerline is valid? [True, False] Translation: X:302.51, Y:16.87, Z:-118.46 [[ 9.99439598e-01 6.22600219e-03 3.28896277e-02 3.02513640e+02] [-6.00868450e-03 9.99959487e-01 -6.70219629e-03 1.68705985e+01] [-3.29300231e-02 6.50081697e-03 9.99436518e-01 -1.18455676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:302.52, Y:16.87, Z:-118.45 [[ 9.99815772e-01 4.21250377e-03 1.87263837e-02 3.02523016e+02] [-4.05998114e-03 9.99958339e-01 -8.17536930e-03 1.68716588e+01] [-1.87600423e-02 8.09783440e-03 9.99791221e-01 -1.18454596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:302.55, Y:16.79, Z:-118.47 [[ 9.99376632e-01 2.56532815e-03 -3.52103084e-02 3.02553300e+02] [ 1.29689778e-04 9.97082925e-01 7.63257680e-02 1.67904881e+01] [ 3.53033979e-02 -7.62827554e-02 9.96461044e-01 -1.18468184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.58, Y:16.94, Z:-118.43 [[ 9.99745420e-01 6.36998928e-03 2.16452653e-02 3.02581574e+02] [-4.74736843e-03 9.97231680e-01 -7.42053859e-02 1.69396225e+01] [-2.20580318e-02 7.40837367e-02 9.97008046e-01 -1.18433590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:16.87, Z:-118.46 [[ 9.99773833e-01 4.77255196e-03 2.07245315e-02 3.02615574e+02] [-4.78121138e-03 9.99988502e-01 3.68304890e-04 1.68696222e+01] [-2.07225355e-02 -4.67309958e-04 9.99785156e-01 -1.18455471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:16.87, Z:-118.46 [[ 9.99785450e-01 4.99577239e-03 2.01021298e-02 3.02648752e+02] [-5.00386528e-03 9.99987419e-01 3.52309294e-04 1.68708257e+01] [-2.01001168e-02 -4.52822056e-04 9.99797870e-01 -1.18456066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.68, Y:16.87, Z:-118.46 [[ 9.99791717e-01 4.26786857e-03 1.99576780e-02 3.02682263e+02] [-4.27549754e-03 9.99990802e-01 3.39604247e-04 1.68724855e+01] [-1.99560450e-02 -4.24862516e-04 9.99800768e-01 -1.18456113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93591999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:302.71, Y:16.80, Z:-118.47 [[ 9.99538179e-01 -2.32921964e-03 -3.02985791e-02 3.02712116e+02] [ 4.57291252e-03 9.97233213e-01 7.41957389e-02 1.68014054e+01] [ 3.00419312e-02 -7.43000265e-02 9.96783321e-01 -1.18466222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:302.73, Y:16.81, Z:-118.47 [[ 9.99742656e-01 -7.59644785e-03 -2.13755673e-02 3.02734031e+02] [ 9.03961464e-03 9.97627355e-01 6.82491441e-02 1.68055451e+01] [ 2.08063996e-02 -6.84248076e-02 9.97439291e-01 -1.18465926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:302.76, Y:16.93, Z:-118.43 [[ 9.99753528e-01 -5.98302163e-03 -2.13796057e-02 3.02763278e+02] [ 4.73219168e-03 9.98300443e-01 -5.80846927e-02 1.69270894e+01] [ 2.16907918e-02 5.79692040e-02 9.98082702e-01 -1.18432712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.79, Y:16.87, Z:-118.45 [[ 9.99596765e-01 -1.00427810e-02 -2.65603079e-02 3.02790267e+02] [ 1.00898732e-02 9.99947752e-01 1.63959958e-03 1.68693146e+01] [ 2.65424540e-02 -1.90692857e-03 9.99645868e-01 -1.18447276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.82, Y:16.95, Z:-118.43 [[ 9.99281965e-01 -7.74264565e-03 3.70891657e-02 3.02819767e+02] [ 1.07167094e-02 9.96683104e-01 -8.06718151e-02 1.69497574e+01] [-3.63415315e-02 8.10113637e-02 9.96050426e-01 -1.18426937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:302.85, Y:16.87, Z:-118.45 [[ 9.99307864e-01 -9.76568737e-03 3.58946266e-02 3.02852911e+02] [ 9.75152198e-03 9.99952290e-01 5.69691199e-04 1.68726385e+01] [-3.58984775e-02 -2.19269655e-04 9.99355418e-01 -1.18451562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:302.89, Y:16.87, Z:-118.45 [[ 9.99323309e-01 -1.50596196e-02 3.35578826e-02 3.02885585e+02] [ 1.50507673e-02 9.99886597e-01 5.16397013e-04 1.68731434e+01] [-3.35618538e-02 -1.09756900e-05 9.99436642e-01 -1.18452357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters Centerline goodness : 0.958298 Centerline is valid? [True, True] Translation: X:302.89, Y:16.83, Z:-118.48 [[ 9.98862075e-01 4.75129538e-02 4.13204214e-03 3.02894325e+02] [-4.76892844e-02 9.96016066e-01 7.53507051e-02 1.68305544e+01] [-5.35445788e-04 -7.54620158e-02 9.97148533e-01 -1.18482372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:302.94, Y:16.83, Z:-118.46 [[ 9.99452971e-01 -2.78505131e-02 -1.78355621e-02 3.02938631e+02] [ 2.85881489e-02 9.98685983e-01 4.25326256e-02 1.68266019e+01] [ 1.66275705e-02 -4.30192447e-02 9.98935868e-01 -1.18457871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:302.97, Y:16.87, Z:-118.45 [[ 9.99587941e-01 -2.68758873e-02 -1.00814069e-02 3.02967106e+02] [ 2.68219222e-02 9.99625368e-01 -5.45050129e-03 1.68714825e+01] [ 1.02241172e-02 5.17785265e-03 9.99934326e-01 -1.18445930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23591999999996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:303.00, Y:16.94, Z:-118.43 [[ 9.98583862e-01 -2.79069282e-02 4.52931946e-02 3.02998527e+02] [ 3.15819713e-02 9.96085257e-01 -8.25635534e-02 1.69428023e+01] [-4.28117883e-02 8.38770804e-02 9.95556019e-01 -1.18426132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:303.03, Y:16.76, Z:-118.47 [[ 9.99186411e-01 -3.71296487e-02 -1.57449967e-02 3.03026834e+02] [ 3.85079566e-02 9.94356091e-01 9.88590001e-02 1.67630572e+01] [ 1.19855334e-02 -9.93848772e-02 9.94976881e-01 -1.18465731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:303.05, Y:16.90, Z:-118.44 [[ 9.99294675e-01 -3.18392454e-02 1.99101475e-02 3.03049318e+02] [ 3.27988854e-02 9.98216048e-01 -4.98894275e-02 1.69028670e+01] [-1.82861871e-02 5.05072699e-02 9.98556273e-01 -1.18435790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:303.08, Y:16.89, Z:-118.44 [[ 9.98664907e-01 -3.30366441e-02 3.97112444e-02 3.03082071e+02] [ 3.44074758e-02 9.98817507e-01 -3.43469506e-02 1.68860320e+01] [-3.85295782e-02 3.56674579e-02 9.98620701e-01 -1.18439363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35591999999997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:303.11, Y:16.79, Z:-118.46 [[ 9.99302447e-01 -3.73161194e-02 -1.45851165e-03 3.03111121e+02] [ 3.73301400e-02 9.97065891e-01 6.68286652e-02 1.67856961e+01] [-1.03955423e-03 -6.68364951e-02 9.97763400e-01 -1.18459247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters Centerline goodness : 0.817627 Centerline is valid? [True, False] Translation: X:303.08, Y:16.82, Z:-118.45 [[ 9.99510514e-01 -3.12033070e-02 2.25508965e-03 3.03083626e+02] [ 3.11376799e-02 9.99205664e-01 2.48693719e-02 1.68201755e+01] [-3.02930499e-03 -2.47869804e-02 9.99688166e-01 -1.18452715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41591999999997 meters Centerline goodness : 0.997915 Centerline is valid? [False, True] Translation: X:303.06, Y:16.83, Z:-118.45 [[ 9.99684733e-01 -2.23889142e-02 1.13653819e-02 3.03059804e+02] [ 2.23230211e-02 9.99733449e-01 5.89184485e-03 1.68346730e+01] [-1.14942644e-02 -5.63627768e-03 9.99918054e-01 -1.18449352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:303.04, Y:16.83, Z:-118.41 [[ 9.96369389e-01 -6.93577322e-02 4.93715074e-02 3.03037535e+02] [ 7.04898259e-02 9.97279289e-01 -2.15686136e-02 1.68316362e+01] [-4.77412317e-02 2.49704953e-02 9.98547570e-01 -1.18406297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47592 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:303.07, Y:16.72, Z:-118.42 [[ 9.97091304e-01 -7.51803292e-02 -1.25239699e-02 3.03068526e+02] [ 7.59654039e-02 9.93622804e-01 8.33245512e-02 1.67236978e+01] [ 6.17973488e-03 -8.40335739e-02 9.96443761e-01 -1.18423087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:303.10, Y:16.75, Z:-118.42 [[ 9.97430522e-01 -7.13579534e-02 -6.35588099e-03 3.03098924e+02] [ 7.15961122e-02 9.96003414e-01 5.33965841e-02 1.67500551e+01] [ 2.52020821e-03 -5.37144391e-02 9.98553157e-01 -1.18421007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53592 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:303.13, Y:16.92, Z:-118.38 [[ 9.96957734e-01 -5.56295054e-02 5.45951881e-02 3.03126951e+02] [ 6.22913723e-02 9.89677029e-01 -1.29070381e-01 1.69217852e+01] [-4.68514821e-02 1.32078524e-01 9.90131407e-01 -1.18378077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters Centerline goodness : 0.813521 Centerline is valid? [True, False] Translation: X:303.13, Y:16.87, Z:-118.39 [[ 9.97628970e-01 -5.22513021e-02 4.47910668e-02 3.03129758e+02] [ 5.56000515e-02 9.95471613e-01 -7.71031905e-02 1.68699324e+01] [-4.05594934e-02 7.94107621e-02 9.96016495e-01 -1.18391056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59592 meters Centerline goodness : 0.997019 Centerline is valid? [False, True] Translation: X:303.14, Y:16.83, Z:-118.40 [[ 9.98477325e-01 -4.38899042e-02 3.34171827e-02 3.03140242e+02] [ 4.52462786e-02 9.98135099e-01 -4.09768022e-02 1.68306142e+01] [-3.15563950e-02 4.24264110e-02 9.98601118e-01 -1.18398672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters Centerline goodness : 0.951816 Centerline is valid? [True, True] Translation: X:303.22, Y:16.74, Z:-118.44 [[ 9.90307516e-01 -1.28665830e-01 5.23080089e-02 3.03222908e+02] [ 1.27057998e-01 9.91346350e-01 3.29951510e-02 1.67385234e+01] [-5.61007021e-02 -2.60291951e-02 9.98085764e-01 -1.18435313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65592 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:303.21, Y:16.85, Z:-118.40 [[ 9.96561671e-01 -4.04403129e-02 7.23147064e-02 3.03214065e+02] [ 4.53666094e-02 9.96664845e-01 -6.78310978e-02 1.68507612e+01] [-6.93304148e-02 7.08785453e-02 9.95072623e-01 -1.18398262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:303.25, Y:16.78, Z:-118.41 [[ 9.96913053e-01 -3.72396760e-02 6.91199767e-02 3.03249472e+02] [ 3.71130357e-02 9.99306216e-01 3.11588546e-03 1.67843454e+01] [-6.91880569e-02 -5.41014728e-04 9.97603488e-01 -1.18412659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71592 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:303.28, Y:16.74, Z:-118.42 [[ 9.99016588e-01 -3.91476661e-02 2.08162521e-02 3.03279718e+02] [ 3.81403110e-02 9.98177423e-01 4.67669714e-02 1.67423516e+01] [-2.26091306e-02 -4.59270419e-02 9.98688908e-01 -1.18418739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:303.31, Y:16.78, Z:-118.41 [[ 9.99248121e-01 -3.19695138e-02 2.19349668e-02 3.03311465e+02] [ 3.17484746e-02 9.99442275e-01 1.03524202e-02 1.67788413e+01] [-2.22536950e-02 -9.64823465e-03 9.99705799e-01 -1.18413341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.77592 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:303.34, Y:16.78, Z:-118.41 [[ 9.99276910e-01 -3.09245031e-02 2.21208346e-02 3.03342724e+02] [ 3.07197512e-02 9.99482539e-01 9.53683699e-03 1.67811185e+01] [-2.24043099e-02 -8.85039447e-03 9.99709817e-01 -1.18413694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:303.37, Y:16.79, Z:-118.41 [[ 9.99293370e-01 -3.18650043e-02 1.99344267e-02 3.03371201e+02] [ 3.18115937e-02 9.99489408e-01 2.99078717e-03 1.67885448e+01] [-2.00195498e-02 -2.35452791e-03 9.99796816e-01 -1.18413063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83592 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:303.40, Y:16.83, Z:-118.41 [[ 9.98338792e-01 -2.77689132e-02 5.04831020e-02 3.03401249e+02] [ 2.99473838e-02 9.98629538e-01 -4.29208573e-02 1.68342078e+01] [-4.92220513e-02 4.43613937e-02 9.97802213e-01 -1.18407744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:303.43, Y:16.79, Z:-118.42 [[ 9.98485355e-01 -3.18073337e-02 4.48919753e-02 3.03433878e+02] [ 3.16505019e-02 9.99490172e-01 4.20018901e-03 1.67894121e+01] [-4.50026849e-02 -2.77297366e-03 9.98983017e-01 -1.18418543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89592 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:303.46, Y:16.72, Z:-118.43 [[ 9.99070778e-01 -3.64486033e-02 2.30017401e-02 3.03463408e+02] [ 3.46928078e-02 9.96757783e-01 7.25970530e-02 1.67235718e+01] [-2.55732247e-02 -7.17315992e-02 9.97096078e-01 -1.18427734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:303.49, Y:16.83, Z:-118.41 [[ 9.98967839e-01 -2.86544783e-02 3.52445406e-02 3.03493037e+02] [ 2.98431115e-02 9.98987186e-01 -3.36747769e-02 1.68275653e+01] [-3.42439112e-02 3.46918258e-02 9.98811209e-01 -1.18411876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95592 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:303.52, Y:16.73, Z:-118.43 [[ 9.98639628e-01 -3.51761901e-02 3.84906351e-02 3.03521206e+02] [ 3.25491213e-02 9.97230540e-01 6.68715552e-02 1.67326801e+01] [-4.07363234e-02 -6.55277486e-02 9.97018890e-01 -1.18428090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:303.55, Y:16.91, Z:-118.40 [[ 9.96772214e-01 -1.82781681e-02 7.81732839e-02 3.03550035e+02] [ 2.71782538e-02 9.93068784e-01 -1.14349168e-01 1.69097273e+01] [-7.55413547e-02 1.16104686e-01 9.90360139e-01 -1.18397406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01592 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:303.58, Y:16.81, Z:-118.43 [[ 9.96650278e-01 -2.73049591e-02 7.70886623e-02 3.03584271e+02] [ 2.75822965e-02 9.99616322e-01 -2.53501152e-03 1.68061203e+01] [-7.69898667e-02 4.65280227e-03 9.97021019e-01 -1.18425365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:303.62, Y:16.80, Z:-118.43 [[ 9.95538019e-01 -2.85616235e-02 8.99348982e-02 3.03617835e+02] [ 2.83654092e-02 9.99591635e-01 3.45935360e-03 1.68014930e+01] [-8.99969767e-02 -8.92877837e-04 9.95941638e-01 -1.18427130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07592 meters Centerline goodness : 0.954261 Centerline is valid? [True, True] Translation: X:303.70, Y:16.63, Z:-118.46 [[ 9.95886211e-01 -8.75566115e-02 2.33343999e-02 3.03702105e+02] [ 8.26091170e-02 9.83119923e-01 1.63251191e-01 1.66283160e+01] [-3.72342345e-02 -1.60651976e-01 9.86308549e-01 -1.18463084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters Centerline goodness : 0.952629 Centerline is valid? [True, True] Translation: X:303.73, Y:16.78, Z:-118.46 [[ 9.95573577e-01 -8.96183277e-02 2.83162187e-02 3.03732717e+02] [ 8.94466882e-02 9.95965051e-01 7.27367657e-03 1.67828398e+01] [-2.88538189e-02 -4.70868822e-03 9.99572551e-01 -1.18461285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13592 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:303.70, Y:16.89, Z:-118.41 [[ 9.94546392e-01 -5.32045867e-02 8.97036519e-02 3.03700629e+02] [ 6.18574672e-02 9.93397708e-01 -9.66159824e-02 1.68862106e+01] [-8.39709888e-02 1.01637917e-01 9.91271207e-01 -1.18414372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:303.74, Y:16.68, Z:-118.45 [[ 9.96644144e-01 -7.53363578e-02 3.20137852e-02 3.03736168e+02] [ 7.12019200e-02 9.90811882e-01 1.14987394e-01 1.66805239e+01] [-4.03823703e-02 -1.12322070e-01 9.92850954e-01 -1.18449437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19592 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:303.76, Y:16.78, Z:-118.44 [[ 9.96841074e-01 -7.00651073e-02 3.73999146e-02 3.03762773e+02] [ 6.95924918e-02 9.97480129e-01 1.37940978e-02 1.67792559e+01] [-3.82721566e-02 -1.11477701e-02 9.99205169e-01 -1.18437843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:303.79, Y:16.90, Z:-118.41 [[ 9.93177547e-01 -6.00251548e-02 9.99767029e-02 3.03790852e+02] [ 7.12872515e-02 9.91014107e-01 -1.13177591e-01 1.69040745e+01] [-9.22848205e-02 1.19532507e-01 9.88531988e-01 -1.18412101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25591999999995 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:303.83, Y:16.73, Z:-118.45 [[ 9.96207437e-01 -7.83895345e-02 3.77600781e-02 3.03825045e+02] [ 7.57416480e-02 9.94868658e-01 6.70787258e-02 1.67308789e+01] [-4.28245883e-02 -6.39643150e-02 9.97032909e-01 -1.18447248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:303.85, Y:16.80, Z:-118.44 [[ 9.96513468e-01 -7.39461489e-02 3.86377477e-02 3.03854254e+02] [ 7.40245620e-02 9.97256237e-01 -6.00830223e-04 1.67956796e+01] [-3.84873058e-02 3.45887776e-03 9.99253103e-01 -1.18438213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31591999999995 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:303.89, Y:16.75, Z:-118.45 [[ 9.95643551e-01 -7.88437928e-02 4.97752571e-02 3.03885787e+02] [ 7.65796093e-02 9.96007917e-01 4.58671193e-02 1.67480617e+01] [-5.31928878e-02 -4.18555318e-02 9.97706686e-01 -1.18448246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:303.91, Y:16.82, Z:-118.44 [[ 9.96286809e-01 -7.02902456e-02 4.97179550e-02 3.03913490e+02] [ 7.17792352e-02 9.97003983e-01 -2.88235986e-02 1.68196168e+01] [-4.75429813e-02 3.22852879e-02 9.98347297e-01 -1.18441179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37591999999995 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:303.95, Y:16.79, Z:-118.45 [[ 9.95884161e-01 -7.33041197e-02 5.33033140e-02 3.03945848e+02] [ 7.33130858e-02 9.97307369e-01 1.78971581e-03 1.67887199e+01] [-5.32909814e-02 2.12548081e-03 9.98576764e-01 -1.18445668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:303.98, Y:16.85, Z:-118.44 [[ 9.92446336e-01 -6.48692803e-02 1.04126113e-01 3.03977456e+02] [ 7.15416255e-02 9.95529002e-01 -6.16749631e-02 1.68523191e+01] [-9.96597546e-02 6.86584425e-02 9.92649964e-01 -1.18436121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43591999999995 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:304.01, Y:16.72, Z:-118.46 [[ 9.96267998e-01 -7.26311411e-02 4.66346807e-02 3.04012287e+02] [ 6.92412861e-02 9.95098818e-01 7.05973555e-02 1.67204625e+01] [-5.15336821e-02 -6.71048408e-02 9.96414181e-01 -1.18457590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:304.04, Y:16.85, Z:-118.44 [[ 9.92688506e-01 -5.99159879e-02 1.04783607e-01 3.04039945e+02] [ 6.64774142e-02 9.95964945e-01 -6.02874971e-02 1.68482568e+01] [-1.00748614e-01 6.68124486e-02 9.92666013e-01 -1.18441099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49591999999996 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:304.08, Y:16.72, Z:-118.46 [[ 9.96722380e-01 -6.13945479e-02 5.26802397e-02 3.04076291e+02] [ 5.76707985e-02 9.95912817e-01 6.95107231e-02 1.67221532e+01] [-5.67325053e-02 -6.62447819e-02 9.96189265e-01 -1.18462017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:304.07, Y:16.83, Z:-118.46 [[ 9.97095134e-01 -5.70184930e-02 5.04993529e-02 3.04073134e+02] [ 5.99207923e-02 9.96519286e-01 -5.79552475e-02 1.68291070e+01] [-4.70190583e-02 6.08128565e-02 9.97041125e-01 -1.18455589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55591999999996 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:304.13, Y:16.72, Z:-118.46 [[ 9.96680406e-01 -6.02696245e-02 5.47333676e-02 3.04130151e+02] [ 5.65544654e-02 9.96144696e-01 6.70621865e-02 1.67220056e+01] [-5.85641666e-02 -6.37441509e-02 9.96246416e-01 -1.18464455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:304.20, Y:16.76, Z:-118.49 [[ 9.97378482e-01 -5.59416154e-02 4.58987978e-02 3.04204074e+02] [ 5.46800842e-02 9.98102914e-01 2.82959464e-02 1.67647378e+01] [-4.73946448e-02 -2.57120179e-02 9.98545262e-01 -1.18485529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61591999999996 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:304.18, Y:16.77, Z:-118.46 [[ 9.96086540e-01 -5.50631027e-02 6.91350858e-02 3.04182413e+02] [ 5.46933893e-02 9.98477015e-01 7.23067726e-03 1.67724614e+01] [-6.94279376e-02 -3.42114813e-03 9.97581103e-01 -1.18460475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:304.21, Y:16.84, Z:-118.45 [[ 9.96209480e-01 -4.49189919e-02 7.44913190e-02 3.04212879e+02] [ 4.94580152e-02 9.96957187e-01 -6.02517432e-02 1.68366301e+01] [-7.15582083e-02 6.37075506e-02 9.95399805e-01 -1.18451912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67591999999996 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:304.24, Y:16.74, Z:-118.47 [[ 9.96531961e-01 -5.26110574e-02 6.44680397e-02 3.04244546e+02] [ 5.01608952e-02 9.97977307e-01 3.90535543e-02 1.67419615e+01] [-6.63922894e-02 -3.56843405e-02 9.97155300e-01 -1.18466826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:304.27, Y:16.73, Z:-118.47 [[ 9.96098257e-01 -5.22548874e-02 7.11174251e-02 3.04272969e+02] [ 4.87629144e-02 9.97558950e-01 4.99832002e-02 1.67308623e+01] [-7.35556904e-02 -4.63202857e-02 9.96214832e-01 -1.18468110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73591999999996 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:304.30, Y:16.89, Z:-118.45 [[ 9.91848526e-01 -3.19797181e-02 1.23344228e-01 3.04300447e+02] [ 4.64055355e-02 9.92174154e-01 -1.15917968e-01 1.68865414e+01] [-1.18671931e-01 1.20696920e-01 9.85570508e-01 -1.18445420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:304.34, Y:16.77, Z:-118.47 [[ 9.92142500e-01 -4.37872761e-02 1.17200399e-01 3.04336408e+02] [ 4.34066451e-02 9.99040655e-01 5.79939667e-03 1.67710804e+01] [-1.17341903e-01 -6.66551781e-04 9.93091352e-01 -1.18470319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:304.37, Y:16.71, Z:-118.48 [[ 9.96182298e-01 -5.06847261e-02 7.10766321e-02 3.04368084e+02] [ 4.60637184e-02 9.96807657e-01 6.52121810e-02 1.67097632e+01] [-7.41549927e-02 -6.16891664e-02 9.95336870e-01 -1.18477400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:304.40, Y:16.79, Z:-118.47 [[ 9.95954380e-01 -4.05447053e-02 8.01935202e-02 3.04397902e+02] [ 4.21394034e-02 9.98944251e-01 -1.82935368e-02 1.67894069e+01] [-7.93671499e-02 2.15988352e-02 9.96611432e-01 -1.18471805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:304.43, Y:16.77, Z:-118.48 [[ 9.95776386e-01 -4.12464459e-02 8.20251210e-02 3.04429033e+02] [ 4.15167123e-02 9.99136542e-01 -1.59134641e-03 1.67740308e+01] [-8.18886584e-02 4.99003852e-03 9.96628992e-01 -1.18476619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:304.46, Y:16.73, Z:-118.48 [[ 9.96813947e-01 -4.37282568e-02 6.67067861e-02 3.04461017e+02] [ 4.05379706e-02 9.98002529e-01 4.84522881e-02 1.67256587e+01] [-6.86922753e-02 -4.55937588e-02 9.96595495e-01 -1.18482020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:16.79, Z:-118.48 [[ 9.96067189e-01 -3.36202828e-02 8.19745733e-02 3.04489267e+02] [ 3.48603103e-02 9.99297704e-01 -1.37425523e-02 1.67874995e+01] [-8.14549744e-02 1.65461645e-02 9.96539669e-01 -1.18480171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:304.52, Y:16.77, Z:-118.49 [[ 9.95984564e-01 -3.40461150e-02 8.27986123e-02 3.04521414e+02] [ 3.38575023e-02 9.99419890e-01 3.68140037e-03 1.67727955e+01] [-8.28759174e-02 -8.63263729e-04 9.96559500e-01 -1.18485177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:304.55, Y:16.77, Z:-118.49 [[ 9.95839656e-01 -3.35556881e-02 8.47195143e-02 3.04551163e+02] [ 3.33880453e-02 9.99436697e-01 3.39528150e-03 1.67748012e+01] [-8.47857226e-02 -5.52536979e-04 9.96399055e-01 -1.18487852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:304.58, Y:16.78, Z:-118.49 [[ 9.95652722e-01 -3.23763339e-02 8.73351583e-02 3.04581846e+02] [ 3.21514365e-02 9.99475081e-01 3.98091208e-03 1.67766533e+01] [-8.74182017e-02 -1.15565515e-03 9.96171031e-01 -1.18490813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:304.61, Y:16.79, Z:-118.49 [[ 9.95340252e-01 -3.26386616e-02 9.07331297e-02 3.04612052e+02] [ 3.31382617e-02 9.99442753e-01 -4.00484294e-03 1.67871545e+01] [-9.05518563e-02 6.99291958e-03 9.95867190e-01 -1.18490368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:304.64, Y:16.83, Z:-118.49 [[ 9.89876657e-01 -2.98487134e-02 1.38756110e-01 3.04641063e+02] [ 3.65815729e-02 9.98260860e-01 -4.62281823e-02 1.68330079e+01] [-1.37134942e-01 5.08361153e-02 9.89247035e-01 -1.18490144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:304.67, Y:16.75, Z:-118.50 [[ 9.94766259e-01 -4.28575443e-02 9.27540918e-02 3.04673623e+02] [ 3.89904167e-02 9.98309162e-01 4.31110702e-02 1.67483268e+01] [-9.44448943e-02 -3.92689173e-02 9.94755304e-01 -1.18501409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:304.70, Y:16.82, Z:-118.50 [[ 9.88936596e-01 -4.03683523e-02 1.42740342e-01 3.04702358e+02] [ 4.53427292e-02 9.98466223e-01 -3.17685099e-02 1.68225837e+01] [-1.41238967e-01 3.78892787e-02 9.89250199e-01 -1.18498481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:304.74, Y:16.66, Z:-118.51 [[ 9.93707917e-01 -6.29301847e-02 9.26518607e-02 3.04736363e+02] [ 5.00492177e-02 9.89537326e-01 1.35317982e-01 1.66625178e+01] [-1.00198060e-01 -1.29829397e-01 9.86460682e-01 -1.18510398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:304.76, Y:16.76, Z:-118.51 [[ 9.94278356e-01 -5.26085513e-02 9.29671486e-02 3.04764379e+02] [ 4.99342573e-02 9.98275525e-01 3.08633528e-02 1.67641532e+01] [-9.44305053e-02 -2.60445182e-02 9.95190717e-01 -1.18510038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:304.79, Y:16.93, Z:-118.49 [[ 9.87928172e-01 -3.38047382e-02 1.51179254e-01 3.04792114e+02] [ 5.53329590e-02 9.88526276e-01 -1.40549159e-01 1.69286677e+01] [-1.44693437e-01 1.47217669e-01 9.78463473e-01 -1.18485318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:304.83, Y:16.70, Z:-118.52 [[ 9.93280251e-01 -6.50116708e-02 9.57487664e-02 3.04827445e+02] [ 5.50981305e-02 9.93177815e-01 1.02771708e-01 1.66976716e+01] [-1.01776911e-01 -9.68055298e-02 9.90085931e-01 -1.18517683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.27592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:304.86, Y:16.78, Z:-118.51 [[ 9.93259667e-01 -5.37139337e-02 1.02713421e-01 3.04855322e+02] [ 5.26053125e-02 9.98524480e-01 1.34738235e-02 1.67842887e+01] [-1.03285598e-01 -7.97973381e-03 9.94619731e-01 -1.18514971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:304.88, Y:16.89, Z:-118.50 [[ 9.86986763e-01 -4.04637678e-02 1.55627160e-01 3.04884039e+02] [ 5.56083646e-02 9.93996722e-01 -9.42243452e-02 1.68874696e+01] [-1.50880215e-01 1.01652353e-01 9.83311731e-01 -1.18503068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:304.92, Y:16.70, Z:-118.52 [[ 9.92743400e-01 -6.67414666e-02 1.00030583e-01 3.04917901e+02] [ 5.67189088e-02 9.93380287e-01 9.98927977e-02 1.67006301e+01] [-1.06035401e-01 -9.34942901e-02 9.89957227e-01 -1.18524523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:304.95, Y:16.88, Z:-118.51 [[ 9.86042076e-01 -4.44886934e-02 1.60442453e-01 3.04945508e+02] [ 5.86977948e-02 9.94655827e-01 -8.49373531e-02 1.68766498e+01] [-1.55806269e-01 9.31694222e-02 9.83383885e-01 -1.18511501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:304.98, Y:16.68, Z:-118.53 [[ 9.92251518e-01 -7.19698961e-02 1.01278126e-01 3.04980268e+02] [ 5.99310483e-02 9.91290632e-01 1.17265304e-01 1.66818822e+01] [-1.08835629e-01 -1.10286972e-01 9.87922866e-01 -1.18530327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:305.01, Y:16.88, Z:-118.52 [[ 9.88791782e-01 -4.21463210e-02 1.43228837e-01 3.05005751e+02] [ 5.60033639e-02 9.93982948e-01 -9.41356630e-02 1.68809223e+01] [-1.38399550e-01 1.01101867e-01 9.85202506e-01 -1.18518395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:305.04, Y:16.67, Z:-118.53 [[ 9.91771292e-01 -7.23629483e-02 1.05609224e-01 3.05040162e+02] [ 5.87276065e-02 9.90168939e-01 1.26950935e-01 1.66694505e+01] [-1.13757517e-01 -1.19704116e-01 9.86270831e-01 -1.18534787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:305.07, Y:16.84, Z:-118.53 [[ 9.91534490e-01 -4.02822912e-02 1.23436995e-01 3.05066585e+02] [ 4.66750695e-02 9.97690718e-01 -4.93423646e-02 1.68398766e+01] [-1.21164321e-01 5.46860867e-02 9.91124936e-01 -1.18530992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:305.10, Y:16.72, Z:-118.54 [[ 9.91143561e-01 -6.02171127e-02 1.18356836e-01 3.05099709e+02] [ 5.17232489e-02 9.95947613e-01 7.35734815e-02 1.67224498e+01] [-1.22307591e-01 -6.68000823e-02 9.90241689e-01 -1.18540645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters Centerline goodness : 0.907444 Centerline is valid? [True, False] Translation: X:305.13, Y:16.76, Z:-118.54 [[ 9.93653614e-01 -4.77976940e-02 1.01822765e-01 3.05127138e+02] [ 4.46074165e-02 9.98446677e-01 3.33827914e-02 1.67605677e+01] [-1.03260222e-01 -2.86288808e-02 9.94242281e-01 -1.18541120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57592 meters Centerline goodness : 0.999106 Centerline is valid? [False, True] Translation: X:305.15, Y:16.78, Z:-118.54 [[ 9.95120343e-01 -3.89500501e-02 9.06553689e-02 3.05154994e+02] [ 3.80943489e-02 9.99211928e-01 1.11509465e-02 1.67795740e+01] [-9.10182559e-02 -7.64307642e-03 9.95819894e-01 -1.18542202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:305.19, Y:16.73, Z:-118.54 [[ 9.98357804e-01 -4.12572427e-02 3.97433630e-02 3.05187614e+02] [ 3.89937363e-02 9.97661353e-01 5.61365601e-02 1.67349461e+01] [-4.19664569e-02 -5.44946307e-02 9.97631772e-01 -1.18544255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:305.22, Y:16.84, Z:-118.54 [[ 9.95306058e-01 -3.40460228e-02 9.05909418e-02 3.05217456e+02] [ 3.87741708e-02 9.97948001e-01 -5.09543958e-02 1.68381354e+01] [-8.86702547e-02 5.42278075e-02 9.94583798e-01 -1.18536129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:305.25, Y:16.79, Z:-118.54 [[ 9.95255113e-01 -3.76329962e-02 8.97274590e-02 3.05251310e+02] [ 3.75356590e-02 9.99291443e-01 2.77255736e-03 1.67886705e+01] [-8.97682216e-02 6.08577419e-04 9.95962497e-01 -1.18543783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69591999999994 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:305.29, Y:16.74, Z:-118.55 [[ 9.98280078e-01 -3.97998519e-02 4.30448435e-02 3.05285090e+02] [ 3.76211500e-02 9.98025710e-01 5.02924570e-02 1.67421128e+01] [-4.49614929e-02 -4.85865614e-02 9.97806499e-01 -1.18548758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:305.32, Y:16.79, Z:-118.55 [[ 9.98076952e-01 -3.64320293e-02 5.01508193e-02 3.05315820e+02] [ 3.66885832e-02 9.99317903e-01 -4.20432172e-03 1.67939097e+01] [-4.99634396e-02 6.03619911e-03 9.98732807e-01 -1.18548225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:305.35, Y:16.78, Z:-118.55 [[ 9.98101325e-01 -3.98246576e-02 4.69866179e-02 3.05345881e+02] [ 3.91806099e-02 9.99126211e-01 1.45496864e-02 1.67762795e+01] [-4.75249978e-02 -1.26810969e-02 9.98789550e-01 -1.18550900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:305.38, Y:16.84, Z:-118.55 [[ 9.94701594e-01 -4.13692496e-02 9.41133545e-02 3.05377046e+02] [ 4.65712475e-02 9.97466998e-01 -5.37653021e-02 1.68407887e+01] [-9.16507349e-02 5.78634081e-02 9.94108630e-01 -1.18546839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:305.41, Y:16.79, Z:-118.56 [[ 9.94779543e-01 -4.71143982e-02 9.05201312e-02 3.05411649e+02] [ 4.70646150e-02 9.98888237e-01 2.68561190e-03 1.67862393e+01] [-9.05460252e-02 1.58870334e-03 9.95891005e-01 -1.18555935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:305.45, Y:16.78, Z:-118.56 [[ 9.94465791e-01 -5.21008358e-02 9.12320847e-02 3.05445232e+02] [ 5.20754350e-02 9.98639610e-01 2.66046329e-03 1.67810431e+01] [-9.12465859e-02 2.10521077e-03 9.95826104e-01 -1.18557959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87591999999995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:305.48, Y:16.78, Z:-118.56 [[ 9.94397549e-01 -5.40297341e-02 9.08531944e-02 3.05478121e+02] [ 5.40167176e-02 9.98536636e-01 2.60395157e-03 1.67798033e+01] [-9.08609339e-02 2.31822829e-03 9.95860892e-01 -1.18560935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:305.51, Y:16.78, Z:-118.56 [[ 9.94363475e-01 -5.51961239e-02 9.05244049e-02 3.05510795e+02] [ 5.51920907e-02 9.98472499e-01 2.54972921e-03 1.67793862e+01] [-9.05268640e-02 2.46087357e-03 9.95890973e-01 -1.18562790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:305.56, Y:16.66, Z:-118.57 [[ 9.96534713e-01 -7.75350344e-02 3.01145148e-02 3.05557302e+02] [ 7.35518951e-02 9.90492634e-01 1.16251711e-01 1.66601375e+01] [-3.88417855e-02 -1.13633885e-01 9.92763142e-01 -1.18569169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:305.57, Y:16.83, Z:-118.56 [[ 9.97715461e-01 -5.22997721e-02 4.27620486e-02 3.05572657e+02] [ 5.46404545e-02 9.96960484e-01 -5.55356955e-02 1.68276631e+01] [-3.97275684e-02 5.77453598e-02 9.97540572e-01 -1.18561439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99591999999996 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:305.60, Y:16.78, Z:-118.57 [[ 9.97469263e-01 -5.53458745e-02 4.46307420e-02 3.05603680e+02] [ 5.57947109e-02 9.98402830e-01 -8.87351158e-03 1.67801059e+01] [-4.40683469e-02 1.13412144e-02 9.98964142e-01 -1.18567848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:305.63, Y:16.74, Z:-118.57 [[ 9.96960332e-01 -5.42218591e-02 5.59471665e-02 3.05631691e+02] [ 5.26111987e-02 9.98168183e-01 2.98720484e-02 1.67380884e+01] [-5.74643995e-02 -2.68377998e-02 9.97986761e-01 -1.18568613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05591999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:305.69, Y:16.83, Z:-118.59 [[ 9.95302779e-01 -5.60860863e-02 7.89096240e-02 3.05693185e+02] [ 6.09863525e-02 9.96265292e-01 -6.11239126e-02 1.68267107e+01] [-7.51867185e-02 6.56492102e-02 9.95006100e-01 -1.18586630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:305.69, Y:16.75, Z:-118.58 [[ 9.94263956e-01 -5.40605748e-02 9.22856388e-02 3.05694796e+02] [ 5.38632204e-02 9.98537590e-01 4.62972864e-03 1.67533451e+01] [-9.24009652e-02 3.67629394e-04 9.95721812e-01 -1.18577943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11591999999996 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:305.73, Y:16.75, Z:-118.58 [[ 9.94371239e-01 -5.14753607e-02 9.26073748e-02 3.05728153e+02] [ 5.14242335e-02 9.98672572e-01 2.93985250e-03 1.67537600e+01] [-9.26357751e-02 1.83895849e-03 9.95698364e-01 -1.18580769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:305.76, Y:16.75, Z:-118.58 [[ 9.94516281e-01 -4.93652433e-02 9.21978316e-02 3.05761477e+02] [ 4.93098119e-02 9.98779378e-01 2.88050460e-03 1.67531595e+01] [-9.22274897e-02 1.68154902e-03 9.95736543e-01 -1.18583184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17591999999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:305.79, Y:16.72, Z:-118.58 [[ 9.97538035e-01 -4.80148036e-02 5.11121043e-02 3.05794892e+02] [ 4.60873867e-02 9.98205087e-01 3.82433881e-02 1.67177265e+01] [-5.28566113e-02 -3.57936109e-02 9.97960418e-01 -1.18583254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:305.82, Y:16.79, Z:-118.58 [[ 9.94547154e-01 -4.17750482e-02 9.55552364e-02 3.05824109e+02] [ 4.51012933e-02 9.98439922e-01 -3.29179974e-02 1.67865628e+01] [-9.40310119e-02 3.70481654e-02 9.94879692e-01 -1.18584753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23591999999996 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:305.86, Y:16.73, Z:-118.59 [[ 9.97160040e-01 -4.49617856e-02 6.04176448e-02 3.05857069e+02] [ 4.37630095e-02 9.98820763e-01 2.10210218e-02 1.67331142e+01] [-6.12915407e-02 -1.83172650e-02 9.97951815e-01 -1.18587741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:305.89, Y:16.77, Z:-118.59 [[ 9.94480687e-01 -4.04124811e-02 9.68245521e-02 3.05887741e+02] [ 4.21366594e-02 9.98986469e-01 -1.58283424e-02 1.67674244e+01] [-9.60867548e-02 1.98208440e-02 9.95175597e-01 -1.18589926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:305.92, Y:16.75, Z:-118.59 [[ 9.94368818e-01 -4.09530871e-02 9.77419997e-02 3.05920725e+02] [ 4.08644871e-02 9.99160463e-01 2.90902371e-03 1.67510045e+01] [-9.77790752e-02 1.10153421e-03 9.95207536e-01 -1.18592822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:305.95, Y:16.75, Z:-118.60 [[ 9.94475989e-01 -3.96622202e-02 9.71823801e-02 3.05954002e+02] [ 3.95733456e-02 9.99212625e-01 2.84258426e-03 1.67523983e+01] [-9.72186044e-02 1.01895013e-03 9.95262531e-01 -1.18595661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35591999999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:305.99, Y:16.67, Z:-118.59 [[ 9.98418732e-01 -4.50701255e-02 3.35964111e-02 3.05985739e+02] [ 4.18888356e-02 9.95057522e-01 9.00325102e-02 1.66682121e+01] [-3.74881381e-02 -8.84828302e-02 9.95372005e-01 -1.18590620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:306.01, Y:16.83, Z:-118.59 [[ 9.94349209e-01 -2.88219854e-02 1.02171152e-01 3.06014535e+02] [ 3.74175378e-02 9.95827087e-01 -8.32366594e-02 1.68342281e+01] [-9.93457550e-02 8.65892994e-02 9.91278323e-01 -1.18591603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41591999999997 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:306.05, Y:16.76, Z:-118.60 [[ 9.94358119e-01 -3.12501852e-02 1.01367436e-01 3.06049530e+02] [ 3.11207389e-02 9.99511545e-01 2.85852636e-03 1.67551669e+01] [-1.01407253e-01 3.12230627e-04 9.94844949e-01 -1.18600401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:306.08, Y:16.76, Z:-118.60 [[ 9.94390052e-01 -2.88552707e-02 1.01763439e-01 3.06082575e+02] [ 2.87177618e-02 9.99583593e-01 2.81632077e-03 1.67573612e+01] [-1.01802329e-01 1.21896827e-04 9.94804640e-01 -1.18602781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:306.13, Y:16.71, Z:-118.61 [[ 9.98462349e-01 -3.08787062e-02 4.60374001e-02 3.06134513e+02] [ 2.83085832e-02 9.98058944e-01 5.54704308e-02 1.67099277e+01] [-4.76608940e-02 -5.40818831e-02 9.97398410e-01 -1.18610042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:306.14, Y:16.77, Z:-118.60 [[ 9.98114151e-01 -2.47886568e-02 5.61574912e-02 3.06141778e+02] [ 2.53853972e-02 9.99628342e-01 -9.93777147e-03 1.67670787e+01] [-5.58902758e-02 1.13446106e-02 9.98372464e-01 -1.18603706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:306.17, Y:16.76, Z:-118.61 [[ 9.98077491e-01 -2.43186078e-02 5.70081304e-02 3.06172264e+02] [ 2.43398005e-02 9.99703691e-01 3.22672267e-04 1.67597401e+01] [-5.69990853e-02 1.06551459e-03 9.98373662e-01 -1.18607362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:306.20, Y:16.77, Z:-118.61 [[ 9.97774362e-01 -2.27162080e-02 6.26920727e-02 3.06202896e+02] [ 2.30166076e-02 9.99726784e-01 -4.07355251e-03 1.67662716e+01] [-6.25824086e-02 5.50744510e-03 9.98024604e-01 -1.18609502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:306.23, Y:16.81, Z:-118.61 [[ 9.93558390e-01 -1.47388232e-02 1.12358766e-01 3.06233795e+02] [ 2.02380532e-02 9.98644159e-01 -4.79610808e-02 1.68131015e+01] [-1.11499535e-01 4.99260569e-02 9.92509568e-01 -1.18608450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.26, Y:16.66, Z:-118.61 [[ 9.97395405e-01 -2.73511909e-02 6.67406780e-02 3.06264669e+02] [ 1.97675751e-02 9.93539505e-01 1.11751938e-01 1.66649723e+01] [-6.93660488e-02 -1.10141568e-01 9.91492404e-01 -1.18609417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:306.29, Y:16.88, Z:-118.60 [[ 9.93310488e-01 -4.85511161e-03 1.15372013e-01 3.06292704e+02] [ 1.69920760e-02 9.94385014e-01 -1.04449569e-01 1.68754176e+01] [-1.14217087e-01 1.05711262e-01 9.87815563e-01 -1.18604722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:306.33, Y:16.78, Z:-118.62 [[ 9.93600147e-01 -1.42650088e-02 1.12050241e-01 3.06326564e+02] [ 1.40210669e-02 9.99897304e-01 2.96482800e-03 1.67822430e+01] [-1.12081028e-01 -1.37478961e-03 9.93698120e-01 -1.18618955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:306.36, Y:16.74, Z:-118.62 [[ 9.97424323e-01 -2.14276929e-02 6.84512517e-02 3.06357260e+02] [ 1.82388240e-02 9.98734190e-01 4.68760294e-02 1.67415509e+01] [-6.93690506e-02 -4.55068215e-02 9.96552590e-01 -1.18619576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:306.39, Y:16.82, Z:-118.62 [[ 9.92821987e-01 -2.12478126e-02 1.17698907e-01 3.06386624e+02] [ 2.61502906e-02 9.98846737e-01 -4.02660931e-02 1.68244073e+01] [-1.16707602e-01 4.30549232e-02 9.92232639e-01 -1.18620999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.77592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:306.42, Y:16.78, Z:-118.63 [[ 9.92808658e-01 -2.93039638e-02 1.16070007e-01 3.06419865e+02] [ 2.91592667e-02 9.99570440e-01 2.94480536e-03 1.67839402e+01] [-1.16106443e-01 4.60888032e-04 9.93236669e-01 -1.18627988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:306.45, Y:16.78, Z:-118.63 [[ 9.92703225e-01 -3.42613223e-02 1.15613443e-01 3.06452385e+02] [ 3.41583120e-02 9.99412306e-01 2.87268129e-03 1.67844085e+01] [-1.15643920e-01 1.09744008e-03 9.93290129e-01 -1.18632132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:306.49, Y:16.78, Z:-118.63 [[ 9.92280719e-01 -4.00098865e-02 1.17380505e-01 3.06485643e+02] [ 3.99510490e-02 9.99197559e-01 2.85503406e-03 1.67827100e+01] [-1.17400544e-01 1.85647905e-03 9.93082910e-01 -1.18634776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:306.52, Y:16.68, Z:-118.63 [[ 9.96009585e-01 -5.18191891e-02 7.26613999e-02 3.06515970e+02] [ 4.35329434e-02 9.92830979e-01 1.11317252e-01 1.66765587e+01] [-7.79088585e-02 -1.07709885e-01 9.91125012e-01 -1.18633554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:306.55, Y:16.78, Z:-118.64 [[ 9.96007672e-01 -4.14651779e-02 7.90528761e-02 3.06545012e+02] [ 4.11551025e-02 9.99137365e-01 5.54832255e-03 1.67781330e+01] [-7.92147445e-02 -2.27274261e-03 9.96854984e-01 -1.18636869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:306.57, Y:16.88, Z:-118.63 [[ 9.91482116e-01 -3.26501304e-02 1.26084032e-01 3.06574444e+02] [ 4.59207288e-02 9.93535047e-01 -1.03823872e-01 1.68797506e+01] [-1.21879042e-01 1.08729383e-01 9.86571549e-01 -1.18630762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:306.61, Y:16.71, Z:-118.64 [[ 9.96241528e-01 -5.10066960e-02 7.00081032e-02 3.06611859e+02] [ 4.56667906e-02 9.96071793e-01 7.58651885e-02 1.67076208e+01] [-7.36027295e-02 -7.23830059e-02 9.94657398e-01 -1.18643182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:306.64, Y:16.85, Z:-118.64 [[ 9.91716803e-01 -3.33771463e-02 1.24031237e-01 3.06636646e+02] [ 4.22422777e-02 9.96683955e-01 -6.95462742e-02 1.68466771e+01] [-1.21298688e-01 7.42095707e-02 9.89838152e-01 -1.18641477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01592 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:306.71, Y:16.73, Z:-118.67 [[ 9.96715020e-01 -4.33043191e-02 6.84390643e-02 3.06711273e+02] [ 3.95894221e-02 9.97715756e-01 5.47352574e-02 1.67344661e+01] [-7.06530058e-02 -5.18459902e-02 9.96152672e-01 -1.18665831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:306.74, Y:16.80, Z:-118.67 [[ 9.97413267e-01 -3.76821286e-02 6.12113723e-02 3.06743222e+02] [ 3.84128944e-02 9.99203529e-01 -1.08054198e-02 1.67953808e+01] [-6.07554480e-02 1.31287750e-02 9.98066336e-01 -1.18665232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:306.72, Y:16.79, Z:-118.65 [[ 9.95716290e-01 -4.13551423e-02 8.26971690e-02 3.06720034e+02] [ 4.34778625e-02 9.98765261e-01 -2.40339121e-02 1.67879495e+01] [-8.16011338e-02 2.75264539e-02 9.96284874e-01 -1.18645026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:306.75, Y:16.73, Z:-118.65 [[ 9.94851088e-01 -4.65174724e-02 9.00413131e-02 3.06749954e+02] [ 4.35742308e-02 9.98458360e-01 3.43829765e-02 1.67308769e+01] [-9.15019110e-02 -3.02824606e-02 9.95344349e-01 -1.18649992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.78, Y:16.81, Z:-118.65 [[ 9.95232005e-01 -3.71233105e-02 9.01948750e-02 3.06779225e+02] [ 4.17940643e-02 9.97851204e-01 -5.04601882e-02 1.68067271e+01] [-8.81278154e-02 5.39892047e-02 9.94644989e-01 -1.18649166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:306.81, Y:16.81, Z:-118.65 [[ 9.89652260e-01 -3.67865955e-02 1.38690845e-01 3.06810561e+02] [ 4.42716339e-02 9.97702787e-01 -5.12754373e-02 1.68090783e+01] [-1.36485993e-01 5.68849227e-02 9.89007421e-01 -1.18652987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19591999999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.84, Y:16.76, Z:-118.66 [[ 9.89676203e-01 -4.21488885e-02 1.36983516e-01 3.06844368e+02] [ 4.19325668e-02 9.99110463e-01 4.46573424e-03 1.67565918e+01] [-1.37049890e-01 1.32443952e-03 9.90563261e-01 -1.18659480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters Centerline goodness : 0.929852 Centerline is valid? [True, False] Translation: X:306.88, Y:16.76, Z:-118.66 [[ 9.92774992e-01 -3.53058796e-02 1.14679164e-01 3.06884773e+02] [ 3.54532530e-02 9.99371051e-01 7.54897560e-04 1.67553151e+01] [-1.14633689e-01 3.31630598e-03 9.93402295e-01 -1.18663195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:306.91, Y:16.76, Z:-118.67 [[ 9.95072185e-01 -2.93079289e-02 9.47227063e-02 3.06914023e+02] [ 2.96428177e-02 9.99558286e-01 -2.13000987e-03 1.67562080e+01] [-9.46184398e-02 4.92736149e-03 9.95501417e-01 -1.18665335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:306.95, Y:16.62, Z:-118.66 [[ 9.98343781e-01 -3.54204454e-02 4.53330618e-02 3.06945033e+02] [ 2.89394743e-02 9.90232563e-01 1.36389071e-01 1.66233356e+01] [-4.97212356e-02 -1.34851266e-01 9.89617570e-01 -1.18657399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:306.97, Y:16.88, Z:-118.66 [[ 9.95019056e-01 -1.29325866e-02 9.88424340e-02 3.06973882e+02] [ 2.56082632e-02 9.91434266e-01 -1.28071517e-01 1.68760502e+01] [-9.63394800e-02 1.29964783e-01 9.86827168e-01 -1.18659349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters Centerline goodness : 0.901426 Centerline is valid? [True, False] Translation: X:306.95, Y:16.82, Z:-118.66 [[ 9.95187942e-01 -1.63709398e-02 9.66072029e-02 3.06947894e+02] [ 2.30339109e-02 9.97401443e-01 -6.82627302e-02 1.68151547e+01] [-9.52386385e-02 7.01594877e-02 9.92978977e-01 -1.18662773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:306.96, Y:16.78, Z:-118.67 [[ 9.96213915e-01 -1.34115645e-02 8.58950847e-02 3.06963092e+02] [ 1.63958595e-02 9.99282808e-01 -3.41327744e-02 1.67787388e+01] [-8.53757075e-02 3.54118686e-02 9.95719332e-01 -1.18665666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.00, Y:16.68, Z:-118.67 [[ 9.99264992e-01 -1.70234401e-02 3.43464550e-02 3.06995483e+02] [ 1.46907026e-02 9.97640597e-01 6.70628183e-02 1.66819531e+01] [-3.54070577e-02 -6.65089530e-02 9.97157410e-01 -1.18665131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:307.03, Y:16.76, Z:-118.67 [[ 9.99015724e-01 -1.08766330e-02 4.30032830e-02 3.07025114e+02] [ 1.13580977e-02 9.99875345e-01 -1.09675585e-02 1.67570105e+01] [-4.28786323e-02 1.14451988e-02 9.99014730e-01 -1.18668720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:307.06, Y:16.74, Z:-118.67 [[ 9.99069570e-01 -9.74390480e-03 4.20125031e-02 3.07055954e+02] [ 9.61742814e-03 9.99948594e-01 3.21152293e-03 1.67433355e+01] [-4.20416362e-02 -2.80448260e-03 9.99111924e-01 -1.18669333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49591999999996 meters Centerline goodness : 0.861182 Centerline is valid? [True, False] Translation: X:307.08, Y:16.75, Z:-118.67 [[ 9.99722562e-01 -4.94340830e-03 2.30295668e-02 3.07081012e+02] [ 5.10288223e-03 9.99963373e-01 -6.87113484e-03 1.67521636e+01] [-2.29947565e-02 6.98674569e-03 9.99711172e-01 -1.18669788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:307.10, Y:16.74, Z:-118.67 [[ 9.99979244e-01 -4.96869372e-03 4.10162588e-03 3.07101077e+02] [ 4.94953040e-03 9.99976850e-01 4.66913019e-03 1.67404709e+01] [-4.12473040e-03 -4.64873216e-03 9.99980688e-01 -1.18669920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:307.13, Y:16.75, Z:-118.67 [[ 9.99945280e-01 -4.54264626e-03 9.42347770e-03 3.07131912e+02] [ 4.55096201e-03 9.99989273e-01 -8.61194653e-04 1.67468162e+01] [-9.41946452e-03 9.04033417e-04 9.99955227e-01 -1.18670823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:16.80, Z:-118.67 [[ 9.99236208e-01 -9.11718698e-04 3.90662251e-02 3.07164422e+02] [ 2.95185825e-03 9.98632455e-01 -5.21967953e-02 1.67971260e+01] [-3.89652115e-02 5.22722458e-02 9.97872399e-01 -1.18672952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:307.20, Y:16.70, Z:-118.67 [[ 9.99967696e-01 -3.37300712e-04 8.03077433e-03 3.07195370e+02] [-7.24525095e-05 9.98700284e-01 5.09679975e-02 1.67035582e+01] [-8.03752815e-03 -5.09669329e-02 9.98667998e-01 -1.18669137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters Centerline goodness : 0.949208 Centerline is valid? [True, False] Translation: X:307.19, Y:16.73, Z:-118.67 [[ 9.99917953e-01 4.92585403e-04 1.28001800e-02 3.07189949e+02] [-8.50764564e-04 9.99607785e-01 2.79919937e-02 1.67277362e+01] [-1.27813711e-02 -2.80005870e-02 9.99526190e-01 -1.18668864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:307.21, Y:16.74, Z:-118.67 [[ 9.99977374e-01 -1.12084194e-03 6.63284265e-03 3.07213389e+02] [ 1.02425901e-03 9.99893664e-01 1.45468432e-02 1.67427293e+01] [-6.64844205e-03 -1.45397203e-02 9.99872189e-01 -1.18665824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.24, Y:16.77, Z:-118.67 [[ 9.99952180e-01 2.85598670e-03 9.35314899e-03 3.07243594e+02] [-2.74816375e-03 9.99929859e-01 -1.15206172e-02 1.67715652e+01] [-9.38539568e-03 1.14943623e-02 9.99889891e-01 -1.18666784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:307.27, Y:16.69, Z:-118.66 [[ 9.99944460e-01 1.93819837e-03 1.03595097e-02 3.07271344e+02] [-2.76900766e-03 9.96726871e-01 8.07952794e-02 1.66902991e+01] [-1.01690044e-02 -8.08194776e-02 9.96676880e-01 -1.18662444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters Centerline goodness : 0.775553 Centerline is valid? [True, False] Translation: X:307.24, Y:16.74, Z:-118.66 [[ 9.99873210e-01 7.71599130e-03 1.39293674e-02 3.07235863e+02] [-8.13675835e-03 9.99504462e-01 3.04076230e-02 1.67425829e+01] [-1.36878399e-02 -3.05171075e-02 9.99440518e-01 -1.18662610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:307.24, Y:16.77, Z:-118.66 [[ 9.99938542e-01 9.78277098e-03 5.21627359e-03 3.07239665e+02] [-9.83299593e-03 9.99904690e-01 9.69140674e-03 1.67680294e+01] [-5.12096761e-03 -9.74210272e-03 9.99939432e-01 -1.18661618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.27, Y:16.78, Z:-118.66 [[ 9.99905775e-01 1.07784410e-02 8.50099916e-03 3.07271696e+02] [-1.07609819e-02 9.99939900e-01 -2.09684859e-03 1.67831937e+01] [-8.52308901e-03 2.00517192e-03 9.99961667e-01 -1.18662057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:16.79, Z:-118.66 [[ 9.99950812e-01 6.95433960e-03 7.07188169e-03 3.07301914e+02] [-6.93406569e-03 9.99971791e-01 -2.88732279e-03 1.67914958e+01] [-7.09176162e-03 2.83814387e-03 9.99970826e-01 -1.18661281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:307.33, Y:16.79, Z:-118.66 [[ 9.99970425e-01 5.18724700e-03 5.67810057e-03 3.07333078e+02] [-5.22629186e-03 9.99962652e-01 6.88329360e-03 1.67856665e+01] [-5.64218316e-03 -6.91276544e-03 9.99960189e-01 -1.18661364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.36, Y:16.79, Z:-118.66 [[ 9.99954714e-01 3.10970300e-03 8.99440277e-03 3.07363452e+02] [-3.13637116e-03 9.99990723e-01 2.95238911e-03 1.67926313e+01] [-8.98513828e-03 -2.98046520e-03 9.99955191e-01 -1.18660505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.39, Y:16.80, Z:-118.66 [[ 9.99933113e-01 3.90338803e-04 1.15593170e-02 3.07393228e+02] [-3.68114276e-04 9.99998080e-01 -1.92471576e-03 1.67995558e+01] [-1.15600461e-02 1.92033188e-03 9.99931336e-01 -1.18660485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.42, Y:16.85, Z:-118.66 [[ 9.98271721e-01 -2.33883599e-03 5.87205308e-02 3.07423676e+02] [ 5.35485957e-03 9.98671106e-01 -5.12576591e-02 1.68508998e+01] [-5.85226142e-02 5.14835118e-02 9.96957648e-01 -1.18659290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.46, Y:16.80, Z:-118.67 [[ 9.98190226e-01 -9.24521908e-03 5.94205178e-02 3.07457245e+02] [ 9.19782709e-03 9.99957126e-01 1.07103735e-03 1.68024702e+01] [-5.94278722e-02 -5.22559365e-04 9.98232465e-01 -1.18665428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.49, Y:16.70, Z:-118.66 [[ 9.99840448e-01 -1.69601371e-02 5.60638633e-03 3.07486043e+02] [ 1.62683629e-02 9.94200155e-01 1.06308004e-01 1.67019681e+01] [-7.37686848e-03 -1.06199836e-01 9.94317443e-01 -1.18663455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.52, Y:16.90, Z:-118.65 [[ 9.97788738e-01 -9.95041227e-03 6.57162397e-02 3.07515941e+02] [ 1.65872305e-02 9.94724486e-01 -1.01232710e-01 1.69016199e+01] [-6.43622455e-02 1.02098909e-01 9.92689939e-01 -1.18653054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.55, Y:16.73, Z:-118.66 [[ 9.99819720e-01 -1.86557103e-02 3.53446172e-03 3.07548036e+02] [ 1.83109676e-02 9.96589022e-01 8.04675638e-02 1.67311093e+01] [-5.02358530e-03 -8.03883377e-02 9.96750961e-01 -1.18659333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.58, Y:16.83, Z:-118.66 [[ 9.99750507e-01 -1.43735974e-02 1.70974483e-02 3.07577315e+02] [ 1.47179944e-02 9.99687806e-01 -2.01908685e-02 1.68314835e+01] [-1.68018951e-02 2.04374711e-02 9.99649942e-01 -1.18658719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.61, Y:16.87, Z:-118.66 [[ 9.97453858e-01 -1.07450221e-02 7.05006756e-02 3.07607911e+02] [ 1.47833846e-02 9.98264043e-01 -5.70118612e-02 1.68690775e+01] [-6.97656957e-02 5.79089395e-02 9.95881169e-01 -1.18660192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:16.82, Z:-118.67 [[ 9.97661661e-01 -1.13984712e-02 6.73890534e-02 3.07641209e+02] [ 1.13508524e-02 9.99934983e-01 1.08949168e-03 1.68181449e+01] [-6.73970905e-02 -3.22020877e-04 9.97726179e-01 -1.18667679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.67, Y:16.75, Z:-118.67 [[ 9.99794085e-01 -1.55612181e-02 1.30244443e-02 3.07671236e+02] [ 1.46080360e-02 9.97416894e-01 7.03288283e-02 1.67536583e+01] [-1.40852030e-02 -7.01240850e-02 9.97438830e-01 -1.18667127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:16.83, Z:-118.67 [[ 9.99790497e-01 -1.18902864e-02 1.66608111e-02 3.07701717e+02] [ 1.19923825e-02 9.99909838e-01 -6.04146534e-03 1.68295037e+01] [-1.65874741e-02 6.24000246e-03 9.99842947e-01 -1.18666400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:307.73, Y:16.83, Z:-118.67 [[ 9.99741211e-01 -1.41425227e-02 1.78185589e-02 3.07731298e+02] [ 1.42044924e-02 9.99893479e-01 -3.35606162e-03 1.68285507e+01] [-1.77691976e-02 3.60829669e-03 9.99835604e-01 -1.18666583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:307.76, Y:16.82, Z:-118.67 [[ 9.99719708e-01 -1.58484904e-02 1.75878223e-02 3.07761342e+02] [ 1.57275912e-02 9.99851872e-01 6.99119991e-03 1.68211245e+01] [-1.76960170e-02 -6.71262625e-03 9.99820880e-01 -1.18667641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:307.79, Y:16.89, Z:-118.67 [[ 9.97234384e-01 -1.28345633e-02 7.32042169e-02 3.07793134e+02] [ 1.76136991e-02 9.97728644e-01 -6.50177696e-02 1.68926868e+01] [-7.22034694e-02 6.61273524e-02 9.95195374e-01 -1.18665309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:307.83, Y:16.83, Z:-118.68 [[ 9.97212072e-01 -1.53686044e-02 7.30197825e-02 3.07826958e+02] [ 1.53361930e-02 9.99881889e-01 1.00455485e-03 1.68341831e+01] [-7.30265967e-02 1.18091259e-04 9.97329987e-01 -1.18675055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:307.86, Y:16.73, Z:-118.67 [[ 9.99702592e-01 -1.97476471e-02 1.43093963e-02 3.07856146e+02] [ 1.80672122e-02 9.93843019e-01 1.09314356e-01 1.67309883e+01] [-1.63799950e-02 -1.09023314e-01 9.93904227e-01 -1.18674781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:307.89, Y:16.94, Z:-118.66 [[ 9.96818548e-01 -6.19798009e-03 7.94629946e-02 3.07886879e+02] [ 1.44920947e-02 9.94447636e-01 -1.04229928e-01 1.69362567e+01] [-7.83757721e-02 1.05049910e-01 9.91373671e-01 -1.18662408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:307.92, Y:16.84, Z:-118.68 [[ 9.96942472e-01 -1.11746131e-02 7.73358581e-02 3.07920297e+02] [ 1.11331088e-02 9.99937557e-01 9.67808557e-04 1.68381486e+01] [-7.73418438e-02 -1.03860931e-04 9.97004628e-01 -1.18677346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:307.95, Y:16.73, Z:-118.68 [[ 9.99658269e-01 -1.64813330e-02 2.02906701e-02 3.07950918e+02] [ 1.39440897e-02 9.92749469e-01 1.19390341e-01 1.67267180e+01] [-2.21112640e-02 -1.19066607e-01 9.92640033e-01 -1.18679940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:307.98, Y:16.89, Z:-118.67 [[ 9.99626870e-01 -6.87668179e-03 2.64354487e-02 3.07982963e+02] [ 8.25069126e-03 9.98601343e-01 -5.22233998e-02 1.68939199e+01] [-2.60393509e-02 5.24220243e-02 9.98285472e-01 -1.18671901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:308.01, Y:16.90, Z:-118.67 [[ 9.96810441e-01 -7.16358364e-03 7.94835088e-02 3.08013368e+02] [ 1.19562816e-02 9.98127551e-01 -5.99869858e-02 1.69028912e+01] [-7.89049582e-02 6.07459809e-02 9.95029614e-01 -1.18673141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57592 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:308.04, Y:16.80, Z:-118.68 [[ 9.99485183e-01 -1.37054898e-02 2.90090988e-02 3.08044152e+02] [ 1.21734663e-02 9.98554854e-01 5.23451007e-02 1.67969168e+01] [-2.96845916e-02 -5.19650112e-02 9.98207625e-01 -1.18681087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:308.08, Y:16.90, Z:-118.68 [[ 9.96605976e-01 -8.33882520e-03 8.18962341e-02 3.08075897e+02] [ 1.24368896e-02 9.98688854e-01 -4.96577992e-02 1.68958631e+01] [-8.13747685e-02 5.05077939e-02 9.95402989e-01 -1.18677567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63592 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:308.11, Y:16.80, Z:-118.68 [[ 9.99378983e-01 -1.34171557e-02 3.25826227e-02 3.08106918e+02] [ 1.18274061e-02 9.98752996e-01 4.85032567e-02 1.68029107e+01] [-3.31927678e-02 -4.80877675e-02 9.98291444e-01 -1.18684987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:308.14, Y:16.78, Z:-118.69 [[ 9.99392412e-01 -1.34211998e-02 3.21664102e-02 3.08135536e+02] [ 1.10632502e-02 9.97314801e-01 7.23933103e-02 1.67821006e+01] [-3.30516421e-02 -7.19934600e-02 9.96857327e-01 -1.18686102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69591999999994 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:308.17, Y:16.89, Z:-118.68 [[ 9.99655662e-01 -1.80894839e-03 2.61779346e-02 3.08170029e+02] [ 2.62624040e-03 9.99509086e-01 -3.12200237e-02 1.68866004e+01] [-2.61086080e-02 3.12780230e-02 9.99169668e-01 -1.18680634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:308.20, Y:16.94, Z:-118.68 [[ 9.96566886e-01 2.35983269e-03 8.27579165e-02 3.08199213e+02] [ 4.24722455e-03 9.96820305e-01 -7.95690946e-02 1.69359198e+01] [-8.26825413e-02 7.96474163e-02 9.93388085e-01 -1.18676700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75591999999995 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:308.23, Y:16.80, Z:-118.69 [[ 9.99729257e-01 -4.99726833e-03 2.27253174e-02 3.08230147e+02] [ 3.51434018e-03 9.97889983e-01 6.48323315e-02 1.68009867e+01] [-2.30013511e-02 -6.47349141e-02 9.97637373e-01 -1.18687892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:308.26, Y:16.86, Z:-118.69 [[ 9.99671210e-01 -3.56443642e-04 2.56387404e-02 3.08261433e+02] [ 3.50721243e-04 9.99999913e-01 2.27689871e-04 1.68630197e+01] [-2.56388193e-02 -2.18622958e-04 9.99671248e-01 -1.18685399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81591999999995 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:308.29, Y:16.85, Z:-118.69 [[ 9.99702286e-01 3.82429692e-04 2.43965678e-02 3.08286652e+02] [-8.25049923e-04 9.99835203e-01 1.81352406e-02 1.68501771e+01] [-2.43856119e-02 -1.81499698e-02 9.99537853e-01 -1.18686478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:308.32, Y:16.92, Z:-118.68 [[ 9.98594867e-01 5.80022398e-03 5.26749366e-02 3.08320551e+02] [-3.14067764e-03 9.98722513e-01 -5.04328978e-02 1.69168306e+01] [-5.29001672e-02 5.01965979e-02 9.97337392e-01 -1.18682544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87591999999995 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:308.35, Y:16.86, Z:-118.69 [[ 9.98808257e-01 3.05616930e-04 4.88054510e-02 3.08351362e+02] [-8.30013488e-04 9.99942144e-01 1.07247258e-02 1.68597805e+01] [-4.87993496e-02 -1.07524538e-02 9.98750724e-01 -1.18690380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:308.38, Y:16.89, Z:-118.69 [[ 9.98508003e-01 -5.16756336e-04 5.46031308e-02 3.08382088e+02] [ 1.79816784e-03 9.99724069e-01 -2.34212070e-02 1.68919765e+01] [-5.45759611e-02 2.34844482e-02 9.98233412e-01 -1.18691513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93591999999995 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:308.41, Y:16.73, Z:-118.70 [[ 9.98838243e-01 -1.61391898e-02 4.54058377e-02 3.08409084e+02] [ 9.54801989e-03 9.89849609e-01 1.41797698e-01 1.67341238e+01] [-4.72334506e-02 -1.41199428e-01 9.88853742e-01 -1.18697740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:308.44, Y:16.98, Z:-118.68 [[ 9.98408552e-01 5.86659554e-03 5.60887419e-02 3.08442874e+02] [ 8.58580017e-04 9.92877919e-01 -1.19133120e-01 1.69834284e+01] [-5.63881792e-02 1.18991682e-01 9.91292768e-01 -1.18678026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99591999999996 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:308.47, Y:16.88, Z:-118.70 [[ 9.98121392e-01 -2.52978716e-03 6.12150865e-02 3.08472508e+02] [ 3.10966492e-03 9.99951177e-01 -9.37937780e-03 1.68803669e+01] [-6.11883700e-02 9.55211604e-03 9.98080528e-01 -1.18695668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:308.50, Y:16.86, Z:-118.70 [[ 9.98607850e-01 -2.25278936e-03 5.26999676e-02 3.08503986e+02] [ 1.33428080e-03 9.99846712e-01 1.74577101e-02 1.68556282e+01] [-5.27312178e-02 -1.73630898e-02 9.98457782e-01 -1.18699998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05591999999996 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:308.54, Y:16.87, Z:-118.70 [[ 9.98603031e-01 9.18507810e-04 5.28312683e-02 3.08535547e+02] [-1.22281599e-03 9.99982847e-01 5.72796583e-03 1.68677681e+01] [-5.28251010e-02 -5.78456696e-03 9.98587025e-01 -1.18698988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:308.57, Y:16.92, Z:-118.70 [[ 9.94787655e-01 8.47912213e-03 1.01615087e-01 3.08566315e+02] [-3.72799792e-03 9.98894740e-01 -4.68550915e-02 1.69201785e+01] [-1.01900066e-01 4.62320458e-02 9.93719767e-01 -1.18698456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11591999999996 meters Centerline goodness : 0.940796 Centerline is valid? [True, False] Translation: X:308.60, Y:16.91, Z:-118.70 [[ 9.96801204e-01 1.02501855e-02 7.92609211e-02 3.08601080e+02] [-7.71517229e-03 9.99450910e-01 -3.22234991e-02 1.69086611e+01] [-7.95476966e-02 3.15089111e-02 9.96332953e-01 -1.18702662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters Centerline goodness : 0.997070 Centerline is valid? [False, True] Translation: X:308.63, Y:16.90, Z:-118.70 [[ 9.98058084e-01 1.30536042e-02 6.09070101e-02 3.08626059e+02] [-1.18236360e-02 9.99719709e-01 -2.05111025e-02 1.68986191e+01] [-6.11576822e-02 1.97511293e-02 9.97932678e-01 -1.18703339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17591999999996 meters Centerline goodness : 0.969531 Centerline is valid? [True, True] Translation: X:308.69, Y:16.76, Z:-118.73 [[ 9.96523289e-01 -5.77956052e-02 6.00083486e-02 3.08686972e+02] [ 5.17458050e-02 9.93850896e-01 9.78916156e-02 1.67621846e+01] [-6.52970561e-02 -9.44460945e-02 9.93386244e-01 -1.18728264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:308.68, Y:16.98, Z:-118.70 [[ 9.97869239e-01 1.82685288e-02 6.26357944e-02 3.08682624e+02] [-1.16537736e-02 9.94468195e-01 -1.04389649e-01 1.69750546e+01] [-6.41963507e-02 1.03437276e-01 9.92562118e-01 -1.18695099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23591999999996 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:308.71, Y:16.80, Z:-118.72 [[ 9.97721948e-01 6.43717016e-04 6.74573880e-02 3.08707822e+02] [-6.42219359e-03 9.96319241e-01 8.54793823e-02 1.67953939e+01] [-6.71540691e-02 -8.57178802e-02 9.94053709e-01 -1.18716209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters Centerline goodness : 0.941699 Centerline is valid? [True, False] Translation: X:308.67, Y:16.85, Z:-118.71 [[ 9.97483631e-01 6.32570133e-03 7.06143906e-02 3.08672919e+02] [-8.56317220e-03 9.99469331e-01 3.14281493e-02 1.68471889e+01] [-7.03781127e-02 -3.19537477e-02 9.97008465e-01 -1.18709899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29591999999997 meters Centerline goodness : 0.816985 Centerline is valid? [False, False] Translation: X:308.68, Y:16.87, Z:-118.71 [[ 9.98041660e-01 6.26475639e-03 6.22382407e-02 3.08676079e+02] [-6.76336111e-03 9.99946678e-01 7.80378448e-03 1.68695633e+01] [-6.21860332e-02 -8.20944171e-03 9.98030812e-01 -1.18707146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters Centerline goodness : 0.997174 Centerline is valid? [False, True] Translation: X:308.70, Y:16.88, Z:-118.70 [[ 9.99103633e-01 4.16281376e-03 4.21260242e-02 3.08700051e+02] [-3.87917537e-03 9.99969270e-01 -6.81259726e-03 1.68833897e+01] [-4.21530893e-02 6.64307643e-03 9.99089078e-01 -1.18704491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35591999999997 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:308.73, Y:16.93, Z:-118.70 [[ 9.97097801e-01 9.84286507e-03 7.54923449e-02 3.08731931e+02] [-5.55372607e-03 9.98369195e-01 -5.68164261e-02 1.69324394e+01] [-7.59284680e-02 5.62322697e-02 9.95526393e-01 -1.18703353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters Centerline goodness : 0.869798 Centerline is valid? [True, False] Translation: X:308.74, Y:16.91, Z:-118.71 [[ 9.97756406e-01 9.20680164e-03 6.63128073e-02 3.08740927e+02] [-7.01671099e-03 9.99424623e-01 -3.31841766e-02 1.69112501e+01] [-6.65801725e-02 3.26444270e-02 9.97246921e-01 -1.18707029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41591999999997 meters Centerline goodness : 0.996714 Centerline is valid? [False, True] Translation: X:308.77, Y:16.90, Z:-118.71 [[ 9.98912077e-01 8.79116797e-03 4.57971475e-02 3.08766244e+02] [-7.71128266e-03 9.99689297e-01 -2.37032919e-02 1.69038136e+01] [-4.59912978e-02 2.33243498e-02 9.98669503e-01 -1.18708970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:308.80, Y:16.91, Z:-118.71 [[ 9.99013753e-01 1.53810709e-02 4.16526506e-02 3.08797427e+02] [-1.45851436e-02 9.99706467e-01 -1.93456355e-02 1.69069698e+01] [-4.19379808e-02 1.87190461e-02 9.98944845e-01 -1.18708908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47592 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:308.83, Y:16.94, Z:-118.71 [[ 9.96276879e-01 1.76654373e-02 8.43819462e-02 3.08827649e+02] [-1.34388518e-02 9.98638857e-01 -5.03967371e-02 1.69394972e+01] [-8.51573707e-02 4.90751075e-02 9.95158207e-01 -1.18707582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:308.86, Y:16.86, Z:-118.72 [[ 9.98877936e-01 8.67423110e-03 4.65577792e-02 3.08859467e+02] [-1.03860070e-02 9.99274131e-01 3.66516299e-02 1.68603481e+01] [-4.62060597e-02 -3.70940539e-02 9.98242972e-01 -1.18719167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53592 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:308.89, Y:16.89, Z:-118.72 [[ 9.98765775e-01 7.42142247e-03 4.91105776e-02 3.08889987e+02] [-7.83052081e-03 9.99936185e-01 8.14299758e-03 1.68882747e+01] [-4.90470110e-02 -8.51750869e-03 9.98760153e-01 -1.18717445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:308.92, Y:16.89, Z:-118.72 [[ 9.98887566e-01 3.22881968e-03 4.70447136e-02 3.08920195e+02] [-3.52958991e-03 9.99973852e-01 6.31161718e-03 1.68902170e+01] [-4.70231044e-02 -6.47064447e-03 9.98872844e-01 -1.18717245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:308.95, Y:16.91, Z:-118.72 [[ 9.98498597e-01 -3.25411082e-05 5.47772888e-02 3.08950762e+02] [ 8.01466056e-04 9.99901458e-01 -1.40153857e-02 1.69095752e+01] [-5.47714348e-02 1.40382451e-02 9.98400229e-01 -1.18716432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:308.98, Y:16.87, Z:-118.72 [[ 9.99039649e-01 -6.32363323e-03 4.33565702e-02 3.08981400e+02] [ 5.12729318e-03 9.99604545e-01 2.76489431e-02 1.68701324e+01] [-4.35142664e-02 -2.74000885e-02 9.98676997e-01 -1.18721116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:309.01, Y:16.85, Z:-118.72 [[ 9.98200517e-01 -1.14041574e-02 5.88699655e-02 3.09008825e+02] [ 8.26145573e-03 9.98541498e-01 5.33537775e-02 1.68461566e+01] [-5.93925584e-02 -5.27714167e-02 9.96838854e-01 -1.18723736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:309.04, Y:16.95, Z:-118.71 [[ 9.98120707e-01 -3.18529366e-03 6.11956494e-02 3.09039935e+02] [ 6.88090084e-03 9.98158117e-01 -6.02745937e-02 1.69540507e+01] [-6.08909419e-02 6.05824012e-02 9.96304203e-01 -1.18712055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:309.07, Y:16.95, Z:-118.72 [[ 9.94416506e-01 -3.94463982e-03 1.05452603e-01 3.09070787e+02] [ 9.53587195e-03 9.98571721e-01 -5.25698042e-02 1.69471133e+01] [-1.05094619e-01 5.32818635e-02 9.93033818e-01 -1.18717212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:16.85, Z:-118.73 [[ 9.98368025e-01 -1.18634721e-02 5.58618431e-02 3.09100606e+02] [ 9.26634518e-03 9.98874211e-01 4.65235918e-02 1.68519739e+01] [-5.63508858e-02 -4.59300313e-02 9.97354004e-01 -1.18730580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.77592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:309.14, Y:16.87, Z:-118.73 [[ 9.98830109e-01 -8.18627890e-04 4.83502044e-02 3.09138418e+02] [-5.30136898e-04 9.99611239e-01 2.78763317e-02 1.68733254e+01] [-4.83542280e-02 -2.78693517e-02 9.98441369e-01 -1.18728616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:309.16, Y:16.93, Z:-118.73 [[ 9.97737197e-01 -3.92372226e-03 6.71199621e-02 3.09162124e+02] [ 6.13859331e-03 9.99442284e-01 -3.28243472e-02 1.69257493e+01] [-6.69537346e-02 3.31620944e-02 9.97204830e-01 -1.18725260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:309.19, Y:16.90, Z:-118.73 [[ 9.97745983e-01 -7.03834100e-03 6.67339174e-02 3.09192529e+02] [ 7.31031789e-03 9.99965936e-01 -3.83222017e-03 1.68965067e+01] [-6.67046717e-02 4.31142843e-03 9.97763448e-01 -1.18732595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:309.22, Y:16.88, Z:-118.74 [[ 9.97969180e-01 -8.72043519e-03 6.30988948e-02 3.09224066e+02] [ 7.76180644e-03 9.99850952e-01 1.54216936e-02 1.68760576e+01] [-6.32239739e-02 -1.49006135e-02 9.97888120e-01 -1.18736263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:309.25, Y:16.88, Z:-118.74 [[ 9.97800753e-01 -1.01955196e-02 6.54958650e-02 3.09252361e+02] [ 9.71176802e-03 9.99923192e-01 7.70013652e-03 1.68810308e+01] [-6.55693413e-02 -7.04712137e-03 9.97823130e-01 -1.18737751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:309.29, Y:16.94, Z:-118.73 [[ 9.93252993e-01 -2.83054832e-03 1.15933085e-01 3.09285198e+02] [ 9.41555223e-03 9.98369957e-01 -5.62918775e-02 1.69414011e+01] [-1.15584772e-01 5.70036498e-02 9.91660599e-01 -1.18730897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.31, Y:16.85, Z:-118.74 [[ 9.97041521e-01 -1.35524445e-02 7.56606721e-02 3.09314526e+02] [ 1.09597683e-02 9.99341912e-01 3.45778297e-02 1.68515207e+01] [-7.60794948e-02 -3.36463084e-02 9.96533911e-01 -1.18744268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:16.91, Z:-118.74 [[ 9.93190891e-01 -4.83177971e-03 1.16398061e-01 3.09347549e+02] [ 8.58031083e-03 9.99459809e-01 -3.17249008e-02 1.69143954e+01] [-1.16181896e-01 3.25076140e-02 9.92695836e-01 -1.18741079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:16.82, Z:-118.75 [[ 9.98151455e-01 -1.70532553e-02 5.83340274e-02 3.09375251e+02] [ 1.29512582e-02 9.97463750e-01 6.99880829e-02 1.68164567e+01] [-5.93796024e-02 -6.91032077e-02 9.95840755e-01 -1.18750349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:16.91, Z:-118.75 [[ 9.97056419e-01 -6.38824321e-03 7.64047669e-02 3.09407568e+02] [ 9.01965031e-03 9.99376187e-01 -3.41450175e-02 1.69140179e+01] [-7.61389780e-02 3.47336531e-02 9.96492062e-01 -1.18747359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:16.91, Z:-118.75 [[ 9.93117764e-01 -5.14799990e-03 1.17006855e-01 3.09440785e+02] [ 8.80663854e-03 9.99487598e-01 -3.07731298e-02 1.69105415e+01] [-1.16788480e-01 3.15917789e-02 9.92654225e-01 -1.18750889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:16.88, Z:-118.76 [[ 9.92976251e-01 -1.00893289e-02 1.17882864e-01 3.09473628e+02] [ 1.00515793e-02 9.99949063e-01 9.14767786e-04 1.68777542e+01] [-1.17886089e-01 2.76566265e-04 9.93027086e-01 -1.18756026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:16.84, Z:-118.76 [[ 9.96888841e-01 -1.68379735e-02 7.70007929e-02 3.09502826e+02] [ 1.41988633e-02 9.99297119e-01 3.46937989e-02 1.68437190e+01] [-7.75308438e-02 -3.34925372e-02 9.96427227e-01 -1.18761199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:16.91, Z:-118.76 [[ 9.92841941e-01 -8.73814801e-03 1.19115597e-01 3.09536388e+02] [ 1.26239131e-02 9.99411136e-01 -3.19063837e-02 1.69068211e+01] [-1.18766652e-01 3.31817009e-02 9.92367602e-01 -1.18758558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19591999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:16.88, Z:-118.76 [[ 9.92747773e-01 -1.15067325e-02 1.19663921e-01 3.09568772e+02] [ 1.14970182e-02 9.99933609e-01 7.71571838e-04 1.68760796e+01] [-1.19664855e-01 6.09802057e-04 9.92814157e-01 -1.18764053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.60, Y:16.83, Z:-118.77 [[ 9.96771298e-01 -1.47070796e-02 7.89346656e-02 3.09598430e+02] [ 1.12762546e-02 9.98979518e-01 4.37352130e-02 1.68344327e+01] [-7.94973315e-02 -4.27039177e-02 9.95919951e-01 -1.18769160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:16.92, Z:-118.76 [[ 9.92292533e-01 -2.05059183e-03 1.23900459e-01 3.09632611e+02] [ 7.16794564e-03 9.99138741e-01 -4.08704960e-02 1.69151509e+01] [-1.23709940e-01 4.14435998e-02 9.91452611e-01 -1.18763797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.66, Y:16.77, Z:-118.77 [[ 9.96375746e-01 -1.69267670e-02 8.33598061e-02 3.09660101e+02] [ 7.13142790e-03 9.93173230e-01 1.16430574e-01 1.67665705e+01] [-8.47615211e-02 -1.15414125e-01 9.89694430e-01 -1.18771744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:309.69, Y:16.93, Z:-118.76 [[ 9.97249644e-01 2.79772637e-03 7.40629419e-02 3.09692695e+02] [ 9.12994505e-04 9.98747746e-01 -5.00210531e-02 1.69254861e+01] [-7.41101415e-02 4.99510965e-02 9.95998281e-01 -1.18763978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:16.89, Z:-118.77 [[ 9.96499546e-01 5.95985183e-04 8.35960488e-02 3.09721946e+02] [ 5.51719333e-04 9.99905924e-01 -1.37053987e-02 1.68933425e+01] [-8.35963527e-02 1.37035452e-02 9.96405471e-01 -1.18774540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.75, Y:16.81, Z:-118.78 [[ 9.96257039e-01 -9.17669010e-03 8.59517295e-02 3.09749235e+02] [ 2.96763020e-03 9.97393724e-01 7.20898890e-02 1.68118154e+01] [-8.63892621e-02 -7.15649865e-02 9.93687752e-01 -1.18780396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:309.78, Y:16.96, Z:-118.77 [[ 9.96025360e-01 5.79472472e-03 8.88814008e-02 3.09782564e+02] [ 1.84795920e-03 9.96322281e-01 -8.56650268e-02 1.69602496e+01] [-8.90509253e-02 8.54887884e-02 9.92351550e-01 -1.18768868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.81, Y:16.87, Z:-118.79 [[ 9.96031161e-01 -5.31039167e-03 8.88466456e-02 3.09811894e+02] [ 4.74704414e-03 9.99967276e-01 6.55077071e-03 1.68732485e+01] [-8.88785253e-02 -6.10301281e-03 9.96023775e-01 -1.18785490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.84, Y:16.92, Z:-118.78 [[ 9.91347614e-01 4.74092110e-07 1.31262748e-01 3.09844376e+02] [ 5.12943527e-03 9.99236038e-01 -3.87431104e-02 1.69161359e+01] [-1.31162487e-01 3.90811938e-02 9.90590260e-01 -1.18784032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:16.88, Z:-118.79 [[ 9.91097901e-01 -5.74095400e-03 1.33011245e-01 3.09876760e+02] [ 5.73264356e-03 9.99983469e-01 4.45436699e-04 1.68783774e+01] [-1.33011603e-01 3.21034679e-04 9.91114428e-01 -1.18790953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.90, Y:16.75, Z:-118.79 [[ 9.96171556e-01 -2.33945878e-02 8.42313705e-02 3.09902003e+02] [ 1.17532905e-02 9.90620529e-01 1.36135328e-01 1.67479893e+01] [-8.66261546e-02 -1.34624146e-01 9.87102957e-01 -1.18794607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:16.96, Z:-118.78 [[ 9.95664487e-01 4.38730660e-03 9.29138346e-02 3.09937504e+02] [ 3.82752508e-03 9.96108606e-01 -8.80510926e-02 1.69608244e+01] [-9.29385774e-02 8.80249759e-02 9.91773172e-01 -1.18784863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:16.88, Z:-118.80 [[ 9.95626065e-01 -3.99506573e-03 9.33422621e-02 3.09966689e+02] [ 4.27459789e-03 9.99986958e-01 -2.79495538e-03 1.68780874e+01] [-9.33298787e-02 3.18173107e-03 9.95630157e-01 -1.18796478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.00, Y:16.91, Z:-118.80 [[ 9.90213581e-01 3.89068544e-03 1.39506011e-01 3.09999955e+02] [ 1.28047188e-03 9.99315972e-01 -3.69587282e-02 1.69107067e+01] [-1.39554380e-01 3.67756682e-02 9.89531265e-01 -1.18798857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.03, Y:16.76, Z:-118.81 [[ 9.96483425e-01 -1.55937630e-02 8.23262899e-02 3.10026542e+02] [ 5.66386572e-03 9.92818289e-01 1.19497974e-01 1.67615174e+01] [-8.35984693e-02 -1.18611465e-01 9.89415290e-01 -1.18805281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:16.98, Z:-118.79 [[ 9.89832212e-01 1.70637804e-02 1.41212675e-01 3.10062298e+02] [-8.39574617e-04 9.93461749e-01 -1.14162381e-01 1.69839229e+01] [-1.42237433e-01 1.12883043e-01 9.83374766e-01 -1.18790308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:16.88, Z:-118.81 [[ 9.89865247e-01 3.49265499e-03 1.41966880e-01 3.10093732e+02] [-3.53515353e-03 9.99993750e-01 4.71409638e-05 1.68765695e+01] [-1.41965828e-01 -5.48537918e-04 9.89871407e-01 -1.18809846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.13, Y:16.88, Z:-118.81 [[ 9.89735396e-01 4.86573146e-03 1.42829167e-01 3.10126727e+02] [-4.91493373e-03 9.99987922e-01 -8.32326438e-06 1.68776124e+01] [-1.42827482e-01 -6.93758062e-04 9.89747356e-01 -1.18813988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.15, Y:16.80, Z:-118.82 [[ 9.96177425e-01 -3.62545045e-03 8.72776800e-02 3.10154822e+02] [-3.24966942e-03 9.96908644e-01 7.85022037e-02 1.68048090e+01] [-8.72924794e-02 -7.84857467e-02 9.93086104e-01 -1.18820152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.19, Y:16.90, Z:-118.82 [[ 9.95263974e-01 1.05588640e-02 9.66340114e-02 3.10186902e+02] [-8.59004419e-03 9.99747432e-01 -2.07673842e-02 1.69003660e+01] [-9.68288847e-02 1.98389389e-02 9.95103303e-01 -1.18816490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.22, Y:16.94, Z:-118.82 [[ 9.89385674e-01 1.86480683e-02 1.44111889e-01 3.10218799e+02] [-1.06823809e-02 9.98381926e-01 -5.58517396e-02 1.69362773e+01] [-1.44920233e-01 5.37194530e-02 9.87983981e-01 -1.18817939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.24, Y:16.75, Z:-118.83 [[ 9.95427287e-01 -8.20498768e-03 9.51692973e-02 3.10243228e+02] [-5.14181135e-03 9.90257169e-01 1.39155669e-01 1.67515871e+01] [-9.53838495e-02 -1.39008692e-01 9.85686819e-01 -1.18827528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:17.01, Z:-118.81 [[ 9.88740425e-01 3.12649201e-02 1.46338228e-01 3.10282313e+02] [-1.16875870e-02 9.91077378e-01 -1.32774365e-01 1.70113669e+01] [-1.49183687e-01 1.29569041e-01 9.80283679e-01 -1.18808429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.31, Y:16.83, Z:-118.83 [[ 9.94570356e-01 3.90079358e-03 1.03993221e-01 3.10307470e+02] [-9.92800192e-03 9.98295953e-01 5.75032672e-02 1.68337513e+01] [-1.03591703e-01 -5.82234898e-02 9.92914288e-01 -1.18834532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.34, Y:16.90, Z:-118.83 [[ 9.94004758e-01 1.20224170e-02 1.08673839e-01 3.10340009e+02] [-1.12664368e-02 9.99907894e-01 -7.56776345e-03 1.68952860e+01] [-1.08754812e-01 6.29802594e-03 9.94048654e-01 -1.18832817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.37, Y:16.93, Z:-118.83 [[ 9.88239062e-01 1.30944159e-02 1.52355152e-01 3.10372810e+02] [-5.83795696e-03 9.98831294e-01 -4.79787859e-02 1.69286225e+01] [-1.52805348e-01 4.65250676e-02 9.87160546e-01 -1.18833320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.40, Y:16.88, Z:-118.84 [[ 9.88221149e-01 4.97442528e-03 1.52951677e-01 3.10404777e+02] [-4.95728220e-03 9.99987591e-01 -4.93439766e-04 1.68821526e+01] [-1.52952233e-01 -2.70597011e-04 9.88233546e-01 -1.18842773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:310.43, Y:16.81, Z:-118.85 [[ 9.94852428e-01 -8.48415778e-03 1.00978542e-01 3.10432305e+02] [ 1.09152174e-03 9.97328331e-01 7.30411406e-02 1.68109355e+01] [-1.01328453e-01 -7.25549358e-02 9.92203772e-01 -1.18847855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:16.95, Z:-118.84 [[ 9.87615646e-01 1.32700141e-02 1.56330554e-01 3.10467354e+02] [-2.20183134e-03 9.97490847e-01 -7.07613084e-02 1.69457499e+01] [-1.56877300e-01 6.95407618e-02 9.85166786e-01 -1.18840109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.49, Y:16.76, Z:-118.85 [[ 9.94673694e-01 -1.77001411e-02 1.01542837e-01 3.10489516e+02] [ 4.55477772e-03 9.91730913e-01 1.28253847e-01 1.67556970e+01] [-1.02973282e-01 -1.27108223e-01 9.86529271e-01 -1.18853285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.52, Y:16.88, Z:-118.85 [[ 9.93651880e-01 4.10888949e-03 1.12423570e-01 3.10522180e+02] [-4.02644760e-03 9.99991433e-01 -9.60359708e-04 1.68786480e+01] [-1.12426553e-01 5.01595614e-04 9.93659911e-01 -1.18852383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.56, Y:16.93, Z:-118.85 [[ 9.93004953e-01 1.78480748e-02 1.16715932e-01 3.10557391e+02] [-1.10534722e-02 9.98220045e-01 -5.86051390e-02 1.69318530e+01] [-1.17554172e-01 5.69050770e-02 9.91434733e-01 -1.18847521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:16.83, Z:-118.86 [[ 9.93444576e-01 5.21300050e-03 1.14195880e-01 3.10582364e+02] [-1.05363404e-02 9.98883014e-01 4.60620169e-02 1.68330119e+01] [-1.13828203e-01 -4.69632675e-02 9.92389839e-01 -1.18860968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.62, Y:16.92, Z:-118.86 [[ 9.92208422e-01 2.19419098e-02 1.22641755e-01 3.10616840e+02] [-1.54191323e-02 9.98428147e-01 -5.38839926e-02 1.69228015e+01] [-1.23631298e-01 5.15731218e-02 9.90987142e-01 -1.18856363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.64, Y:16.86, Z:-118.87 [[ 9.92380729e-01 1.19057324e-02 1.22632551e-01 3.10644824e+02] [-1.32043113e-02 9.99864971e-01 9.78190007e-03 1.68600761e+01] [-1.22499531e-01 -1.13266475e-02 9.92403936e-01 -1.18865149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.68, Y:16.87, Z:-118.87 [[ 9.92145379e-01 1.20171800e-02 1.24511580e-01 3.10675566e+02] [-1.20236887e-02 9.99927468e-01 -6.99221092e-04 1.68674591e+01] [-1.24510951e-01 -8.03359501e-04 9.92217908e-01 -1.18868527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.70, Y:16.88, Z:-118.87 [[ 9.91554341e-01 1.03261148e-02 1.29280162e-01 3.10704563e+02] [-8.34615830e-03 9.99839584e-01 -1.58476658e-02 1.68788096e+01] [-1.29423069e-01 1.46348291e-02 9.91481463e-01 -1.18871398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33592 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:310.79, Y:16.85, Z:-118.91 [[ 9.92321669e-01 3.09953594e-02 1.19737179e-01 3.10790225e+02] [-3.48533504e-02 9.98934179e-01 3.02613690e-02 1.68499826e+01] [-1.18671599e-01 -3.42022541e-02 9.92344324e-01 -1.18905180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.75, Y:16.86, Z:-118.88 [[ 9.91806377e-01 -2.11487475e-03 1.27732679e-01 3.10749927e+02] [ 4.69529950e-03 9.99790870e-01 -1.99040334e-02 1.68645907e+01] [-1.27663872e-01 2.03406905e-02 9.91608891e-01 -1.18880475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:310.78, Y:16.87, Z:-118.88 [[ 9.91248535e-01 1.09899158e-03 1.32004294e-01 3.10780808e+02] [ 2.85858279e-03 9.99552169e-01 -2.97874055e-02 1.68725028e+01] [-1.31977914e-01 2.99040673e-02 9.90801482e-01 -1.18881576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.81, Y:16.91, Z:-118.89 [[ 9.83167572e-01 1.14061811e-02 1.82349729e-01 3.10811747e+02] [ 3.87730577e-04 9.97916899e-01 -6.45113383e-02 1.69059261e+01] [-1.82705704e-01 6.34961584e-02 9.81115112e-01 -1.18885654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:310.84, Y:16.85, Z:-118.90 [[ 9.83199606e-01 3.92067031e-03 1.82491543e-01 3.10843981e+02] [-4.08354540e-03 9.99991529e-01 5.16753443e-04 1.68461198e+01] [-1.82487971e-01 -1.25328428e-03 9.83207287e-01 -1.18895797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.88, Y:16.85, Z:-118.90 [[ 9.82908690e-01 6.76646196e-03 1.83969350e-01 3.10876650e+02] [-6.96311507e-03 9.99975668e-01 4.22945440e-04 1.68479530e+01] [-1.83962012e-01 -1.69671650e-03 9.82931890e-01 -1.18900232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:310.91, Y:16.85, Z:-118.91 [[ 9.85103933e-01 8.08699578e-03 1.71769735e-01 3.10908407e+02] [-8.34103989e-03 9.99964926e-01 7.57287441e-04 1.68502321e+01] [-1.71757586e-01 -2.17874505e-03 9.85136836e-01 -1.18908261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:310.94, Y:16.78, Z:-118.91 [[ 9.91343370e-01 -4.66143244e-03 1.31212020e-01 3.10937210e+02] [-5.35424213e-03 9.97102899e-01 7.58758248e-02 1.67805164e+01] [-1.31185576e-01 -7.59215367e-02 9.88446390e-01 -1.18910397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:310.97, Y:16.87, Z:-118.91 [[ 9.90207677e-01 8.52943417e-03 1.39341325e-01 3.10969107e+02] [-5.81397439e-03 9.99785404e-01 -1.98832737e-02 1.68737752e+01] [-1.39481016e-01 1.88784434e-02 9.90044772e-01 -1.18909418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:311.00, Y:16.84, Z:-118.91 [[ 9.90129211e-01 2.23349053e-03 1.40139775e-01 3.10999418e+02] [-4.46272244e-03 9.99868432e-01 1.55949670e-02 1.68414960e+01] [-1.40086506e-01 -1.60664373e-02 9.90008909e-01 -1.18913941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.03, Y:16.86, Z:-118.92 [[ 9.90013971e-01 3.29556011e-03 1.40930749e-01 3.11029042e+02] [-2.93688058e-03 9.99991898e-01 -2.75298759e-03 1.68593073e+01] [-1.40938680e-01 2.31159940e-03 9.90015629e-01 -1.18918215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:16.92, Z:-118.92 [[ 9.80871588e-01 1.21604881e-02 1.94275708e-01 3.11060144e+02] [ 8.46277461e-04 9.97770899e-01 -6.67271828e-02 1.69200969e+01] [-1.94654082e-01 6.56152089e-02 9.78674835e-01 -1.18919885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69591999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:311.09, Y:16.80, Z:-118.93 [[ 9.89834528e-01 -8.40715242e-03 1.41975096e-01 3.11088746e+02] [-3.70180518e-04 9.98095674e-01 6.16837753e-02 1.67997321e+01] [-1.42223314e-01 -6.11092870e-02 9.87946448e-01 -1.18930136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:311.12, Y:16.85, Z:-118.93 [[ 9.89619534e-01 3.31903160e-03 1.43673805e-01 3.11120757e+02] [-4.21194219e-03 9.99973659e-01 5.91114083e-03 1.68531949e+01] [-1.43650401e-01 -6.45492620e-03 9.89607446e-01 -1.18931363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:16.92, Z:-118.93 [[ 9.79861919e-01 1.53164322e-02 1.99087987e-01 3.11152284e+02] [-2.25831039e-03 9.97840027e-01 -6.56519611e-02 1.69196188e+01] [-1.99663516e-01 6.38802541e-02 9.77780033e-01 -1.18932480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.18, Y:16.86, Z:-118.95 [[ 9.82442315e-01 7.41453193e-03 1.86419212e-01 3.11184669e+02] [-7.47238942e-03 9.99972004e-01 -3.92302881e-04 1.68567784e+01] [-1.86416902e-01 -1.00758200e-03 9.82470215e-01 -1.18947228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:16.72, Z:-118.95 [[ 9.89625205e-01 -1.45170523e-02 1.42937780e-01 3.11211374e+02] [-5.77456239e-03 9.90059235e-01 1.40532435e-01 1.67216600e+01] [-1.43556985e-01 -1.39899843e-01 9.79703744e-01 -1.18948428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:311.24, Y:16.89, Z:-118.95 [[ 9.89658776e-01 1.62012795e-02 1.42523775e-01 3.11244570e+02] [-1.15901636e-02 9.99384036e-01 -3.31242490e-02 1.68868495e+01] [-1.42972641e-01 3.11298298e-02 9.89236957e-01 -1.18949739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:311.27, Y:16.89, Z:-118.95 [[ 9.88216079e-01 2.02108589e-02 1.51725088e-01 3.11274557e+02] [-1.48750270e-02 9.99233096e-01 -3.62208935e-02 1.68914489e+01] [-1.52340785e-01 3.35371545e-02 9.87758849e-01 -1.18953291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:16.95, Z:-118.96 [[ 9.78036284e-01 3.37906730e-02 2.05677460e-01 3.11309284e+02] [-1.28624473e-02 9.94675427e-01 -1.02251418e-01 1.69548356e+01] [-2.08037460e-01 9.73600812e-02 9.73263289e-01 -1.18956985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.33, Y:16.75, Z:-118.97 [[ 9.88922161e-01 -4.97063015e-03 1.48351782e-01 3.11334153e+02] [-1.30441017e-02 9.92662467e-01 1.20212638e-01 1.67456647e+01] [-1.47860779e-01 -1.20816058e-01 9.81601075e-01 -1.18967308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:16.95, Z:-118.97 [[ 9.79879596e-01 3.34759153e-02 1.96762140e-01 3.11368810e+02] [-1.59603626e-02 9.95819319e-01 -8.99397087e-02 1.69454463e+01] [-1.98950354e-01 8.49896904e-02 9.76317320e-01 -1.18967090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.40, Y:16.85, Z:-118.98 [[ 9.79037086e-01 1.68705093e-02 2.02982190e-01 3.11398365e+02] [-1.97525485e-02 9.99730695e-01 1.21809287e-02 1.68513000e+01] [-2.02722027e-01 -1.59349965e-02 9.79106662e-01 -1.18980898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:311.43, Y:16.86, Z:-118.99 [[ 9.79373547e-01 1.99927962e-02 2.01066514e-01 3.11430857e+02] [-2.03491674e-02 9.99792891e-01 -2.94525502e-04 1.68648230e+01] [-2.01030759e-01 -3.80308567e-03 9.79577547e-01 -1.18986023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:311.46, Y:16.87, Z:-118.99 [[ 9.78741510e-01 2.04721672e-02 2.04073386e-01 3.11463695e+02] [-2.08270780e-02 9.99783009e-01 -4.08672366e-04 1.68701628e+01] [-2.04037470e-01 -3.85026771e-03 9.78955508e-01 -1.18990942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.49, Y:16.79, Z:-119.00 [[ 9.88269482e-01 3.43279990e-03 1.52681521e-01 3.11490219e+02] [-1.68041464e-02 9.96121152e-01 8.63728658e-02 1.67913347e+01] [-1.51792792e-01 -8.79253499e-02 9.84493820e-01 -1.18997938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:311.53, Y:16.96, Z:-118.99 [[ 9.77525032e-01 3.58585630e-02 2.07747382e-01 3.11525915e+02] [-1.88656332e-02 9.96353636e-01 -8.32076953e-02 1.69551637e+01] [-2.09973568e-01 7.74183191e-02 9.74637114e-01 -1.18990971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.56, Y:16.88, Z:-119.01 [[ 9.78207927e-01 2.08591602e-02 2.06577216e-01 3.11556483e+02] [-2.11784890e-02 9.99775489e-01 -6.65665380e-04 1.68826794e+01] [-2.06544723e-01 -3.72383414e-03 9.78430074e-01 -1.19007255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.59, Y:16.91, Z:-119.01 [[ 9.78819840e-01 2.60790017e-02 2.03055675e-01 3.11590650e+02] [-2.06100561e-02 9.99366863e-01 -2.90016929e-02 1.69121434e+01] [-2.03683448e-01 2.42024435e-02 9.78737603e-01 -1.19014236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:311.62, Y:16.82, Z:-119.02 [[ 9.87619367e-01 4.33357990e-03 1.56809456e-01 3.11616942e+02] [-1.65577631e-02 9.96914133e-01 7.67336410e-02 1.68155877e+01] [-1.55993032e-01 -7.83800438e-02 9.84643460e-01 -1.19020102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:311.64, Y:16.84, Z:-119.03 [[ 9.88682603e-01 4.14131927e-03 1.49965196e-01 3.11644588e+02] [-1.32167666e-02 9.98136567e-01 5.95710553e-02 1.68385187e+01] [-1.49439043e-01 -6.08789210e-02 9.86894994e-01 -1.19025788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.68, Y:16.94, Z:-119.02 [[ 9.87714026e-01 2.13961378e-02 1.54800543e-01 3.11678249e+02] [-1.51214806e-02 9.99019973e-01 -4.15985009e-02 1.69364145e+01] [-1.55538881e-01 3.87466094e-02 9.87069580e-01 -1.19019387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:311.71, Y:16.89, Z:-119.03 [[ 9.87629492e-01 6.33834781e-03 1.56677413e-01 3.11705492e+02] [-7.56430628e-03 9.99945255e-01 7.22970293e-03 1.68931478e+01] [-1.56623012e-01 -8.32542377e-03 9.87623369e-01 -1.19027852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:311.74, Y:16.91, Z:-119.03 [[ 9.87074308e-01 7.58045945e-03 1.60083876e-01 3.11735646e+02] [-6.03712529e-03 9.99930517e-01 -1.01249514e-02 1.69114277e+01] [-1.60149505e-01 9.02763294e-03 9.87051487e-01 -1.19032180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35591999999997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:311.77, Y:16.90, Z:-119.04 [[ 9.86953420e-01 3.90565396e-03 1.60958669e-01 3.11765402e+02] [-4.85245327e-03 9.99973159e-01 5.48958455e-03 1.68979405e+01] [-1.60932908e-01 -6.19900866e-03 9.86945881e-01 -1.19038897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:311.80, Y:16.89, Z:-119.04 [[ 9.86779398e-01 1.70216332e-03 1.62060241e-01 3.11795962e+02] [-3.98806930e-03 9.99897084e-01 1.37810266e-02 1.68909294e+01] [-1.62020105e-01 -1.42451406e-02 9.86684631e-01 -1.19044414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:311.82, Y:16.90, Z:-119.05 [[ 9.86493683e-01 4.00240336e-03 1.63750401e-01 3.11824563e+02] [-5.39794008e-03 9.99952801e-01 8.07826629e-03 1.68979055e+01] [-1.63710340e-01 -8.85307352e-03 9.86468726e-01 -1.19047273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:311.85, Y:16.93, Z:-119.05 [[ 9.85133684e-01 1.04132618e-02 1.71473578e-01 3.11854869e+02] [-5.87085241e-03 9.99618834e-01 -2.69762737e-02 1.69340610e+01] [-1.71689129e-01 2.55685398e-02 9.84819320e-01 -1.19048212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:311.88, Y:16.93, Z:-119.06 [[ 9.83553668e-01 9.62307405e-03 1.80359581e-01 3.11883258e+02] [-5.83198633e-03 9.99751018e-01 -2.15381212e-02 1.69295084e+01] [-1.80521938e-01 2.01320435e-02 9.83364902e-01 -1.19056320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:311.91, Y:16.82, Z:-119.07 [[ 9.88299971e-01 -1.22665282e-02 1.52028614e-01 3.11911247e+02] [-1.82710713e-03 9.95737048e-01 9.22192619e-02 1.68219687e+01] [-1.52511733e-01 -9.14180664e-02 9.84064484e-01 -1.19067656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:311.94, Y:16.95, Z:-119.06 [[ 9.84988640e-01 1.62006770e-02 1.71857259e-01 3.11943477e+02] [-8.96164047e-03 9.99042827e-01 -4.28149274e-02 1.69496354e+01] [-1.72386393e-01 4.06320941e-02 9.84191020e-01 -1.19059806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:311.98, Y:16.99, Z:-119.06 [[ 9.71855908e-01 2.48588648e-02 2.34260817e-01 3.11976040e+02] [-4.39627999e-03 9.96157454e-01 -8.74699960e-02 1.69913324e+01] [-2.35535064e-01 8.39783563e-02 9.68230793e-01 -1.19059527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:312.01, Y:16.91, Z:-119.08 [[ 9.71782493e-01 7.17442092e-03 2.35769619e-01 3.12005245e+02] [-6.88800154e-03 9.99974200e-01 -2.03841577e-03 1.69110615e+01] [-2.35778161e-01 3.56915260e-04 9.71806839e-01 -1.19080032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:312.03, Y:16.82, Z:-119.09 [[ 9.84648419e-01 -1.58934163e-02 1.73824309e-01 3.12028927e+02] [-1.12978718e-03 9.95244790e-01 9.73988223e-02 1.68163251e+01] [-1.74545738e-01 -9.60999808e-02 9.79948253e-01 -1.19093534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:312.07, Y:16.93, Z:-119.09 [[ 9.83253674e-01 1.18965377e-02 1.81853470e-01 3.12065140e+02] [-7.10378071e-03 9.99610631e-01 -2.69837419e-02 1.69348458e+01] [-1.82103675e-01 2.52400162e-02 9.82955336e-01 -1.19086354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:312.09, Y:16.88, Z:-119.10 [[ 9.84802011e-01 -2.26376221e-03 1.73665985e-01 3.12090990e+02] [-3.85475728e-03 9.99383858e-01 3.48861645e-02 1.68767469e+01] [-1.73637956e-01 -3.50254052e-02 9.84186507e-01 -1.19101370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:312.12, Y:16.93, Z:-119.10 [[ 9.83328595e-01 9.66806654e-03 1.81580295e-01 3.12120678e+02] [-6.36197896e-03 9.99803381e-01 -1.87809465e-02 1.69290452e+01] [-1.81726168e-01 1.73126317e-02 9.83196762e-01 -1.19100898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:312.16, Y:16.99, Z:-119.09 [[ 9.70075021e-01 2.71623392e-02 2.41281289e-01 3.12155751e+02] [-5.83044349e-03 9.96042348e-01 -8.86884875e-02 1.69941437e+01] [-2.42735368e-01 8.46277095e-02 9.66394170e-01 -1.19093957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.77592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:312.18, Y:16.87, Z:-119.11 [[ 9.79981770e-01 -2.27593072e-03 1.99074236e-01 3.12178790e+02] [-5.89445080e-03 9.99164598e-01 4.04396063e-02 1.68734863e+01] [-1.98999966e-01 -4.08035102e-02 9.79149675e-01 -1.19114830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:312.21, Y:16.95, Z:-119.11 [[ 9.69152421e-01 1.89797527e-02 2.45730247e-01 3.12214931e+02] [-8.77294372e-03 9.99055183e-01 -4.25649702e-02 1.69522512e+01] [-2.46305949e-01 3.90961663e-02 9.68403258e-01 -1.19112976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:312.24, Y:16.86, Z:-119.13 [[ 9.81195337e-01 -4.07810440e-03 1.92974300e-01 3.12238301e+02] [-6.41538894e-03 9.98535346e-01 5.37215635e-02 1.68622417e+01] [-1.92910741e-01 -5.39493527e-02 9.79732062e-01 -1.19129655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:312.27, Y:16.91, Z:-119.13 [[ 9.80717023e-01 9.00003824e-03 1.95225819e-01 3.12270557e+02] [-1.02178402e-02 9.99934110e-01 5.23170848e-03 1.69107718e+01] [-1.95165870e-01 -7.12561179e-03 9.80744365e-01 -1.19132679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:312.30, Y:16.90, Z:-119.14 [[ 9.80020153e-01 7.39058349e-03 1.98760859e-01 3.12299676e+02] [-1.03596878e-02 9.99849690e-01 1.39022854e-02 1.69034730e+01] [-1.98628238e-01 -1.56836203e-02 9.79949411e-01 -1.19136755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:312.34, Y:16.99, Z:-119.13 [[ 9.67515537e-01 3.03356390e-02 2.50984928e-01 3.12336749e+02] [-1.16622403e-02 9.97073346e-01 -7.55561640e-02 1.69876984e+01] [-2.52542426e-01 7.01747160e-02 9.65037736e-01 -1.19132350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:312.36, Y:16.89, Z:-119.15 [[ 9.78171128e-01 3.89433215e-03 2.07764477e-01 3.12360018e+02] [-1.12132135e-02 9.99356858e-01 3.40607513e-02 1.68882988e+01] [-2.07498211e-01 -3.56469510e-02 9.77585693e-01 -1.19152219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:312.38, Y:16.83, Z:-119.16 [[ 9.78204250e-01 -1.04692945e-02 2.07380905e-01 3.12381769e+02] [-9.97798122e-03 9.95204405e-01 9.73068937e-02 1.68301023e+01] [-2.07405125e-01 -9.72552597e-02 9.73408716e-01 -1.19160768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:312.43, Y:17.02, Z:-119.14 [[ 9.75350176e-01 3.96102397e-02 2.17078473e-01 3.12426173e+02] [-1.64821407e-02 9.94086273e-01 -1.07335087e-01 1.70248629e+01] [-2.20046298e-01 1.01111378e-01 9.70235083e-01 -1.19140017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:312.45, Y:16.95, Z:-119.16 [[ 9.65365207e-01 2.33381970e-02 2.59856395e-01 3.12453264e+02] [-1.56541945e-02 9.99377975e-01 -3.16007822e-02 1.69540737e+01] [-2.60432263e-01 2.64384531e-02 9.65130066e-01 -1.19163575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:312.47, Y:16.81, Z:-119.18 [[ 9.74987773e-01 -1.61696245e-02 2.21669542e-01 3.12474099e+02] [-1.20823718e-02 9.92019348e-01 1.25505493e-01 1.68076477e+01] [-2.21929852e-01 -1.25044615e-01 9.67011368e-01 -1.19181357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:312.52, Y:17.05, Z:-119.15 [[ 9.63585496e-01 4.66922180e-02 2.63292287e-01 3.12521875e+02] [-1.32741038e-02 9.91775264e-01 -1.27301310e-01 1.70464525e+01] [-2.67070758e-01 1.19170727e-01 9.56280057e-01 -1.19154757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:312.55, Y:16.93, Z:-119.19 [[ 9.63238563e-01 1.71559394e-02 2.68099130e-01 3.12545600e+02] [-1.64559170e-02 9.99852790e-01 -4.85805410e-03 1.69331681e+01] [-2.68143008e-01 2.67648029e-04 9.63379082e-01 -1.19186388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:312.58, Y:16.93, Z:-119.19 [[ 9.63327717e-01 1.77267493e-02 2.67741427e-01 3.12578230e+02] [-1.70112613e-02 9.99842837e-01 -4.99192019e-03 1.69332962e+01] [-2.67787838e-01 2.54235712e-04 9.63477872e-01 -1.19193849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19591999999994 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:312.60, Y:16.82, Z:-119.21 [[ 9.75899622e-01 -1.33255058e-02 2.17812667e-01 3.12600200e+02] [-1.18366516e-02 9.93431963e-01 1.13810494e-01 1.68213043e+01] [-2.17898648e-01 -1.13645791e-01 9.69332148e-01 -1.19207445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:312.65, Y:17.04, Z:-119.18 [[ 9.61934828e-01 4.71754605e-02 2.69176267e-01 3.12647786e+02] [-1.62510124e-02 9.93118872e-01 -1.15977629e-01 1.70373320e+01] [-2.72795329e-01 1.07188534e-01 9.56082280e-01 -1.19184908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25591999999995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:312.67, Y:16.93, Z:-119.21 [[ 9.61725149e-01 2.15987644e-02 2.73163378e-01 3.12672341e+02] [-2.08631880e-02 9.99766670e-01 -5.59764699e-03 1.69337579e+01] [-2.73220543e-01 -3.15661028e-04 9.61951368e-01 -1.19213515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:312.70, Y:16.83, Z:-119.23 [[ 9.73769102e-01 -5.57843365e-03 2.27470036e-01 3.12695232e+02] [-1.78610684e-02 9.94740724e-01 1.00855709e-01 1.68323447e+01] [-2.26836325e-01 -1.02273031e-01 9.68548145e-01 -1.19227048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31591999999995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:312.73, Y:16.91, Z:-119.23 [[ 9.73725459e-01 1.66904331e-02 2.27112659e-01 3.12729916e+02] [-2.09747138e-02 9.99644441e-01 1.64636974e-02 1.69123469e+01] [-2.26757121e-01 -2.07947443e-02 9.73729319e-01 -1.19226984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:312.76, Y:16.96, Z:-119.23 [[ 9.76535972e-01 2.87409789e-02 2.13427861e-01 3.12763891e+02] [-2.30840449e-02 9.99314259e-01 -2.89506245e-02 1.69560378e+01] [-2.14113574e-01 2.33445479e-02 9.76529779e-01 -1.19227133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37591999999995 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:312.80, Y:16.94, Z:-119.24 [[ 9.76476745e-01 2.54955436e-02 2.14110122e-01 3.12795125e+02] [-2.48821031e-02 9.99674931e-01 -5.56003970e-03 1.69358899e+01] [-2.14182277e-01 1.01739343e-04 9.76793705e-01 -1.19237730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:312.83, Y:17.02, Z:-119.23 [[ 9.59572818e-01 4.70384792e-02 2.77502050e-01 3.12830208e+02] [-2.16478646e-02 9.95349788e-01 -9.38625060e-02 1.70164645e+01] [-2.80626756e-01 8.40605827e-02 9.56128884e-01 -1.19231106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43591999999995 meters Centerline goodness : 0.870042 Centerline is valid? [True, False] Translation: X:312.88, Y:17.00, Z:-119.25 [[ 9.66418486e-01 5.02173800e-02 2.52018897e-01 3.12881064e+02] [-3.31928371e-02 9.96898357e-01 -7.13575549e-02 1.69971094e+01] [-2.54820614e-01 6.05960380e-02 9.65087859e-01 -1.19246862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters Centerline goodness : 0.864878 Centerline is valid? [False, False] Translation: X:312.94, Y:16.98, Z:-119.26 [[ 9.72915202e-01 5.35952301e-02 2.24863428e-01 3.12937600e+02] [-4.28488566e-02 9.97706210e-01 -5.24050976e-02 1.69801277e+01] [-2.27156302e-01 4.13505754e-02 9.72980033e-01 -1.19260959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49591999999996 meters Centerline goodness : 0.998909 Centerline is valid? [False, True] Translation: X:312.98, Y:16.97, Z:-119.27 [[ 9.76027592e-01 5.73014555e-02 2.09968288e-01 3.12978964e+02] [-4.96499227e-02 9.97902558e-01 -4.15375799e-02 1.69688357e+01] [-2.11908056e-01 3.01169148e-02 9.76825444e-01 -1.19270643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:313.01, Y:16.97, Z:-119.28 [[ 9.78104076e-01 5.48404723e-02 2.00760900e-01 3.13008050e+02] [-4.59611411e-02 9.97758889e-01 -4.86289373e-02 1.69723174e+01] [-2.02977807e-01 3.83369617e-02 9.78432567e-01 -1.19278194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55591999999996 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:313.04, Y:16.94, Z:-119.29 [[ 9.76350823e-01 4.44389759e-02 2.11575630e-01 3.13035002e+02] [-4.11226608e-02 9.98952894e-01 -2.00509852e-02 1.69415346e+01] [-2.12245133e-01 1.08762431e-02 9.77155930e-01 -1.19286694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:313.06, Y:16.92, Z:-119.30 [[ 9.76609058e-01 3.95764133e-02 2.11349129e-01 3.13061222e+02] [-3.94935740e-02 9.99209168e-01 -4.61479529e-03 1.69246481e+01] [-2.11364625e-01 -3.84008158e-03 9.77399739e-01 -1.19297464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:313.09, Y:16.93, Z:-119.30 [[ 9.77327039e-01 4.13086368e-02 2.07666693e-01 3.13094207e+02] [-3.91041920e-02 9.99126843e-01 -1.47109953e-02 1.69299013e+01] [-2.08093058e-01 6.25681527e-03 9.78089020e-01 -1.19302157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:313.12, Y:16.89, Z:-119.31 [[ 9.77989371e-01 3.30631996e-02 2.06018484e-01 3.13121712e+02] [-3.75714633e-02 9.99131670e-01 1.80081020e-02 1.68943262e+01] [-2.05244187e-01 -2.53521483e-02 9.78382386e-01 -1.19313240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67591999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:313.15, Y:16.90, Z:-119.32 [[ 9.73792911e-01 3.39172718e-02 2.24893276e-01 3.13148165e+02] [-3.70058685e-02 9.99269592e-01 9.53142794e-03 1.68998660e+01] [-2.24405732e-01 -1.76040079e-02 9.74336783e-01 -1.19315155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:313.18, Y:16.95, Z:-119.31 [[ 9.74860021e-01 4.71671714e-02 2.17768677e-01 3.13183714e+02] [-3.80377550e-02 9.98220278e-01 -4.59282774e-02 1.69490398e+01] [-2.19547417e-01 3.64902099e-02 9.74919174e-01 -1.19314426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:313.22, Y:16.99, Z:-119.31 [[ 9.62085462e-01 5.74219506e-02 2.66635111e-01 3.13217709e+02] [-3.16397392e-02 9.94483668e-01 -1.00005805e-01 1.69890070e+01] [-2.70906792e-01 8.77778660e-02 9.58595095e-01 -1.19313967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:313.24, Y:16.84, Z:-119.35 [[ 9.72126626e-01 3.86260135e-02 2.31252792e-01 3.13240635e+02] [-5.48917498e-02 9.96418538e-01 6.43194639e-02 1.68384563e+01] [-2.27940165e-01 -7.52205339e-02 9.70765241e-01 -1.19346353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79591999999997 meters Centerline goodness : 0.717722 Centerline is valid? [True, False] Translation: X:313.29, Y:16.85, Z:-119.35 [[ 9.76694039e-01 4.79333541e-02 2.09215554e-01 3.13289760e+02] [-5.79757917e-02 9.97428577e-01 4.21312507e-02 1.68524668e+01] [-2.06658080e-01 -5.32787788e-02 9.76961519e-01 -1.19354580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters Centerline goodness : 0.998607 Centerline is valid? [False, True] Translation: X:313.32, Y:16.87, Z:-119.36 [[ 9.80023552e-01 5.68113825e-02 1.90594610e-01 3.13323957e+02] [-6.26817377e-02 9.97722671e-01 2.49092819e-02 1.68656819e+01] [-1.88745432e-01 -3.63584843e-02 9.81352751e-01 -1.19358920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85591999999997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:313.35, Y:16.88, Z:-119.36 [[ 9.80879421e-01 6.12605257e-02 1.84723330e-01 3.13354148e+02] [-6.34730033e-02 9.97965023e-01 6.08207365e-03 1.68790393e+01] [-1.83974831e-01 -1.76907254e-02 9.82771743e-01 -1.19364369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:313.39, Y:16.89, Z:-119.37 [[ 9.79859270e-01 7.13230001e-02 1.86517667e-01 3.13385590e+02] [-7.03703201e-02 9.97451941e-01 -1.17321560e-02 1.68908924e+01] [-1.86879182e-01 -1.62944616e-03 9.82381553e-01 -1.19367464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:313.43, Y:16.97, Z:-119.36 [[ 9.69021793e-01 8.88122590e-02 2.30454220e-01 3.13427676e+02] [-6.55551454e-02 9.92128152e-01 -1.06697017e-01 1.69697233e+01] [-2.38116123e-01 8.82842749e-02 9.67215901e-01 -1.19359904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:313.43, Y:16.82, Z:-119.38 [[ 9.81224722e-01 5.45885235e-02 1.84981454e-01 3.13432600e+02] [-6.52142603e-02 9.96523346e-01 5.18490153e-02 1.68159283e+01] [-1.81507977e-01 -6.29389643e-02 9.81373293e-01 -1.19375988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:313.46, Y:16.79, Z:-119.39 [[ 9.79427508e-01 5.25081184e-02 1.94845206e-01 3.13463595e+02] [-6.87515744e-02 9.94614469e-01 7.75582278e-02 1.67882481e+01] [-1.89723424e-01 -8.93585764e-02 9.77762787e-01 -1.19387876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:313.50, Y:16.86, Z:-119.39 [[ 9.80789219e-01 7.14177578e-02 1.81526887e-01 3.13503590e+02] [-7.20463422e-02 9.97396351e-01 -3.13747100e-03 1.68600940e+01] [-1.81278326e-01 -1.00011505e-02 9.83380977e-01 -1.19388302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:313.54, Y:16.90, Z:-119.39 [[ 9.81573332e-01 8.59231960e-02 1.70678055e-01 3.13541498e+02] [-7.89254073e-02 9.95753791e-01 -4.73832040e-02 1.68986666e+01] [-1.74024637e-01 3.30392544e-02 9.84186889e-01 -1.19390747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:313.56, Y:16.88, Z:-119.40 [[ 9.78703543e-01 8.01682755e-02 1.88977305e-01 3.13563701e+02] [-7.53900991e-02 9.96629212e-01 -3.23503824e-02 1.68811903e+01] [-1.90933777e-01 1.74144161e-02 9.81448435e-01 -1.19395560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:313.59, Y:16.88, Z:-119.40 [[ 9.77294866e-01 8.48847701e-02 1.94137374e-01 3.13592016e+02] [-7.94311692e-02 9.96200173e-01 -3.57198032e-02 1.68828839e+01] [-1.96431753e-01 1.94882217e-02 9.80323812e-01 -1.19400504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:313.62, Y:16.88, Z:-119.41 [[ 9.76394941e-01 8.61725464e-02 1.98058608e-01 3.13621343e+02] [-8.18227900e-02 9.96193540e-01 -3.00576476e-02 1.68761745e+01] [-1.99894850e-01 1.31424271e-02 9.79729210e-01 -1.19409907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:313.66, Y:16.92, Z:-119.41 [[ 9.64108200e-01 1.00522101e-01 2.45745166e-01 3.13657970e+02] [-8.38635995e-02 9.93469459e-01 -7.73649147e-02 1.69155961e+01] [-2.51917201e-01 5.39790745e-02 9.66242197e-01 -1.19410660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:313.68, Y:16.81, Z:-119.43 [[ 9.75692766e-01 7.50719434e-02 2.05883051e-01 3.13675714e+02] [-8.54281027e-02 9.95464220e-01 4.18691488e-02 1.68108721e+01] [-2.01806012e-01 -5.84396240e-02 9.77680492e-01 -1.19425732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:313.72, Y:16.92, Z:-119.42 [[ 9.64240632e-01 1.04234200e-01 2.43670340e-01 3.13719802e+02] [-8.76106317e-02 9.93086812e-01 -7.81214444e-02 1.69200725e+01] [-2.50128727e-01 5.39797586e-02 9.66706680e-01 -1.19423390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:313.73, Y:16.79, Z:-119.44 [[ 9.75627838e-01 6.97205261e-02 2.08060976e-01 3.13733860e+02] [-8.47332869e-02 9.94337950e-01 6.41272992e-02 1.67897525e+01] [-2.02411936e-01 -8.01940687e-02 9.76011434e-01 -1.19439017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.27592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:313.77, Y:16.88, Z:-119.44 [[ 9.74791063e-01 9.11690082e-02 2.03643306e-01 3.13774559e+02] [-8.65550164e-02 9.95749930e-01 -3.14691271e-02 1.68767380e+01] [-2.05646817e-01 1.30494742e-02 9.78539267e-01 -1.19438281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:313.80, Y:16.87, Z:-119.45 [[ 9.73815339e-01 8.94515552e-02 2.09002645e-01 3.13803074e+02] [-8.51345395e-02 9.95930300e-01 -2.95795005e-02 1.68721759e+01] [-2.10797999e-01 1.10116274e-02 9.77467620e-01 -1.19445326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33592 meters Centerline goodness : 0.828093 Centerline is valid? [True, False] Translation: X:313.81, Y:16.87, Z:-119.45 [[ 9.74093356e-01 9.02032274e-02 2.07377701e-01 3.13808452e+02] [-8.63494008e-02 9.95883086e-01 -2.75800666e-02 1.68692055e+01] [-2.09011756e-01 8.95861940e-03 9.77872092e-01 -1.19450031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters Centerline goodness : 0.755042 Centerline is valid? [False, False] Translation: X:313.81, Y:16.87, Z:-119.46 [[ 9.74185231e-01 9.14805815e-02 2.06384201e-01 3.13813033e+02] [-8.81980972e-02 9.95787437e-01 -2.50694096e-02 1.68666547e+01] [-2.07808159e-01 6.21955473e-03 9.78149828e-01 -1.19455548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39592 meters Centerline goodness : 0.999204 Centerline is valid? [False, True] Translation: X:313.81, Y:16.87, Z:-119.46 [[ 9.74274118e-01 9.12560390e-02 2.06063774e-01 3.13813887e+02] [-8.80527618e-02 9.95809967e-01 -2.46823895e-02 1.68651160e+01] [-2.07452777e-01 5.90292888e-03 9.78227224e-01 -1.19455627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters Centerline goodness : 0.891464 Centerline is valid? [True, False] Translation: X:313.81, Y:16.86, Z:-119.46 [[ 9.74304047e-01 9.11474970e-02 2.05970284e-01 3.13814055e+02] [-8.80180148e-02 9.95821818e-01 -2.43256355e-02 1.68635985e+01] [-2.07326923e-01 5.57146960e-03 9.78255849e-01 -1.19455898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45592 meters Centerline goodness : 0.924030 Centerline is valid? [False, False] Translation: X:313.81, Y:16.86, Z:-119.46 [[ 9.74323458e-01 9.10738165e-02 2.05911048e-01 3.13814182e+02] [-8.80177828e-02 9.95830392e-01 -2.39728950e-02 1.68622636e+01] [-2.07235783e-01 5.23352004e-03 9.78277027e-01 -1.19455833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters Centerline goodness : 0.990684 Centerline is valid? [False, True] Translation: X:313.81, Y:16.86, Z:-119.46 [[ 9.74317227e-01 9.10944312e-02 2.05931409e-01 3.13814141e+02] [-8.81016395e-02 9.95830080e-01 -2.36759879e-02 1.68614259e+01] [-2.07229442e-01 4.92502815e-03 9.78279971e-01 -1.19455645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51592 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:313.84, Y:16.86, Z:-119.46 [[ 9.74010697e-01 8.85501643e-02 2.08475492e-01 3.13842389e+02] [-8.64927183e-02 9.96071613e-01 -1.89829132e-02 1.68553334e+01] [-2.09337459e-01 4.57948520e-04 9.77843351e-01 -1.19462269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:313.86, Y:16.84, Z:-119.45 [[ 9.73415951e-01 3.34817917e-02 2.26584103e-01 3.13863068e+02] [-2.75943896e-02 9.99195490e-01 -2.91019370e-02 1.68364578e+01] [-2.27376198e-01 2.20758397e-02 9.73556738e-01 -1.19451760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57592 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:313.92, Y:16.81, Z:-119.48 [[ 9.73217673e-01 7.79506675e-02 2.16266167e-01 3.13918378e+02] [-8.51433074e-02 9.96076524e-01 2.41283306e-02 1.68090513e+01] [-2.13536832e-01 -4.18957345e-02 9.76036254e-01 -1.19479910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters Centerline goodness : 0.787637 Centerline is valid? [True, False] Translation: X:313.94, Y:16.82, Z:-119.48 [[ 9.75941472e-01 8.47536417e-02 2.00885698e-01 3.13937840e+02] [-8.85446749e-02 9.96022555e-01 9.94536497e-03 1.68189171e+01] [-1.99243781e-01 -2.74934530e-02 9.79564202e-01 -1.19482386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63592 meters Centerline goodness : 0.999205 Centerline is valid? [False, True] Translation: X:313.98, Y:16.82, Z:-119.49 [[ 9.78825519e-01 8.27459860e-02 1.87226348e-01 3.13977831e+02] [-8.44508408e-02 9.96427002e-01 1.13393932e-03 1.68207213e+01] [-1.86463560e-01 -1.69213513e-02 9.82316145e-01 -1.19489499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:314.01, Y:16.85, Z:-119.49 [[ 9.78314030e-01 8.86746584e-02 1.87185637e-01 3.14010552e+02] [-8.35589200e-02 9.95885843e-01 -3.50613067e-02 1.68478639e+01] [-1.89524576e-01 1.86599385e-02 9.81698651e-01 -1.19489694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69591999999994 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:314.03, Y:16.81, Z:-119.50 [[ 9.75454174e-01 8.11111429e-02 2.04719653e-01 3.14034024e+02] [-8.33753053e-02 9.96515221e-01 2.44383502e-03 1.68081634e+01] [-2.03808028e-01 -1.94524127e-02 9.78817599e-01 -1.19499431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:314.07, Y:16.87, Z:-119.50 [[ 9.76662014e-01 9.91099444e-02 1.90547969e-01 3.14074776e+02] [-8.66946456e-02 9.93597470e-01 -7.24438195e-02 1.68729412e+01] [-1.96507883e-01 5.42336379e-02 9.79001208e-01 -1.19496815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75591999999995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:314.11, Y:16.86, Z:-119.51 [[ 9.66993786e-01 1.00209189e-01 2.34267233e-01 3.14105289e+02] [-8.62459844e-02 9.93872293e-01 -6.91338921e-02 1.68631208e+01] [-2.39759564e-01 4.66474359e-02 9.69710972e-01 -1.19506397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:314.11, Y:16.70, Z:-119.52 [[ 9.76683476e-01 5.93763245e-02 2.06310059e-01 3.14112565e+02] [-8.26561085e-02 9.90912752e-01 1.06112607e-01 1.67006862e+01] [-1.98134691e-01 -1.20691217e-01 9.72715927e-01 -1.19518529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81591999999995 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:314.16, Y:16.82, Z:-119.52 [[ 9.73922082e-01 9.52094984e-02 2.05939142e-01 3.14157790e+02] [-9.34338446e-02 9.95456319e-01 -1.83530544e-02 1.68155572e+01] [-2.06750805e-01 -1.36724085e-03 9.78392679e-01 -1.19521365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:314.20, Y:16.87, Z:-119.52 [[ 9.75201151e-01 1.10622616e-01 1.91690770e-01 3.14196904e+02] [-9.81396957e-02 9.92457406e-01 -7.34635789e-02 1.68656910e+01] [-1.98371657e-01 5.28292930e-02 9.78702075e-01 -1.19520293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87591999999995 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:314.23, Y:16.87, Z:-119.53 [[ 9.63604429e-01 1.14617072e-01 2.41514867e-01 3.14226992e+02] [-9.80024051e-02 9.91984936e-01 -7.97584761e-02 1.68659861e+01] [-2.48720793e-01 5.31865830e-02 9.67113827e-01 -1.19528154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:314.24, Y:16.76, Z:-119.54 [[ 9.73610748e-01 8.98733808e-02 2.09773420e-01 3.14243315e+02] [-1.00554512e-01 9.94094728e-01 4.07978257e-02 1.67603202e+01] [-2.04868012e-01 -6.08148654e-02 9.76898485e-01 -1.19543671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93591999999995 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:314.29, Y:16.87, Z:-119.54 [[ 9.62329758e-01 1.20466008e-01 2.43740390e-01 3.14288803e+02] [-1.03227361e-01 9.91242854e-01 -8.23511748e-02 1.68703582e+01] [-2.51526437e-01 5.40883088e-02 9.66337884e-01 -1.19540982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:314.31, Y:16.82, Z:-119.56 [[ 9.62611719e-01 1.05769090e-01 2.49382393e-01 3.14314113e+02] [-1.03018052e-01 9.94387585e-01 -2.40958694e-02 1.68177475e+01] [-2.50531353e-01 -2.49592211e-03 9.68105269e-01 -1.19556870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99591999999996 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:314.34, Y:16.78, Z:-119.57 [[ 9.72312906e-01 9.24789147e-02 2.14604899e-01 3.14338323e+02] [-9.98335096e-02 9.94722704e-01 2.36645750e-02 1.67761491e+01] [-2.11283891e-01 -4.44341320e-02 9.76414218e-01 -1.19565226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:314.38, Y:16.85, Z:-119.56 [[ 9.62102740e-01 1.12112692e-01 2.48574057e-01 3.14380701e+02] [-9.85700086e-02 9.92918046e-01 -6.63152074e-02 1.68548920e+01] [-2.54248443e-01 3.93000958e-02 9.66340122e-01 -1.19563438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05591999999996 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:314.41, Y:16.82, Z:-119.58 [[ 9.61910503e-01 9.98151004e-02 2.54489940e-01 3.14407589e+02] [-9.66462626e-02 9.95005829e-01 -2.49579675e-02 1.68157126e+01] [-2.55710156e-01 -5.88170543e-04 9.66753314e-01 -1.19577178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:314.43, Y:16.76, Z:-119.59 [[ 9.72837016e-01 8.54731953e-02 2.15133616e-01 3.14430561e+02] [-9.44583398e-02 9.95020236e-01 3.18174850e-02 1.67639933e+01] [-2.11342759e-01 -5.12743913e-02 9.76066174e-01 -1.19587062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11591999999996 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:314.47, Y:16.80, Z:-119.59 [[ 9.72667321e-01 9.67483931e-02 2.11087732e-01 3.14467054e+02] [-9.57862294e-02 9.95291850e-01 -1.48030961e-02 1.68037984e+01] [-2.11526075e-01 -5.82081016e-03 9.77355021e-01 -1.19592644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:314.50, Y:16.82, Z:-119.60 [[ 9.71559066e-01 1.01651161e-01 2.13869172e-01 3.14498119e+02] [-9.61099429e-02 9.94713058e-01 -3.61774953e-02 1.68207579e+01] [-2.16415942e-01 1.45936196e-02 9.76192177e-01 -1.19595927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17591999999996 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:314.52, Y:16.76, Z:-119.61 [[ 9.74096705e-01 8.81321686e-02 2.08250641e-01 3.14521495e+02] [-9.62974133e-02 9.94918870e-01 2.93811122e-02 1.67584232e+01] [-2.04603072e-01 -4.86740427e-02 9.77634093e-01 -1.19607895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:314.55, Y:16.78, Z:-119.61 [[ 9.71274875e-01 9.76416752e-02 2.17005116e-01 3.14552275e+02] [-1.01556580e-01 9.94805594e-01 6.93471993e-03 1.67759179e+01] [-2.15200786e-01 -2.87738166e-02 9.76145834e-01 -1.19613014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23591999999996 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:314.60, Y:16.90, Z:-119.60 [[ 9.58671998e-01 1.33958771e-01 2.51004080e-01 3.14602716e+02] [-1.01065203e-01 9.85023348e-01 -1.39695487e-01 1.69032680e+01] [-2.65958315e-01 1.08554374e-01 9.57852871e-01 -1.19600346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:314.61, Y:16.75, Z:-119.63 [[ 9.69483894e-01 9.57379974e-02 2.25688312e-01 3.14612604e+02] [-1.02875311e-01 9.94492146e-01 2.00509745e-02 1.67543783e+01] [-2.22525614e-01 -4.26568521e-02 9.73993195e-01 -1.19629150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29591999999997 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:314.65, Y:16.79, Z:-119.63 [[ 9.68774420e-01 1.07215605e-01 2.23564167e-01 3.14647774e+02] [-1.05243511e-01 9.94229901e-01 -2.07535000e-02 1.67896549e+01] [-2.24499278e-01 -3.42321790e-03 9.74468242e-01 -1.19630474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:314.68, Y:16.79, Z:-119.64 [[ 9.67784566e-01 1.08822492e-01 2.27047790e-01 3.14679220e+02] [-1.05747438e-01 9.94060823e-01 -2.57013614e-02 1.67919516e+01] [-2.28496199e-01 8.63658650e-04 9.73544422e-01 -1.19637901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35591999999997 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:314.71, Y:16.79, Z:-119.65 [[ 9.67507873e-01 1.07357169e-01 2.28916917e-01 3.14708775e+02] [-1.04383500e-01 9.94220443e-01 -2.50957175e-02 1.67892966e+01] [-2.30288084e-01 3.85155338e-04 9.73122423e-01 -1.19645323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:314.74, Y:16.79, Z:-119.65 [[ 9.67429261e-01 1.07085447e-01 2.29375962e-01 3.14738793e+02] [-1.03819779e-01 9.94248495e-01 -2.62941773e-02 1.67877988e+01] [-2.30872428e-01 1.62399478e-03 9.72982674e-01 -1.19652522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41591999999997 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:314.77, Y:16.79, Z:-119.66 [[ 9.66372571e-01 1.08226528e-01 2.33261812e-01 3.14769869e+02] [-1.03555690e-01 9.94101774e-01 -3.22161799e-02 1.67906618e+01] [-2.35372627e-01 6.97724466e-03 9.71880160e-01 -1.19658993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:314.80, Y:16.81, Z:-119.66 [[ 9.55839046e-01 1.14175957e-01 2.70805409e-01 3.14803791e+02] [-1.02065655e-01 9.93059743e-01 -5.84375643e-02 1.68088708e+01] [-2.75598115e-01 2.82169744e-02 9.60858721e-01 -1.19664530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47592 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:314.83, Y:16.78, Z:-119.68 [[ 9.56258234e-01 1.04728258e-01 2.73133999e-01 3.14831402e+02] [-1.00807139e-01 9.94500802e-01 -2.83914830e-02 1.67788421e+01] [-2.74605372e-01 -3.84267743e-04 9.61556937e-01 -1.19677558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:314.86, Y:16.78, Z:-119.69 [[ 9.56483607e-01 1.03474585e-01 2.72822505e-01 3.14862712e+02] [-9.94701534e-02 9.94632089e-01 -2.85078087e-02 1.67754371e+01] [-2.74307851e-01 1.29555280e-04 9.61641922e-01 -1.19685897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53592 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:314.88, Y:16.67, Z:-119.70 [[ 9.66733575e-01 7.28810882e-02 2.45182669e-01 3.14878214e+02] [-9.69226217e-02 9.91442744e-01 8.74487848e-02 1.66664095e+01] [-2.36711216e-01 -1.08303424e-01 9.65524815e-01 -1.19698776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:314.92, Y:16.76, Z:-119.70 [[ 9.65105707e-01 9.49436177e-02 2.44042382e-01 3.14916398e+02] [-9.42664364e-02 9.95441694e-01 -1.44801075e-02 1.67553117e+01] [-2.44304756e-01 -9.03017129e-03 9.69656456e-01 -1.19697768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59592 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:314.96, Y:16.83, Z:-119.69 [[ 9.65032511e-01 1.17200573e-01 2.34470209e-01 3.14962086e+02] [-9.48856515e-02 9.90006358e-01 -1.04327004e-01 1.68328392e+01] [-2.44354182e-01 7.84310920e-02 9.66508974e-01 -1.19693226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:314.99, Y:16.80, Z:-119.71 [[ 9.54149767e-01 1.07127794e-01 2.79502877e-01 3.14986700e+02] [-9.00281994e-02 9.93234183e-01 -7.33538114e-02 1.67967644e+01] [-2.85470044e-01 4.48273813e-02 9.57338686e-01 -1.19708348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65592 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:315.01, Y:16.75, Z:-119.72 [[ 9.54655817e-01 9.52164997e-02 2.82074617e-01 3.15011859e+02] [-9.04550830e-02 9.95452021e-01 -2.98856590e-02 1.67508774e+01] [-2.83637356e-01 3.01543523e-03 9.58926878e-01 -1.19722961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:315.03, Y:16.68, Z:-119.73 [[ 9.67383518e-01 7.93882881e-02 2.40554837e-01 3.15034151e+02] [-9.16543417e-02 9.94978281e-01 4.02206716e-02 1.66849978e+01] [-2.36153788e-01 -6.09567100e-02 9.69801870e-01 -1.19734878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71592 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:315.08, Y:16.80, Z:-119.73 [[ 9.54796513e-01 1.14369579e-01 2.74377876e-01 3.15081686e+02] [-9.14669253e-02 9.91275492e-01 -9.49036422e-02 1.67988047e+01] [-2.82838153e-01 6.55171659e-02 9.56927416e-01 -1.19732222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:315.10, Y:16.73, Z:-119.75 [[ 9.54190695e-01 9.89559792e-02 2.82361174e-01 3.15104593e+02] [-9.42432582e-02 9.95089240e-01 -3.02590829e-02 1.67336442e+01] [-2.83968883e-01 2.26229830e-03 9.58830827e-01 -1.19749089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.77592 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:315.14, Y:16.67, Z:-119.76 [[ 9.66631930e-01 9.93594049e-02 2.36115270e-01 3.15144917e+02] [-1.13784092e-01 9.92333770e-01 4.82376427e-02 1.66665191e+01] [-2.29512293e-01 -7.34942074e-02 9.70527026e-01 -1.19762284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:315.18, Y:16.80, Z:-119.75 [[ 9.54616112e-01 1.23453744e-01 2.71048432e-01 3.15178113e+02] [-9.30269627e-02 9.88109414e-01 -1.22416383e-01 1.68044556e+01] [-2.82938268e-01 9.16458392e-02 9.54749693e-01 -1.19753067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83592 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:315.18, Y:16.61, Z:-119.77 [[ 9.65482418e-01 7.08812539e-02 2.50638280e-01 3.15182355e+02] [-9.50675507e-02 9.91772150e-01 8.57330937e-02 1.66104842e+01] [-2.42499197e-01 -1.06601362e-01 9.64277081e-01 -1.19773956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:315.24, Y:16.81, Z:-119.76 [[ 9.53567579e-01 1.31969059e-01 2.70726873e-01 3.15242848e+02] [-9.74049418e-02 9.85712903e-01 -1.37413066e-01 1.68088815e+01] [-2.84993245e-01 1.04662509e-01 9.52798305e-01 -1.19763376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89592 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:315.26, Y:16.71, Z:-119.79 [[ 9.53221119e-01 1.05037473e-01 2.83437168e-01 3.15259581e+02] [-1.00587009e-01 9.94468211e-01 -3.02527961e-02 1.67055071e+01] [-2.85046931e-01 3.27507148e-04 9.58513505e-01 -1.19786216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:315.29, Y:16.70, Z:-119.79 [[ 9.53019589e-01 1.05435111e-01 2.83966725e-01 3.15291103e+02] [-1.00938083e-01 9.94426115e-01 -3.04664475e-02 1.67007890e+01] [-2.85596161e-01 3.72064305e-04 9.58349985e-01 -1.19794491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95592 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:315.32, Y:16.69, Z:-119.80 [[ 9.53466308e-01 1.04918825e-01 2.82655337e-01 3.15322663e+02] [-1.00395643e-01 9.94480553e-01 -3.04818897e-02 1.66942508e+01] [-2.84293360e-01 6.86090547e-04 9.58737094e-01 -1.19804140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:315.35, Y:16.69, Z:-119.81 [[ 9.53547608e-01 1.05538341e-01 2.82149993e-01 3.15354273e+02] [-1.01012118e-01 9.94415014e-01 -3.05831919e-02 1.66896504e+01] [-2.83801889e-01 6.61961231e-04 9.58882709e-01 -1.19813283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01592 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:315.38, Y:16.64, Z:-119.82 [[ 9.64621913e-01 9.34977109e-02 2.46501002e-01 3.15379394e+02] [-1.01754580e-01 9.94589022e-01 2.09447451e-02 1.66385567e+01] [-2.43208905e-01 -4.52863660e-02 9.68916185e-01 -1.19821588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:315.42, Y:16.72, Z:-119.82 [[ 9.52889967e-01 1.20715725e-01 2.78259636e-01 3.15421625e+02] [-1.02903225e-01 9.91643317e-01 -7.78103932e-02 1.67214717e+01] [-2.85327246e-01 4.55109292e-02 9.57349005e-01 -1.19824130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07592 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:315.44, Y:16.63, Z:-119.84 [[ 9.64100566e-01 9.64975365e-02 2.47382950e-01 3.15439375e+02] [-1.04563665e-01 9.94324132e-01 1.96458966e-02 1.66311683e+01] [-2.44083056e-01 -4.48078880e-02 9.68718594e-01 -1.19837603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:315.47, Y:16.66, Z:-119.84 [[ 9.63783097e-01 1.09534941e-01 2.43154765e-01 3.15474378e+02] [-1.08234810e-01 9.93948671e-01 -1.87420907e-02 1.66624684e+01] [-2.43736269e-01 -8.25449951e-03 9.69806421e-01 -1.19843316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13592 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:315.50, Y:16.66, Z:-119.85 [[ 9.64304557e-01 1.11642113e-01 2.40109890e-01 3.15504072e+02] [-1.09235515e-01 9.93741554e-01 -2.33522337e-02 1.66630587e+01] [-2.41214268e-01 -3.70986204e-03 9.70464793e-01 -1.19850228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:315.54, Y:16.67, Z:-119.86 [[ 9.62721916e-01 1.16605566e-01 2.44068954e-01 3.15535370e+02] [-1.10870269e-01 9.93140109e-01 -3.71551829e-02 1.66692825e+01] [-2.46727169e-01 8.71011818e-03 9.69045839e-01 -1.19857516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19591999999994 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:315.56, Y:16.65, Z:-119.87 [[ 9.62849253e-01 1.13452449e-01 2.45050725e-01 3.15562744e+02] [-1.10902063e-01 9.93535973e-01 -2.42281297e-02 1.66526016e+01] [-2.46215451e-01 -3.84859445e-03 9.69207480e-01 -1.19866570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:315.59, Y:16.64, Z:-119.87 [[ 9.62251192e-01 1.13646266e-01 2.47299756e-01 3.15591105e+02] [-1.12180912e-01 9.93485392e-01 -2.00553749e-02 1.66445644e+01] [-2.47967913e-01 -8.44400366e-03 9.68731445e-01 -1.19874439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25591999999995 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:315.61, Y:16.61, Z:-119.88 [[ 9.61783527e-01 1.05388709e-01 2.52716576e-01 3.15612378e+02] [-1.12051417e-01 9.93629025e-01 1.20764775e-02 1.66118643e+01] [-2.49833800e-01 -3.99322074e-02 9.67464982e-01 -1.19880865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:315.66, Y:16.69, Z:-119.88 [[ 9.59051558e-01 1.32990356e-01 2.50067339e-01 3.15657343e+02] [-1.17324518e-01 9.90134151e-01 -7.66114915e-02 1.66900431e+01] [-2.57788802e-01 4.41353403e-02 9.65192730e-01 -1.19884097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31591999999995 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:315.69, Y:16.61, Z:-119.92 [[ 9.47454482e-01 1.64126569e-01 2.74576898e-01 3.15689325e+02] [-1.78028179e-01 9.83673352e-01 2.63192701e-02 1.66123092e+01] [-2.65774286e-01 -7.38187356e-02 9.61204881e-01 -1.19917545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:315.72, Y:16.71, Z:-119.90 [[ 9.57630626e-01 1.47456819e-01 2.47386479e-01 3.15721128e+02] [-1.24801887e-01 9.86613054e-01 -1.04972242e-01 1.67104928e+01] [-2.59553602e-01 6.96503343e-02 9.63213766e-01 -1.19897914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37591999999995 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:315.74, Y:16.64, Z:-119.91 [[ 9.57319420e-01 1.30776798e-01 2.57753677e-01 3.15742214e+02] [-1.27564509e-01 9.91399701e-01 -2.92220697e-02 1.66397431e+01] [-2.59358487e-01 -4.90536657e-03 9.65768664e-01 -1.19914003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:315.77, Y:16.64, Z:-119.92 [[ 9.56755629e-01 1.31392261e-01 2.59527919e-01 3.15772576e+02] [-1.27809554e-01 9.91323213e-01 -3.07084017e-02 1.66376343e+01] [-2.61310897e-01 -3.78971142e-03 9.65247250e-01 -1.19922449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43591999999995 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:315.80, Y:16.64, Z:-119.93 [[ 9.55557807e-01 1.35354863e-01 2.61893752e-01 3.15802149e+02] [-1.29761764e-01 9.90792888e-01 -3.86178331e-02 1.66436410e+01] [-2.64709579e-01 2.91777669e-03 9.64323766e-01 -1.19930985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:315.84, Y:16.68, Z:-119.94 [[ 9.42122829e-01 1.54883376e-01 2.97347802e-01 3.15839651e+02] [-1.34803410e-01 9.87043819e-01 -8.70203455e-02 1.66836318e+01] [-3.06973315e-01 4.19003564e-02 9.50795322e-01 -1.19938499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49591999999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:315.86, Y:16.58, Z:-119.95 [[ 9.55161912e-01 1.20975509e-01 2.70241832e-01 3.15855236e+02] [-1.34229117e-01 9.90464024e-01 3.10412720e-02 1.65768886e+01] [-2.63909579e-01 -6.59237632e-02 9.62291947e-01 -1.19951651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters Centerline goodness : 0.810353 Centerline is valid? [True, False] Translation: X:315.88, Y:16.60, Z:-119.96 [[ 9.58185701e-01 1.17809383e-01 2.60770227e-01 3.15884290e+02] [-1.24304164e-01 9.92207801e-01 8.49438601e-03 1.65958076e+01] [-2.57737535e-01 -4.05540242e-02 9.65363524e-01 -1.19957025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:315.91, Y:16.61, Z:-119.96 [[ 9.61071962e-01 1.16421955e-01 2.50572567e-01 3.15911626e+02] [-1.19471961e-01 9.92832864e-01 -3.05855857e-03 1.66066221e+01] [-2.49132763e-01 -2.69969011e-02 9.68092988e-01 -1.19962612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:315.95, Y:16.64, Z:-119.96 [[ 9.61953666e-01 1.27843571e-01 2.41456345e-01 3.15948100e+02] [-1.23131802e-01 9.91788092e-01 -3.45679164e-02 1.66384996e+01] [-2.43892813e-01 3.52177899e-03 9.69795800e-01 -1.19963763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61591999999996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:315.98, Y:16.63, Z:-119.97 [[ 9.60423421e-01 1.28253543e-01 2.47260754e-01 3.15978674e+02] [-1.24251754e-01 9.91741394e-01 -3.17885158e-02 1.66335209e+01] [-2.49295714e-01 -1.92147265e-04 9.68427390e-01 -1.19972220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:316.00, Y:16.55, Z:-119.98 [[ 9.67461200e-01 1.02844499e-01 2.31174902e-01 3.15997419e+02] [-1.19546864e-01 9.91049745e-01 5.94049706e-02 1.65493776e+01] [-2.22996353e-01 -8.51082387e-02 9.71096913e-01 -1.19979737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67591999999996 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:316.04, Y:16.68, Z:-119.98 [[ 9.60402631e-01 1.42074773e-01 2.39669658e-01 3.16044302e+02] [-1.24916523e-01 9.88484765e-01 -8.54033476e-02 1.66813039e+01] [-2.49043467e-01 5.20828994e-02 9.67090856e-01 -1.19979029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:316.06, Y:16.61, Z:-119.99 [[ 9.61249968e-01 1.22072859e-01 2.47177501e-01 3.16063276e+02] [-1.22451566e-01 9.92377149e-01 -1.38999394e-02 1.66142310e+01] [-2.46990109e-01 -1.69059557e-02 9.68870515e-01 -1.19994756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73591999999996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:316.10, Y:16.68, Z:-120.00 [[ 9.48098408e-01 1.43261964e-01 2.83875708e-01 3.16103509e+02] [-1.20178747e-01 9.87980322e-01 -9.72211508e-02 1.66838334e+01] [-2.94391706e-01 5.80593915e-02 9.53919614e-01 -1.19997806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:316.12, Y:16.57, Z:-120.01 [[ 9.60913603e-01 1.06742180e-01 2.55443054e-01 3.16119876e+02] [-1.18458577e-01 9.92478583e-01 3.08841057e-02 1.65675813e+01] [-2.50225124e-01 -5.99363779e-02 9.66330698e-01 -1.20013476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79591999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:316.16, Y:16.62, Z:-120.02 [[ 9.59740567e-01 1.21020942e-01 2.53479735e-01 3.16156320e+02] [-1.18682217e-01 9.92628573e-01 -2.45570205e-02 1.66179546e+01] [-2.54583141e-01 -6.51516812e-03 9.67028943e-01 -1.20017410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:316.19, Y:16.63, Z:-120.02 [[ 9.59321386e-01 1.22785009e-01 2.54217073e-01 3.16186840e+02] [-1.18731035e-01 9.92433279e-01 -3.12910079e-02 1.66257659e+01] [-2.56135550e-01 -1.65323087e-04 9.66640860e-01 -1.20024639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85591999999997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:316.20, Y:16.53, Z:-120.04 [[ 9.67300344e-01 9.09378289e-02 2.36770683e-01 3.16202758e+02] [-1.12259310e-01 9.90600447e-01 7.81575432e-02 1.65257713e+01] [-2.27437667e-01 -1.02181532e-01 9.68416771e-01 -1.20035957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:316.23, Y:16.61, Z:-120.04 [[ 9.58062904e-01 1.19482959e-01 2.60459776e-01 3.16233892e+02] [-1.20338914e-01 9.92651391e-01 -1.27185691e-02 1.66086946e+01] [-2.60065411e-01 -1.91582573e-02 9.65400924e-01 -1.20038483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91591999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:316.27, Y:16.64, Z:-120.04 [[ 9.57832010e-01 1.31894268e-01 2.55267983e-01 3.16273680e+02] [-1.23525090e-01 9.91149745e-01 -4.86182597e-02 1.66416721e+01] [-2.59421266e-01 1.50361250e-02 9.65647204e-01 -1.20042760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:316.30, Y:16.61, Z:-120.05 [[ 9.60005127e-01 1.21530962e-01 2.52230811e-01 3.16298575e+02] [-1.23094010e-01 9.92348244e-01 -9.63465322e-03 1.66071737e+01] [-2.51471711e-01 -2.17987854e-02 9.67619136e-01 -1.20052622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:316.32, Y:16.63, Z:-120.06 [[ 9.53363653e-01 1.29182337e-01 2.72781358e-01 3.16324316e+02] [-1.24540787e-01 9.91620088e-01 -3.43393746e-02 1.66304666e+01] [-2.74931515e-01 -1.23449338e-03 9.61463020e-01 -1.20058579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:316.35, Y:16.63, Z:-120.07 [[ 9.54254000e-01 1.27037015e-01 2.70667507e-01 3.16352636e+02] [-1.23283904e-01 9.91890365e-01 -3.08963324e-02 1.66268898e+01] [-2.72397470e-01 -3.88599808e-03 9.62176968e-01 -1.20066466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03592 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:316.38, Y:16.61, Z:-120.08 [[ 9.51259902e-01 1.16114363e-01 2.85695736e-01 3.16376618e+02] [-1.17829302e-01 9.92970227e-01 -1.12420806e-02 1.66096717e+01] [-2.84992727e-01 -2.29691887e-02 9.58254435e-01 -1.20076471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:316.44, Y:16.77, Z:-120.06 [[ 9.33018465e-01 1.72297952e-01 3.15895487e-01 3.16437368e+02] [-1.13884648e-01 9.74174035e-01 -1.94974966e-01 1.67710256e+01] [-3.41330968e-01 1.45939597e-01 9.28544455e-01 -1.20055303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09592 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:316.43, Y:16.54, Z:-120.10 [[ 9.50215747e-01 9.03709265e-02 2.98199817e-01 3.16428693e+02] [-1.11096579e-01 9.92381227e-01 5.32639751e-02 1.65449131e+01] [-2.91114385e-01 -8.37412473e-02 9.53016169e-01 -1.20097326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:316.47, Y:16.62, Z:-120.10 [[ 9.48818974e-01 1.16364190e-01 2.93601651e-01 3.16470852e+02] [-1.11181471e-01 9.93206611e-01 -3.43410670e-02 1.66230056e+01] [-2.95603172e-01 -5.96074438e-05 9.55310819e-01 -1.20100123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15592 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:316.51, Y:16.69, Z:-120.10 [[ 9.31159904e-01 1.42765460e-01 3.35498519e-01 3.16514161e+02] [-1.11269828e-01 9.87526687e-01 -1.11400488e-01 1.66885861e+01] [-3.47217883e-01 6.64008051e-02 9.35430743e-01 -1.20103556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:316.56, Y:16.55, Z:-120.14 [[ 9.41350350e-01 1.27781134e-01 3.12300337e-01 3.16556569e+02] [-1.50948975e-01 9.87221755e-01 5.10648031e-02 1.65539541e+01] [-3.01784568e-01 -9.52112860e-02 9.48609976e-01 -1.20144824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21592 meters Centerline goodness : 0.967223 Centerline is valid? [True, True] Translation: X:317.29, Y:16.98, Z:-118.59 [[ 9.40655620e-01 1.70412128e-01 -2.93473528e-01 3.17289606e+02] [-8.40493321e-02 -7.20849345e-01 -6.87976695e-01 1.69803665e+01] [-3.28789773e-01 6.71815398e-01 -6.63747961e-01 -1.18588924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:317.46, Y:16.12, Z:-118.49 [[ 9.21226801e-01 -6.47738693e-04 -3.89025401e-01 3.17456459e+02] [ 4.46299367e-02 -9.93220259e-01 1.07339112e-01 1.61229666e+01] [-3.86457437e-01 -1.16245846e-01 -9.14952213e-01 -1.18488457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.27592 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:317.30, Y:15.42, Z:-119.33 [[ 9.51673722e-01 -2.72320814e-01 -1.41980635e-01 3.17304714e+02] [ 7.25050190e-02 -2.50015718e-01 9.65523259e-01 1.54151061e+01] [-2.98429470e-01 -9.29157422e-01 -2.18188763e-01 -1.19331672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:316.99, Y:16.30, Z:-120.33 [[ 9.52567200e-01 -1.13347716e-01 2.82432338e-01 3.16985174e+02] [ 6.81299392e-02 9.83922407e-01 1.65090911e-01 1.62976751e+01] [-2.96604183e-01 -1.38018089e-01 9.44974585e-01 -1.20332249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33592 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:317.02, Y:16.47, Z:-120.34 [[ 9.55929884e-01 -4.47611099e-02 2.90162887e-01 3.17023384e+02] [ 4.74468984e-02 9.98871286e-01 -2.22399467e-03 1.64654507e+01] [-2.89735827e-01 1.58933120e-02 9.56974688e-01 -1.20336097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:317.06, Y:16.51, Z:-120.34 [[ 9.58287916e-01 -2.22407424e-02 2.84937923e-01 3.17056781e+02] [ 3.57956802e-02 9.98457065e-01 -4.24518479e-02 1.65066487e+01] [-2.83554122e-01 5.08806397e-02 9.57605462e-01 -1.20335646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39592 meters Centerline goodness : 0.785714 Centerline is valid? [True, False] Translation: X:317.10, Y:16.49, Z:-120.35 [[ 9.62282684e-01 -2.51147474e-02 2.70889804e-01 3.17102108e+02] [ 3.33684492e-02 9.99107326e-01 -2.59055628e-02 1.64890141e+01] [-2.69997376e-01 3.39676471e-02 9.62261719e-01 -1.20352176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters Centerline goodness : 0.796990 Centerline is valid? [False, False] Translation: X:317.13, Y:16.48, Z:-120.36 [[ 9.65083403e-01 -2.56615215e-02 2.60682779e-01 3.17131374e+02] [ 3.02976982e-02 9.99445911e-01 -1.37811288e-02 1.64767007e+01] [-2.60184693e-01 2.11980269e-02 9.65326147e-01 -1.20362589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45592 meters Centerline goodness : 0.808131 Centerline is valid? [False, False] Translation: X:317.18, Y:16.47, Z:-120.38 [[ 9.69315015e-01 -2.37130692e-02 2.44675483e-01 3.17175634e+02] [ 2.63274321e-02 9.99625838e-01 -7.41953630e-03 1.64675443e+01] [-2.44407995e-01 1.36335451e-02 9.69576639e-01 -1.20375160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters Centerline goodness : 0.878928 Centerline is valid? [False, False] Translation: X:317.20, Y:16.47, Z:-120.38 [[ 9.71542739e-01 -1.76910714e-02 2.36202734e-01 3.17203491e+02] [ 2.01965499e-02 9.99762468e-01 -8.19187052e-03 1.64678691e+01] [-2.36001705e-01 1.27292326e-02 9.71669266e-01 -1.20382783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51592 meters Centerline goodness : 0.992259 Centerline is valid? [False, True] Translation: X:317.24, Y:16.47, Z:-120.39 [[ 9.73947163e-01 -1.43405748e-02 2.26321170e-01 3.17236056e+02] [ 1.81713106e-02 9.99724576e-01 -1.48517762e-02 1.64729058e+01] [-2.26045852e-01 1.85773976e-02 9.73939502e-01 -1.20389420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:317.25, Y:16.40, Z:-120.40 [[ 9.63896933e-01 -9.41062665e-02 2.49091775e-01 3.17250947e+02] [ 8.81995965e-02 9.95494944e-01 3.47943720e-02 1.63955936e+01] [-2.51243971e-01 -1.15683943e-02 9.67854658e-01 -1.20404082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57592 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:317.30, Y:16.43, Z:-120.41 [[ 9.72009486e-01 -2.24173749e-02 2.33869665e-01 3.17295244e+02] [ 1.61516420e-02 9.99458353e-01 2.86727367e-02 1.64326216e+01] [-2.34385757e-01 -2.40927930e-02 9.71845077e-01 -1.20409544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:317.32, Y:16.43, Z:-120.42 [[ 9.64315943e-01 -7.21077533e-02 2.54745431e-01 3.17317821e+02] [ 7.25193274e-02 9.97336594e-01 7.78878547e-03 1.64279795e+01] [-2.54628572e-01 1.09631173e-02 9.66976784e-01 -1.20417707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63592 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:317.37, Y:16.35, Z:-120.43 [[ 9.73422755e-01 -5.59583547e-02 2.22073868e-01 3.17370913e+02] [ 3.03479798e-02 9.92655737e-01 1.17105033e-01 1.63460572e+01] [-2.26995904e-01 -1.07253210e-01 9.67971905e-01 -1.20433209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:317.39, Y:16.55, Z:-120.42 [[ 9.75439588e-01 1.89260607e-02 2.19452533e-01 3.17392486e+02] [-2.72354585e-04 9.96404633e-01 -8.47215063e-02 1.65467027e+01] [-2.20266965e-01 8.25809423e-02 9.71937679e-01 -1.20416663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69591999999994 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:317.42, Y:16.52, Z:-120.43 [[ 9.72245163e-01 1.01701368e-02 2.33743258e-01 3.17418935e+02] [ 1.47223384e-03 9.98769071e-01 -4.95799981e-02 1.65180097e+01] [-2.33959772e-01 4.85480381e-02 9.71033425e-01 -1.20431492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters Centerline goodness : 0.922281 Centerline is valid? [True, False] Translation: X:317.42, Y:16.52, Z:-120.44 [[ 9.72497711e-01 1.17340630e-02 2.32616666e-01 3.17423619e+02] [-7.56984322e-04 9.98884096e-01 -4.72227702e-02 1.65174370e+01] [-2.32911203e-01 4.57479488e-02 9.71421379e-01 -1.20437529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75591999999995 meters Centerline goodness : 0.992404 Centerline is valid? [False, True] Translation: X:317.47, Y:16.51, Z:-120.45 [[ 9.77819659e-01 8.13334187e-03 2.09290618e-01 3.17465422e+02] [-9.36671730e-04 9.99405564e-01 -3.44621806e-02 1.65075355e+01] [-2.09446501e-01 3.35017611e-02 9.77246026e-01 -1.20448018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:317.49, Y:16.43, Z:-120.46 [[ 9.87372191e-01 -9.70588744e-03 1.58120054e-01 3.17494137e+02] [ 1.77726283e-03 9.98737227e-01 5.02074912e-02 1.64307731e+01] [-1.58407693e-01 -4.92924597e-02 9.86142615e-01 -1.20462618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81591999999995 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:317.53, Y:16.53, Z:-120.46 [[ 9.77365729e-01 1.00161974e-02 2.11319442e-01 3.17528132e+02] [-3.85294118e-04 9.98961205e-01 -4.55671245e-02 1.65250830e+01] [-2.11556334e-01 4.44543257e-02 9.76354306e-01 -1.20455584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:317.56, Y:16.42, Z:-120.47 [[ 9.88262233e-01 -1.09792170e-02 1.52371967e-01 3.17556609e+02] [-6.28399044e-04 9.97113480e-01 7.59230753e-02 1.64181091e+01] [-1.52765718e-01 -7.51276583e-02 9.85402694e-01 -1.20473475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87591999999995 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:317.59, Y:16.52, Z:-120.47 [[ 9.86092881e-01 1.04205517e-02 1.65868147e-01 3.17588856e+02] [-5.73036618e-03 9.99570780e-01 -2.87300833e-02 1.65182321e+01] [-1.66096337e-01 2.73800454e-02 9.85729344e-01 -1.20470398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:317.62, Y:16.48, Z:-120.48 [[ 9.86237504e-01 3.78503057e-03 1.65291437e-01 3.17618299e+02] [-5.39706792e-03 9.99942146e-01 9.30465142e-03 1.64844923e+01] [-1.65246655e-01 -1.00686853e-02 9.86200874e-01 -1.20480699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93591999999995 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:317.65, Y:16.48, Z:-120.49 [[ 9.84834923e-01 -1.35411978e-03 1.73488736e-01 3.17647986e+02] [-1.52408850e-03 9.99863431e-01 1.64558835e-02 1.64774150e+01] [-1.73487327e-01 -1.64707409e-02 9.84698361e-01 -1.20489569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters Centerline goodness : 0.936600 Centerline is valid? [True, False] Translation: X:317.68, Y:16.50, Z:-120.49 [[ 9.88166463e-01 5.47498105e-04 1.53384297e-01 3.17680846e+02] [ 2.84065836e-04 9.99985382e-01 -5.39947342e-03 1.64979632e+01] [-1.53385011e-01 5.37914979e-03 9.88151862e-01 -1.20491150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99591999999996 meters Centerline goodness : 0.992409 Centerline is valid? [False, True] Translation: X:317.71, Y:16.50, Z:-120.50 [[ 9.91278000e-01 1.48855386e-03 1.31779027e-01 3.17712877e+02] [-8.86680020e-05 9.99943515e-01 -1.06282098e-02 1.65041059e+01] [-1.31787404e-01 1.05238259e-02 9.91222139e-01 -1.20495171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:317.74, Y:16.48, Z:-120.50 [[ 9.93170569e-01 -5.73632014e-03 1.16530316e-01 3.17741401e+02] [ 3.16952657e-03 9.99748521e-01 2.22002065e-02 1.64754635e+01] [-1.16628358e-01 -2.16792458e-02 9.92938989e-01 -1.20502609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05591999999996 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:317.77, Y:16.55, Z:-120.50 [[ 9.84548811e-01 3.82248800e-03 1.75068634e-01 3.17773116e+02] [ 5.45285597e-03 9.98607638e-01 -5.24695280e-02 1.65458532e+01] [-1.75025439e-01 5.26134355e-02 9.83157120e-01 -1.20496016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:317.80, Y:16.37, Z:-120.51 [[ 9.91519048e-01 -2.70124591e-02 1.27123185e-01 3.17799263e+02] [ 9.88264075e-03 9.90999988e-01 1.33496656e-01 1.63732331e+01] [-1.29585148e-01 -1.31108164e-01 9.82862319e-01 -1.20513928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11591999999996 meters Centerline goodness : 0.846024 Centerline is valid? [True, False] Translation: X:317.78, Y:16.44, Z:-120.51 [[ 9.92198301e-01 -1.86515569e-02 1.23266584e-01 3.17783794e+02] [ 1.03996613e-02 9.97681892e-01 6.72509451e-02 1.64368201e+01] [-1.24235174e-01 -6.54443428e-02 9.90092248e-01 -1.20506119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters Centerline goodness : 0.745998 Centerline is valid? [False, False] Translation: X:317.83, Y:16.47, Z:-120.51 [[ 9.95345241e-01 -1.20233564e-02 9.56205545e-02 3.17828736e+02] [ 9.43601897e-03 9.99578237e-01 2.74646896e-02 1.64743830e+01] [-9.59104430e-02 -2.64345707e-02 9.95038894e-01 -1.20505997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17591999999996 meters Centerline goodness : 0.614754 Centerline is valid? [False, False] Translation: X:317.85, Y:16.49, Z:-120.51 [[ 9.96641411e-01 -8.02062311e-03 8.14958089e-02 3.17851636e+02] [ 7.62803986e-03 9.99957760e-01 5.12742816e-03 1.64947686e+01] [-8.15334918e-02 -4.48855396e-03 9.96660495e-01 -1.20506976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters Centerline goodness : 0.993793 Centerline is valid? [False, True] Translation: X:317.88, Y:16.50, Z:-120.51 [[ 9.98069288e-01 -7.85426594e-03 6.16117417e-02 3.17880480e+02] [ 8.03014426e-03 9.99964358e-01 -2.60752838e-03 1.65016644e+01] [-6.15890655e-02 3.09724517e-03 9.98096786e-01 -1.20507460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23591999999996 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:317.91, Y:16.54, Z:-120.50 [[ 9.94350869e-01 -5.28458163e-03 1.06011427e-01 3.17910647e+02] [ 9.73785571e-03 9.99089638e-01 -4.15339615e-02 1.65402189e+01] [-1.05695429e-01 4.23316547e-02 9.93497110e-01 -1.20501481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:317.94, Y:16.46, Z:-120.51 [[ 9.97978866e-01 -1.05589726e-02 6.26633195e-02 3.17941902e+02] [ 7.73407001e-03 9.98950136e-01 4.51531884e-02 1.64601769e+01] [-6.30743028e-02 -4.45772853e-02 9.97012787e-01 -1.20514404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29591999999997 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:317.97, Y:16.50, Z:-120.51 [[ 9.97711828e-01 -5.67087203e-03 6.73717301e-02 3.17974059e+02] [ 5.75718601e-03 9.99982836e-01 -1.08707125e-03 1.65047078e+01] [-6.73644091e-02 1.47245542e-03 9.97727352e-01 -1.20512730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:318.01, Y:16.50, Z:-120.52 [[ 9.97619825e-01 -5.67416277e-03 6.87203703e-02 3.18005406e+02] [ 5.70877138e-03 9.99983658e-01 -3.07237208e-04 1.65042323e+01] [-6.87175040e-02 6.98814813e-04 9.97635914e-01 -1.20515043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35591999999997 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:318.04, Y:16.55, Z:-120.51 [[ 9.94143100e-01 6.79700390e-04 1.08069579e-01 3.18036828e+02] [ 3.88023617e-03 9.99110977e-01 -4.19785679e-02 1.65454557e+01] [-1.08002035e-01 4.21520391e-02 9.93256647e-01 -1.20510831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:318.07, Y:16.51, Z:-120.52 [[ 9.94322286e-01 2.47582444e-03 1.06381683e-01 3.18069471e+02] [-2.55589366e-03 9.99996544e-01 6.16329243e-04 1.65114876e+01] [-1.06379790e-01 -8.84730173e-04 9.94325177e-01 -1.20521328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41591999999997 meters Centerline goodness : 0.891589 Centerline is valid? [True, False] Translation: X:318.10, Y:16.53, Z:-120.52 [[ 9.96398159e-01 4.40392699e-03 8.46836137e-02 3.18103940e+02] [-3.27628131e-03 9.99904172e-01 -1.34503507e-02 1.65252081e+01] [-8.47347330e-02 1.31244573e-02 9.96317105e-01 -1.20520572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters Centerline goodness : 0.997522 Centerline is valid? [False, True] Translation: X:318.14, Y:16.53, Z:-120.52 [[ 9.98049307e-01 3.93900431e-03 6.23062198e-02 3.18142236e+02] [-3.02285842e-03 9.99886033e-01 -1.47913586e-02 1.65295362e+01] [-6.23573822e-02 1.45741623e-02 9.97947469e-01 -1.20522846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:318.17, Y:16.43, Z:-120.53 [[ 9.99536401e-01 -2.39910391e-03 3.03517367e-02 3.18170985e+02] [-4.90377228e-04 9.95492779e-01 9.48361057e-02 1.64285064e+01] [-3.04424564e-02 -9.48070236e-02 9.95030093e-01 -1.20534257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:318.20, Y:16.60, Z:-120.51 [[ 9.97563206e-01 6.58086891e-03 6.94574868e-02 3.18203401e+02] [-1.67880482e-04 9.95765057e-01 -9.19343358e-02 1.66045390e+01] [-6.97683461e-02 9.16986502e-02 9.93339688e-01 -1.20507049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:318.24, Y:16.52, Z:-120.53 [[ 9.97547421e-01 1.44265656e-03 6.99790041e-02 3.18236160e+02] [-1.49177741e-03 9.99998676e-01 6.49681425e-04 1.65227483e+01] [-6.99779742e-02 -7.52481127e-04 9.97548253e-01 -1.20526080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:318.27, Y:16.52, Z:-120.53 [[ 9.97617111e-01 2.19648145e-03 6.89584999e-02 3.18269122e+02] [-2.24353155e-03 9.99997300e-01 6.04855788e-04 1.65248184e+01] [-6.89569852e-02 -7.58125054e-04 9.97619346e-01 -1.20527728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.30, Y:16.53, Z:-120.53 [[ 9.97685872e-01 4.16583915e-03 6.78641717e-02 3.18302239e+02] [-4.21358925e-03 9.99990966e-01 5.60486484e-04 1.65296110e+01] [-6.78612237e-02 -8.45141191e-04 9.97694412e-01 -1.20529458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.33, Y:16.43, Z:-120.54 [[ 9.99578119e-01 -8.32550871e-04 2.90325920e-02 3.18330998e+02] [-2.45272311e-03 9.93598904e-01 1.12938934e-01 1.64260169e+01] [-2.89407789e-02 -1.12962496e-01 9.93177681e-01 -1.20541974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.36, Y:16.63, Z:-120.51 [[ 9.97102598e-01 9.27927901e-03 7.55003571e-02 3.18363527e+02] [-1.03393473e-03 9.94093393e-01 -1.08523075e-01 1.66339515e+01] [-7.60614221e-02 1.08130578e-01 9.91222699e-01 -1.20506031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.39, Y:16.48, Z:-120.54 [[ 9.99603340e-01 -1.45969378e-03 2.81252948e-02 3.18392811e+02] [-2.83588703e-04 9.98083602e-01 6.18792673e-02 1.64764532e+01] [-2.81617203e-02 -6.18626983e-02 9.97687288e-01 -1.20537317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.42, Y:16.55, Z:-120.53 [[ 9.99449489e-01 1.10869212e-03 3.31585576e-02 3.18424020e+02] [-4.66539052e-04 9.99812322e-01 -1.93676043e-02 1.65522583e+01] [-3.31738072e-02 1.93414725e-02 9.99262431e-01 -1.20527503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:318.46, Y:16.57, Z:-120.53 [[ 9.97038888e-01 -3.58900563e-04 7.68981618e-02 3.18455575e+02] [ 3.38808014e-03 9.99223079e-01 -3.92652550e-02 1.65706017e+01] [-7.68243256e-02 3.94095233e-02 9.96265483e-01 -1.20527611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.77592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:318.49, Y:16.47, Z:-120.54 [[ 9.99558219e-01 -1.08159900e-02 2.76835867e-02 3.18485035e+02] [ 9.08152269e-03 9.98032987e-01 6.20296859e-02 1.64730859e+01] [-2.83000452e-02 -6.17508733e-02 9.97690301e-01 -1.20542997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.52, Y:16.59, Z:-120.53 [[ 9.96877183e-01 -6.33092571e-03 7.87134184e-02 3.18517468e+02] [ 1.10581346e-02 9.98151166e-01 -5.97659371e-02 1.65860977e+01] [-7.81895166e-02 6.04497225e-02 9.95104130e-01 -1.20527106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:318.55, Y:16.53, Z:-120.54 [[ 9.96696428e-01 -1.32358442e-02 8.01314159e-02 3.18549764e+02] [ 1.32387894e-02 9.99912241e-01 4.94544314e-04 1.65289572e+01] [-8.01309294e-02 5.67932390e-04 9.96784185e-01 -1.20540369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.58, Y:16.47, Z:-120.55 [[ 9.99607655e-01 -1.78047044e-02 2.16223872e-02 3.18580530e+02] [ 1.63831540e-02 9.97800594e-01 6.42305780e-02 1.64673859e+01] [-2.27184373e-02 -6.38511346e-02 9.97700809e-01 -1.20546230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:318.61, Y:16.58, Z:-120.53 [[ 9.96706690e-01 -1.23058667e-02 8.01519852e-02 3.18612786e+02] [ 1.73308893e-02 9.97906801e-01 -6.23029514e-02 1.65834107e+01] [-7.92175193e-02 6.34868736e-02 9.94833655e-01 -1.20531785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.65, Y:16.52, Z:-120.55 [[ 9.96526452e-01 -1.76406489e-02 8.13869670e-02 3.18645570e+02] [ 1.76643972e-02 9.99843881e-01 4.28272247e-04 1.65203338e+01] [-8.13818159e-02 1.01086709e-03 9.96682486e-01 -1.20545597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.68, Y:16.52, Z:-120.55 [[ 9.96550686e-01 -1.84350977e-02 8.09127798e-02 3.18678265e+02] [ 1.84644421e-02 9.99829443e-01 3.85613214e-04 1.65185825e+01] [-8.09060884e-02 1.10972623e-03 9.96721111e-01 -1.20547337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:16.52, Z:-120.55 [[ 9.96533535e-01 -1.83670625e-02 8.11391629e-02 3.18711459e+02] [ 1.83996351e-02 9.99830652e-01 3.46302482e-04 1.65171760e+01] [-8.11317827e-02 1.14782895e-03 9.96702722e-01 -1.20550272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:16.52, Z:-120.55 [[ 9.96520163e-01 -1.88591641e-02 8.11904915e-02 3.18744352e+02] [ 1.88967098e-02 9.99821394e-01 3.05989478e-04 1.65163119e+01] [-8.11817611e-02 1.22930847e-03 9.96698555e-01 -1.20551868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.78, Y:16.51, Z:-120.55 [[ 9.96469614e-01 -1.90019879e-02 8.17755079e-02 3.18777549e+02] [ 1.90438951e-02 9.99818613e-01 2.67541698e-04 1.65141087e+01] [-8.17657587e-02 1.29072702e-03 9.96650739e-01 -1.20554167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:318.81, Y:16.51, Z:-120.56 [[ 9.96522523e-01 -1.86524776e-02 8.12092776e-02 3.18810286e+02] [ 1.86959052e-02 9.99825191e-01 2.25667954e-04 1.65129039e+01] [-8.11992908e-02 1.29339776e-03 9.96697046e-01 -1.20555257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:318.84, Y:16.46, Z:-120.56 [[ 9.99282608e-01 -2.40960350e-02 2.92172969e-02 3.18836808e+02] [ 2.25962419e-02 9.98462377e-01 5.06190848e-02 1.64597512e+01] [-3.03920910e-02 -4.99225700e-02 9.98290568e-01 -1.20558370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:318.87, Y:16.48, Z:-120.56 [[ 9.99561796e-01 -1.85091068e-02 2.31004244e-02 3.18871044e+02] [ 1.78475907e-02 9.99433835e-01 2.85214607e-02 1.64816172e+01] [-2.36152525e-02 -2.80966756e-02 9.99326221e-01 -1.20556499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:318.90, Y:16.50, Z:-120.56 [[ 9.99392906e-01 -1.57607709e-02 3.10711536e-02 3.18902265e+02] [ 1.56666143e-02 9.99871919e-01 3.27149109e-03 1.65044314e+01] [-3.11187352e-02 -2.78272521e-03 9.99511821e-01 -1.20555948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19591999999994 meters Centerline goodness : 0.854737 Centerline is valid? [True, False] Translation: X:318.93, Y:16.51, Z:-120.55 [[ 9.99846858e-01 -1.39833930e-02 1.05225982e-02 3.18929441e+02] [ 1.40109864e-02 9.99898582e-01 -2.55316730e-03 1.65090113e+01] [-1.04858291e-02 2.70020828e-03 9.99941376e-01 -1.20554655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:318.95, Y:16.51, Z:-120.55 [[ 9.99955040e-01 -7.87715377e-03 5.27909692e-03 3.18951382e+02] [ 7.90262309e-03 9.99957151e-01 -4.82119251e-03 1.65111727e+01] [-5.24089345e-03 4.86269446e-03 9.99974443e-01 -1.20551027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.98, Y:16.51, Z:-120.55 [[ 9.99662940e-01 -9.02040758e-03 2.43441656e-02 3.18975018e+02] [ 9.08803556e-03 9.99955142e-01 -2.66878794e-03 1.65067185e+01] [-2.43190000e-02 2.88912905e-03 9.99700075e-01 -1.20550862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:319.01, Y:16.57, Z:-120.54 [[ 9.99811214e-01 -5.97765230e-03 1.84879432e-02 3.19007312e+02] [ 7.21309119e-03 9.97693461e-01 -6.74961422e-02 1.65655372e+01] [-1.80418316e-02 6.76167551e-02 9.97548228e-01 -1.20541241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:319.04, Y:16.55, Z:-120.55 [[ 9.97917919e-01 -5.96923460e-03 6.42198894e-02 3.19039554e+02] [ 9.05614014e-03 9.98811821e-01 -4.78845803e-02 1.65467958e+01] [-6.38577503e-02 4.83664650e-02 9.96786272e-01 -1.20547523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:319.07, Y:16.46, Z:-120.56 [[ 9.99852371e-01 -1.09098080e-02 1.32744705e-02 3.19067302e+02] [ 1.02648716e-02 9.98808043e-01 4.77192429e-02 1.64560167e+01] [-1.37792557e-02 -4.75759375e-02 9.98772578e-01 -1.20555431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:319.10, Y:16.54, Z:-120.55 [[ 9.97792708e-01 -5.40273199e-03 6.61855181e-02 3.19101586e+02] [ 8.52769110e-03 9.98857357e-01 -4.70240240e-02 1.65434470e+01] [-6.58558334e-02 4.74846379e-02 9.96698660e-01 -1.20549845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:319.13, Y:16.39, Z:-120.56 [[ 9.99573216e-01 -1.41994728e-02 2.55296058e-02 3.19125715e+02] [ 1.12293932e-02 9.93539163e-01 1.12932869e-01 1.63922746e+01] [-2.69682504e-02 -1.12597990e-01 9.93274588e-01 -1.20563532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:319.16, Y:16.60, Z:-120.54 [[ 9.97704026e-01 -2.12254288e-03 6.76917374e-02 3.19163505e+02] [ 9.56909580e-03 9.93899510e-01 -1.09873544e-01 1.65991364e+01] [-6.70455734e-02 1.10269026e-01 9.91637854e-01 -1.20538177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:319.19, Y:16.41, Z:-120.56 [[ 9.99195383e-01 -1.10877034e-02 3.85441143e-02 3.19191017e+02] [ 7.63192338e-03 9.96031332e-01 8.86754672e-02 1.64118276e+01] [-3.93743528e-02 -8.83099517e-02 9.95314530e-01 -1.20562658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:319.22, Y:16.50, Z:-120.56 [[ 9.99175578e-01 -6.36030151e-03 4.00962762e-02 3.19220846e+02] [ 6.50075519e-03 9.99973179e-01 -3.37350287e-03 1.64965310e+01] [-4.00737443e-02 3.63137776e-03 9.99190126e-01 -1.20555207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:319.25, Y:16.51, Z:-120.55 [[ 9.99537984e-01 -5.36444458e-03 2.99172238e-02 3.19251782e+02] [ 6.07810615e-03 9.99697909e-01 -2.38148415e-02 1.65131679e+01] [-2.97804327e-02 2.39856787e-02 9.99268639e-01 -1.20551900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:319.28, Y:16.47, Z:-120.56 [[ 9.98986411e-01 -6.13881165e-03 4.45922145e-02 3.19280410e+02] [ 5.22916292e-03 9.99776437e-01 2.04873554e-02 1.64699190e+01] [-4.47080134e-02 -2.02334097e-02 9.98795176e-01 -1.20558126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:319.31, Y:16.50, Z:-120.55 [[ 9.99103742e-01 -3.99214457e-03 4.21399407e-02 3.19310400e+02] [ 4.62632148e-03 9.99877352e-01 -1.49625307e-02 1.65025092e+01] [-4.20750398e-02 1.51440734e-02 9.98999674e-01 -1.20554756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:319.34, Y:16.48, Z:-120.56 [[ 9.98538928e-01 -5.19006226e-03 5.37872897e-02 3.19338667e+02] [ 4.81228852e-03 9.99962855e-01 7.15061233e-03 1.64816829e+01] [-5.38224039e-02 -6.88132481e-03 9.98526813e-01 -1.20558833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:319.37, Y:16.47, Z:-120.56 [[ 9.98796140e-01 -9.41762857e-03 4.81412331e-02 3.19365245e+02] [ 8.78001776e-03 9.99871145e-01 1.34389414e-02 1.64747093e+01] [-4.82615928e-02 -1.30000819e-02 9.98750127e-01 -1.20559587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67591999999996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:319.40, Y:16.52, Z:-120.55 [[ 9.98963077e-01 -6.05569294e-03 4.51231476e-02 3.19398410e+02] [ 7.72435347e-03 9.99289182e-01 -3.68980346e-02 1.65197500e+01] [-4.48676301e-02 3.72083213e-02 9.98299773e-01 -1.20554450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:319.42, Y:16.46, Z:-120.56 [[ 9.98297474e-01 -1.08803082e-02 5.73042089e-02 3.19424761e+02] [ 9.54554189e-03 9.99677910e-01 2.35150858e-02 1.64623594e+01] [-5.75416032e-02 -2.29280511e-02 9.98079791e-01 -1.20563229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:319.46, Y:16.56, Z:-120.55 [[ 9.95536246e-01 -5.60564130e-03 9.42133740e-02 3.19459203e+02] [ 1.37831613e-02 9.96167533e-01 -8.63728629e-02 1.65606947e+01] [-9.33681290e-02 8.72858738e-02 9.91798149e-01 -1.20550442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:319.48, Y:16.40, Z:-120.57 [[ 9.98343651e-01 -2.01908707e-02 5.38728404e-02 3.19484117e+02] [ 1.54487699e-02 9.96085729e-01 8.70319222e-02 1.63984296e+01] [-5.54192178e-02 -8.60554978e-02 9.94747788e-01 -1.20567375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79591999999997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:319.52, Y:16.49, Z:-120.56 [[ 9.98320022e-01 -1.48237413e-02 5.60124119e-02 3.19516300e+02] [ 1.54451366e-02 9.99823706e-01 -1.06772971e-02 1.64875348e+01] [-5.58442597e-02 1.15244788e-02 9.98372979e-01 -1.20560959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:319.55, Y:16.55, Z:-120.56 [[ 9.95036656e-01 -1.04844035e-02 9.89551901e-02 3.19550533e+02] [ 1.80743158e-02 9.96934935e-01 -7.61186812e-02 1.65452305e+01] [-9.78538271e-02 7.75294254e-02 9.92176303e-01 -1.20557368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85591999999997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:319.58, Y:16.47, Z:-120.57 [[ 9.94710163e-01 -1.58796338e-02 1.01486593e-01 3.19581581e+02] [ 1.60855329e-02 9.99869886e-01 -1.21075573e-03 1.64724591e+01] [-1.01454162e-01 2.83681697e-03 9.94836170e-01 -1.20570763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:319.61, Y:16.43, Z:-120.57 [[ 9.98855148e-01 -1.63838305e-02 4.49440039e-02 3.19613248e+02] [ 1.46203026e-02 9.99120874e-01 3.92902790e-02 1.64314819e+01] [-4.55482178e-02 -3.85882025e-02 9.98216565e-01 -1.20571918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91591999999997 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:319.65, Y:16.50, Z:-120.57 [[ 9.95052456e-01 -1.05991927e-02 9.87839407e-02 3.19646797e+02] [ 1.47108137e-02 9.99051364e-01 -4.09873643e-02 1.65040846e+01] [-9.82557977e-02 4.22377696e-02 9.94264436e-01 -1.20570691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:319.68, Y:16.47, Z:-120.58 [[ 9.95060963e-01 -1.26282826e-02 9.84591643e-02 3.19678833e+02] [ 1.28148970e-02 9.99917088e-01 -1.26314457e-03 1.64666230e+01] [-9.84350495e-02 2.51864990e-03 9.95140290e-01 -1.20578401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:319.71, Y:16.47, Z:-120.58 [[ 9.95296581e-01 -9.93578403e-03 9.63638697e-02 3.19711736e+02] [ 1.01063970e-02 9.99948107e-01 -1.28257577e-03 1.64653963e+01] [-9.63461256e-02 2.25043480e-03 9.95345347e-01 -1.20579545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:319.74, Y:16.47, Z:-120.58 [[ 9.95272615e-01 -8.72254877e-03 9.67281733e-02 3.19744956e+02] [ 8.89341116e-03 9.99959561e-01 -1.33541794e-03 1.64650175e+01] [-9.67126135e-02 2.18934832e-03 9.95309940e-01 -1.20582867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:319.78, Y:16.46, Z:-120.58 [[ 9.95097690e-01 -6.23378951e-03 9.87001901e-02 3.19777744e+02] [ 6.40447316e-03 9.99978493e-01 -1.41257081e-03 1.64641168e+01] [-9.86892618e-02 2.03776866e-03 9.95116213e-01 -1.20584998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:319.80, Y:16.38, Z:-120.59 [[ 9.98524082e-01 -1.20111610e-02 5.29659295e-02 3.19803586e+02] [ 7.15770224e-03 9.95835340e-01 9.08886267e-02 1.63782610e+01] [-5.38370223e-02 -9.03753682e-02 9.94451541e-01 -1.20588088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:319.84, Y:16.55, Z:-120.58 [[ 9.95101620e-01 4.00094401e-03 9.87763065e-02 3.19841123e+02] [ 4.91317973e-03 9.95944305e-01 -8.98376424e-02 1.65464826e+01] [-9.87351353e-02 8.98828893e-02 9.91046134e-01 -1.20576304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:319.87, Y:16.47, Z:-120.59 [[ 9.94984532e-01 -1.46257484e-03 1.00018204e-01 3.19871776e+02] [ 1.62440426e-03 9.99997500e-01 -1.53657967e-03 1.64655653e+01] [-1.00015706e-01 1.69134300e-03 9.94984421e-01 -1.20591614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:319.90, Y:16.38, Z:-120.60 [[ 9.98378975e-01 1.53446760e-02 5.48084151e-02 3.19903518e+02] [-2.05705233e-02 9.95159656e-01 9.60942866e-02 1.63843215e+01] [-5.30685878e-02 -9.70659532e-02 9.93862126e-01 -1.20602062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:319.94, Y:16.55, Z:-120.58 [[ 9.94905463e-01 8.66046727e-03 1.00439610e-01 3.19935748e+02] [ 1.08878899e-03 9.95321984e-01 -9.66072610e-02 1.65532213e+01] [-1.00806416e-01 9.62244493e-02 9.90241850e-01 -1.20580112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:319.97, Y:16.46, Z:-120.60 [[ 9.94754596e-01 9.77688718e-04 1.02285566e-01 3.19966696e+02] [-8.20155680e-04 9.99998412e-01 -1.58217371e-03 1.64648311e+01] [-1.02286950e-01 1.48998448e-03 9.94753819e-01 -1.20596015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:320.00, Y:16.46, Z:-120.60 [[ 9.94555820e-01 1.39684571e-03 1.04195827e-01 3.19999518e+02] [-1.23258437e-03 9.99997894e-01 -1.64084124e-03 1.64639978e+01] [-1.04197900e-01 1.50347805e-03 9.94555447e-01 -1.20598207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.27592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:320.03, Y:16.46, Z:-120.60 [[ 9.94298851e-01 1.58599639e-03 1.06617448e-01 3.20032124e+02] [-1.40918631e-03 9.99997504e-01 -1.73367594e-03 1.64636442e+01] [-1.06619931e-01 1.57354815e-03 9.94298604e-01 -1.20599751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:320.06, Y:16.46, Z:-120.60 [[ 9.94235344e-01 1.61899367e-03 1.07207557e-01 3.20064619e+02] [-1.43453313e-03 9.99997355e-01 -1.79768907e-03 1.64636382e+01] [-1.07210184e-01 1.63353322e-03 9.94235037e-01 -1.20602921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33592 meters Centerline goodness : 0.926966 Centerline is valid? [True, False] Translation: X:320.09, Y:16.47, Z:-120.60 [[ 9.94893721e-01 4.38772034e-03 1.00832688e-01 3.20088750e+02] [-3.51263989e-03 9.99954629e-01 -8.85444901e-03 1.64697467e+01] [-1.00866964e-01 8.45504681e-03 9.94863995e-01 -1.20602231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters Centerline goodness : 0.989104 Centerline is valid? [False, True] Translation: X:320.09, Y:16.47, Z:-120.60 [[ 9.94905745e-01 4.34685020e-03 1.00715758e-01 3.20089085e+02] [-3.49676322e-03 9.99956772e-01 -8.61545896e-03 1.64684713e+01] [-1.00748854e-01 8.21939046e-03 9.94877937e-01 -1.20602393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:320.12, Y:16.46, Z:-120.59 [[ 9.94446085e-01 -4.96919598e-02 9.27776555e-02 3.20115490e+02] [ 5.27780579e-02 9.98121557e-01 -3.11100425e-02 1.64617385e+01] [-9.10574590e-02 3.58338845e-02 9.95200719e-01 -1.20590998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:320.15, Y:16.43, Z:-120.61 [[ 9.94813436e-01 -1.05017603e-02 1.01172827e-01 3.20149257e+02] [ 7.98711018e-03 9.99649813e-01 2.52281000e-02 1.64299654e+01] [-1.01402337e-01 -2.42891743e-02 9.94548944e-01 -1.20606606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45592 meters Centerline goodness : 0.986188 Centerline is valid? [True, True] Translation: X:320.17, Y:16.45, Z:-120.61 [[ 9.94994443e-01 4.37447716e-03 9.98344745e-02 3.20174225e+02] [-5.75404470e-03 9.99891844e-01 1.35347882e-02 1.64456544e+01] [-9.97644692e-02 -1.40414910e-02 9.94912000e-01 -1.20609874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:320.21, Y:16.43, Z:-120.60 [[ 9.93521560e-01 -5.09207875e-02 1.01597165e-01 3.20205875e+02] [ 5.03715398e-02 9.98698779e-01 7.96594592e-03 1.64263842e+01] [-1.01870596e-01 -2.79673340e-03 9.94793727e-01 -1.20599413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:320.23, Y:16.47, Z:-120.60 [[ 9.94022808e-01 -4.40360146e-02 9.98973807e-02 3.20234846e+02] [ 4.88893174e-02 9.97713464e-01 -4.66656066e-02 1.64748437e+01] [-9.76139943e-02 5.12705921e-02 9.93902830e-01 -1.20595517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:320.27, Y:16.37, Z:-120.61 [[ 9.92816400e-01 -5.81543133e-02 1.04564199e-01 3.20266485e+02] [ 5.08828671e-02 9.96183805e-01 7.09137565e-02 1.63661581e+01] [-1.08289103e-01 -6.50838142e-02 9.91986677e-01 -1.20606814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:320.29, Y:16.50, Z:-120.59 [[ 9.92689820e-01 -4.30214029e-02 1.12765601e-01 3.20291750e+02] [ 5.17408525e-02 9.95796970e-01 -7.55730017e-02 1.64996270e+01] [-1.09040387e-01 8.08551377e-02 9.90743479e-01 -1.20594650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:320.33, Y:16.46, Z:-120.61 [[ 9.87114166e-01 -4.84618305e-02 1.52502705e-01 3.20325118e+02] [ 5.33301873e-02 9.98184470e-01 -2.79938425e-02 1.64575821e+01] [-1.50869199e-01 3.57661163e-02 9.87906509e-01 -1.20607695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:320.36, Y:16.35, Z:-120.61 [[ 9.92821476e-01 -6.38372295e-02 1.01145065e-01 3.20357339e+02] [ 5.53647711e-02 9.94886904e-01 8.44676880e-02 1.63497203e+01] [-1.06020084e-01 -7.82614613e-02 9.91279418e-01 -1.20614959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:320.39, Y:16.50, Z:-120.61 [[ 9.87091325e-01 -4.29957201e-02 1.54279241e-01 3.20385549e+02] [ 5.46800109e-02 9.95882413e-01 -7.23070898e-02 1.64957225e+01] [-1.50535087e-01 7.98096916e-02 9.85377897e-01 -1.20610187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69591999999994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:320.42, Y:16.42, Z:-120.62 [[ 9.87194630e-01 -5.19104077e-02 1.50837903e-01 3.20420433e+02] [ 5.16418518e-02 9.98649404e-01 5.69975380e-03 1.64244973e+01] [-1.50930058e-01 2.16278227e-03 9.88542078e-01 -1.20622136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:320.45, Y:16.43, Z:-120.63 [[ 9.87224753e-01 -5.12855359e-02 1.50854500e-01 3.20453175e+02] [ 5.10214630e-02 9.98681726e-01 5.62314243e-03 1.64253026e+01] [-1.50944018e-01 2.14551189e-03 9.88539984e-01 -1.20625966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75591999999995 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:320.48, Y:16.30, Z:-120.63 [[ 9.92341659e-01 -6.80522694e-02 1.03086955e-01 3.20483920e+02] [ 5.40347767e-02 9.89622979e-01 1.33141285e-01 1.63042221e+01] [-1.11077786e-01 -1.26551363e-01 9.85721298e-01 -1.20628163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:320.51, Y:16.51, Z:-120.62 [[ 9.92483832e-01 -3.79384818e-02 1.16346525e-01 3.20511346e+02] [ 4.84445337e-02 9.94866767e-01 -8.88439225e-02 1.65058050e+01] [-1.12378688e-01 9.38125098e-02 9.89227094e-01 -1.20623924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81591999999995 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:320.54, Y:16.45, Z:-120.63 [[ 9.86665528e-01 -4.49185712e-02 1.56439951e-01 3.20544561e+02] [ 4.95721550e-02 9.98432816e-01 -2.59713773e-02 1.64483578e+01] [-1.55028183e-01 3.33801282e-02 9.87345952e-01 -1.20634896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:320.58, Y:16.42, Z:-120.64 [[ 9.86451865e-01 -4.95280116e-02 1.56395952e-01 3.20578062e+02] [ 4.92523029e-02 9.98770444e-01 5.64009530e-03 1.64183284e+01] [-1.56482997e-01 2.13917828e-03 9.87678336e-01 -1.20641474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87591999999995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:320.61, Y:16.37, Z:-120.64 [[ 9.92781754e-01 -5.65246647e-02 1.05779727e-01 3.20609015e+02] [ 5.05048784e-02 9.96994390e-01 5.87489871e-02 1.63663237e+01] [-1.08782561e-01 -5.29825303e-02 9.92652611e-01 -1.20640814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:320.64, Y:16.47, Z:-120.64 [[ 9.86056410e-01 -4.01637301e-02 1.61491892e-01 3.20638775e+02] [ 4.83027317e-02 9.97736148e-01 -4.67912828e-02 1.64669773e+01] [-1.59246985e-01 5.39393439e-02 9.85764143e-01 -1.20643234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93591999999995 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:320.67, Y:16.32, Z:-120.65 [[ 9.92182630e-01 -5.68465672e-02 1.11094991e-01 3.20672123e+02] [ 4.49613427e-02 9.93273691e-01 1.06704508e-01 1.63215943e+01] [-1.16413517e-01 -1.00875379e-01 9.88064801e-01 -1.20648351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:320.70, Y:16.42, Z:-120.65 [[ 9.90558539e-01 -3.99214609e-02 1.31148994e-01 3.20699051e+02] [ 4.02847430e-02 9.99188233e-01 -1.16982021e-04 1.64223879e+01] [-1.31037861e-01 5.39918103e-03 9.91362662e-01 -1.20651135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:320.73, Y:16.51, Z:-120.65 [[ 9.85552198e-01 -2.54478027e-02 1.67449319e-01 3.20728879e+02] [ 4.04415225e-02 9.95408904e-01 -8.67501998e-02 1.65059522e+01] [-1.64472942e-01 9.22687555e-02 9.82056581e-01 -1.20646293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:320.76, Y:16.42, Z:-120.66 [[ 9.85764432e-01 -3.72986602e-02 1.63942962e-01 3.20763219e+02] [ 3.68767766e-02 9.99304033e-01 5.61711722e-03 1.64202854e+01] [-1.64038374e-01 5.08533639e-04 9.86453827e-01 -1.20660925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:320.79, Y:16.38, Z:-120.66 [[ 9.91958631e-01 -4.51565410e-02 1.18232656e-01 3.20794187e+02] [ 3.93995879e-02 9.97942272e-01 5.05855157e-02 1.63755172e+01] [-1.20273632e-01 -4.55204210e-02 9.91696599e-01 -1.20664268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:320.83, Y:16.41, Z:-120.67 [[ 9.92805889e-01 -3.99944102e-02 1.12857936e-01 3.20826557e+02] [ 3.92094373e-02 9.99188961e-01 9.16739173e-03 1.64129083e+01] [-1.13133049e-01 -4.67634431e-03 9.93568843e-01 -1.20669769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:320.85, Y:16.46, Z:-120.67 [[ 9.85349023e-01 -2.93548456e-02 1.68004749e-01 3.20853148e+02] [ 3.73705094e-02 9.98299030e-01 -4.47492176e-02 1.64644979e+01] [-1.66405372e-01 5.03720209e-02 9.84769979e-01 -1.20669996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:320.89, Y:16.36, Z:-120.68 [[ 9.91923291e-01 -4.61932645e-02 1.18128603e-01 3.20885973e+02] [ 3.87841621e-02 9.97178653e-01 6.42691387e-02 1.63622344e+01] [-1.20764122e-01 -5.91685367e-02 9.90916299e-01 -1.20677643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:320.91, Y:16.47, Z:-120.68 [[ 9.84591120e-01 -2.62792029e-02 1.72886466e-01 3.20913993e+02] [ 3.58661781e-02 9.97973276e-01 -5.25638502e-02 1.64724422e+01] [-1.71154736e-01 5.79546769e-02 9.83538160e-01 -1.20676615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:16.42, Z:-120.69 [[ 9.84368458e-01 -3.13711997e-02 1.73304894e-01 3.20947774e+02] [ 3.08399726e-02 9.99507751e-01 5.75783511e-03 1.64187693e+01] [-1.73400215e-01 -3.23113106e-04 9.84851390e-01 -1.20686091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:16.42, Z:-120.69 [[ 9.84671727e-01 -2.93522495e-02 1.71930323e-01 3.20980422e+02] [ 2.88147329e-02 9.99568961e-01 5.62172317e-03 1.64193407e+01] [-1.72021224e-01 -5.81425525e-04 9.85093072e-01 -1.20691784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:321.01, Y:16.34, Z:-120.69 [[ 9.91654971e-01 -4.03127785e-02 1.22455287e-01 3.21011406e+02] [ 2.97051408e-02 9.95743663e-01 8.72477085e-02 1.63427927e+01] [-1.25451274e-01 -8.28820724e-02 9.88631650e-01 -1.20694985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:321.04, Y:16.39, Z:-120.70 [[ 9.91378105e-01 -3.22910144e-02 1.26991113e-01 3.21036037e+02] [ 2.72249199e-02 9.98770463e-01 4.14290555e-02 1.63872220e+01] [-1.28172759e-01 -3.76145356e-02 9.91038289e-01 -1.20698075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:321.07, Y:16.44, Z:-120.70 [[ 9.91257182e-01 -2.18839491e-02 1.30116456e-01 3.21067869e+02] [ 2.36671608e-02 9.99645766e-01 -1.21740642e-02 1.64397076e+01] [-1.29803948e-01 1.51471157e-02 9.91423976e-01 -1.20699408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.10, Y:16.52, Z:-120.70 [[ 9.83087788e-01 -4.10172864e-03 1.83088988e-01 3.21098487e+02] [ 2.11642516e-02 9.95595184e-01 -9.13362193e-02 1.65174312e+01] [-1.81907879e-01 9.36664632e-02 9.78844276e-01 -1.20697879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.13, Y:16.43, Z:-120.71 [[ 9.83444861e-01 -1.63966904e-02 1.80464273e-01 3.21131802e+02] [ 1.56606631e-02 9.99862223e-01 5.50265525e-03 1.64309252e+01] [-1.80529634e-01 -2.58536786e-03 9.83566148e-01 -1.20712612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.16, Y:16.34, Z:-120.71 [[ 9.90776482e-01 -3.29054828e-02 1.31450342e-01 3.21159429e+02] [ 1.90514219e-02 9.94258684e-01 1.05293460e-01 1.63388334e+01] [-1.34160376e-01 -1.01817968e-01 9.85715017e-01 -1.20713824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.19, Y:16.42, Z:-120.72 [[ 9.90758478e-01 -1.75873839e-02 1.34492836e-01 3.21191052e+02] [ 1.38495603e-02 9.99492772e-01 2.86773182e-02 1.64158974e+01] [-1.34928977e-01 -2.65496294e-02 9.90499515e-01 -1.20719211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.22, Y:16.55, Z:-120.71 [[ 9.81974016e-01 8.41330558e-03 1.88828621e-01 3.21221139e+02] [ 1.23442170e-02 9.94021652e-01 -1.08483069e-01 1.65483219e+01] [-1.88612438e-01 1.08858496e-01 9.75999578e-01 -1.20712238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.25, Y:16.32, Z:-120.72 [[ 9.89929931e-01 -3.33404861e-02 1.37575954e-01 3.21252549e+02] [ 1.43345155e-02 9.90482309e-01 1.36891623e-01 1.63223307e+01] [-1.40830582e-01 -1.33541031e-01 9.80986004e-01 -1.20724506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.28, Y:16.57, Z:-120.72 [[ 9.80853774e-01 1.28131991e-02 1.94323688e-01 3.21282671e+02] [ 1.10280546e-02 9.92577541e-01 -1.21112371e-01 1.65717205e+01] [-1.94433165e-01 1.20936539e-01 9.73432123e-01 -1.20715792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:321.31, Y:16.36, Z:-120.73 [[ 9.91481144e-01 -2.94539013e-02 1.26876349e-01 3.21313381e+02] [ 1.61103660e-02 9.94348134e-01 1.04939241e-01 1.63645568e+01] [-1.29250131e-01 -1.02001254e-01 9.86351939e-01 -1.20731526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:321.34, Y:16.49, Z:-120.73 [[ 9.89037971e-01 -5.67890126e-03 1.47552167e-01 3.21343577e+02] [ 9.91909589e-03 9.99558232e-01 -2.80170061e-02 1.64928973e+01] [-1.47327877e-01 2.91734670e-02 9.88657375e-01 -1.20732730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.37, Y:16.48, Z:-120.74 [[ 9.88425792e-01 -1.06165073e-02 1.51333223e-01 3.21374223e+02] [ 1.18799661e-02 9.99901698e-01 -7.44714975e-03 1.64803131e+01] [-1.51239284e-01 9.15878844e-03 9.88454751e-01 -1.20739434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.40, Y:16.48, Z:-120.75 [[ 9.87931578e-01 -1.26873592e-02 1.54370424e-01 3.21403579e+02] [ 1.25565392e-02 9.99919503e-01 1.82247538e-03 1.64751587e+01] [-1.54381120e-01 1.37877305e-04 9.88011362e-01 -1.20745944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.43, Y:16.45, Z:-120.75 [[ 9.88218321e-01 -1.66339258e-02 1.52144219e-01 3.21433622e+02] [ 1.26661825e-02 9.99554888e-01 2.70110052e-02 1.64541728e+01] [-1.52525797e-01 -2.47656838e-02 9.87989141e-01 -1.20753635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:321.46, Y:16.49, Z:-120.75 [[ 9.87730130e-01 -1.04073338e-02 1.55823224e-01 3.21464080e+02] [ 1.12862665e-02 9.99924993e-01 -4.75687970e-03 1.64893584e+01] [-1.55762030e-01 6.45717584e-03 9.87773504e-01 -1.20753655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:321.49, Y:16.54, Z:-120.76 [[ 9.78628217e-01 1.66556166e-03 2.05630831e-01 3.21494828e+02] [ 1.00687461e-02 9.98379699e-01 -5.60053274e-02 1.65412716e+01] [-2.05390928e-01 5.68788383e-02 9.77025775e-01 -1.20755230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.77592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:321.52, Y:16.42, Z:-120.77 [[ 9.88174654e-01 -2.44180208e-02 1.51375739e-01 3.21524835e+02] [ 1.37830130e-02 9.97387418e-01 7.09109842e-02 1.64249762e+01] [-1.52711763e-01 -6.79860234e-02 9.85929520e-01 -1.20769661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:321.55, Y:16.49, Z:-120.77 [[ 9.87842069e-01 -1.35885692e-02 1.54865743e-01 3.21554979e+02] [ 1.28077141e-02 9.99899742e-01 6.03883079e-03 1.64874153e+01] [-1.54932276e-01 -3.98193494e-03 9.87917068e-01 -1.20771237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.59, Y:16.55, Z:-120.77 [[ 9.78273341e-01 -1.29199359e-03 2.07315220e-01 3.21586073e+02] [ 1.40688573e-02 9.98089137e-01 -6.01676194e-02 1.65511759e+01] [-2.06841333e-01 6.17770663e-02 9.76422172e-01 -1.20769466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.61, Y:16.41, Z:-120.79 [[ 9.86221580e-01 -3.57976513e-02 1.61510134e-01 3.21614622e+02] [ 2.20197556e-02 9.96025453e-01 8.63042667e-02 1.64130420e+01] [-1.63957695e-01 -8.15587166e-02 9.83090052e-01 -1.20786875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:321.64, Y:16.52, Z:-120.78 [[ 9.86478108e-01 -1.79817231e-02 1.62903651e-01 3.21644870e+02] [ 2.25760321e-02 9.99396624e-01 -2.63952834e-02 1.65164008e+01] [-1.62330726e-01 2.97160873e-02 9.86288847e-01 -1.20782242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:321.67, Y:16.49, Z:-120.79 [[ 9.86653331e-01 -2.61506403e-02 1.60721338e-01 3.21674120e+02] [ 2.55668888e-02 9.99656867e-01 5.69937496e-03 1.64851681e+01] [-1.60815231e-01 -1.51416271e-03 9.86983368e-01 -1.20791994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.71, Y:16.48, Z:-120.80 [[ 9.86622143e-01 -2.91818029e-02 1.60390679e-01 3.21705072e+02] [ 2.71202847e-02 9.99519214e-01 1.50276769e-02 1.64756849e+01] [-1.60752100e-01 -1.04767979e-02 9.86939207e-01 -1.20798157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:321.74, Y:16.49, Z:-120.80 [[ 9.86400562e-01 -2.77801818e-02 1.61994420e-01 3.21736304e+02] [ 2.77322256e-02 9.99612116e-01 2.55763986e-03 1.64866743e+01] [-1.62002636e-01 1.96960839e-03 9.86788360e-01 -1.20802586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.77, Y:16.54, Z:-120.80 [[ 9.76830755e-01 -1.46324515e-02 2.13512454e-01 3.21767439e+02] [ 2.65111067e-02 9.98249025e-01 -5.28776365e-02 1.65373493e+01] [-2.12364870e-01 5.73129530e-02 9.75508271e-01 -1.20804227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.80, Y:16.34, Z:-120.81 [[ 9.85889118e-01 -5.65100810e-02 1.57573021e-01 3.21796155e+02] [ 3.17592340e-02 9.87344007e-01 1.55380702e-01 1.63396698e+01] [-1.64359354e-01 -1.48183745e-01 9.75206430e-01 -1.20813866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:321.83, Y:16.62, Z:-120.80 [[ 9.75467311e-01 5.94342440e-03 2.20064083e-01 3.21829887e+02] [ 2.51694144e-02 9.90069567e-01 -1.38306734e-01 1.66151992e+01] [-2.18700767e-01 1.40452582e-01 9.65630906e-01 -1.20798389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:321.86, Y:16.41, Z:-120.82 [[ 9.85929731e-01 -3.83968326e-02 1.62690652e-01 3.21858300e+02] [ 2.63380671e-02 9.96787255e-01 7.56404246e-02 1.64136003e+01] [-1.65072321e-01 -7.02911862e-02 9.83773489e-01 -1.20824420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:321.89, Y:16.48, Z:-120.83 [[ 9.85665916e-01 -2.40080226e-02 1.66991969e-01 3.21888538e+02] [ 2.34491119e-02 9.99710886e-01 5.31816700e-03 1.64803011e+01] [-1.67071368e-01 -1.32612257e-03 9.85943913e-01 -1.20827116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:321.92, Y:16.50, Z:-120.83 [[ 9.84658039e-01 -1.81696703e-02 1.73546561e-01 3.21916648e+02] [ 2.17390173e-02 9.99588996e-01 -1.86883312e-02 1.65011380e+01] [-1.73135671e-01 2.21743473e-02 9.84648332e-01 -1.20830908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19591999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:321.95, Y:16.53, Z:-120.83 [[ 9.74402743e-01 -4.68658320e-03 2.24760606e-01 3.21948960e+02] [ 1.52385457e-02 9.98860102e-01 -4.52358621e-02 1.65266384e+01] [-2.24292400e-01 4.75029729e-02 9.73363440e-01 -1.20834974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:321.98, Y:16.39, Z:-120.85 [[ 9.84423784e-01 -2.71988070e-02 1.73695245e-01 3.21979277e+02] [ 9.52905180e-03 9.94763036e-01 1.01762962e-01 1.63916950e+01] [-1.75553440e-01 -9.85227287e-02 9.79527571e-01 -1.20849113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:322.01, Y:16.48, Z:-120.85 [[ 9.84984065e-01 -1.24721586e-02 1.72194184e-01 3.22007662e+02] [ 1.09603806e-02 9.99892617e-01 9.72750057e-03 1.64775863e+01] [-1.72297016e-01 -7.69411926e-03 9.85014994e-01 -1.20849731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:322.04, Y:16.53, Z:-120.85 [[ 9.82964999e-01 4.77650001e-03 1.83730770e-01 3.22039517e+02] [ 3.44045431e-03 9.99008885e-01 -4.43780435e-02 1.65303301e+01] [-1.83760644e-01 4.42541808e-02 9.81974334e-01 -1.20849069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:322.07, Y:16.48, Z:-120.86 [[ 9.83083884e-01 -3.79563274e-03 1.83116548e-01 3.22069551e+02] [ 2.21946543e-03 9.99958714e-01 8.81163040e-03 1.64818588e+01] [-1.83142434e-01 -8.25615099e-03 9.83051720e-01 -1.20858792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:322.10, Y:16.49, Z:-120.87 [[ 9.83235685e-01 1.33460730e-04 1.82339162e-01 3.22100149e+02] [-1.39175027e-03 9.99976095e-01 6.77287851e-03 1.64854030e+01] [-1.82333899e-01 -6.91310642e-03 9.83212367e-01 -1.20865071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37591999999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:322.13, Y:16.44, Z:-120.87 [[ 9.82751979e-01 -6.80331424e-03 1.84803310e-01 3.22126373e+02] [-3.49826439e-03 9.98460315e-01 5.53602937e-02 1.64435960e+01] [-1.84895405e-01 -5.50519290e-02 9.81215050e-01 -1.20869900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:322.16, Y:16.55, Z:-120.87 [[ 9.81510992e-01 1.85994547e-02 1.90499957e-01 3.22159241e+02] [-8.29481401e-03 9.98465756e-01 -5.47478729e-02 1.65489160e+01] [-1.91225965e-01 5.21554773e-02 9.80159393e-01 -1.20866927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:322.19, Y:16.52, Z:-120.88 [[ 9.80589955e-01 1.45652796e-02 1.95527983e-01 3.22188638e+02] [-1.16918027e-02 9.99806145e-01 -1.58421911e-02 1.65185602e+01] [-1.95720825e-01 1.32486189e-02 9.80570157e-01 -1.20879513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:322.22, Y:16.51, Z:-120.89 [[ 9.79289774e-01 1.15319270e-02 2.02134986e-01 3.22220184e+02] [-1.16755650e-02 9.99931722e-01 -4.81748813e-04 1.65082154e+01] [-2.02126741e-01 -1.88826848e-03 9.79357552e-01 -1.20885055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49591999999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:322.26, Y:16.49, Z:-120.90 [[ 9.81249507e-01 1.50480582e-02 1.92153485e-01 3.22261415e+02] [-2.20337496e-02 9.99169706e-01 3.42696992e-02 1.64851586e+01] [-1.91478249e-01 -3.78609872e-02 9.80766346e-01 -1.20896844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:322.28, Y:16.53, Z:-120.89 [[ 9.80225279e-01 1.22969897e-02 1.97502371e-01 3.22278162e+02] [-1.05536128e-02 9.99895525e-01 -9.87728363e-03 1.65279336e+01] [-1.97603198e-01 7.59759954e-03 9.80252647e-01 -1.20894613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55591999999996 meters Centerline goodness : 0.943334 Centerline is valid? [True, False] Translation: X:322.31, Y:16.53, Z:-120.90 [[ 9.82525816e-01 1.61879688e-02 1.85421065e-01 3.22311253e+02] [-1.52568127e-02 9.99862819e-01 -6.44768037e-03 1.65305553e+01] [-1.85500004e-01 3.50607795e-03 9.82638009e-01 -1.20901533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:322.35, Y:16.53, Z:-120.91 [[ 9.84875305e-01 1.87541789e-02 1.72246667e-01 3.22348977e+02] [-1.77149386e-02 9.99814430e-01 -7.56875675e-03 1.65349831e+01] [-1.72356649e-01 4.40294249e-03 9.85024771e-01 -1.20908250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:322.38, Y:16.56, Z:-120.92 [[ 9.83273226e-01 2.24617773e-02 1.80746318e-01 3.22378862e+02] [-1.82837189e-02 9.99526490e-01 -2.47487762e-02 1.65563891e+01] [-1.81216634e-01 2.10300942e-02 9.83218321e-01 -1.20915244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:322.41, Y:16.55, Z:-120.92 [[ 9.82797689e-01 1.97688110e-02 1.83624333e-01 3.22407732e+02] [-1.88118862e-02 9.99798871e-01 -6.95200165e-03 1.65510352e+01] [-1.83724834e-01 3.37809111e-03 9.82971909e-01 -1.20923057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:322.44, Y:16.51, Z:-120.93 [[ 9.84727307e-01 5.15554113e-03 1.74027445e-01 3.22436789e+02] [-1.30243516e-02 9.98942032e-01 4.41042386e-02 1.65070641e+01] [-1.73615948e-01 -4.56972427e-02 9.83752644e-01 -1.20932932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:322.46, Y:16.53, Z:-120.94 [[ 9.80823785e-01 -1.75759747e-02 1.94102517e-01 3.22460182e+02] [ 1.49864707e-02 9.99778138e-01 1.48013966e-02 1.65343925e+01] [-1.94319602e-01 -1.16086502e-02 9.80869579e-01 -1.20937281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:322.50, Y:16.58, Z:-120.93 [[ 9.83594994e-01 7.74532418e-03 1.80224573e-01 3.22496625e+02] [-5.16922340e-03 9.99877716e-01 -1.47591127e-02 1.65751538e+01] [-1.80316849e-01 1.35853683e-02 9.83514754e-01 -1.20932686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:322.52, Y:16.55, Z:-120.94 [[ 9.83426220e-01 -2.81274858e-03 1.81286951e-01 3.22523075e+02] [-2.21385061e-04 9.99860283e-01 1.67142282e-02 1.65498862e+01] [-1.81308635e-01 -1.64773445e-02 9.83288196e-01 -1.20941956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79591999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:322.55, Y:16.59, Z:-120.95 [[ 9.81757541e-01 -8.39885001e-04 1.90135282e-01 3.22553295e+02] [ 4.50258871e-03 9.99812514e-01 -1.88325009e-02 1.65867980e+01] [-1.90083818e-01 1.93450508e-02 9.81577257e-01 -1.20946527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:322.58, Y:16.57, Z:-120.95 [[ 9.81584091e-01 -6.23253255e-03 1.90928853e-01 3.22582388e+02] [ 7.25575036e-03 9.99962816e-01 -4.66052305e-03 1.65749068e+01] [-1.90892707e-01 5.96002738e-03 9.81592814e-01 -1.20951136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:322.61, Y:16.57, Z:-120.96 [[ 9.81388695e-01 -1.05863048e-02 1.91739824e-01 3.22612494e+02] [ 1.01064658e-02 9.99942871e-01 3.48038682e-03 1.65682307e+01] [-1.91765715e-01 -1.47780031e-03 9.81439620e-01 -1.20957901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:322.64, Y:16.54, Z:-120.96 [[ 9.82758958e-01 -2.21720153e-02 1.83557162e-01 3.22640646e+02] [ 1.65324150e-02 9.99344781e-01 3.21976478e-02 1.65395320e+01] [-1.84150778e-01 -2.86078836e-02 9.82481593e-01 -1.20963964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:322.68, Y:16.64, Z:-120.96 [[ 9.69986981e-01 7.96559545e-04 2.43155550e-01 3.22676162e+02] [ 1.82732873e-02 9.96928078e-01 -7.61609734e-02 1.66397750e+01] [-2.42469262e-01 7.83184039e-02 9.66992701e-01 -1.20956916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:322.71, Y:16.57, Z:-120.98 [[ 9.69817559e-01 -1.73915430e-02 2.43210685e-01 3.22706597e+02] [ 1.72902110e-02 9.99847258e-01 2.55143532e-03 1.65664510e+01] [-2.43217910e-01 1.73073729e-03 9.69970130e-01 -1.20977435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:322.74, Y:16.56, Z:-120.99 [[ 9.69547964e-01 -2.04431130e-02 2.44046766e-01 3.22738528e+02] [ 2.04681860e-02 9.99787543e-01 2.43347476e-03 1.65623143e+01] [-2.44044664e-01 2.63582409e-03 9.69760411e-01 -1.20985153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:322.77, Y:16.48, Z:-121.00 [[ 9.79540211e-01 -3.95818964e-02 1.97317632e-01 3.22766270e+02] [ 2.23262926e-02 9.95788422e-01 8.89210587e-02 1.64774245e+01] [-2.00006278e-01 -8.26963814e-02 9.76298519e-01 -1.20995971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:322.80, Y:16.63, Z:-120.98 [[ 9.69363090e-01 -3.18204303e-03 2.45611634e-01 3.22802875e+02] [ 2.38994575e-02 9.96393633e-01 -8.14158687e-02 1.66287074e+01] [-2.44466800e-01 8.47915229e-02 9.65943260e-01 -1.20982700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:322.83, Y:16.46, Z:-121.00 [[ 9.81857533e-01 -4.36057749e-02 1.84538127e-01 3.22828954e+02] [ 2.61387401e-02 9.95033355e-01 9.60488864e-02 1.64615068e+01] [-1.87809878e-01 -8.94827285e-02 9.78120796e-01 -1.21004358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:322.86, Y:16.63, Z:-120.99 [[ 9.68928029e-01 -1.03391610e-03 2.47340667e-01 3.22864597e+02] [ 2.35939103e-02 9.95817675e-01 -8.82637270e-02 1.66315330e+01] [-2.46214950e-01 9.13569325e-02 9.64900051e-01 -1.20994367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:322.89, Y:16.45, Z:-121.02 [[ 9.82317770e-01 -4.53251524e-02 1.81651947e-01 3.22888121e+02] [ 2.62412359e-02 9.94007367e-01 1.06116689e-01 1.64493102e+01] [-1.85373129e-01 -9.94735376e-02 9.77620488e-01 -1.21017339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:322.92, Y:16.64, Z:-121.01 [[ 9.68528230e-01 8.30231788e-03 2.48765230e-01 3.22924978e+02] [ 1.60710953e-02 9.95272147e-01 -9.57865987e-02 1.66394627e+01] [-2.48384355e-01 9.67699546e-02 9.63815744e-01 -1.21005154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:322.95, Y:16.43, Z:-121.03 [[ 9.80003646e-01 -4.16118520e-02 1.94579825e-01 3.22946529e+02] [ 1.71765549e-02 9.91929835e-01 1.25619144e-01 1.64342349e+01] [-1.98236779e-01 -1.19765008e-01 9.72809602e-01 -1.21030366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:322.98, Y:16.53, Z:-121.03 [[ 9.77856021e-01 -1.23373853e-02 2.08914792e-01 3.22978179e+02] [ 7.19394008e-03 9.99652452e-01 2.53618225e-02 1.65296848e+01] [-2.09155083e-01 -2.32972904e-02 9.77604924e-01 -1.21032928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:323.02, Y:16.68, Z:-121.01 [[ 9.66015792e-01 2.78062907e-02 2.56983074e-01 3.23016181e+02] [ 6.81587512e-03 9.91111068e-01 -1.32862313e-01 1.66764475e+01] [-2.58393177e-01 1.30098657e-01 9.57239419e-01 -1.21013159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.27592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:323.04, Y:16.50, Z:-121.05 [[ 9.78528567e-01 -1.82241031e-02 2.05303982e-01 3.23038078e+02] [ 5.52196246e-03 9.98043829e-01 6.22737827e-02 1.64987167e+01] [-2.06037257e-01 -5.98029944e-02 9.76715030e-01 -1.21047034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:323.07, Y:16.50, Z:-121.05 [[ 9.76239899e-01 -1.78365618e-02 2.15957211e-01 3.23065866e+02] [ 3.91278973e-03 9.97895058e-01 6.47313204e-02 1.64985439e+01] [-2.16657218e-01 -6.23483026e-02 9.74254761e-01 -1.21053856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:323.10, Y:16.58, Z:-121.05 [[ 9.77237351e-01 3.39084356e-03 2.12121811e-01 3.23097105e+02] [ 2.06262063e-03 9.99673139e-01 -2.54825523e-02 1.65833287e+01] [-2.12138884e-01 2.53400287e-02 9.76910936e-01 -1.21051082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:323.13, Y:16.59, Z:-121.06 [[ 9.76930835e-01 4.88085517e-03 2.13500167e-01 3.23127453e+02] [ 2.49775276e-03 9.99409256e-01 -3.42768046e-02 1.65922513e+01] [-2.13541344e-01 3.40193380e-02 9.76341528e-01 -1.21055906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:323.15, Y:16.55, Z:-121.07 [[ 9.75635140e-01 -7.43379235e-03 2.19273376e-01 3.23154910e+02] [ 4.55779190e-03 9.99896869e-01 1.36189984e-02 1.65498845e+01] [-2.19352003e-01 -1.22877710e-02 9.75568403e-01 -1.21066782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:323.19, Y:16.55, Z:-121.08 [[ 9.77298546e-01 -6.84707256e-03 2.11756155e-01 3.23186886e+02] [ 4.16840213e-03 9.99905586e-01 1.30936112e-02 1.65507354e+01] [-2.11825815e-01 -1.19136824e-02 9.77234817e-01 -1.21075074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:323.21, Y:16.57, Z:-121.08 [[ 9.74275420e-01 -1.67111206e-03 2.25354417e-01 3.23214635e+02] [ 5.09977267e-03 9.99879923e-01 -1.46332688e-02 1.65747452e+01] [-2.25302904e-01 1.54060904e-02 9.74166954e-01 -1.21077306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:323.24, Y:16.53, Z:-121.09 [[ 9.73249638e-01 -1.35587242e-02 2.29349739e-01 3.23242562e+02] [ 6.91753040e-03 9.99533853e-01 2.97358957e-02 1.65293029e+01] [-2.29646009e-01 -2.73539159e-02 9.72889754e-01 -1.21089031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:323.27, Y:16.53, Z:-121.09 [[ 9.71063987e-01 -1.42687504e-02 2.38392818e-01 3.23271096e+02] [ 6.81302216e-03 9.99462412e-01 3.20697549e-02 1.65260239e+01] [-2.38722256e-01 -2.95176085e-02 9.70639168e-01 -1.21094853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:323.31, Y:16.61, Z:-121.09 [[ 9.76022859e-01 9.52729758e-03 2.17459441e-01 3.23309710e+02] [ 3.93040570e-03 9.98107362e-01 -6.13697506e-02 1.66117058e+01] [-2.17632557e-01 6.07529833e-02 9.74138155e-01 -1.21088218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:323.33, Y:16.54, Z:-121.11 [[ 9.74372993e-01 -1.00921176e-02 2.24711860e-01 3.23332347e+02] [ 6.73104921e-03 9.99853803e-01 1.57183053e-02 1.65398552e+01] [-2.24837639e-01 -1.38029455e-02 9.74298473e-01 -1.21105867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:323.37, Y:16.60, Z:-121.10 [[ 9.69454641e-01 9.90309600e-03 2.45070659e-01 3.23365881e+02] [ 3.08385103e-03 9.98613413e-01 -5.25522650e-02 1.66019212e+01] [-2.45251277e-01 5.17027986e-02 9.68079868e-01 -1.21103967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:323.39, Y:16.53, Z:-121.12 [[ 9.70312363e-01 -7.23928629e-03 2.41746790e-01 3.23393338e+02] [ 2.46172966e-03 9.99795770e-01 2.00588437e-02 1.65344665e+01] [-2.41842630e-01 -1.88682288e-02 9.70132018e-01 -1.21121012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters Centerline goodness : 0.942690 Centerline is valid? [True, False] Translation: X:323.43, Y:16.55, Z:-121.13 [[ 9.73428953e-01 -5.40454281e-03 2.28925454e-01 3.23432884e+02] [ 3.42617352e-03 9.99953282e-01 9.03854848e-03 1.65452274e+01] [-2.28963609e-01 -8.01404645e-03 9.73401994e-01 -1.21128579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69591999999994 meters Centerline goodness : 0.999554 Centerline is valid? [False, True] Translation: X:323.49, Y:16.56, Z:-121.14 [[ 9.79316005e-01 -1.44040998e-03 2.02331630e-01 3.23490134e+02] [ 2.59238850e-03 9.99981905e-01 -5.42863039e-03 1.65582588e+01] [-2.02320149e-01 5.84086682e-03 9.79302017e-01 -1.21138684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:323.52, Y:16.47, Z:-121.15 [[ 9.85556381e-01 -1.90448417e-02 1.68273332e-01 3.23518118e+02] [ 4.13974998e-03 9.96068723e-01 8.84870700e-02 1.64683747e+01] [-1.69297026e-01 -8.65123869e-02 9.81760726e-01 -1.21148343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75591999999995 meters Centerline goodness : 0.835944 Centerline is valid? [True, False] Translation: X:323.57, Y:16.51, Z:-121.15 [[ 9.89831088e-01 -1.23551900e-02 1.41710153e-01 3.23565514e+02] [ 6.07925247e-03 9.98984870e-01 4.46348738e-02 1.65079879e+01] [-1.42117771e-01 -4.33194939e-02 9.88901391e-01 -1.21150859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters Centerline goodness : 0.930846 Centerline is valid? [False, False] Translation: X:323.61, Y:16.53, Z:-121.15 [[ 9.92970640e-01 -8.16541277e-03 1.18078934e-01 3.23614672e+02] [ 5.96436093e-03 9.99802038e-01 1.89818874e-02 1.65321619e+01] [-1.18210554e-01 -1.81441915e-02 9.92822770e-01 -1.21154447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:323.65, Y:16.54, Z:-121.16 [[ 9.95377686e-01 -6.56136263e-03 9.58134188e-02 3.23650216e+02] [ 5.71255360e-03 9.99941998e-01 9.13059666e-03 1.65417826e+01] [-9.58677705e-02 -8.54105289e-03 9.95357434e-01 -1.21157081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:323.68, Y:16.60, Z:-121.15 [[ 9.95611053e-01 1.43584194e-03 9.35765410e-02 3.23681206e+02] [ 4.02017621e-03 9.98303208e-01 -5.80908146e-02 1.66028260e+01] [-9.35011703e-02 5.82120513e-02 9.93915936e-01 -1.21150940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87591999999995 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:323.71, Y:16.56, Z:-121.16 [[ 9.95199899e-01 -4.09318625e-03 9.77773373e-02 3.23711494e+02] [ 5.22904354e-03 9.99921763e-01 -1.13633447e-02 1.65593539e+01] [-9.77231752e-02 1.18200815e-02 9.95143440e-01 -1.21160836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:323.74, Y:16.45, Z:-121.17 [[ 9.95416262e-01 -1.57013576e-02 9.43394562e-02 3.23740409e+02] [ 5.86690158e-03 9.94598460e-01 1.03631474e-01 1.64530908e+01] [-9.54570327e-02 -1.02602974e-01 9.90131600e-01 -1.21170422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93591999999995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:323.77, Y:16.62, Z:-121.16 [[ 9.94592692e-01 6.26959927e-03 1.03663245e-01 3.23772946e+02] [ 1.96954981e-03 9.96857820e-01 -7.91871688e-02 1.66230164e+01] [-1.03833989e-01 7.89631493e-02 9.91455155e-01 -1.21158089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:323.80, Y:16.54, Z:-121.17 [[ 9.94825900e-01 -2.35059278e-03 1.01567234e-01 3.23803035e+02] [ 9.77937287e-04 9.99907548e-01 1.35624263e-02 1.65381941e+01] [-1.01589723e-01 -1.33929265e-02 9.94736225e-01 -1.21170291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99591999999996 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:323.83, Y:16.57, Z:-121.17 [[ 9.94295201e-01 5.64687099e-03 1.06513691e-01 3.23834656e+02] [-3.16785263e-03 9.99720484e-01 -2.34290249e-02 1.65721066e+01] [-1.06616220e-01 2.29579474e-02 9.94035168e-01 -1.21168529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:323.87, Y:16.55, Z:-121.17 [[ 9.94200582e-01 3.00091487e-03 1.07499751e-01 3.23865907e+02] [-3.01624627e-03 9.99995451e-01 -1.99761093e-05 1.65507763e+01] [-1.07499322e-01 -3.04385464e-04 9.94205111e-01 -1.21174878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05591999999996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:323.90, Y:16.55, Z:-121.18 [[ 9.94021961e-01 5.13649614e-03 1.09059421e-01 3.23897234e+02] [-5.66022426e-03 9.99973886e-01 4.49319475e-03 1.65474757e+01] [-1.09033494e-01 -5.08363504e-03 9.94025077e-01 -1.21181650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:323.93, Y:16.56, Z:-121.18 [[ 9.93599733e-01 9.31496310e-03 1.12573541e-01 3.23929585e+02] [-8.75962040e-03 9.99946908e-01 -5.42678189e-03 1.65584548e+01] [-1.12618114e-01 4.40594756e-03 9.93628576e-01 -1.21181863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11591999999996 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:323.96, Y:16.56, Z:-121.19 [[ 9.93728307e-01 1.23739280e-02 1.11134769e-01 3.23960472e+02] [-1.26454039e-02 9.99918533e-01 1.73821316e-03 1.65552825e+01] [-1.11104206e-01 -3.13265566e-03 9.93803825e-01 -1.21186073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:323.99, Y:16.56, Z:-121.19 [[ 9.93752137e-01 1.41752080e-02 1.10705711e-01 3.23992397e+02] [-1.41509106e-02 9.99899366e-01 -1.00522224e-03 1.65594238e+01] [-1.10708820e-01 -5.67644880e-04 9.93852723e-01 -1.21189826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17591999999996 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:324.02, Y:16.55, Z:-121.19 [[ 9.93853982e-01 1.42336912e-02 1.09780071e-01 3.24024694e+02] [-1.54052866e-02 9.99832996e-01 9.83139593e-03 1.65541602e+01] [-1.09621800e-01 -1.14621655e-02 9.93907279e-01 -1.21192364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:324.04, Y:16.55, Z:-121.19 [[ 9.93700592e-01 1.45347848e-03 1.12058117e-01 3.24044567e+02] [-2.28519428e-03 9.99970787e-01 7.29409806e-03 1.65542697e+01] [-1.12044242e-01 -7.50422413e-03 9.93674884e-01 -1.21191844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23591999999996 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:324.09, Y:16.57, Z:-121.20 [[ 9.93086839e-01 1.67411574e-02 1.16182028e-01 3.24085251e+02] [-1.64076763e-02 9.99858064e-01 -3.82618394e-03 1.65723963e+01] [-1.16229592e-01 1.89345581e-03 9.93220568e-01 -1.21197274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:324.12, Y:16.58, Z:-121.20 [[ 9.92899931e-01 1.47371383e-02 1.18036196e-01 3.24116337e+02] [-1.45593646e-02 9.99891202e-01 -2.36828095e-03 1.65755738e+01] [-1.18058255e-01 6.32933993e-04 9.93006469e-01 -1.21201452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29591999999997 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:324.15, Y:16.59, Z:-121.20 [[ 9.92464463e-01 1.57770750e-02 1.21512857e-01 3.24148127e+02] [-1.46535971e-02 9.99841276e-01 -1.01338778e-02 1.65861857e+01] [-1.21653453e-01 8.27691309e-03 9.92538125e-01 -1.21203749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:324.18, Y:16.58, Z:-121.21 [[ 9.92323705e-01 1.28450704e-02 1.22998649e-01 3.24178528e+02] [-1.34836156e-02 9.99899584e-01 4.36046091e-03 1.65773257e+01] [-1.22930288e-01 -5.98545523e-03 9.92397259e-01 -1.21209797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35591999999997 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:324.21, Y:16.60, Z:-121.21 [[ 9.92112457e-01 1.19376241e-02 1.24781273e-01 3.24209464e+02] [-1.07113548e-02 9.99887569e-01 -1.04936690e-02 1.65977167e+01] [-1.24892514e-01 9.07432321e-03 9.92128780e-01 -1.21211047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters Centerline goodness : 0.860734 Centerline is valid? [True, False] Translation: X:324.22, Y:16.61, Z:-121.21 [[ 9.92505250e-01 5.91260097e-03 1.22058878e-01 3.24216528e+02] [-3.41696203e-03 9.99781022e-01 -2.06453928e-02 1.66062892e+01] [-1.22154218e-01 2.00735902e-02 9.92308116e-01 -1.21212173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41591999999997 meters Centerline goodness : 0.997868 Centerline is valid? [False, True] Translation: X:324.22, Y:16.61, Z:-121.21 [[ 9.92521124e-01 2.47008250e-03 1.22048012e-01 3.24216704e+02] [ 7.28913869e-04 9.99657519e-01 -2.61593688e-02 1.66116669e+01] [-1.22070829e-01 2.60526886e-02 9.92179404e-01 -1.21211257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:324.25, Y:16.68, Z:-121.20 [[ 9.90378533e-01 1.30679783e-02 1.37766433e-01 3.24253152e+02] [ 1.71163396e-03 9.94298386e-01 -1.06619841e-01 1.66844389e+01] [-1.38374248e-01 1.05829808e-01 9.84709409e-01 -1.21198631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:324.27, Y:16.50, Z:-121.23 [[ 9.91622921e-01 -2.25495438e-02 1.27182938e-01 3.24274160e+02] [ 1.03211334e-02 9.95327857e-01 9.59996429e-02 1.64978743e+01] [-1.28753469e-01 -9.38827743e-02 9.87222654e-01 -1.21231896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:324.31, Y:16.62, Z:-121.22 [[ 9.91015657e-01 -4.72966620e-03 1.33662249e-01 3.24309563e+02] [ 9.41576528e-03 9.99362104e-01 -3.44489314e-02 1.66180306e+01] [-1.33414055e-01 3.53979628e-02 9.90428026e-01 -1.21220162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:324.34, Y:16.60, Z:-121.23 [[ 9.90131472e-01 -1.26578661e-02 1.39568789e-01 3.24335816e+02] [ 1.47648394e-02 9.99791979e-01 -1.40711916e-02 1.65984387e+01] [-1.39361645e-01 1.59930404e-02 9.90112395e-01 -1.21225542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters Centerline goodness : 0.897741 Centerline is valid? [True, False] Translation: X:324.34, Y:16.60, Z:-121.23 [[ 9.90607095e-01 -1.26137455e-02 1.36156072e-01 3.24344786e+02] [ 1.45864887e-02 9.99802461e-01 -1.35008698e-02 1.65969048e+01] [-1.35958880e-01 1.53600964e-02 9.90595402e-01 -1.21231244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59592 meters Centerline goodness : 0.997720 Centerline is valid? [False, True] Translation: X:324.36, Y:16.59, Z:-121.24 [[ 9.91445948e-01 -1.20803985e-02 1.29957673e-01 3.24361537e+02] [ 1.31659307e-02 9.99885220e-01 -7.49703163e-03 1.65850797e+01] [-1.29852189e-01 9.14391534e-03 9.91491199e-01 -1.21238845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:324.39, Y:16.53, Z:-121.25 [[ 9.90951255e-01 -2.13432021e-02 1.32514445e-01 3.24389141e+02] [ 1.56858782e-02 9.98926343e-01 4.35903134e-02 1.65342734e+01] [-1.33302526e-01 -4.11172703e-02 9.90222100e-01 -1.21248545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:324.43, Y:16.67, Z:-121.23 [[ 9.84418197e-01 1.85912268e-03 1.75833319e-01 3.24429111e+02] [ 1.66988443e-02 9.94436649e-01 -1.04004326e-01 1.66667757e+01] [-1.75048454e-01 1.05319965e-01 9.78910488e-01 -1.21231513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:324.46, Y:16.57, Z:-121.26 [[ 9.84114060e-01 -1.43279181e-02 1.76958264e-01 3.24457446e+02] [ 1.49199119e-02 9.99886661e-01 -2.01516968e-03 1.65677829e+01] [-1.76909335e-01 4.62335854e-03 9.84216293e-01 -1.21255348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:324.48, Y:16.46, Z:-121.26 [[ 9.90701526e-01 -3.32097972e-02 1.31937847e-01 3.24482625e+02] [ 1.86537374e-02 9.93749178e-01 1.10066390e-01 1.64588151e+01] [-1.34768409e-01 -1.06581807e-01 9.85128314e-01 -1.21264891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:324.52, Y:16.65, Z:-121.25 [[ 9.84517025e-01 -8.21688502e-04 1.75287055e-01 3.24524529e+02] [ 2.04153421e-02 9.93721176e-01 -1.10006541e-01 1.66529563e+01] [-1.74096067e-01 1.11881858e-01 9.78352191e-01 -1.21247618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.77592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:324.55, Y:16.45, Z:-121.27 [[ 9.90134858e-01 -3.42646246e-02 1.35863531e-01 3.24546082e+02] [ 2.00826717e-02 9.94331303e-01 1.04412386e-01 1.64517105e+01] [-1.38671013e-01 -1.00653841e-01 9.85210208e-01 -1.21272677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:324.58, Y:16.59, Z:-121.27 [[ 9.90668921e-01 -1.29491005e-02 1.35673913e-01 3.24582859e+02] [ 2.02299005e-02 9.98420019e-01 -5.24234347e-02 1.65914139e+01] [-1.34780714e-01 5.46789372e-02 9.89365642e-01 -1.21266320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83592 meters Centerline goodness : 0.933476 Centerline is valid? [True, False] Translation: X:324.62, Y:16.57, Z:-121.27 [[ 9.93579436e-01 -1.49653436e-02 1.12142508e-01 3.24624593e+02] [ 1.86298499e-02 9.99323764e-01 -3.17008455e-02 1.65684856e+01] [-1.11592259e-01 3.35865063e-02 9.93186344e-01 -1.21273453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters Centerline goodness : 0.998163 Centerline is valid? [False, True] Translation: X:324.65, Y:16.55, Z:-121.28 [[ 9.95751891e-01 -1.54326727e-02 9.07744737e-02 3.24654813e+02] [ 1.71783001e-02 9.99681636e-01 -1.84805843e-02 1.65498636e+01] [-9.04603696e-02 1.99614279e-02 9.95699986e-01 -1.21277752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:324.69, Y:16.55, Z:-121.28 [[ 9.96141113e-01 -1.57771884e-02 8.63363386e-02 3.24685452e+02] [ 1.73354280e-02 9.99699557e-01 -1.73285578e-02 1.65460021e+01] [-8.60370036e-02 1.87583662e-02 9.96115334e-01 -1.21280774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:324.72, Y:16.55, Z:-121.29 [[ 9.95698916e-01 -1.20150931e-02 9.18656948e-02 3.24720846e+02] [ 1.48477260e-02 9.99433185e-01 -3.02134759e-02 1.65533908e+01] [-9.14506062e-02 3.14475219e-02 9.95312936e-01 -1.21287343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95592 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:324.75, Y:16.52, Z:-121.29 [[ 9.96174610e-01 -9.41223408e-03 8.68766752e-02 3.24745293e+02] [ 8.87244619e-03 9.99938876e-01 6.59731897e-03 1.65172721e+01] [-8.69334605e-02 -5.80127303e-03 9.96197229e-01 -1.21290275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:324.78, Y:16.47, Z:-121.30 [[ 9.95561741e-01 -1.15007348e-02 9.34053180e-02 3.24775680e+02] [ 6.05391644e-03 9.98275543e-01 5.83891239e-02 1.64672506e+01] [-9.39157624e-02 -5.75645098e-02 9.93914562e-01 -1.21296422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:324.81, Y:16.52, Z:-121.29 [[ 9.94473690e-01 1.54904608e-03 1.04974665e-01 3.24806257e+02] [-1.02435260e-03 9.99986714e-01 -5.05201698e-03 1.65246879e+01] [-1.04981097e-01 4.91656690e-03 9.94462064e-01 -1.21294551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:324.84, Y:16.55, Z:-121.29 [[ 9.96636432e-01 9.59607914e-03 8.13863527e-02 3.24840451e+02] [-6.93249842e-03 9.99433048e-01 -3.29472700e-02 1.65519005e+01] [-8.16563752e-02 3.22722388e-02 9.96137912e-01 -1.21289992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:324.86, Y:16.49, Z:-121.30 [[ 9.94638489e-01 2.13706325e-03 1.03391049e-01 3.24861422e+02] [-5.22237248e-03 9.99548783e-01 2.95796757e-02 1.64924000e+01] [-1.03281184e-01 -2.99610306e-02 9.94200852e-01 -1.21299277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:324.90, Y:16.55, Z:-121.31 [[ 9.91038861e-01 6.94507768e-02 1.14098931e-01 3.24899202e+02] [-6.90870570e-02 9.97585056e-01 -7.14378973e-03 1.65520780e+01] [-1.14319530e-01 -8.02986104e-04 9.93443708e-01 -1.21312243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:324.92, Y:16.61, Z:-121.29 [[ 9.88111815e-01 2.06624729e-02 1.52342057e-01 3.24924095e+02] [-5.78097441e-03 9.95219953e-01 -9.74875653e-02 1.66063497e+01] [-1.53628189e-01 9.54479296e-02 9.83508044e-01 -1.21290983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:324.95, Y:16.48, Z:-121.31 [[ 9.95205812e-01 5.34938943e-03 9.76564198e-02 3.24953282e+02] [-9.83030128e-03 9.98917739e-01 4.54611481e-02 1.64759227e+01] [-9.73075407e-02 -4.62031909e-02 9.94181325e-01 -1.21305928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19591999999994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:324.98, Y:16.52, Z:-121.31 [[ 9.93904435e-01 1.24225183e-02 1.09542939e-01 3.24983597e+02] [-1.19693725e-02 9.99916876e-01 -4.79330995e-03 1.65226304e+01] [-1.09593378e-01 3.45293177e-03 9.93970507e-01 -1.21308063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:325.01, Y:16.51, Z:-121.31 [[ 9.93895375e-01 1.27346845e-02 1.09589282e-01 3.25013303e+02] [-1.32174982e-02 9.99905872e-01 3.68032779e-03 1.65148555e+01] [-1.09532099e-01 -5.10635691e-03 9.93970143e-01 -1.21311743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:325.05, Y:16.57, Z:-121.31 [[ 9.87295671e-01 2.25956040e-02 1.57279042e-01 3.25045531e+02] [-1.45992449e-02 9.98550096e-01 -5.18128234e-02 1.65655842e+01] [-1.58221744e-01 4.88584210e-02 9.86194065e-01 -1.21311441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:325.07, Y:16.48, Z:-121.32 [[ 9.93802515e-01 1.06541459e-02 1.10648315e-01 3.25073532e+02] [-1.57730241e-02 9.98840226e-01 4.54908101e-02 1.64775243e+01] [-1.10035322e-01 -4.69541400e-02 9.92817978e-01 -1.21324218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31591999999995 meters Centerline goodness : 0.846651 Centerline is valid? [True, False] Translation: X:325.08, Y:16.49, Z:-121.32 [[ 9.94703149e-01 1.78576008e-02 1.01226238e-01 3.25079218e+02] [-2.11299712e-02 9.99285166e-01 3.13477358e-02 1.64909385e+01] [-1.00594083e-01 -3.33205991e-02 9.94369432e-01 -1.21323737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters Centerline goodness : 0.999008 Centerline is valid? [False, True] Translation: X:325.09, Y:16.51, Z:-121.32 [[ 9.95458887e-01 2.53823812e-02 9.17460595e-02 3.25085328e+02] [-2.70719546e-02 9.99485189e-01 1.72182193e-02 1.65053391e+01] [-9.12617882e-02 -1.96237745e-02 9.95633564e-01 -1.21323366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37591999999995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:325.12, Y:16.52, Z:-121.33 [[ 9.95132279e-01 2.99850694e-02 9.38756832e-02 3.25117762e+02] [-2.99152570e-02 9.99550124e-01 -2.15116367e-03 1.65234689e+01] [-9.38979535e-02 -6.67622784e-04 9.95581603e-01 -1.21326827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:325.15, Y:16.55, Z:-121.33 [[ 9.94067090e-01 3.30645137e-02 1.03621223e-01 3.25150019e+02] [-3.04595634e-02 9.99181409e-01 -2.66219390e-02 1.65479576e+01] [-1.04416641e-01 2.33077363e-02 9.94260486e-01 -1.21326748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:325.18, Y:16.47, Z:-121.33 [[ 9.96405283e-01 2.25429255e-02 8.16598331e-02 3.25176884e+02] [-2.72786574e-02 9.97981398e-01 5.73498355e-02 1.64724885e+01] [-8.02021613e-02 -5.93712496e-02 9.95008878e-01 -1.21331840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:325.21, Y:16.56, Z:-121.33 [[ 9.94505109e-01 3.49131766e-02 9.86947782e-02 3.25211932e+02] [-3.11444411e-02 9.98735180e-01 -3.94723208e-02 1.65625349e+01] [-9.99480512e-02 3.61816309e-02 9.94334590e-01 -1.21329152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49591999999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:325.24, Y:16.53, Z:-121.34 [[ 9.94607941e-01 3.03259659e-02 9.91734771e-02 3.25240884e+02] [-3.00771544e-02 9.99539563e-01 -4.00334931e-03 1.65309412e+01] [-9.92492194e-02 9.98907026e-04 9.95062106e-01 -1.21337276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters Centerline goodness : 0.769250 Centerline is valid? [True, False] Translation: X:325.24, Y:16.53, Z:-121.34 [[ 9.94618524e-01 3.03568757e-02 9.90578198e-02 3.25241277e+02] [-3.00561297e-02 9.99537959e-01 -4.52731779e-03 1.65330772e+01] [-9.91494863e-02 1.52565946e-03 9.95071380e-01 -1.21337584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:325.24, Y:16.53, Z:-121.34 [[ 9.94505216e-01 3.39948090e-02 9.90137734e-02 3.25241726e+02] [-3.41537474e-02 9.99416587e-01 -8.98461144e-05 1.65319977e+01] [-9.89590617e-02 -3.29233898e-03 9.95086059e-01 -1.21337989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:325.28, Y:16.56, Z:-121.34 [[ 9.93847473e-01 3.72479745e-02 1.04306225e-01 3.25275592e+02] [-3.38762364e-02 9.98850491e-01 -3.39130828e-02 1.65639665e+01] [-1.05449517e-01 3.01709294e-02 9.93966858e-01 -1.21335126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61591999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:325.30, Y:16.53, Z:-121.34 [[ 9.93663197e-01 3.51100062e-02 1.06774242e-01 3.25304418e+02] [-3.57722080e-02 9.99350752e-01 4.29237816e-03 1.65333478e+01] [-1.06554213e-01 -8.08472858e-03 9.94274025e-01 -1.21344126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:325.34, Y:16.55, Z:-121.35 [[ 9.93179967e-01 3.89260795e-02 1.09901377e-01 3.25336594e+02] [-3.77004043e-02 9.99201778e-01 -1.32093120e-02 1.65515396e+01] [-1.10327838e-01 8.97589769e-03 9.93854718e-01 -1.21345030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:325.36, Y:16.54, Z:-121.35 [[ 9.92982639e-01 3.89090774e-02 1.11676152e-01 3.25364661e+02] [-3.99010919e-02 9.99181433e-01 6.66090088e-03 1.65371662e+01] [-1.11325568e-01 -1.10701593e-02 9.93722330e-01 -1.21352330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:325.40, Y:16.56, Z:-121.35 [[ 9.92717971e-01 4.11977518e-02 1.13197947e-01 3.25397766e+02] [-3.96992901e-02 9.99092051e-01 -1.54609484e-02 1.65584318e+01] [-1.13732125e-01 1.08544832e-02 9.93452155e-01 -1.21350308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73591999999996 meters Centerline goodness : 0.877150 Centerline is valid? [True, False] Translation: X:325.42, Y:16.55, Z:-121.35 [[ 9.94889706e-01 3.83502748e-02 9.34009077e-02 3.25424908e+02] [-3.76661329e-02 9.99249150e-01 -9.07733811e-03 1.65539342e+01] [-9.36788961e-02 5.51289924e-03 9.95587200e-01 -1.21353349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters Centerline goodness : 0.971083 Centerline is valid? [False, True] Translation: X:325.43, Y:16.56, Z:-121.35 [[ 9.94910691e-01 3.83659301e-02 9.31706585e-02 3.25425600e+02] [-3.76432078e-02 9.99246059e-01 -9.50271928e-03 1.65557343e+01] [-9.34649940e-02 5.94711456e-03 9.95604804e-01 -1.21353738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79591999999997 meters Centerline goodness : 0.925267 Centerline is valid? [True, False] Translation: X:325.45, Y:16.56, Z:-121.35 [[ 9.96622399e-01 3.62225850e-02 7.37001915e-02 3.25452731e+02] [-3.60195013e-02 9.99342745e-01 -4.08324308e-03 1.65560233e+01] [-7.37996574e-02 1.41480737e-03 9.97272084e-01 -1.21353906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters Centerline goodness : 0.998810 Centerline is valid? [False, True] Translation: X:325.45, Y:16.56, Z:-121.35 [[ 9.96627037e-01 3.62765756e-02 7.36108654e-02 3.25453088e+02] [-3.60030321e-02 9.99338971e-01 -5.04002437e-03 1.65599024e+01] [-7.37450414e-02 2.37281021e-03 9.97274305e-01 -1.21354036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85591999999997 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:325.48, Y:16.54, Z:-121.36 [[ 9.95588171e-01 -1.70518975e-02 9.22682277e-02 3.25479186e+02] [ 1.78257670e-02 9.99812455e-01 -7.56948824e-03 1.65429971e+01] [-9.21218491e-02 9.18084489e-03 9.95705417e-01 -1.21360401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters Centerline goodness : 0.888376 Centerline is valid? [True, False] Translation: X:325.50, Y:16.55, Z:-121.36 [[ 9.97258514e-01 -1.42577076e-02 7.26097313e-02 3.25501899e+02] [ 1.53103681e-02 9.99785310e-01 -1.39616040e-02 1.65523278e+01] [-7.23950822e-02 1.50350102e-02 9.97262704e-01 -1.21360638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91591999999997 meters Centerline goodness : 0.905811 Centerline is valid? [False, False] Translation: X:325.51, Y:16.56, Z:-121.36 [[ 9.98224222e-01 -1.40161606e-02 5.78960336e-02 3.25514667e+02] [ 1.48853549e-02 9.99782476e-01 -1.46091189e-02 1.65561671e+01] [-5.76786761e-02 1.54449794e-02 9.98215720e-01 -1.21361457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters Centerline goodness : 0.905811 Centerline is valid? [False, False] Translation: X:325.51, Y:16.55, Z:-121.36 [[ 9.98203510e-01 -1.22020612e-02 5.86588650e-02 3.25510069e+02] [ 1.29543125e-02 9.99838441e-01 -1.24610397e-02 1.65542841e+01] [-5.84973377e-02 1.31985388e-02 9.98200311e-01 -1.21357043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97592 meters Centerline goodness : 0.999552 Centerline is valid? [False, True] Translation: X:325.55, Y:16.57, Z:-121.36 [[ 9.99284835e-01 -1.02904439e-02 3.63857722e-02 3.25546745e+02] [ 1.11509693e-02 9.99661017e-01 -2.35267493e-02 1.65684977e+01] [-3.61313374e-02 2.39156605e-02 9.99060843e-01 -1.21355563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters Centerline goodness : 0.954487 Centerline is valid? [True, True] Translation: X:325.57, Y:16.55, Z:-121.38 [[ 9.96773237e-01 7.08035502e-02 3.78149504e-02 3.25572917e+02] [-7.23936438e-02 9.96471106e-01 4.24793563e-02 1.65477490e+01] [-3.46738162e-02 -4.50798475e-02 9.98381457e-01 -1.21384084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:325.61, Y:16.58, Z:-121.36 [[ 9.99317852e-01 -1.24736741e-02 3.47597057e-02 3.25606812e+02] [ 1.35218012e-02 9.99455927e-01 -3.00833925e-02 1.65808631e+01] [-3.43655434e-02 3.05328850e-02 9.98942817e-01 -1.21356973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:325.64, Y:16.59, Z:-121.36 [[ 9.97119853e-01 -8.19760862e-03 7.53976040e-02 3.25640814e+02] [ 1.07678968e-02 9.99372410e-01 -3.37466930e-02 1.65879887e+01] [-7.50736430e-02 3.44613711e-02 9.96582341e-01 -1.21355643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09592 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:325.67, Y:16.56, Z:-121.36 [[ 9.97124157e-01 -9.57662516e-03 7.51778208e-02 3.25674436e+02] [ 9.52308459e-03 9.99954081e-01 1.07063130e-03 1.65610666e+01] [-7.51846217e-02 -3.51627587e-04 9.97169569e-01 -1.21362416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:325.70, Y:16.54, Z:-121.37 [[ 9.99248746e-01 -1.48851738e-02 3.57823400e-02 3.25702289e+02] [ 1.39912361e-02 9.99586918e-01 2.51045617e-02 1.65400097e+01] [-3.61412447e-02 -2.45850626e-02 9.99044236e-01 -1.21367379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:325.73, Y:16.57, Z:-121.37 [[ 9.99218592e-01 -1.33588874e-02 3.71987402e-02 3.25733233e+02] [ 1.33901578e-02 9.99910173e-01 -5.91612182e-04 1.65655970e+01] [-3.71874954e-02 1.08924689e-03 9.99307712e-01 -1.21365129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:325.76, Y:16.56, Z:-121.37 [[ 9.99079022e-01 -1.13695222e-02 4.13744125e-02 3.25764443e+02] [ 1.10644117e-02 9.99909936e-01 7.59591694e-03 1.65616250e+01] [-4.14570481e-02 -7.13113773e-03 9.99114838e-01 -1.21369172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21592 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:325.80, Y:16.53, Z:-121.37 [[ 9.99613192e-01 -1.33683306e-02 2.43876002e-02 3.25795768e+02] [ 1.23671955e-02 9.99092839e-01 4.07498725e-02 1.65342864e+01] [-2.49102345e-02 -4.04325039e-02 9.98871710e-01 -1.21374464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters Centerline goodness : 0.984187 Centerline is valid? [True, True] Translation: X:325.84, Y:16.58, Z:-121.39 [[ 9.97401604e-01 6.17334091e-02 3.71352395e-02 3.25840038e+02] [-6.28294745e-02 9.97599665e-01 2.91095585e-02 1.65790380e+01] [-3.52490702e-02 -3.13671079e-02 9.98886184e-01 -1.21390230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.27592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:325.85, Y:16.63, Z:-121.36 [[ 9.99243109e-01 -1.23132073e-02 3.68997752e-02 3.25854895e+02] [ 1.46020817e-02 9.97943380e-01 -6.24162558e-02 1.66319488e+01] [-3.60553421e-02 6.29078271e-02 9.97367845e-01 -1.21359897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:325.89, Y:16.60, Z:-121.37 [[ 9.96795547e-01 -1.02652124e-02 7.93300858e-02 3.25890418e+02] [ 1.22526427e-02 9.99622122e-01 -2.46066326e-02 1.66003690e+01] [-7.90475164e-02 2.54997850e-02 9.96544656e-01 -1.21368813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:325.92, Y:16.56, Z:-121.38 [[ 9.99192973e-01 -1.81355773e-02 3.58399679e-02 3.25918993e+02] [ 1.74520755e-02 9.99661552e-01 1.92926568e-02 1.65608802e+01] [-3.61777214e-02 -1.86516053e-02 9.99171302e-01 -1.21376611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters Centerline goodness : 0.779423 Centerline is valid? [True, False] Translation: X:325.93, Y:16.58, Z:-121.37 [[ 9.99474038e-01 -1.51123866e-02 2.86925477e-02 3.25925043e+02] [ 1.51860683e-02 9.99881919e-01 -2.35179150e-03 1.65829032e+01] [-2.86536185e-02 2.78628154e-03 9.99585517e-01 -1.21371530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39592 meters Centerline goodness : 0.999554 Centerline is valid? [False, True] Translation: X:325.95, Y:16.59, Z:-121.37 [[ 9.99867866e-01 -1.37856639e-02 8.61434533e-03 3.25950159e+02] [ 1.38595218e-02 9.99867193e-01 -8.57376669e-03 1.65902995e+01] [-8.49500622e-03 8.69202451e-03 9.99926139e-01 -1.21370252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters Centerline goodness : 0.954286 Centerline is valid? [True, True] Translation: X:325.99, Y:16.55, Z:-121.40 [[ 9.96736985e-01 7.28570009e-02 -3.47453715e-02 3.25986942e+02] [-7.00173713e-02 9.94575179e-01 7.69271154e-02 1.65529226e+01] [ 4.01615630e-02 -7.42433215e-02 9.96431121e-01 -1.21404173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:326.00, Y:16.60, Z:-121.37 [[ 9.98915740e-01 -2.14990749e-02 -4.12932666e-02 3.25997117e+02] [ 2.06789056e-02 9.99582335e-01 -2.01875813e-02 1.66038602e+01] [ 4.17100342e-02 1.93117931e-02 9.98943105e-01 -1.21365686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:326.03, Y:16.65, Z:-121.36 [[ 9.99778139e-01 -1.58234744e-02 1.39029127e-02 3.26030466e+02] [ 1.67422227e-02 9.97499494e-01 -6.86619120e-02 1.66513494e+01] [-1.27816783e-02 6.88794443e-02 9.97543107e-01 -1.21355127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:326.06, Y:16.59, Z:-121.37 [[ 9.99754670e-01 -1.61114390e-02 1.51993735e-02 3.26063789e+02] [ 1.61110198e-02 9.99870198e-01 1.50033737e-04 1.65892675e+01] [-1.51998178e-02 9.48804778e-05 9.99884472e-01 -1.21368201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:326.10, Y:16.59, Z:-121.37 [[ 9.99700220e-01 -1.69044049e-02 1.77119131e-02 3.26096569e+02] [ 1.69041620e-02 9.99857101e-01 1.63434548e-04 1.65898921e+01] [-1.77121449e-02 1.36019495e-04 9.99843118e-01 -1.21367960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:326.13, Y:16.54, Z:-121.37 [[ 9.99795880e-01 -1.74342229e-02 -1.02101449e-02 3.26127511e+02] [ 1.79540382e-02 9.98419739e-01 5.32510736e-02 1.65427687e+01] [ 9.26561909e-03 -5.34235173e-02 9.98528956e-01 -1.21373572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:326.16, Y:16.64, Z:-121.36 [[ 9.99677469e-01 -1.77153378e-02 1.81968191e-02 3.26157468e+02] [ 1.86362604e-02 9.98486034e-01 -5.17525735e-02 1.66409455e+01] [-1.72524554e-02 5.20750024e-02 9.98494140e-01 -1.21355222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:326.19, Y:16.59, Z:-121.37 [[ 9.99700995e-01 -1.70365690e-02 1.75407021e-02 3.26191555e+02] [ 1.70365069e-02 9.99854856e-01 1.52975445e-04 1.65942324e+01] [-1.75407624e-02 1.45902589e-04 9.99846138e-01 -1.21365972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:326.22, Y:16.50, Z:-121.38 [[ 9.99670519e-01 -1.70105614e-02 -1.92222216e-02 3.26219579e+02] [ 1.87809168e-02 9.95201864e-01 9.60235746e-02 1.65048609e+01] [ 1.74965758e-02 -9.63529476e-02 9.95193438e-01 -1.21377832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69591999999994 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:326.25, Y:16.59, Z:-121.36 [[ 9.99643858e-01 -1.69751164e-02 -2.05913027e-02 3.26245511e+02] [ 1.70473967e-02 9.99849105e-01 3.33977867e-03 1.65913652e+01] [ 2.05315024e-02 -3.68961734e-03 9.99782398e-01 -1.21362596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:326.27, Y:16.61, Z:-121.36 [[ 9.99794001e-01 -1.52061430e-02 -1.34435474e-02 3.26272732e+02] [ 1.49212396e-02 9.99667182e-01 -2.10447670e-02 1.66144203e+01] [ 1.37590829e-02 2.08398374e-02 9.99688146e-01 -1.21355865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75591999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:326.30, Y:16.60, Z:-121.36 [[ 9.99745917e-01 -1.56995127e-02 -1.61748849e-02 3.26300838e+02] [ 1.55428679e-02 9.99831517e-01 -9.76506878e-03 1.66026990e+01] [ 1.63254665e-02 9.51118354e-03 9.99821492e-01 -1.21357413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:326.33, Y:16.64, Z:-121.35 [[ 9.99553228e-01 -1.70926216e-02 -2.45191041e-02 3.26330636e+02] [ 1.58843932e-02 9.98689435e-01 -4.86528435e-02 1.66389242e+01] [ 2.53185749e-02 4.82416357e-02 9.98514754e-01 -1.21345355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:326.36, Y:16.61, Z:-121.36 [[ 9.99444421e-01 -1.76422678e-02 2.82772016e-02 3.26358652e+02] [ 1.80715537e-02 9.99724196e-01 -1.49983533e-02 1.66060519e+01] [-2.80047977e-02 1.55010335e-02 9.99487593e-01 -1.21358737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:326.39, Y:16.57, Z:-121.36 [[ 9.99527285e-01 -2.20578212e-02 -2.14163117e-02 3.26387587e+02] [ 2.26186327e-02 9.99397989e-01 2.63069731e-02 1.65651863e+01] [ 2.08231444e-02 -2.67789451e-02 9.99424477e-01 -1.21362719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87591999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:326.41, Y:16.52, Z:-121.37 [[ 9.99634386e-01 -2.16449753e-02 -1.62046250e-02 3.26414156e+02] [ 2.28474100e-02 9.96682174e-01 7.81193990e-02 1.65151677e+01] [ 1.44599684e-02 -7.84610712e-02 9.96812304e-01 -1.21372389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:326.45, Y:16.62, Z:-121.35 [[ 9.99601707e-01 -1.91484759e-02 -2.07307151e-02 3.26446526e+02] [ 1.83076992e-02 9.99031381e-01 -4.00140987e-02 1.66230088e+01] [ 2.14768439e-02 3.96186297e-02 9.98984039e-01 -1.21351768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93591999999995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:326.47, Y:16.59, Z:-121.36 [[ 9.99646284e-01 -1.92702706e-02 -1.83293317e-02 3.26473105e+02] [ 1.92309397e-02 9.99812377e-01 -2.31965231e-03 1.65858119e+01] [ 1.83705930e-02 1.96634153e-03 9.99829313e-01 -1.21357539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:326.50, Y:16.59, Z:-121.36 [[ 9.99695807e-01 -1.77734039e-02 -1.70996854e-02 3.26500905e+02] [ 1.76224078e-02 9.99804737e-01 -8.94088271e-03 1.65919941e+01] [ 1.72552564e-02 8.63682533e-03 9.99813813e-01 -1.21355481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99591999999996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:326.53, Y:16.53, Z:-121.37 [[ 9.99806137e-01 -1.53140098e-02 -1.23761660e-02 3.26528105e+02] [ 1.60538381e-02 9.97942497e-01 6.20729181e-02 1.65279583e+01] [ 1.14001167e-02 -6.22595694e-02 9.97994881e-01 -1.21365263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:326.56, Y:16.65, Z:-121.34 [[ 9.99785329e-01 -9.49479150e-03 -1.84158977e-02 3.26558979e+02] [ 8.22420563e-03 9.97659386e-01 -6.78830730e-02 1.66489874e+01] [ 1.90173288e-02 6.77170443e-02 9.97523305e-01 -1.21339581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05591999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:326.59, Y:16.53, Z:-121.36 [[ 9.99948469e-01 -7.01005633e-03 -7.34292245e-03 3.26585914e+02] [ 7.42353699e-03 9.98295652e-01 5.78850854e-02 1.65340080e+01] [ 6.92462984e-03 -5.79366130e-02 9.98296248e-01 -1.21363902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters Centerline goodness : 0.916072 Centerline is valid? [True, False] Translation: X:326.56, Y:16.57, Z:-121.35 [[ 9.99978290e-01 -3.28829084e-03 -5.71021919e-03 3.26564198e+02] [ 3.37636179e-03 9.99874433e-01 1.54828639e-02 1.65741133e+01] [ 5.65859001e-03 -1.55018075e-02 9.99863828e-01 -1.21353979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11591999999996 meters Centerline goodness : 0.997920 Centerline is valid? [False, True] Translation: X:326.56, Y:16.59, Z:-121.35 [[ 9.99998987e-01 1.41180499e-03 -1.82840544e-04 3.26558886e+02] [-1.41211252e-03 9.99997570e-01 -1.69290098e-03 1.65914174e+01] [ 1.80450054e-04 1.69315746e-03 9.99998550e-01 -1.21351608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:326.59, Y:16.59, Z:-121.35 [[ 9.99992484e-01 1.66633840e-03 3.50070450e-03 3.26587900e+02] [-1.66877489e-03 9.99998367e-01 6.93194903e-04 1.65927044e+01] [-3.49954368e-03 -6.99031580e-04 9.99993632e-01 -1.21353291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17591999999996 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:326.62, Y:16.60, Z:-121.35 [[ 9.99989079e-01 1.28572976e-03 4.49312787e-03 3.26619073e+02] [-1.26606315e-03 9.99989619e-01 -4.37714948e-03 1.65993401e+01] [-4.49870906e-03 4.37141309e-03 9.99980326e-01 -1.21352069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:326.65, Y:16.56, Z:-121.36 [[ 9.99962376e-01 -2.98737176e-04 8.66935274e-03 3.26645605e+02] [-1.02567324e-04 9.98929766e-01 4.62526943e-02 1.65555115e+01] [-8.67389190e-03 -4.62518433e-02 9.98892152e-01 -1.21360070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:326.68, Y:16.68, Z:-121.33 [[ 9.98408883e-01 5.95408494e-03 5.60736160e-02 3.26680374e+02] [-1.24432874e-03 9.96493967e-01 -8.36554014e-02 1.66812396e+01] [-5.63751114e-02 8.34525219e-02 9.94915837e-01 -1.21332875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:326.71, Y:16.58, Z:-121.36 [[ 9.99865557e-01 8.97891065e-05 1.63969475e-02 3.26709636e+02] [-5.07014680e-04 9.99676148e-01 2.54429360e-02 1.65836344e+01] [-1.63893528e-02 -2.54478289e-02 9.99541794e-01 -1.21357018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29591999999997 meters Centerline goodness : 0.826642 Centerline is valid? [True, False] Translation: X:326.71, Y:16.61, Z:-121.35 [[ 9.99967730e-01 6.88653836e-04 8.00400506e-03 3.26713198e+02] [-7.17003025e-04 9.99993479e-01 3.53954577e-03 1.66060465e+01] [-8.00151535e-03 -3.54517044e-03 9.99961703e-01 -1.21352333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters Centerline goodness : 0.998362 Centerline is valid? [False, True] Translation: X:326.74, Y:16.62, Z:-121.35 [[ 9.99986221e-01 -4.88338072e-03 1.92645286e-03 3.26738364e+02] [ 4.91109483e-03 9.99880568e-01 -1.46537068e-02 1.66222162e+01] [-1.85466315e-03 1.46629659e-02 9.99890773e-01 -1.21345666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35591999999997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:326.77, Y:16.66, Z:-121.34 [[ 9.98497837e-01 -4.24728205e-03 5.46262676e-02 3.26768955e+02] [ 7.36205145e-03 9.98350147e-01 -5.69454574e-02 1.66633308e+01] [-5.42942789e-02 5.72620775e-02 9.96881731e-01 -1.21339168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:326.80, Y:16.56, Z:-121.36 [[ 9.99920696e-01 -1.24772731e-02 1.70850843e-03 3.26797230e+02] [ 1.23588585e-02 9.98279499e-01 5.73175448e-02 1.65595955e+01] [-2.42073560e-03 -5.72918841e-02 9.98354536e-01 -1.21360493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:326.83, Y:16.66, Z:-121.34 [[ 9.98413465e-01 -6.02764575e-03 5.59841014e-02 3.26830644e+02] [ 9.13963752e-03 9.98416939e-01 -5.54984983e-02 1.66649008e+01] [-5.55609498e-02 5.59221224e-02 9.96888006e-01 -1.21341046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:326.86, Y:16.52, Z:-121.37 [[ 9.99781589e-01 -1.32846301e-02 1.61335849e-02 3.26857816e+02] [ 1.15608829e-02 9.94655706e-01 1.02598107e-01 1.65191180e+01] [-1.74103402e-02 -1.02389180e-01 9.94592045e-01 -1.21368863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:326.89, Y:16.71, Z:-121.33 [[ 9.98107297e-01 -8.00358352e-03 6.09734891e-02 3.26892589e+02] [ 1.40464930e-02 9.94955065e-01 -9.93333536e-02 1.67079135e+01] [-5.98708590e-02 1.00001809e-01 9.93184333e-01 -1.21327610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:326.92, Y:16.56, Z:-121.37 [[ 9.99761731e-01 -1.47637106e-02 1.60783443e-02 3.26922717e+02] [ 1.37313360e-02 9.97948689e-01 6.25289104e-02 1.65586679e+01] [-1.69685213e-02 -6.22932346e-02 9.97913635e-01 -1.21366053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:326.95, Y:16.62, Z:-121.35 [[ 9.99540758e-01 -1.63209752e-02 2.55323181e-02 3.26952689e+02] [ 1.64797326e-02 9.99846078e-01 -6.01987491e-03 1.66200759e+01] [-2.54301379e-02 6.43787611e-03 9.99655872e-01 -1.21352167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:326.99, Y:16.67, Z:-121.34 [[ 9.97773577e-01 -1.61398708e-02 6.47100783e-02 3.26986196e+02] [ 1.97891528e-02 9.98225875e-01 -5.61559688e-02 1.66656669e+01] [-6.36889244e-02 5.73114995e-02 9.96322796e-01 -1.21342570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:327.01, Y:16.54, Z:-121.37 [[ 9.99610050e-01 -2.39693915e-02 1.43253872e-02 3.27014193e+02] [ 2.27973493e-02 9.96768198e-01 7.70288271e-02 1.65401274e+01] [-1.61254245e-02 -7.66722088e-02 9.96925947e-01 -1.21369702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:327.04, Y:16.60, Z:-121.36 [[ 9.99332846e-01 -2.47665870e-02 2.68417425e-02 3.27043034e+02] [ 2.46222777e-02 9.99680612e-01 5.69359729e-03 1.66032394e+01] [-2.69741806e-02 -5.02889394e-03 9.99623481e-01 -1.21356398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:327.08, Y:16.68, Z:-121.34 [[ 9.97296336e-01 -2.09451478e-02 7.04366376e-02 3.27076624e+02] [ 2.67398188e-02 9.96243988e-01 -8.23583568e-02 1.66828060e+01] [-6.84470688e-02 8.40191504e-02 9.94110548e-01 -1.21338128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:327.11, Y:16.55, Z:-121.36 [[ 9.99642925e-01 -2.19196793e-02 1.52823762e-02 3.27107626e+02] [ 2.09988309e-02 9.98094913e-01 5.80137349e-02 1.65540647e+01] [-1.65249044e-02 -5.76721076e-02 9.98198806e-01 -1.21364319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71592 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:327.13, Y:16.59, Z:-121.36 [[ 9.99289903e-01 -2.68060514e-02 2.64787721e-02 3.27131015e+02] [ 2.64118729e-02 9.99536703e-01 1.51258639e-02 1.65890775e+01] [-2.68719693e-02 -1.44157692e-02 9.99534933e-01 -1.21358160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:327.16, Y:16.61, Z:-121.36 [[ 9.99243211e-01 -2.26922046e-02 3.15922318e-02 3.27164693e+02] [ 2.30464950e-02 9.99675017e-01 -1.08958319e-02 1.66125723e+01] [-3.13347144e-02 1.16156762e-02 9.99441450e-01 -1.21355593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.77592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:327.19, Y:16.59, Z:-121.36 [[ 9.99374937e-01 -2.16184709e-02 2.79710035e-02 3.27193091e+02] [ 2.13579864e-02 9.99726010e-01 9.57818122e-03 1.65909567e+01] [-2.81704053e-02 -8.97478994e-03 9.99562845e-01 -1.21360165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:327.22, Y:16.55, Z:-121.37 [[ 9.99180933e-01 -2.22377405e-02 3.38074945e-02 3.27221916e+02] [ 2.06321024e-02 9.98676015e-01 4.71225321e-02 1.65547310e+01] [-3.48106325e-02 -4.63864159e-02 9.98316844e-01 -1.21367762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:327.25, Y:16.60, Z:-121.36 [[ 9.99107825e-01 -1.91584696e-02 3.76365207e-02 3.27252707e+02] [ 1.91063113e-02 9.99815935e-01 1.74506341e-03 1.65972100e+01] [-3.76630258e-02 -1.02441142e-03 9.99289971e-01 -1.21360518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:327.28, Y:16.65, Z:-121.35 [[ 9.99087712e-01 -1.60698218e-02 3.95664477e-02 3.27279591e+02] [ 1.81721835e-02 9.98409882e-01 -5.33617854e-02 1.66456743e+01] [-3.86460180e-02 5.40321128e-02 9.97791068e-01 -1.21347140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89592 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:327.31, Y:16.59, Z:-121.36 [[ 9.99079728e-01 -1.77096003e-02 3.90648972e-02 3.27310683e+02] [ 1.73592423e-02 9.99806160e-01 9.28967933e-03 1.65879361e+01] [-3.92218413e-02 -8.60299329e-03 9.99193493e-01 -1.21359413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:327.34, Y:16.62, Z:-121.35 [[ 9.99125337e-01 -1.26313583e-02 3.98623878e-02 3.27343588e+02] [ 1.35125775e-02 9.99668515e-01 -2.19150784e-02 1.66168733e+01] [-3.95723568e-02 2.24345537e-02 9.98964824e-01 -1.21354527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:327.38, Y:16.65, Z:-121.35 [[ 9.95783521e-01 -8.11962647e-03 9.13742356e-02 3.27377626e+02] [ 1.31040568e-02 9.98450476e-01 -5.40826296e-02 1.66472315e+01] [-9.07935183e-02 5.50519645e-02 9.94346931e-01 -1.21351201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:327.41, Y:16.56, Z:-121.37 [[ 9.99286835e-01 -1.37825375e-02 3.51548374e-02 3.27408330e+02] [ 1.21831456e-02 9.98898636e-01 4.53110023e-02 1.65558686e+01] [-3.57406197e-02 -4.48503916e-02 9.98354171e-01 -1.21368194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:327.44, Y:16.58, Z:-121.37 [[ 9.99008874e-01 -1.12073733e-02 4.30774182e-02 3.27437498e+02] [ 1.02634644e-02 9.99703723e-01 2.20709784e-02 1.65773733e+01] [-4.33120130e-02 -2.16069798e-02 9.98827917e-01 -1.21368517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:327.47, Y:16.60, Z:-121.37 [[ 9.98871295e-01 -8.35965799e-03 4.67573664e-02 3.27467732e+02] [ 8.59062484e-03 9.99951861e-01 -4.74092135e-03 1.66029825e+01] [-4.67154830e-02 5.13724525e-03 9.98895026e-01 -1.21365068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07592 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:327.50, Y:16.58, Z:-121.37 [[ 9.98728142e-01 -9.45887220e-03 4.95240066e-02 3.27497359e+02] [ 8.58913330e-03 9.99805644e-01 1.77454275e-02 1.65824897e+01] [-4.96822331e-02 -1.72974896e-02 9.98615278e-01 -1.21367996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:327.53, Y:16.59, Z:-121.37 [[ 9.99071099e-01 -8.15002237e-03 4.23144891e-02 3.27530510e+02] [ 7.88021957e-03 9.99947570e-01 6.53902335e-03 1.65922703e+01] [-4.23655638e-02 -6.19950178e-03 9.99082942e-01 -1.21366100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13592 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:327.56, Y:16.58, Z:-121.37 [[ 9.98695540e-01 -1.20776850e-02 4.96119688e-02 3.27556771e+02] [ 1.12122779e-02 9.99780740e-01 1.76849444e-02 1.65787071e+01] [-4.98146840e-02 -1.71056119e-02 9.98611984e-01 -1.21370885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:327.59, Y:16.69, Z:-121.35 [[ 9.94326975e-01 -9.29896990e-04 1.06362598e-01 3.27592087e+02] [ 1.22878010e-02 9.94271057e-01 -1.06179452e-01 1.66900819e+01] [-1.05654516e-01 1.06884056e-01 9.88641958e-01 -1.21348348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19591999999994 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:327.62, Y:16.52, Z:-121.38 [[ 9.98699499e-01 -1.77543981e-02 4.77921689e-02 3.27618439e+02] [ 1.39404339e-02 9.96778278e-01 7.89856184e-02 1.65190748e+01] [-4.90405380e-02 -7.82166539e-02 9.95729472e-01 -1.21380788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:327.65, Y:16.66, Z:-121.36 [[ 9.94072874e-01 -3.48062672e-03 1.08660049e-01 3.27653494e+02] [ 1.19058896e-02 9.96961107e-01 -7.69857227e-02 1.66627056e+01] [-1.08061884e-01 7.78231131e-02 9.91093433e-01 -1.21358247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25591999999995 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:327.68, Y:16.50, Z:-121.39 [[ 9.97191599e-01 -1.45610017e-02 7.34635399e-02 3.27679354e+02] [ 7.61230773e-03 9.95543596e-01 9.39946907e-02 1.65037304e+01] [-7.45048135e-02 -9.31714888e-02 9.92858553e-01 -1.21386568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:327.71, Y:16.60, Z:-121.37 [[ 9.97982256e-01 -4.61635776e-03 6.33254015e-02 3.27713422e+02] [ 5.17466228e-03 9.99949153e-01 -8.65526455e-03 1.65982510e+01] [-6.32822259e-02 8.96548801e-03 9.97955400e-01 -1.21373522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31591999999995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:327.74, Y:16.57, Z:-121.38 [[ 9.97397438e-01 -5.57493563e-03 7.18837372e-02 3.27739666e+02] [ 4.07179445e-03 9.99770336e-01 2.10403350e-02 1.65703618e+01] [-7.19845266e-02 -2.06928804e-02 9.97191071e-01 -1.21379868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:327.77, Y:16.59, Z:-121.38 [[ 9.97271032e-01 -1.99632860e-03 7.38004317e-02 3.27769595e+02] [ 1.82717625e-03 9.99995547e-01 2.35946804e-03 1.65873661e+01] [-7.38048134e-02 -2.21818273e-03 9.97270239e-01 -1.21378606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37591999999995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:327.80, Y:16.68, Z:-121.36 [[ 9.93071989e-01 1.07229933e-02 1.17017270e-01 3.27804895e+02] [ 1.76191057e-03 9.94356954e-01 -1.06071411e-01 1.66836722e+01] [-1.17494339e-01 1.05542721e-01 9.87449145e-01 -1.21357766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:327.83, Y:16.49, Z:-121.39 [[ 9.97322716e-01 -1.01202975e-02 7.24222326e-02 3.27827865e+02] [ 2.59198080e-03 9.94647060e-01 1.03298153e-01 1.64895948e+01] [-7.30799688e-02 -1.02833877e-01 9.92010339e-01 -1.21393976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43591999999995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:327.86, Y:16.59, Z:-121.39 [[ 9.97271887e-01 3.11354261e-06 7.38158736e-02 3.27862166e+02] [ 1.57247748e-04 9.99997640e-01 -2.16663823e-03 1.65850222e+01] [-7.38157061e-02 2.17233477e-03 9.97269534e-01 -1.21385534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:327.89, Y:16.58, Z:-121.39 [[ 9.96497274e-01 -8.20436937e-04 8.36212282e-02 3.27890459e+02] [ 7.34033403e-04 9.99999165e-01 1.06401171e-03 1.65801913e+01] [-8.36220313e-02 -9.98903996e-04 9.96497044e-01 -1.21385346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49591999999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:327.92, Y:16.60, Z:-121.39 [[ 9.97238364e-01 7.21104317e-04 7.42638848e-02 3.27920515e+02] [ 6.43204945e-04 9.99831499e-01 -1.83455452e-02 1.65950925e+01] [-7.42646003e-02 1.83426484e-02 9.97069865e-01 -1.21386766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:327.96, Y:16.58, Z:-121.39 [[ 9.97843379e-01 6.60759054e-03 6.53064383e-02 3.27958161e+02] [-6.69585876e-03 9.99976941e-01 1.13281572e-03 1.65756307e+01] [-6.52974472e-02 -1.56765535e-03 9.97864613e-01 -1.21390423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55591999999996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:327.98, Y:16.55, Z:-121.39 [[ 9.97212040e-01 -2.16201572e-03 7.45886876e-02 3.27980311e+02] [ 5.55554161e-04 9.99767582e-01 2.15516319e-02 1.65513348e+01] [-7.46179468e-02 -2.14501087e-02 9.96981472e-01 -1.21394079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:328.01, Y:16.52, Z:-121.40 [[ 9.96458036e-01 -4.31778426e-03 8.39805831e-02 3.28007944e+02] [-3.50003765e-05 9.98659529e-01 5.17604503e-02 1.65201187e+01] [-8.40915000e-02 -5.15800560e-02 9.95122162e-01 -1.21400685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61591999999996 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:328.05, Y:16.64, Z:-121.38 [[ 9.97302545e-01 1.47438746e-02 7.19044705e-02 3.28047111e+02] [-8.99655926e-03 9.96785626e-01 -7.96082743e-02 1.66378522e+01] [-7.28470771e-02 7.87466417e-02 9.94229485e-01 -1.21378758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:328.07, Y:16.54, Z:-121.40 [[ 9.95790459e-01 8.28794749e-04 9.16551950e-02 3.28065260e+02] [-2.65937307e-03 9.99799390e-01 1.98521191e-02 1.65376657e+01] [-9.16203548e-02 -2.00122961e-02 9.95592898e-01 -1.21399364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67591999999996 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:328.10, Y:16.55, Z:-121.40 [[ 9.94897056e-01 5.31358671e-03 1.00755218e-01 3.28095844e+02] [-5.75716451e-03 9.99974972e-01 4.11226646e-03 1.65502037e+01] [-1.00730845e-01 -4.67134616e-03 9.94902747e-01 -1.21399912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:328.13, Y:16.57, Z:-121.40 [[ 9.95229462e-01 1.01423278e-02 9.70332492e-02 3.28126800e+02] [-7.81046234e-03 9.99672220e-01 -2.43813451e-02 1.65715589e+01] [-9.72487272e-02 2.35071585e-02 9.94982461e-01 -1.21400965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73591999999996 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:328.16, Y:16.54, Z:-121.41 [[ 9.95774471e-01 1.66457623e-02 9.03112452e-02 3.28163220e+02] [-1.77647499e-02 9.99774894e-01 1.16006503e-02 1.65385261e+01] [-9.00978139e-02 -1.31559881e-02 9.95846024e-01 -1.21409025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:328.19, Y:16.56, Z:-121.41 [[ 9.94955287e-01 1.27746532e-02 9.95026899e-02 3.28185868e+02] [-1.08400249e-02 9.99742024e-01 -1.99594363e-02 1.65609984e+01] [-9.97319955e-02 1.87801350e-02 9.94837090e-01 -1.21406861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79591999999997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:328.22, Y:16.56, Z:-121.41 [[ 9.94668107e-01 1.41783532e-02 1.02148579e-01 3.28217028e+02] [-1.20534460e-02 9.99698558e-01 -2.13894402e-02 1.65607807e+01] [-1.02421054e-01 2.00441516e-02 9.94539170e-01 -1.21410272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:328.25, Y:16.56, Z:-121.41 [[ 9.93831964e-01 1.41030332e-02 1.09996053e-01 3.28246783e+02] [-1.20854721e-02 9.99746679e-01 -1.89873374e-02 1.65570015e+01] [-1.10235967e-01 1.75408686e-02 9.93750648e-01 -1.21414185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:328.28, Y:16.57, Z:-121.42 [[ 9.88515308e-01 1.98344871e-02 1.49813482e-01 3.28278942e+02] [-1.45569743e-02 9.99237010e-01 -3.62421429e-02 1.65715459e+01] [-1.50418020e-01 3.36450821e-02 9.88049810e-01 -1.21416301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:328.31, Y:16.50, Z:-121.43 [[ 9.93598744e-01 7.73531171e-03 1.12701822e-01 3.28307766e+02] [-1.20857466e-02 9.99205816e-01 3.79693430e-02 1.65002360e+01] [-1.12318612e-01 -3.90883772e-02 9.92903131e-01 -1.21429687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91591999999997 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:328.34, Y:16.54, Z:-121.43 [[ 9.93321637e-01 1.47181937e-02 1.14435572e-01 3.28341182e+02] [-1.44598649e-02 9.99890685e-01 -3.08722258e-03 1.65367886e+01] [-1.14468501e-01 1.41188208e-03 9.93425875e-01 -1.21427577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:328.37, Y:16.54, Z:-121.43 [[ 9.93238255e-01 1.53107938e-02 1.15079749e-01 3.28372496e+02] [-1.49266060e-02 9.99879773e-01 -4.19949576e-03 1.65358796e+01] [-1.15130211e-01 2.45334977e-03 9.93347379e-01 -1.21431467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:328.40, Y:16.53, Z:-121.44 [[ 9.93109207e-01 1.55055505e-02 1.16162303e-01 3.28403794e+02] [-1.59966555e-02 9.99866611e-01 3.29662563e-03 1.65272065e+01] [-1.16095692e-01 -5.13211761e-03 9.93224774e-01 -1.21435283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:328.44, Y:16.52, Z:-121.44 [[ 9.94326007e-01 1.56538513e-02 1.05217625e-01 3.28435815e+02] [-1.72055214e-02 9.99755965e-01 1.38557222e-02 1.65174374e+01] [-1.04975053e-01 -1.55874290e-02 9.94352689e-01 -1.21437023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:328.46, Y:16.53, Z:-121.48 [[ 9.95539820e-01 4.51682155e-02 8.28269249e-02 3.28456453e+02] [-4.47660471e-02 9.98974982e-01 -6.70717539e-03 1.65296712e+01] [-8.30449769e-02 2.96942615e-03 9.96541376e-01 -1.21480107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:328.50, Y:16.58, Z:-121.44 [[ 9.87189479e-01 3.24635953e-02 1.56214746e-01 3.28496595e+02] [-2.49176533e-02 9.98437157e-01 -5.00235401e-02 1.65756932e+01] [-1.57594551e-01 4.54902076e-02 9.86455574e-01 -1.21438884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:328.52, Y:16.51, Z:-121.45 [[ 9.92610593e-01 2.00323325e-02 1.19678384e-01 3.28522989e+02] [-2.34296572e-02 9.99359532e-01 2.70476867e-02 1.65052736e+01] [-1.19059905e-01 -2.96518439e-02 9.92444209e-01 -1.21450695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:328.55, Y:16.49, Z:-121.45 [[ 9.94084163e-01 1.85122516e-02 1.07023234e-01 3.28552250e+02] [-2.33452532e-02 9.98755054e-01 4.40833403e-02 1.64916434e+01] [-1.06073914e-01 -4.63210350e-02 9.93278756e-01 -1.21453397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15592 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:328.59, Y:16.57, Z:-121.45 [[ 9.91640700e-01 3.25713457e-02 1.24851231e-01 3.28586234e+02] [-2.74176894e-02 9.98708359e-01 -4.27771398e-02 1.65719883e+01] [-1.26083277e-01 3.89964206e-02 9.91252887e-01 -1.21448386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:328.62, Y:16.53, Z:-121.46 [[ 9.91453145e-01 2.81469664e-02 1.27390778e-01 3.28616289e+02] [-2.82607120e-02 9.99600168e-01 -9.14827444e-04 1.65344117e+01] [-1.27365593e-01 -2.69314555e-03 9.91852183e-01 -1.21458060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21592 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:328.65, Y:16.54, Z:-121.46 [[ 9.90887103e-01 2.95157630e-02 1.31421341e-01 3.28647932e+02] [-2.84496344e-02 9.99545376e-01 -9.98291903e-03 1.65437270e+01] [-1.31656247e-01 6.15305662e-03 9.91276335e-01 -1.21461643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:328.68, Y:16.53, Z:-121.47 [[ 9.91135955e-01 2.92815680e-02 1.29584371e-01 3.28679443e+02] [-3.04991575e-02 9.99507242e-01 7.42120606e-03 1.65312581e+01] [-1.29303212e-01 -1.13076383e-02 9.91540628e-01 -1.21465712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.27592 meters Centerline goodness : 0.809138 Centerline is valid? [True, False] Translation: X:328.69, Y:16.54, Z:-121.47 [[ 9.92567847e-01 3.99429064e-02 1.14950566e-01 3.28694512e+02] [-4.05310167e-02 9.99174406e-01 2.78253641e-03 1.65381126e+01] [-1.14744520e-01 -7.42091946e-03 9.93367316e-01 -1.21467188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters Centerline goodness : 0.998063 Centerline is valid? [False, True] Translation: X:328.71, Y:16.55, Z:-121.47 [[ 9.93821369e-01 4.83513559e-02 9.99061197e-02 3.28707556e+02] [-4.81192831e-02 9.98830384e-01 -4.73275893e-03 1.65496207e+01] [-1.00018103e-01 -1.03893897e-04 9.94985612e-01 -1.21467740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33592 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:328.74, Y:16.55, Z:-121.47 [[ 9.93716758e-01 5.01990695e-02 1.00035289e-01 3.28740519e+02] [-5.02051500e-02 9.98735901e-01 -2.45827307e-03 1.65500319e+01] [-1.00032238e-01 -2.57945955e-03 9.94980853e-01 -1.21469987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:328.77, Y:16.51, Z:-121.47 [[ 9.97031450e-01 4.42333639e-02 6.30214058e-02 3.28767533e+02] [-4.71397650e-02 9.97855948e-01 4.54020810e-02 1.65092778e+01] [-6.08779979e-02 -4.82381169e-02 9.96978913e-01 -1.21474905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39592 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:328.80, Y:16.60, Z:-121.47 [[ 9.93493812e-01 5.59046993e-02 9.92205077e-02 3.28804596e+02] [-5.13557374e-02 9.97534618e-01 -4.78254510e-02 1.65958315e+01] [-1.01649559e-01 4.24187473e-02 9.93915498e-01 -1.21467043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:328.83, Y:16.51, Z:-121.48 [[ 9.97456503e-01 4.33576408e-02 5.65741936e-02 3.28828863e+02] [-4.62955397e-02 9.97589205e-01 5.16962344e-02 1.65089408e+01] [-5.41963781e-02 -5.41838780e-02 9.97059106e-01 -1.21482632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45592 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:328.86, Y:16.57, Z:-121.47 [[ 9.97177885e-01 4.89644171e-02 5.69100301e-02 3.28862613e+02] [-4.85663592e-02 9.98784992e-01 -8.35750037e-03 1.65670879e+01] [-5.72501041e-02 5.57000158e-03 9.98344330e-01 -1.21473258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:328.89, Y:16.56, Z:-121.48 [[ 9.96570593e-01 4.84584424e-02 6.70733330e-02 3.28893534e+02] [-4.87365078e-02 9.98808505e-01 2.51465241e-03 1.65621858e+01] [-6.68715593e-02 -5.77494866e-03 9.97744879e-01 -1.21482269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51592 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:328.93, Y:16.61, Z:-121.47 [[ 9.93006416e-01 5.49526268e-02 1.04491469e-01 3.28930242e+02] [-4.99335042e-02 9.97497209e-01 -5.00596062e-02 1.66109766e+01] [-1.06980855e-01 4.44918850e-02 9.93265105e-01 -1.21473896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:328.96, Y:16.54, Z:-121.49 [[ 9.96469113e-01 4.49757133e-02 7.08977581e-02 3.28955678e+02] [-4.69188836e-02 9.98560677e-01 2.59844544e-02 1.65435646e+01] [-6.96270440e-02 -2.92191499e-02 9.97145083e-01 -1.21488753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57592 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:328.98, Y:16.53, Z:-121.49 [[ 9.96096687e-01 4.31660521e-02 7.69940451e-02 3.28983850e+02] [-4.66413293e-02 9.97945513e-01 4.39242492e-02 1.65284856e+01] [-7.49398254e-02 -4.73439037e-02 9.96063541e-01 -1.21492459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:329.01, Y:16.56, Z:-121.49 [[ 9.96003337e-01 4.62126064e-02 7.64313327e-02 3.29014732e+02] [-4.79150500e-02 9.98639144e-01 2.05914506e-02 1.65550390e+01] [-7.53757361e-02 -2.41713646e-02 9.96862199e-01 -1.21491199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63592 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:329.05, Y:16.66, Z:-121.47 [[ 9.92274760e-01 5.96270695e-02 1.08790685e-01 3.29053418e+02] [-4.94129490e-02 9.94318433e-01 -9.42826325e-02 1.66607645e+01] [-1.13794381e-01 8.81786080e-02 9.89583434e-01 -1.21472784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:329.08, Y:16.56, Z:-121.50 [[ 9.95637787e-01 4.55664162e-02 8.14192840e-02 3.29077452e+02] [-4.76935311e-02 9.98564600e-01 2.43734838e-02 1.65587224e+01] [-8.01918024e-02 -2.81503346e-02 9.96381871e-01 -1.21497692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69591999999994 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:329.10, Y:16.53, Z:-121.50 [[ 9.96410382e-01 4.01535312e-02 7.45254588e-02 3.29102195e+02] [-4.48376308e-02 9.97050946e-01 6.22815970e-02 1.65273425e+01] [-7.18048532e-02 -6.53995749e-02 9.95272304e-01 -1.21500799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:329.14, Y:16.65, Z:-121.48 [[ 9.95304573e-01 5.34632513e-02 8.06875924e-02 3.29142993e+02] [-4.79577020e-02 9.96484398e-01 -6.86942753e-02 1.66504603e+01] [-8.40765463e-02 6.45021348e-02 9.94369453e-01 -1.21481232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75591999999995 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:329.17, Y:16.59, Z:-121.50 [[ 9.95347001e-01 4.76622213e-02 8.37416306e-02 3.29171620e+02] [-4.75794374e-02 9.98862997e-01 -2.98512074e-03 1.65898479e+01] [-8.37886936e-02 -1.01314870e-03 9.96483030e-01 -1.21498066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:329.20, Y:16.59, Z:-121.50 [[ 9.95179974e-01 4.37539281e-02 8.77633979e-02 3.29201492e+02] [-4.42422599e-02 9.99014252e-01 3.62580885e-03 1.65868387e+01] [-8.75182419e-02 -7.49118341e-03 9.96134750e-01 -1.21503817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81591999999995 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:329.24, Y:16.60, Z:-121.50 [[ 9.95155749e-01 4.44061543e-02 8.77104813e-02 3.29235484e+02] [-4.33997474e-02 9.98968601e-01 -1.33489829e-02 1.66033232e+01] [-8.82127938e-02 9.47770439e-03 9.96056563e-01 -1.21500668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:329.26, Y:16.52, Z:-121.52 [[ 9.95603354e-01 3.14016254e-02 8.82490731e-02 3.29256986e+02] [-3.83955198e-02 9.96158204e-01 7.87058871e-02 1.65206590e+01] [-8.54385454e-02 -8.17482143e-02 9.92984131e-01 -1.21515567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87591999999995 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:329.29, Y:16.60, Z:-121.51 [[ 9.95280088e-01 3.84970651e-02 8.90815527e-02 3.29291143e+02] [-3.85551188e-02 9.99255903e-01 -1.06955367e-03 1.65968957e+01] [-8.90564420e-02 -2.37004437e-03 9.96023761e-01 -1.21505932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:329.33, Y:16.67, Z:-121.49 [[ 9.94440651e-01 4.52019813e-02 9.51029555e-02 3.29328229e+02] [-3.75555148e-02 9.96029832e-01 -8.07103331e-02 1.66726043e+01] [-9.83736477e-02 7.66899958e-02 9.92190138e-01 -1.21491185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93591999999995 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:329.35, Y:16.55, Z:-121.52 [[ 9.95114565e-01 2.94652818e-02 9.42273843e-02 3.29349693e+02] [-3.48100757e-02 9.97846639e-01 5.55908565e-02 1.65490588e+01] [-9.23864785e-02 -5.85993334e-02 9.93997413e-01 -1.21520862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:329.39, Y:16.64, Z:-121.50 [[ 9.95694109e-01 3.79335936e-02 8.45829937e-02 3.29389252e+02] [-3.47613576e-02 9.98647326e-01 -3.86673811e-02 1.66387116e+01] [-8.59353732e-02 3.55606639e-02 9.95665883e-01 -1.21503204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99591999999996 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:329.42, Y:16.64, Z:-121.51 [[ 9.89894211e-01 3.63763162e-02 1.37062811e-01 3.29420448e+02] [-3.08103104e-02 9.98620659e-01 -4.25147630e-02 1.66399783e+01] [-1.38420285e-01 3.78621701e-02 9.89649575e-01 -1.21509751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:329.45, Y:16.59, Z:-121.52 [[ 9.95491504e-01 2.76113312e-02 9.07429329e-02 3.29449742e+02] [-2.92167421e-02 9.99438371e-01 1.64111357e-02 1.65867318e+01] [-9.02388357e-02 -1.89883590e-02 9.95739120e-01 -1.21521607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05591999999996 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:329.47, Y:16.56, Z:-121.53 [[ 9.94660100e-01 1.93351341e-02 1.01377701e-01 3.29474254e+02] [-2.42429469e-02 9.98581529e-01 4.74047469e-02 1.65552702e+01] [-1.00317322e-01 -4.96093045e-02 9.93717944e-01 -1.21532727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:329.51, Y:16.62, Z:-121.52 [[ 9.94040912e-01 2.71673082e-02 1.05568002e-01 3.29510027e+02] [-2.48483655e-02 9.99421525e-01 -2.32201111e-02 1.66190908e+01] [-1.06137762e-01 2.04585481e-02 9.94140947e-01 -1.21521725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11591999999996 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:329.54, Y:16.58, Z:-121.53 [[ 9.93333980e-01 1.91229291e-02 1.13674611e-01 3.29535646e+02] [-2.18278872e-02 9.99506300e-01 2.25986604e-02 1.65751306e+01] [-1.13186338e-01 -2.49292939e-02 9.93260984e-01 -1.21534656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:329.58, Y:16.65, Z:-121.52 [[ 9.94612492e-01 3.12511718e-02 9.88400433e-02 3.29576234e+02] [-2.49709009e-02 9.97627752e-01 -6.41507839e-02 1.66499286e+01] [-1.00610357e-01 6.13370462e-02 9.93033395e-01 -1.21516220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17591999999996 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:329.60, Y:16.55, Z:-121.54 [[ 9.93571596e-01 1.50364070e-02 1.12202448e-01 3.29596165e+02] [-1.93892613e-02 9.99097020e-01 3.78047892e-02 1.65514647e+01] [-1.11532683e-01 -3.97372874e-02 9.92965965e-01 -1.21542814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:329.64, Y:16.65, Z:-121.53 [[ 9.88739329e-01 2.91609729e-02 1.46779346e-01 3.29636244e+02] [-1.91839768e-02 9.97436668e-01 -6.89352525e-02 1.66451375e+01] [-1.48413320e-01 6.53431837e-02 9.86764285e-01 -1.21525793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23591999999996 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:329.66, Y:16.52, Z:-121.55 [[ 9.93540814e-01 1.30926212e-02 1.12717496e-01 3.29657090e+02] [-2.01862986e-02 9.97870512e-01 6.20238311e-02 1.65197089e+01] [-1.11665411e-01 -6.38985567e-02 9.91689372e-01 -1.21554248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:329.69, Y:16.58, Z:-121.55 [[ 9.92476121e-01 2.15720009e-02 1.20523021e-01 3.29688549e+02] [-2.05711350e-02 9.99742851e-01 -9.54252108e-03 1.65809301e+01] [-1.20697880e-01 6.99142897e-03 9.92664667e-01 -1.21546198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29591999999997 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:329.73, Y:16.63, Z:-121.54 [[ 9.88241910e-01 3.80273237e-02 1.48094057e-01 3.29728912e+02] [-2.81899367e-02 9.97289118e-01 -6.79686906e-02 1.66291877e+01] [-1.50277259e-01 6.29947466e-02 9.86634891e-01 -1.21539380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:329.75, Y:16.52, Z:-121.56 [[ 9.92369468e-01 2.65047949e-02 1.20417335e-01 3.29750748e+02] [-3.24161216e-02 9.98349884e-01 4.73994076e-02 1.65236703e+01] [-1.18962321e-01 -5.09411879e-02 9.91591126e-01 -1.21561806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35591999999997 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:329.79, Y:16.61, Z:-121.55 [[ 9.92099133e-01 4.66707066e-02 1.16452376e-01 3.29790213e+02] [-4.18019056e-02 9.98160639e-01 -4.39083185e-02 1.66068195e+01] [-1.18287410e-01 3.86934735e-02 9.92225228e-01 -1.21550690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:329.82, Y:16.58, Z:-121.56 [[ 9.87491929e-01 4.94039645e-02 1.49729551e-01 3.29821463e+02] [-4.72905243e-02 9.98725318e-01 -1.76450077e-02 1.65817146e+01] [-1.50410427e-01 1.03435137e-02 9.88569530e-01 -1.21560697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41591999999997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:329.85, Y:16.57, Z:-121.57 [[ 9.87250428e-01 5.21570704e-02 1.50386945e-01 3.29853598e+02] [-5.17795534e-02 9.98637854e-01 -6.42767620e-03 1.65718546e+01] [-1.50517345e-01 -1.44124277e-03 9.88606318e-01 -1.21566818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:329.89, Y:16.57, Z:-121.57 [[ 9.86953207e-01 5.72236845e-02 1.50495243e-01 3.29886771e+02] [-5.68924252e-02 9.98359094e-01 -6.50933741e-03 1.65738309e+01] [-1.50620782e-01 -2.13762791e-03 9.88589303e-01 -1.21570248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47592 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:329.92, Y:16.56, Z:-121.58 [[ 9.91544050e-01 5.91467011e-02 1.15507853e-01 3.29915611e+02] [-6.15802977e-02 9.97946735e-01 1.76119677e-02 1.65582827e+01] [-1.14228995e-01 -2.45760498e-02 9.93150419e-01 -1.21577004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:329.95, Y:16.58, Z:-121.58 [[ 9.91268908e-01 6.33424041e-02 1.15644678e-01 3.29948934e+02] [-6.30682704e-02 9.97990988e-01 -6.03169002e-03 1.65811151e+01] [-1.15794408e-01 -1.31448302e-03 9.93272333e-01 -1.21576062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53592 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:329.98, Y:16.54, Z:-121.60 [[ 9.89034626e-01 8.48033428e-02 1.20908653e-01 3.29979562e+02] [-9.15547469e-02 9.94471939e-01 5.14129459e-02 1.65401703e+01] [-1.15880273e-01 -6.19189449e-02 9.91331330e-01 -1.21597957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:330.01, Y:16.61, Z:-121.59 [[ 9.87277808e-01 1.02325567e-01 1.21704595e-01 3.30012291e+02] [-1.00938518e-01 9.94738312e-01 -1.75244235e-02 1.66104782e+01] [-1.22857420e-01 5.01679300e-03 9.92411652e-01 -1.21588807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59592 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:330.04, Y:16.60, Z:-121.59 [[ 9.88882614e-01 8.63719948e-02 1.21041537e-01 3.30042021e+02] [-8.55439590e-02 9.96261763e-01 -1.20304320e-02 1.66043546e+01] [-1.21628148e-01 1.54231276e-03 9.92574539e-01 -1.21589880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:330.07, Y:16.63, Z:-121.58 [[ 9.90288959e-01 7.21584664e-02 1.18831533e-01 3.30072489e+02] [-6.71549822e-02 9.96700434e-01 -4.55900649e-02 1.66287306e+01] [-1.21729150e-01 3.71672084e-02 9.91867235e-01 -1.21579983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65592 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:330.09, Y:16.53, Z:-121.60 [[ 9.89998579e-01 6.04877190e-02 1.27452149e-01 3.30094348e+02] [-6.85812704e-02 9.95833727e-01 6.00982383e-02 1.65332390e+01] [-1.23285943e-01 -6.82380008e-02 9.90022298e-01 -1.21604046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:330.14, Y:16.68, Z:-121.57 [[ 9.84887536e-01 8.34885386e-02 1.51743880e-01 3.30138303e+02] [-6.91390918e-02 9.92830606e-01 -9.75047342e-02 1.66772091e+01] [-1.58796496e-01 8.55397634e-02 9.83598811e-01 -1.21573355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71592 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:330.16, Y:16.54, Z:-121.61 [[ 9.91362060e-01 6.26211922e-02 1.15238241e-01 3.30156628e+02] [-6.92884472e-02 9.96091124e-01 5.47867098e-02 1.65415950e+01] [-1.11356980e-01 -6.22981442e-02 9.91825874e-01 -1.21609869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:330.19, Y:16.62, Z:-121.60 [[ 9.90285244e-01 7.43505276e-02 1.17503763e-01 3.30193021e+02] [-7.21607938e-02 9.97132673e-01 -2.27871089e-02 1.66163207e+01] [-1.18861075e-01 1.40865728e-02 9.92810966e-01 -1.21598452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.77592 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:330.22, Y:16.60, Z:-121.61 [[ 9.90297158e-01 7.07525270e-02 1.19606101e-01 3.30222184e+02] [-7.10780232e-02 9.97469558e-01 -1.54780910e-03 1.65964564e+01] [-1.19412956e-01 -6.96857429e-03 9.92820218e-01 -1.21607016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:330.25, Y:16.56, Z:-121.62 [[ 9.90793855e-01 6.46333275e-02 1.18954068e-01 3.30249496e+02] [-6.94857724e-02 9.96892710e-01 3.71032557e-02 1.65596602e+01] [-1.16186336e-01 -4.50272930e-02 9.92206268e-01 -1.21618687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83592 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:330.29, Y:16.67, Z:-121.59 [[ 9.84051489e-01 8.04454645e-02 1.58654325e-01 3.30291062e+02] [-6.64240718e-02 9.93560570e-01 -9.17890821e-02 1.66746371e+01] [-1.65016697e-01 7.97867166e-02 9.83058274e-01 -1.21592951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:330.31, Y:16.52, Z:-121.63 [[ 9.90606005e-01 5.30583029e-02 1.26033959e-01 3.30306140e+02] [-6.27607410e-02 9.95259008e-01 7.43007130e-02 1.65231257e+01] [-1.21494163e-01 -8.15127172e-02 9.89239529e-01 -1.21630342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89592 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:330.34, Y:16.59, Z:-121.62 [[ 9.90167144e-01 6.13001447e-02 1.25743071e-01 3.30342236e+02] [-6.15479950e-02 9.98102285e-01 -1.91670257e-03 1.65930847e+01] [-1.25621941e-01 -5.84137800e-03 9.92060989e-01 -1.21619558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:330.38, Y:16.63, Z:-121.61 [[ 9.89819086e-01 6.46492959e-02 1.26801601e-01 3.30376939e+02] [-5.89255646e-02 9.97089037e-01 -4.83862632e-02 1.66339328e+01] [-1.29560624e-01 4.04217908e-02 9.90747255e-01 -1.21613911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95592 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:330.41, Y:16.63, Z:-121.62 [[ 9.84024339e-01 5.78443562e-02 1.68374969e-01 3.30409444e+02] [-5.10193653e-02 9.97701926e-01 -4.45857745e-02 1.66251518e+01] [-1.70567066e-01 3.52831032e-02 9.84714161e-01 -1.21620597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:330.43, Y:16.56, Z:-121.64 [[ 9.90417182e-01 4.28297898e-02 1.31298951e-01 3.30431988e+02] [-4.69063387e-02 9.98503621e-01 2.81125137e-02 1.65576076e+01] [-1.29898425e-01 -3.40018696e-02 9.90944132e-01 -1.21638771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01592 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:330.47, Y:16.59, Z:-121.64 [[ 9.90764312e-01 4.36327939e-02 1.28383244e-01 3.30465152e+02] [-4.32052644e-02 9.99047505e-01 -6.11450377e-03 1.65888067e+01] [-1.28527752e-01 5.11200124e-04 9.91705781e-01 -1.21635512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:330.50, Y:16.59, Z:-121.64 [[ 9.90821186e-01 4.25386478e-02 1.28311496e-01 3.30497271e+02] [-4.22217710e-02 9.99094784e-01 -5.18983767e-03 1.65866233e+01] [-1.28416116e-01 -2.75337503e-04 9.91720336e-01 -1.21639458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07592 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:330.52, Y:16.56, Z:-121.65 [[ 9.90643777e-01 3.74451880e-02 1.31235534e-01 3.30524950e+02] [-4.08512472e-02 9.98892189e-01 2.33574543e-02 1.65584642e+01] [-1.30215526e-01 -2.85000520e-02 9.91076013e-01 -1.21650538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:330.57, Y:16.64, Z:-121.63 [[ 9.84170603e-01 5.08262765e-02 1.69779015e-01 3.30566328e+02] [-3.96609222e-02 9.96860939e-01 -6.85221075e-02 1.66381717e+01] [-1.72728792e-01 6.07038516e-02 9.83097049e-01 -1.21634910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13592 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:330.58, Y:16.51, Z:-121.66 [[ 9.91249216e-01 2.59119312e-02 1.29435559e-01 3.30581049e+02] [-3.46950393e-02 9.97211646e-01 6.60695638e-02 1.65149092e+01] [-1.27362657e-01 -6.99821752e-02 9.89384278e-01 -1.21663776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:330.62, Y:16.56, Z:-121.66 [[ 9.89308550e-01 3.48752605e-02 1.41606177e-01 3.30615445e+02] [-3.78946048e-02 9.99107112e-01 1.86809340e-02 1.65570049e+01] [-1.40828237e-01 -2.38473178e-02 9.89746792e-01 -1.21660151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19591999999994 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:330.65, Y:16.59, Z:-121.66 [[ 9.88401143e-01 4.43385585e-02 1.45249001e-01 3.30651978e+02] [-4.11542855e-02 9.98843578e-01 -2.48562229e-02 1.65920662e+01] [-1.46183121e-01 1.85903003e-02 9.89082856e-01 -1.21656173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:330.69, Y:16.64, Z:-121.65 [[ 9.82561103e-01 5.31643971e-02 1.78177511e-01 3.30688079e+02] [-3.97472505e-02 9.96157128e-01 -7.80457125e-02 1.66360712e+01] [-1.81642051e-01 6.96026152e-02 9.80898385e-01 -1.21648033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25591999999995 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:330.71, Y:16.57, Z:-121.67 [[ 9.82199735e-01 4.28135965e-02 1.82895260e-01 3.30714353e+02] [-4.17486772e-02 9.99081341e-01 -9.67070283e-03 1.65725939e+01] [-1.83141279e-01 1.86292659e-03 9.83084839e-01 -1.21669591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:330.74, Y:16.50, Z:-121.69 [[ 9.88504552e-01 2.96951273e-02 1.48246245e-01 3.30736473e+02] [-4.00198201e-02 9.96939605e-01 6.71553329e-02 1.64986291e+01] [-1.45798367e-01 -7.23161404e-02 9.86667731e-01 -1.21686374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31591999999995 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:330.78, Y:16.63, Z:-121.66 [[ 9.82244893e-01 5.44463276e-02 1.79528736e-01 3.30783117e+02] [-4.01177897e-02 9.95783209e-01 -8.25006905e-02 1.66289921e+01] [-1.83263561e-01 7.38335859e-02 9.80287238e-01 -1.21662435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:330.81, Y:16.56, Z:-121.69 [[ 9.81949654e-01 4.34690301e-02 1.84079660e-01 3.30808743e+02] [-4.23681240e-02 9.99052904e-01 -9.91144826e-03 1.65586814e+01] [-1.84336160e-01 1.93343332e-03 9.82861354e-01 -1.21685611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37591999999995 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:330.83, Y:16.49, Z:-121.70 [[ 9.87933634e-01 3.53325854e-02 1.50793711e-01 3.30832688e+02] [-4.45375751e-02 9.97316299e-01 5.81085576e-02 1.64933970e+01] [-1.48335900e-01 -6.41233847e-02 9.86855943e-01 -1.21699595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:330.87, Y:16.56, Z:-121.69 [[ 9.88352671e-01 4.82674632e-02 1.44323423e-01 3.30869908e+02] [-4.61567069e-02 9.98773108e-01 -1.79398442e-02 1.65606207e+01] [-1.45012264e-01 1.10693990e-02 9.89367935e-01 -1.21689258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43591999999995 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:330.90, Y:16.51, Z:-121.70 [[ 9.87076687e-01 4.17205471e-02 1.54722364e-01 3.30895985e+02] [-4.77201893e-02 9.98237991e-01 3.52660804e-02 1.65092689e+01] [-1.52978421e-01 -4.21937062e-02 9.87328362e-01 -1.21703299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:330.93, Y:16.53, Z:-121.70 [[ 9.86500313e-01 4.73743558e-02 1.56757148e-01 3.30926874e+02] [-4.87637038e-02 9.98797693e-01 5.02695965e-03 1.65317124e+01] [-1.56330528e-01 -1.26031564e-02 9.87624385e-01 -1.21701453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49591999999996 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:330.96, Y:16.57, Z:-121.69 [[ 9.87488496e-01 5.65990835e-02 1.47183609e-01 3.30962137e+02] [-5.02795451e-02 9.97660894e-01 -4.63109987e-02 1.65749635e+01] [-1.49460491e-01 3.83312535e-02 9.88024431e-01 -1.21694966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:330.98, Y:16.51, Z:-121.71 [[ 9.86480415e-01 4.52142414e-02 1.57518455e-01 3.30983092e+02] [-4.94481921e-02 9.98510387e-01 2.30625889e-02 1.65079440e+01] [-1.56241056e-01 -3.05397951e-02 9.87246703e-01 -1.21713615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55591999999996 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:331.01, Y:16.53, Z:-121.71 [[ 9.86588750e-01 4.83808686e-02 1.55890763e-01 3.31012802e+02] [-4.87297242e-02 9.98810743e-01 -1.58529976e-03 1.65253152e+01] [-1.55782067e-01 -6.03247501e-03 9.87773029e-01 -1.21713266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:331.06, Y:16.63, Z:-121.69 [[ 9.78495778e-01 7.14323140e-02 1.93503065e-01 3.31058110e+02] [-4.81971935e-02 9.91330592e-01 -1.22232109e-01 1.66289301e+01] [-2.00556830e-01 1.10277298e-01 9.73455636e-01 -1.21690925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61591999999996 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:331.08, Y:16.52, Z:-121.72 [[ 9.77936341e-01 5.05283893e-02 2.02700261e-01 3.31080491e+02] [-4.91918660e-02 9.98721642e-01 -1.16294003e-02 1.65234699e+01] [-2.03028752e-01 1.40160911e-03 9.79171773e-01 -1.21721938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:331.11, Y:16.52, Z:-121.73 [[ 9.77925299e-01 5.07640929e-02 2.02694637e-01 3.31113448e+02] [-4.94124215e-02 9.98709617e-01 -1.17266580e-02 1.65217359e+01] [-2.03028376e-01 1.45216274e-03 9.79171777e-01 -1.21727966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67591999999996 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:331.13, Y:16.43, Z:-121.74 [[ 9.85330122e-01 3.06400403e-02 1.67886090e-01 3.31133669e+02] [-4.62891270e-02 9.94855825e-01 9.01066225e-02 1.64263919e+01] [-1.64261584e-01 -9.65560699e-02 9.81679712e-01 -1.21743663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:331.18, Y:16.55, Z:-121.73 [[ 9.85996429e-01 5.51799564e-02 1.57372849e-01 3.31176864e+02] [-4.86425598e-02 9.97797657e-01 -4.50969844e-02 1.65465597e+01] [-1.59514710e-01 3.68104474e-02 9.86509021e-01 -1.21728573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73591999999996 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:331.20, Y:16.46, Z:-121.75 [[ 9.85404529e-01 3.70199644e-02 1.66154857e-01 3.31196279e+02] [-4.36848433e-02 9.98373341e-01 3.66374898e-02 1.64642958e+01] [-1.64528261e-01 -4.33611973e-02 9.85418824e-01 -1.21747335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:331.23, Y:16.55, Z:-121.73 [[ 9.85844964e-01 5.43741504e-02 1.58597473e-01 3.31234610e+02] [-4.49209315e-02 9.97027553e-01 -6.25952724e-02 1.65500945e+01] [-1.61529615e-01 5.45848878e-02 9.85357130e-01 -1.21732053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79591999999997 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:331.26, Y:16.48, Z:-121.75 [[ 9.84448816e-01 4.45413905e-02 1.69931143e-01 3.31260392e+02] [-4.66823805e-02 9.98872568e-01 8.62255730e-03 1.64828504e+01] [-1.69355497e-01 -1.64212566e-02 9.85418215e-01 -1.21752208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:331.29, Y:16.50, Z:-121.75 [[ 9.83801546e-01 5.05109647e-02 1.71997560e-01 3.31291891e+02] [-4.78160212e-02 9.98660326e-01 -1.97783087e-02 1.65048842e+01] [-1.72766161e-01 1.12336917e-02 9.84898806e-01 -1.21752425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85591999999997 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:331.33, Y:16.55, Z:-121.75 [[ 9.75146332e-01 6.14581265e-02 2.12867401e-01 3.31327675e+02] [-4.64842388e-02 9.96125606e-01 -7.46524762e-02 1.65453414e+01] [-2.16630670e-01 6.29021092e-02 9.74225065e-01 -1.21749369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:331.35, Y:16.49, Z:-121.77 [[ 9.75184680e-01 5.07014284e-02 2.15509176e-01 3.31354120e+02] [-4.90472846e-02 9.98711591e-01 -1.30200657e-02 1.64857811e+01] [-2.15891648e-01 2.12682867e-03 9.76415011e-01 -1.21767443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91591999999997 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:331.37, Y:16.37, Z:-121.78 [[ 9.84378501e-01 2.73408476e-02 1.73929425e-01 3.31371437e+02] [-4.63995019e-02 9.93232350e-01 1.06473403e-01 1.63733504e+01] [-1.69841259e-01 -1.12880368e-01 9.78985173e-01 -1.21781215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:331.41, Y:16.47, Z:-121.78 [[ 9.83285520e-01 5.07913793e-02 1.74842279e-01 3.31412044e+02] [-5.11890066e-02 9.98686476e-01 -2.23775809e-03 1.64691292e+01] [-1.74726279e-01 -6.74964746e-03 9.84593911e-01 -1.21776172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97592 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:331.44, Y:16.47, Z:-121.78 [[ 9.82238067e-01 5.23054221e-02 1.80201342e-01 3.31439767e+02] [-5.22715270e-02 9.98620691e-01 -4.93999217e-03 1.64664345e+01] [-1.80211177e-01 -4.56715093e-03 9.83617341e-01 -1.21780089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:331.48, Y:16.54, Z:-121.77 [[ 9.81449505e-01 7.27510464e-02 1.77381381e-01 3.31480186e+02] [-5.81642815e-02 9.94587478e-01 -8.60968295e-02 1.65357101e+01] [-1.82684935e-01 7.41824301e-02 9.80368901e-01 -1.21771287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03592 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:331.51, Y:16.48, Z:-121.79 [[ 9.80637801e-01 6.20389998e-02 1.85743546e-01 3.31505576e+02] [-5.79825990e-02 9.97947057e-01 -2.71972245e-02 1.64806063e+01] [-1.87049514e-01 1.59007329e-02 9.82221791e-01 -1.21788759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:331.54, Y:16.48, Z:-121.79 [[ 9.73073414e-01 6.49989123e-02 2.21140843e-01 3.31537605e+02] [-5.70703457e-02 9.97483698e-01 -4.20624213e-02 1.64848380e+01] [-2.23318398e-01 2.83092395e-02 9.74334378e-01 -1.21792991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09592 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:331.57, Y:16.45, Z:-121.80 [[ 9.72993472e-01 5.90639085e-02 2.23148288e-01 3.31567129e+02] [-5.73972205e-02 9.98253908e-01 -1.39533072e-02 1.64527124e+01] [-2.23582787e-01 7.68385374e-04 9.74684640e-01 -1.21803777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:331.59, Y:16.38, Z:-121.81 [[ 9.84658558e-01 4.41809095e-02 1.68806313e-01 3.31591422e+02] [-5.56400098e-02 9.96412650e-01 6.37653564e-02 1.63797519e+01] [-1.65383534e-01 -7.21794887e-02 9.83584469e-01 -1.21813609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15592 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:331.63, Y:16.51, Z:-121.80 [[ 9.73023767e-01 7.30681277e-02 2.18828239e-01 3.31634411e+02] [-5.52262173e-02 9.94713299e-01 -8.65766526e-02 1.65094003e+01] [-2.23997354e-01 7.21560847e-02 9.71914958e-01 -1.21802704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:331.65, Y:16.37, Z:-121.83 [[ 9.82540873e-01 4.32620368e-02 1.80947036e-01 3.31649868e+02] [-5.60904202e-02 9.96216060e-01 6.63884571e-02 1.63670719e+01] [-1.77390244e-01 -7.53787679e-02 9.81249582e-01 -1.21825683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21592 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:331.69, Y:16.50, Z:-121.81 [[ 9.72439317e-01 7.75213567e-02 2.19891367e-01 3.31694957e+02] [-5.92881431e-02 9.94323571e-01 -8.83490385e-02 1.65002126e+01] [-2.25492107e-01 7.28771279e-02 9.71515432e-01 -1.21814445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:331.72, Y:16.43, Z:-121.83 [[ 9.72278216e-01 6.42632872e-02 2.24822820e-01 3.31720218e+02] [-6.26288153e-02 9.97932976e-01 -1.44016549e-02 1.64277759e+01] [-2.25283603e-01 -7.79715445e-05 9.74293227e-01 -1.21832313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.27592 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:331.75, Y:16.42, Z:-121.84 [[ 9.72163680e-01 6.88732561e-02 2.23951453e-01 3.31752339e+02] [-6.73458797e-02 9.97624892e-01 -1.44605290e-02 1.64225548e+01] [-2.24415488e-01 -1.02420657e-03 9.74493017e-01 -1.21838072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:331.78, Y:16.42, Z:-121.84 [[ 9.72170374e-01 7.16520685e-02 2.23048749e-01 3.31784913e+02] [-7.01963909e-02 9.97428402e-01 -1.44585280e-02 1.64200537e+01] [-2.23511141e-01 -1.60106465e-03 9.74700060e-01 -1.21844959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33592 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:331.80, Y:16.31, Z:-121.86 [[ 9.81179782e-01 4.55688459e-02 1.87642521e-01 3.31802482e+02] [-6.59801531e-02 9.92385368e-01 1.04009135e-01 1.63102595e+01] [-1.81474116e-01 -1.14432343e-01 9.76715099e-01 -1.21855779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:331.84, Y:16.42, Z:-121.85 [[ 9.79370093e-01 7.30723120e-02 1.88400260e-01 3.31840521e+02] [-7.07527910e-02 9.97312591e-01 -1.90167960e-02 1.64159913e+01] [-1.89283553e-01 5.29463701e-03 9.81908195e-01 -1.21852231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39592 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:331.88, Y:16.50, Z:-121.84 [[ 9.70187933e-01 9.58609998e-02 2.22589404e-01 3.31881734e+02] [-7.08437287e-02 9.90508001e-01 -1.17792473e-01 1.64993022e+01] [-2.31768290e-01 9.85117729e-02 9.67770061e-01 -1.21843846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:331.90, Y:16.37, Z:-121.87 [[ 9.79234993e-01 6.24004235e-02 1.92886019e-01 3.31897007e+02] [-6.87627586e-02 9.97282039e-01 2.64616265e-02 1.63676730e+01] [-1.90710545e-01 -3.91755254e-02 9.80864295e-01 -1.21867186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45592 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:331.94, Y:16.43, Z:-121.87 [[ 9.69575096e-01 8.13796327e-02 2.30871152e-01 3.31936541e+02] [-7.11777719e-02 9.96097198e-01 -5.21928746e-02 1.64306529e+01] [-2.34217544e-01 3.41720172e-02 9.71583458e-01 -1.21867537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:331.95, Y:16.27, Z:-121.88 [[ 9.80189344e-01 4.18294652e-02 1.93595312e-01 3.31949625e+02] [-6.56672369e-02 9.90792025e-01 1.18401758e-01 1.62733872e+01] [-1.86860009e-01 -1.28769011e-01 9.73910611e-01 -1.21880146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51592 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:332.00, Y:16.47, Z:-121.87 [[ 9.77907712e-01 9.21025226e-02 1.87652955e-01 3.32001475e+02] [-7.48595101e-02 9.92464884e-01 -9.70026139e-02 1.64660564e+01] [-1.95173154e-01 8.08119960e-02 9.77433814e-01 -1.21869483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:332.02, Y:16.32, Z:-121.89 [[ 9.81876242e-01 6.19486243e-02 1.79112853e-01 3.32017426e+02] [-7.38457657e-02 9.95430982e-01 6.05306806e-02 1.63237342e+01] [-1.74544691e-01 -7.26603629e-02 9.81964675e-01 -1.21890335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57592 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:332.07, Y:16.48, Z:-121.88 [[ 9.68172246e-01 1.07529324e-01 2.26008732e-01 3.32065699e+02] [-8.17701371e-02 9.89349340e-01 -1.20422287e-01 1.64811807e+01] [-2.36550518e-01 9.81087511e-02 9.66653260e-01 -1.21879968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:332.08, Y:16.35, Z:-121.90 [[ 9.77391772e-01 7.98351313e-02 1.95784767e-01 3.32080962e+02] [-8.65176564e-02 9.95916015e-01 2.58067049e-02 1.63480453e+01] [-1.92924903e-01 -4.21621002e-02 9.80307268e-01 -1.21902909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63592 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:332.11, Y:16.37, Z:-121.91 [[ 9.77373014e-01 8.81601050e-02 1.92275293e-01 3.32114197e+02] [-9.06042190e-02 9.95879191e-01 3.93864702e-03 1.63676889e+01] [-1.91135732e-01 -2.12704800e-02 9.81333123e-01 -1.21907252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:332.15, Y:16.39, Z:-121.91 [[ 9.75969091e-01 9.56647367e-02 1.95787109e-01 3.32146808e+02] [-9.43197926e-02 9.95410078e-01 -1.62035220e-02 1.63865262e+01] [-1.96438567e-01 -2.65246289e-03 9.80512546e-01 -1.21910927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69591999999994 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:332.18, Y:16.40, Z:-121.92 [[ 9.73899484e-01 1.03046891e-01 2.02240285e-01 3.32178763e+02] [-9.84607036e-02 9.94605661e-01 -3.26354015e-02 1.64005815e+01] [-2.04512309e-01 1.18708799e-02 9.78792009e-01 -1.21916787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:332.21, Y:16.41, Z:-121.92 [[ 9.65335028e-01 1.12181541e-01 2.35676867e-01 3.32212683e+02] [-1.03887888e-01 9.93460849e-01 -4.73587087e-02 1.64119498e+01] [-2.39448514e-01 2.12330485e-02 9.70676860e-01 -1.21922537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75591999999995 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:332.23, Y:16.36, Z:-121.93 [[ 9.72916869e-01 9.66419447e-02 2.09983571e-01 3.32234843e+02] [-1.01780352e-01 9.94711491e-01 1.37771200e-02 1.63582279e+01] [-2.07541623e-01 -3.47761943e-02 9.77607841e-01 -1.21934119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:332.27, Y:16.39, Z:-121.94 [[ 9.71389135e-01 1.06495019e-01 2.12278026e-01 3.32269604e+02] [-1.04275981e-01 9.94312627e-01 -2.16545565e-02 1.63905425e+01] [-2.13376824e-01 -1.10049854e-03 9.76969355e-01 -1.21938977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81591999999995 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:332.30, Y:16.39, Z:-121.95 [[ 9.70947574e-01 1.05418847e-01 2.14820099e-01 3.32300380e+02] [-1.05108204e-01 9.94377098e-01 -1.29016401e-02 1.63852163e+01] [-2.14972263e-01 -1.00525386e-02 9.76568417e-01 -1.21946794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:332.33, Y:16.38, Z:-121.95 [[ 9.71129343e-01 1.04040440e-01 2.14670414e-01 3.32330239e+02] [-1.04909762e-01 9.94454422e-01 -7.37189313e-03 1.63795843e+01] [-2.14246918e-01 -1.53619603e-02 9.76658727e-01 -1.21954055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87591999999995 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:332.36, Y:16.39, Z:-121.96 [[ 9.70875527e-01 1.04651976e-01 2.15519545e-01 3.32362481e+02] [-1.03311932e-01 9.94494944e-01 -1.75057647e-02 1.63898069e+01] [-2.16165111e-01 -5.26982212e-03 9.76342601e-01 -1.21960796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:332.39, Y:16.40, Z:-121.97 [[ 9.70100648e-01 1.06232281e-01 2.18218779e-01 3.32394335e+02] [-1.03175282e-01 9.94339090e-01 -2.53896638e-02 1.63970592e+01] [-2.19680664e-01 2.11574517e-03 9.75569541e-01 -1.21967699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93591999999995 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:332.42, Y:16.39, Z:-121.98 [[ 9.70349200e-01 1.02397595e-01 2.18945572e-01 3.32424325e+02] [-1.02254612e-01 9.94685690e-01 -1.20155040e-02 1.63851641e+01] [-2.19012386e-01 -1.07289598e-02 9.75663089e-01 -1.21975176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:332.45, Y:16.33, Z:-121.99 [[ 9.72829035e-01 8.85238364e-02 2.13932697e-01 3.32448380e+02] [-1.00717000e-01 9.93815547e-01 4.67626379e-02 1.63342474e+01] [-2.08470033e-01 -6.70387114e-02 9.75728475e-01 -1.21985195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99591999999996 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:332.49, Y:16.44, Z:-121.98 [[ 9.69422818e-01 1.16614007e-01 2.15917976e-01 3.32492507e+02] [-1.03460576e-01 9.92075406e-01 -7.12902435e-02 1.64402231e+01] [-2.22520355e-01 4.67713907e-02 9.73805488e-01 -1.21978924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:332.52, Y:16.39, Z:-121.99 [[ 9.69341539e-01 1.05039627e-01 2.22134325e-01 3.32517976e+02] [-1.03725175e-01 9.94450106e-01 -1.76089276e-02 1.63922888e+01] [-2.22751138e-01 -5.97185678e-03 9.74857050e-01 -1.21994508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05591999999996 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:332.55, Y:16.40, Z:-122.00 [[ 9.68634434e-01 1.06426261e-01 2.24545729e-01 3.32550150e+02] [-1.04316710e-01 9.94316603e-01 -2.12724645e-02 1.63980113e+01] [-2.25533495e-01 -2.81863001e-03 9.74231337e-01 -1.22001923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:332.58, Y:16.39, Z:-122.01 [[ 9.69237102e-01 1.02887399e-01 2.23592540e-01 3.32580163e+02] [-1.03658423e-01 9.94578168e-01 -8.31857426e-03 1.63858077e+01] [-2.23236135e-01 -1.51145793e-02 9.74647207e-01 -1.22010492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11591999999996 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:332.61, Y:16.40, Z:-122.02 [[ 9.68898979e-01 1.05568597e-01 2.23808040e-01 3.32612040e+02] [-1.03292284e-01 9.94410188e-01 -2.18879556e-02 1.63967434e+01] [-2.24867676e-01 -1.91042574e-03 9.74387438e-01 -1.22016344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:332.64, Y:16.39, Z:-122.02 [[ 9.69949223e-01 9.93476956e-02 2.22100292e-01 3.32642105e+02] [-9.98642440e-02 9.94960979e-01 -8.93215640e-03 1.63854035e+01] [-2.21868513e-01 -1.35161395e-02 9.74982911e-01 -1.22024514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17591999999996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:332.68, Y:16.41, Z:-122.03 [[ 9.62786185e-01 1.07431006e-01 2.47994638e-01 3.32677696e+02] [-9.95023982e-02 9.94049606e-01 -4.43244053e-02 1.64143172e+01] [-2.51280787e-01 1.79988639e-02 9.67746871e-01 -1.22028668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:332.69, Y:16.32, Z:-122.05 [[ 9.71689160e-01 7.68797905e-02 2.23404733e-01 3.32694087e+02] [-9.35223263e-02 9.93500966e-01 6.48799352e-02 1.63160405e+01] [-2.16964862e-01 -8.39364600e-02 9.72564095e-01 -1.22045009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23591999999996 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:332.74, Y:16.43, Z:-122.04 [[ 9.69708273e-01 1.07850624e-01 2.19166849e-01 3.32740698e+02] [-9.60301554e-02 9.93323873e-01 -6.39209948e-02 1.64304829e+01] [-2.24597582e-01 4.09380909e-02 9.73591289e-01 -1.22036201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:332.77, Y:16.42, Z:-122.05 [[ 9.60507388e-01 1.05082290e-01 2.57649508e-01 3.32770728e+02] [-9.45314139e-02 9.94108071e-01 -5.30372900e-02 1.64172148e+01] [-2.61704736e-01 2.65867366e-02 9.64781725e-01 -1.22047672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29591999999997 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:332.79, Y:16.35, Z:-122.06 [[ 9.70156785e-01 8.52654676e-02 2.26992540e-01 3.32791782e+02] [-9.30327362e-02 9.95380413e-01 2.37222064e-02 1.63489795e+01] [-2.23921244e-01 -4.41319966e-02 9.73607541e-01 -1.22062850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:332.83, Y:16.38, Z:-122.07 [[ 9.69723753e-01 9.54606401e-02 2.24773460e-01 3.32826723e+02] [-9.46744811e-02 9.95405591e-01 -1.42986712e-02 1.63804792e+01] [-2.25105719e-01 -7.41454964e-03 9.74306132e-01 -1.22065293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35591999999997 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:332.86, Y:16.38, Z:-122.07 [[ 9.69526887e-01 9.52758468e-02 2.25699200e-01 3.32856670e+02] [-9.44659447e-02 9.95423782e-01 -1.44110855e-02 1.63776948e+01] [-2.26039380e-01 -7.34895331e-03 9.74090443e-01 -1.22072826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:332.89, Y:16.36, Z:-122.08 [[ 9.69248641e-01 9.30552136e-02 2.27810884e-01 3.32885653e+02] [-9.58894866e-02 9.95391029e-01 1.38022275e-03 1.63638481e+01] [-2.26632473e-01 -2.31824477e-02 9.73704419e-01 -1.22082099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41591999999997 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:332.91, Y:16.33, Z:-122.09 [[ 9.69954082e-01 8.47889662e-02 2.28034888e-01 3.32911357e+02] [-9.48115282e-02 9.94936719e-01 3.33421478e-02 1.63331902e+01] [-2.24053237e-01 -5.39606886e-02 9.73081904e-01 -1.22091482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:332.96, Y:16.44, Z:-122.08 [[ 9.66817153e-01 1.15856420e-01 2.27688124e-01 3.32956486e+02] [-9.74243506e-02 9.91108084e-01 -9.06270430e-02 1.64424106e+01] [-2.36163265e-01 6.54374121e-02 9.69507533e-01 -1.22078832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47592 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:332.98, Y:16.38, Z:-122.10 [[ 9.66849241e-01 9.75971246e-02 2.35960478e-01 3.32977211e+02] [-9.62578924e-02 9.95207513e-01 -1.72169575e-02 1.63757460e+01] [-2.36509966e-01 -6.06685606e-03 9.71610122e-01 -1.22099153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:333.01, Y:16.42, Z:-122.10 [[ 9.56083107e-01 1.10798955e-01 2.71346058e-01 3.33014200e+02] [-9.47682935e-02 9.92926341e-01 -7.15279852e-02 1.64208190e+01] [-2.77351875e-01 4.26716955e-02 9.59820329e-01 -1.22099238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53592 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:333.04, Y:16.38, Z:-122.12 [[ 9.56010281e-01 9.88332785e-02 2.76181690e-01 3.33040540e+02] [-9.62200181e-02 9.95093580e-01 -2.30320639e-02 1.63763177e+01] [-2.77102961e-01 -4.55531727e-03 9.60829433e-01 -1.22116416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:333.07, Y:16.37, Z:-122.12 [[ 9.55963167e-01 9.93220667e-02 2.76169424e-01 3.33072948e+02] [-9.66865620e-02 9.95044962e-01 -2.31782723e-02 1.63739955e+01] [-2.77103108e-01 -4.54429757e-03 9.60829442e-01 -1.22124949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59592 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:333.10, Y:16.33, Z:-122.14 [[ 9.65381095e-01 8.79340663e-02 2.45574718e-01 3.33099595e+02] [-9.67919614e-02 9.95010099e-01 2.42119617e-02 1.63329884e+01] [-2.42220268e-01 -4.71434287e-02 9.69075249e-01 -1.22138542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:333.13, Y:16.36, Z:-122.14 [[ 9.66014902e-01 9.58195928e-02 2.40070436e-01 3.33133425e+02] [-9.80707890e-02 9.95176095e-01 -2.58059506e-03 1.63576160e+01] [-2.39159630e-01 -2.10510038e-02 9.70752042e-01 -1.22140646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65592 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:333.17, Y:16.40, Z:-122.14 [[ 9.63138006e-01 1.09442349e-01 2.45738792e-01 3.33169868e+02] [-1.00586671e-01 9.93753111e-01 -4.83433194e-02 1.64013352e+01] [-2.49494496e-01 2.18432411e-02 9.68129831e-01 -1.22141832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:333.20, Y:16.38, Z:-122.15 [[ 9.62948894e-01 1.03260070e-01 2.49132063e-01 3.33197446e+02] [-1.00980050e-01 9.94646268e-01 -2.19506707e-02 1.63781919e+01] [-2.50064904e-01 -4.01999411e-03 9.68220731e-01 -1.22153484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71592 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:333.23, Y:16.36, Z:-122.16 [[ 9.64047383e-01 1.00101374e-01 2.46155150e-01 3.33225664e+02] [-1.02468796e-01 9.94731053e-01 -3.20598563e-03 1.63621499e+01] [-2.45179095e-01 -2.21324999e-02 9.69225136e-01 -1.22162500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:333.27, Y:16.43, Z:-122.16 [[ 9.52201576e-01 1.20924420e-01 2.80516388e-01 3.33266126e+02] [-1.01965947e-01 9.91461962e-01 -8.12780598e-02 1.64323448e+01] [-2.87949831e-01 4.87899775e-02 9.56401816e-01 -1.22158553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.77592 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:333.29, Y:16.35, Z:-122.18 [[ 9.61394886e-01 9.81976915e-02 2.57054637e-01 3.33285666e+02] [-1.03876932e-01 9.94553203e-01 8.57375023e-03 1.63547942e+01] [-2.54812590e-01 -3.49448066e-02 9.66358838e-01 -1.22183669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters Centerline goodness : 0.987959 Centerline is valid? [True, True] Translation: X:333.34, Y:16.35, Z:-122.21 [[ 9.52915721e-01 1.43106458e-01 2.67342795e-01 3.33342170e+02] [-1.59897416e-01 9.86239232e-01 4.20118211e-02 1.63481242e+01] [-2.57651790e-01 -8.27811468e-02 9.62685222e-01 -1.22214643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83592 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:333.36, Y:16.47, Z:-122.17 [[ 9.61741118e-01 1.27054399e-01 2.42716298e-01 3.33361117e+02] [-9.95992103e-02 9.87487232e-01 -1.22265959e-01 1.64709015e+01] [-2.55213674e-01 9.34138482e-02 9.62361592e-01 -1.22168350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:333.38, Y:16.39, Z:-122.20 [[ 9.62113887e-01 1.02241414e-01 2.52751975e-01 3.33377434e+02] [-9.91900551e-02 9.94758904e-01 -2.48204894e-02 1.63866561e+01] [-2.53964959e-01 -1.19034477e-03 9.67212687e-01 -1.22198871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89592 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:333.41, Y:16.39, Z:-122.21 [[ 9.61795302e-01 1.03135247e-01 2.53599918e-01 3.33409542e+02] [-9.95964045e-02 9.94667212e-01 -2.67898138e-02 1.63893220e+01] [-2.55010497e-01 5.08676996e-04 9.66938151e-01 -1.22206194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:333.44, Y:16.39, Z:-122.22 [[ 9.61855958e-01 1.01442884e-01 2.54052075e-01 3.33439403e+02] [-9.99797781e-02 9.94813739e-01 -1.86994314e-02 1.63869966e+01] [-2.54631419e-01 -7.41391059e-03 9.67009759e-01 -1.22216407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95592 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:333.47, Y:16.40, Z:-122.22 [[ 9.61372045e-01 1.04365322e-01 2.54699177e-01 3.33470491e+02] [-1.00863490e-01 9.94539025e-01 -2.68082771e-02 1.63954153e+01] [-2.56106126e-01 8.28801986e-05 9.66648667e-01 -1.22223068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:333.50, Y:16.40, Z:-122.23 [[ 9.61346384e-01 1.03052989e-01 2.55329613e-01 3.33500256e+02] [-1.00506382e-01 9.94669657e-01 -2.30378071e-02 1.63955143e+01] [-2.56342734e-01 -3.51494314e-03 9.66579561e-01 -1.22231720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01592 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:333.54, Y:16.43, Z:-122.24 [[ 9.50258193e-01 1.12108589e-01 2.90587389e-01 3.33535951e+02] [-9.90628642e-02 9.93314325e-01 -5.92722541e-02 1.64265422e+01] [-2.95289545e-01 2.75375260e-02 9.55010874e-01 -1.22235102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:333.56, Y:16.36, Z:-122.26 [[ 9.62140096e-01 9.09423461e-02 2.56935645e-01 3.33558140e+02] [-9.84952346e-02 9.94998174e-01 1.66529875e-02 1.63616030e+01] [-2.54136036e-01 -4.13294436e-02 9.66285027e-01 -1.22256432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07592 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:333.60, Y:16.41, Z:-122.26 [[ 9.61168420e-01 1.02068432e-01 2.56392870e-01 3.33595135e+02] [-9.70078098e-02 9.94757965e-01 -3.23431082e-02 1.64055435e+01] [-2.58350059e-01 6.21506349e-03 9.66031376e-01 -1.22257109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:333.63, Y:16.42, Z:-122.26 [[ 9.51548186e-01 9.95827561e-02 2.90928382e-01 3.33627995e+02] [-8.86800275e-02 9.94781290e-01 -5.04582715e-02 1.64194349e+01] [-2.94434885e-01 2.22139398e-02 9.55413334e-01 -1.22264360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13592 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:333.66, Y:16.39, Z:-122.28 [[ 9.51540604e-01 8.87443650e-02 2.94440004e-01 3.33656472e+02] [-8.53168725e-02 9.96052781e-01 -2.44926067e-02 1.63937233e+01] [-2.95451365e-01 -1.81499045e-03 9.55356057e-01 -1.22278604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:333.69, Y:16.39, Z:-122.29 [[ 9.51587050e-01 8.09653487e-02 2.96524365e-01 3.33689064e+02] [-7.70692329e-02 9.96716619e-01 -2.48256989e-02 1.63911915e+01] [-2.97560784e-01 7.70908254e-04 9.54702564e-01 -1.22286323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19591999999994 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:333.72, Y:16.39, Z:-122.30 [[ 9.51680648e-01 7.76892224e-02 2.97099865e-01 3.33720902e+02] [-7.35721354e-02 9.96975690e-01 -2.50322856e-02 1.63882060e+01] [-2.98146081e-01 1.96447031e-03 9.54518232e-01 -1.22295909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:333.74, Y:16.30, Z:-122.32 [[ 9.63189415e-01 4.85026466e-02 2.64411883e-01 3.33736728e+02] [-6.92498996e-02 9.95160590e-01 6.97126305e-02 1.63007595e+01] [-2.59751038e-01 -8.54569641e-02 9.61886950e-01 -1.22318215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25591999999995 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:333.78, Y:16.37, Z:-122.31 [[ 9.62217909e-01 6.66285728e-02 2.64002518e-01 3.33775079e+02] [-6.65437992e-02 9.97740404e-01 -9.27409261e-03 1.63670807e+01] [-2.64023899e-01 -8.64403257e-03 9.64477403e-01 -1.22312188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:333.83, Y:16.46, Z:-122.29 [[ 9.50314308e-01 9.97138472e-02 2.94889582e-01 3.33826822e+02] [-6.54996211e-02 9.90151877e-01 -1.23729789e-01 1.64622751e+01] [-3.04323046e-01 9.82670331e-02 9.47486714e-01 -1.22294148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31591999999995 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:333.83, Y:16.30, Z:-122.34 [[ 9.62454646e-01 4.97087945e-02 2.66852187e-01 3.33829195e+02] [-6.68082729e-02 9.96227660e-01 5.53814333e-02 1.62978187e+01] [-2.63092586e-01 -7.11300515e-02 9.62144899e-01 -1.22338201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:333.86, Y:16.32, Z:-122.34 [[ 9.61018696e-01 6.12179031e-02 2.69620910e-01 3.33861938e+02] [-6.99511845e-02 9.97287684e-01 2.28933848e-02 1.63231530e+01] [-2.67488128e-01 -4.08612728e-02 9.62694374e-01 -1.22340970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37591999999995 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:333.92, Y:16.46, Z:-122.32 [[ 9.48854597e-01 1.08578879e-01 2.96455023e-01 3.33921366e+02] [-6.88924780e-02 9.87580138e-01 -1.41206580e-01 1.64622663e+01] [-3.08105145e-01 1.13560991e-01 9.44550221e-01 -1.22315773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:333.91, Y:16.24, Z:-122.37 [[ 9.60792119e-01 4.09623271e-02 2.74227263e-01 3.33914961e+02] [-7.04972965e-02 9.92614347e-01 9.87263379e-02 1.62417952e+01] [-2.68157855e-01 -1.14187768e-01 9.56583775e-01 -1.22369388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43591999999995 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:333.96, Y:16.35, Z:-122.36 [[ 9.59989556e-01 7.92939354e-02 2.68574986e-01 3.33961262e+02] [-7.41172996e-02 9.96816768e-01 -2.93761195e-02 1.63548067e+01] [-2.70049398e-01 8.29471515e-03 9.62810740e-01 -1.22358026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:334.00, Y:16.36, Z:-122.36 [[ 9.59112357e-01 8.79485122e-02 2.69014027e-01 3.33996264e+02] [-7.82679358e-02 9.95846224e-01 -4.65234087e-02 1.63634400e+01] [-2.71988267e-01 2.35660036e-02 9.62011968e-01 -1.22363516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49591999999996 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:334.02, Y:16.33, Z:-122.38 [[ 9.58165462e-01 7.51908979e-02 2.76161686e-01 3.34016076e+02] [-7.52091703e-02 9.97112068e-01 -1.05406449e-02 1.63259340e+01] [-2.76156710e-01 -1.06702094e-02 9.61053390e-01 -1.22376330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:334.05, Y:16.33, Z:-122.38 [[ 9.57899517e-01 7.70421417e-02 2.76573721e-01 3.34047358e+02] [-7.49911378e-02 9.97021704e-01 -1.80013949e-02 1.63281924e+01] [-2.77136869e-01 -3.49705050e-03 9.60824087e-01 -1.22384206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55591999999996 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:334.10, Y:16.43, Z:-122.37 [[ 9.44685093e-01 1.12021714e-01 3.08255107e-01 3.34097809e+02] [-7.26560609e-02 9.87988978e-01 -1.36377697e-01 1.64258803e+01] [-3.19829912e-01 1.06437375e-01 9.41477516e-01 -1.22368923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:334.10, Y:16.25, Z:-122.41 [[ 9.60327760e-01 5.60460795e-02 2.73183876e-01 3.34098218e+02] [-7.25184459e-02 9.96084217e-01 5.05698273e-02 1.62530800e+01] [-2.69279907e-01 -6.83744791e-02 9.60631700e-01 -1.22409613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61591999999996 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:334.15, Y:16.38, Z:-122.40 [[ 9.43888846e-01 1.01797027e-01 3.14183404e-01 3.34152222e+02] [-7.41110901e-02 9.92336468e-01 -9.88730489e-02 1.63795465e+01] [-3.21840632e-01 7.00406935e-02 9.44199613e-01 -1.22396676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:334.16, Y:16.23, Z:-122.43 [[ 9.53874003e-01 5.48050059e-02 2.95162324e-01 3.34157689e+02] [-7.56136337e-02 9.95357740e-01 5.95444985e-02 1.62312312e+01] [-2.90528767e-01 -7.91162450e-02 9.53589878e-01 -1.22428288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67591999999996 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:334.21, Y:16.38, Z:-122.41 [[ 9.41502952e-01 1.07459724e-01 3.19412896e-01 3.34214694e+02] [-7.43206795e-02 9.90671321e-01 -1.14222464e-01 1.63800479e+01] [-3.28707510e-01 8.38018032e-02 9.40706453e-01 -1.22409035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:334.22, Y:16.23, Z:-122.44 [[ 9.53540540e-01 5.70231060e-02 2.95818869e-01 3.34219203e+02] [-7.59579327e-02 9.95706438e-01 5.29063426e-02 1.62280903e+01] [-2.91531869e-01 -7.29181323e-02 9.53777812e-01 -1.22442862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73591999999996 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:334.27, Y:16.36, Z:-122.43 [[ 9.39928756e-01 1.07407270e-01 3.24033351e-01 3.34274881e+02] [-7.65131682e-02 9.91347390e-01 -1.06658741e-01 1.63644997e+01] [-3.32685541e-01 7.54587998e-02 9.40013989e-01 -1.22428866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:334.29, Y:16.23, Z:-122.46 [[ 9.50632727e-01 6.84154408e-02 3.02682583e-01 3.34286347e+02] [-8.28604487e-02 9.95941919e-01 3.51260677e-02 1.62340313e+01] [-2.99051107e-01 -5.84724042e-02 9.52443916e-01 -1.22459939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79591999999997 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:334.33, Y:16.31, Z:-122.46 [[ 9.54873434e-01 9.46329340e-02 2.81533894e-01 3.34328792e+02] [-8.48465522e-02 9.95295306e-01 -4.67794350e-02 1.63057150e+01] [-2.84636238e-01 2.07812595e-02 9.58410325e-01 -1.22456091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:334.35, Y:16.24, Z:-122.48 [[ 9.50581907e-01 7.77006611e-02 3.00593822e-01 3.34346613e+02] [-8.96248258e-02 9.95634535e-01 2.60626652e-02 1.62377604e+01] [-2.97256504e-01 -5.17153669e-02 9.53396083e-01 -1.22475842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85591999999997 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:334.40, Y:16.34, Z:-122.47 [[ 9.50202730e-01 1.17357580e-01 2.88690095e-01 3.34396600e+02] [-9.50208440e-02 9.91375156e-01 -9.02570758e-02 1.63399165e+01] [-2.96792540e-01 5.83309433e-02 9.53158795e-01 -1.22466859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:334.40, Y:16.21, Z:-122.50 [[ 9.50443248e-01 7.50636650e-02 3.01700311e-01 3.34403509e+02] [-9.65252642e-02 9.93705871e-01 5.68464146e-02 1.62065369e+01] [-2.95534270e-01 -8.31509932e-02 9.51706576e-01 -1.22497063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91591999999997 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:334.46, Y:16.33, Z:-122.49 [[ 9.49565758e-01 1.25364125e-01 2.87417307e-01 3.34457241e+02] [-1.07328806e-01 9.91179931e-01 -7.77359091e-02 1.63308202e+01] [-2.94627560e-01 4.29672010e-02 9.54645704e-01 -1.22487318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:334.49, Y:16.34, Z:-122.50 [[ 9.33012217e-01 1.34013398e-01 3.33958996e-01 3.34491310e+02] [-1.08300498e-01 9.89611770e-01 -9.45491778e-02 1.63417394e+01] [-3.43160610e-01 5.20476125e-02 9.37833590e-01 -1.22496465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97592 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:334.51, Y:16.26, Z:-122.52 [[ 9.45804830e-01 1.05295091e-01 3.07190768e-01 3.34508383e+02] [-1.11436732e-01 9.93768463e-01 2.46901281e-03 1.62623028e+01] [-3.05016523e-01 -3.65675394e-02 9.51644753e-01 -1.22519938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters Centerline goodness : 0.851029 Centerline is valid? [True, False] Translation: X:334.54, Y:16.28, Z:-122.53 [[ 9.49898905e-01 1.19679413e-01 2.88736746e-01 3.34544616e+02] [-1.21767338e-01 9.92500032e-01 -1.07889286e-02 1.62778152e+01] [-2.87862442e-01 -2.49103134e-02 9.57347738e-01 -1.22526862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03592 meters Centerline goodness : 0.998220 Centerline is valid? [False, True] Translation: X:334.56, Y:16.29, Z:-122.53 [[ 9.52678342e-01 1.32168270e-01 2.73743540e-01 3.34564872e+02] [-1.32933798e-01 9.90998376e-01 -1.58374189e-02 1.62866799e+01] [-2.73372608e-01 -2.13018025e-02 9.61672320e-01 -1.22531772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:334.59, Y:16.27, Z:-122.54 [[ 9.53421148e-01 1.26985516e-01 2.73610659e-01 3.34590262e+02] [-1.32379137e-01 9.91198352e-01 1.26177225e-03 1.62735961e+01] [-2.71042208e-01 -3.74233432e-02 9.61839703e-01 -1.22543041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09592 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:334.63, Y:16.33, Z:-122.54 [[ 9.51994729e-01 1.43639421e-01 2.70321574e-01 3.34632670e+02] [-1.33135196e-01 9.89463065e-01 -5.69022179e-02 1.63315618e+01] [-2.75646615e-01 1.81812957e-02 9.61087085e-01 -1.22540732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:334.66, Y:16.30, Z:-122.56 [[ 9.51568226e-01 1.38892798e-01 2.74274866e-01 3.34659155e+02] [-1.39273125e-01 9.90086992e-01 -1.81863994e-02 1.63004871e+01] [-2.74081937e-01 -2.08935178e-02 9.61479356e-01 -1.22559073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15592 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:334.69, Y:16.34, Z:-122.56 [[ 9.50092724e-01 1.43518984e-01 2.76994796e-01 3.34694527e+02] [-1.31019229e-01 9.89361968e-01 -6.32207106e-02 1.63416744e+01] [-2.83121489e-01 2.37738924e-02 9.58789354e-01 -1.22557641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:334.73, Y:16.34, Z:-122.57 [[ 9.37872901e-01 1.42967609e-01 3.16156107e-01 3.34726256e+02] [-1.29700982e-01 9.89566778e-01 -6.27315416e-02 1.63365310e+01] [-3.21826159e-01 1.78284553e-02 9.46630905e-01 -1.22571446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21592 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:334.75, Y:16.29, Z:-122.59 [[ 9.50410213e-01 1.24227492e-01 2.85110429e-01 3.34746106e+02] [-1.26855192e-01 9.91877568e-01 -9.30864589e-03 1.62917247e+01] [-2.83951028e-01 -2.73207060e-02 9.58449473e-01 -1.22591386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:334.79, Y:16.34, Z:-122.59 [[ 9.37846478e-01 1.36995195e-01 3.18867213e-01 3.34788752e+02] [-1.23821167e-01 9.90407525e-01 -6.13290586e-02 1.63361843e+01] [-3.24210273e-01 1.80347311e-02 9.45813114e-01 -1.22590581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.27592 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:334.80, Y:16.28, Z:-122.61 [[ 9.52526496e-01 1.14056688e-01 2.82284160e-01 3.34804253e+02] [-1.20991287e-01 9.92627479e-01 7.19701711e-03 1.62782399e+01] [-2.79382146e-01 -4.10092732e-02 9.59303839e-01 -1.22610828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:334.85, Y:16.35, Z:-122.61 [[ 9.37626337e-01 1.38729664e-01 3.18764697e-01 3.34853060e+02] [-1.20320085e-01 9.89757008e-01 -7.68384209e-02 1.63480560e+01] [-3.26159361e-01 3.36919317e-02 9.44714203e-01 -1.22605746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:334.87, Y:16.28, Z:-122.63 [[ 9.50597389e-01 1.11160892e-01 2.89841095e-01 3.34865786e+02] [-1.18213141e-01 9.92964405e-01 6.88064581e-03 1.62777037e+01] [-2.87037032e-01 -4.08037502e-02 9.57050049e-01 -1.22630832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:334.91, Y:16.32, Z:-122.63 [[ 9.49852826e-01 1.24917674e-01 2.86662142e-01 3.34905798e+02] [-1.17069736e-01 9.92129495e-01 -4.44268268e-02 1.63216998e+01] [-2.89955662e-01 8.63948582e-03 9.57001083e-01 -1.22628629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:334.94, Y:16.34, Z:-122.64 [[ 9.37611931e-01 1.27950371e-01 3.23284040e-01 3.34943459e+02] [-1.10827111e-01 9.91306522e-01 -7.09135399e-02 1.63377640e+01] [-3.29546991e-01 3.06607449e-02 9.43641192e-01 -1.22635100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:334.96, Y:16.30, Z:-122.65 [[ 9.50551215e-01 1.10845614e-01 2.90113146e-01 3.34962106e+02] [-1.07770410e-01 9.93819685e-01 -2.66077541e-02 1.62967718e+01] [-2.91269508e-01 -5.97357949e-03 9.56622386e-01 -1.22654902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:334.99, Y:16.30, Z:-122.66 [[ 9.50363075e-01 1.13291571e-01 2.89784480e-01 3.34994845e+02] [-1.08780320e-01 9.93560781e-01 -3.16830698e-02 1.62978474e+01] [-2.91507919e-01 -1.41242888e-03 9.56567373e-01 -1.22663631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:335.03, Y:16.30, Z:-122.67 [[ 9.36659773e-01 1.18996600e-01 3.29405948e-01 3.35032580e+02] [-1.09222574e-01 9.92853259e-01 -4.80919400e-02 1.63042213e+01] [-3.32774546e-01 9.06722017e-03 9.42962824e-01 -1.22671674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:335.06, Y:16.30, Z:-122.68 [[ 9.50063457e-01 1.10419848e-01 2.91867922e-01 3.35057759e+02] [-1.02448747e-01 9.93829772e-01 -4.25045751e-02 1.62981458e+01] [-2.94760379e-01 1.04805407e-02 9.55513724e-01 -1.22677488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:335.09, Y:16.31, Z:-122.69 [[ 9.48253258e-01 1.09905608e-01 2.97886751e-01 3.35092519e+02] [-9.57735263e-02 9.93490532e-01 -6.16765357e-02 1.63076325e+01] [-3.02726264e-01 2.99553112e-02 9.52606681e-01 -1.22686765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57592 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:335.12, Y:16.24, Z:-122.71 [[ 9.34959448e-01 9.59284566e-02 3.41538522e-01 3.35120075e+02] [-1.02815942e-01 9.94698233e-01 2.07551928e-03 1.62411775e+01] [-3.39528663e-01 -3.70561312e-02 9.39865485e-01 -1.22713588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:335.16, Y:16.27, Z:-122.71 [[ 9.34355523e-01 1.06198097e-01 3.40149557e-01 3.35160600e+02] [-9.62691476e-02 9.94292449e-01 -4.59867024e-02 1.62739491e+01] [-3.43091837e-01 1.02220214e-02 9.39246241e-01 -1.22712696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63592 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:335.19, Y:16.27, Z:-122.72 [[ 9.33529329e-01 1.05987952e-01 3.42475614e-01 3.35193182e+02] [-9.58348572e-02 9.94311180e-01 -4.64861004e-02 1.62671979e+01] [-3.45454299e-01 1.05750366e-02 9.38375989e-01 -1.22721901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:335.22, Y:16.26, Z:-122.73 [[ 9.32171131e-01 1.07974242e-01 3.45540945e-01 3.35224496e+02] [-9.76936388e-02 9.94102026e-01 -4.70862386e-02 1.62590046e+01] [-3.48587055e-01 1.01352800e-02 9.37221607e-01 -1.22731996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69591999999994 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:335.26, Y:16.25, Z:-122.74 [[ 9.31586586e-01 1.10590665e-01 3.46289095e-01 3.35256673e+02] [-1.00369790e-01 9.93821834e-01 -4.73715958e-02 1.62541123e+01] [-3.49388520e-01 9.37377935e-03 9.36931051e-01 -1.22741761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:335.29, Y:16.25, Z:-122.75 [[ 9.30875631e-01 1.13212166e-01 3.47352220e-01 3.35288836e+02] [-1.03032652e-01 9.93533475e-01 -4.77022769e-02 1.62497255e+01] [-3.50506537e-01 8.61626670e-03 9.36520650e-01 -1.22751745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75591999999995 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:335.32, Y:16.25, Z:-122.76 [[ 9.29418591e-01 1.16316232e-01 3.50216530e-01 3.35321439e+02] [-1.06101815e-01 9.93182239e-01 -4.82850301e-02 1.62463737e+01] [-3.53445170e-01 7.71839512e-03 9.35423401e-01 -1.22760826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:335.35, Y:16.24, Z:-122.77 [[ 9.27275404e-01 1.21122371e-01 3.54245248e-01 3.35354093e+02] [-1.10925756e-01 9.92618396e-01 -4.90326061e-02 1.62428710e+01] [-3.57569296e-01 6.17180755e-03 9.33866215e-01 -1.22770078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81591999999995 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:335.39, Y:16.24, Z:-122.78 [[ 9.26151367e-01 1.22174488e-01 3.56815135e-01 3.35387234e+02] [-1.11822046e-01 9.92490356e-01 -4.95855120e-02 1.62382858e+01] [-3.60193665e-01 6.02389140e-03 9.32858101e-01 -1.22779491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters Centerline goodness : 0.760030 Centerline is valid? [True, False] Translation: X:335.43, Y:16.23, Z:-122.80 [[ 9.32125550e-01 1.37605566e-01 3.34972635e-01 3.35431419e+02] [-1.29301144e-01 9.90486940e-01 -4.70832951e-02 1.62341353e+01] [-3.38264944e-01 5.75197237e-04 9.41050741e-01 -1.22795149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87591999999995 meters Centerline goodness : 0.990784 Centerline is valid? [False, True] Translation: X:335.47, Y:16.23, Z:-122.81 [[ 9.36863831e-01 1.51309563e-01 3.15264300e-01 3.35466702e+02] [-1.44088119e-01 9.88484174e-01 -4.62347350e-02 1.62332049e+01] [-3.18629529e-01 -2.11018913e-03 9.47876981e-01 -1.22805572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:335.50, Y:16.24, Z:-122.81 [[ 9.35299743e-01 1.54880337e-01 3.18161079e-01 3.35500001e+02] [-1.45583123e-01 9.87928036e-01 -5.29504430e-02 1.62354534e+01] [-3.22521232e-01 3.20565239e-03 9.46556802e-01 -1.22811207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93591999999995 meters Centerline goodness : 0.984807 Centerline is valid? [True, True] Translation: X:335.53, Y:16.23, Z:-122.82 [[ 9.33251356e-01 1.60936297e-01 3.21156371e-01 3.35531780e+02] [-1.51751938e-01 9.86963952e-01 -5.36051073e-02 1.62337704e+01] [-3.25596769e-01 1.29093751e-03 9.45507841e-01 -1.22819633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters Centerline goodness : 0.983152 Centerline is valid? [True, True] Translation: X:335.56, Y:16.23, Z:-122.83 [[ 9.31639505e-01 1.63666618e-01 3.24439625e-01 3.35563869e+02] [-1.54393498e-01 9.86515576e-01 -5.43108298e-02 1.62309875e+01] [-3.28953614e-01 5.06745835e-04 9.44345945e-01 -1.22827288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99591999999996 meters Centerline goodness : 0.298184 Centerline is valid? [True, False] Translation: X:335.60, Y:16.23, Z:-122.84 [[ 9.35440171e-01 1.77935829e-01 3.05434981e-01 3.35596984e+02] [-1.70884172e-01 9.84026644e-01 -4.99015471e-02 1.62303338e+01] [-3.09435432e-01 -5.51409206e-03 9.50904468e-01 -1.22837485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters Centerline goodness : 0.302853 Centerline is valid? [False, False] Translation: X:335.62, Y:16.23, Z:-122.84 [[ 9.38815067e-01 1.89546557e-01 2.87573246e-01 3.35623889e+02] [-1.83395849e-01 9.81844879e-01 -4.84416743e-02 1.62299523e+01] [-2.91534272e-01 -7.26196603e-03 9.56532818e-01 -1.22843412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05591999999996 meters Centerline goodness : 0.973802 Centerline is valid? [False, True] Translation: X:335.67, Y:16.22, Z:-122.86 [[ 9.43129673e-01 1.90572129e-01 2.72375998e-01 3.35668587e+02] [-1.85098037e-01 9.81647355e-01 -4.59040982e-02 1.62227543e+01] [-2.76125220e-01 -7.12274557e-03 9.61095276e-01 -1.22855120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters Centerline goodness : 0.975146 Centerline is valid? [True, True] Translation: X:335.70, Y:16.23, Z:-122.86 [[ 9.42053968e-01 1.93147139e-01 2.74278152e-01 3.35703313e+02] [-1.85739723e-01 9.81169265e-01 -5.29870623e-02 1.62263586e+01] [-2.79347592e-01 -1.02767545e-03 9.60189495e-01 -1.22858649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11591999999996 meters Centerline goodness : 0.966314 Centerline is valid? [True, True] Translation: X:335.74, Y:16.22, Z:-122.86 [[ 9.39878181e-01 1.89278071e-01 2.84258361e-01 3.35736280e+02] [-1.81094779e-01 9.81923490e-01 -5.50539739e-02 1.62234481e+01] [-2.89540472e-01 2.66323682e-04 9.57165735e-01 -1.22861072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters Centerline goodness : 0.935695 Centerline is valid? [True, False] Translation: X:335.79, Y:16.22, Z:-122.87 [[ 9.43621348e-01 1.93652716e-01 2.68472303e-01 3.35785750e+02] [-1.87449183e-01 9.81060864e-01 -4.88096892e-02 1.62166265e+01] [-2.72839798e-01 -4.26704913e-03 9.62050018e-01 -1.22874045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17591999999996 meters Centerline goodness : 0.263260 Centerline is valid? [False, False] Translation: X:335.82, Y:16.21, Z:-122.88 [[ 9.47261227e-01 1.93273410e-01 2.55619944e-01 3.35822465e+02] [-1.87588702e-01 9.81137835e-01 -4.66800471e-02 1.62114959e+01] [-2.59820411e-01 -3.73321493e-03 9.65649738e-01 -1.22882951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters Centerline goodness : 0.352470 Centerline is valid? [False, False] Translation: X:335.84, Y:16.21, Z:-122.89 [[ 9.49274692e-01 1.91883306e-01 2.49115146e-01 3.35840532e+02] [-1.86623648e-01 9.81409726e-01 -4.47946932e-02 1.62083792e+01] [-2.53079381e-01 -3.96830869e-03 9.67437378e-01 -1.22889378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23591999999996 meters Centerline goodness : 0.262108 Centerline is valid? [False, False] Translation: X:335.86, Y:16.21, Z:-122.90 [[ 9.51521630e-01 1.90236564e-01 2.41695339e-01 3.35861173e+02] [-1.85367019e-01 9.81730387e-01 -4.29478212e-02 1.62053418e+01] [-2.45449905e-01 -3.93656372e-03 9.69401283e-01 -1.22895667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters Centerline goodness : 0.322426 Centerline is valid? [False, False] Translation: X:335.91, Y:16.20, Z:-122.91 [[ 9.55310345e-01 1.91611783e-01 2.25093468e-01 3.35910803e+02] [-1.87237989e-01 9.81465764e-01 -4.08275588e-02 1.62000783e+01] [-2.28744574e-01 -3.14305901e-03 9.73481403e-01 -1.22905878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29591999999997 meters Centerline goodness : 0.314187 Centerline is valid? [False, False] Translation: X:335.91, Y:16.20, Z:-122.91 [[ 9.55347731e-01 1.91572470e-01 2.24968223e-01 3.35911223e+02] [-1.87239425e-01 9.81472956e-01 -4.06476929e-02 1.61996237e+01] [-2.28587206e-01 -3.29023943e-03 9.73517880e-01 -1.22906263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters Centerline goodness : 0.250049 Centerline is valid? [False, False] Translation: X:335.95, Y:16.19, Z:-122.91 [[ 9.59191974e-01 1.88642894e-01 2.10629096e-01 3.35950835e+02] [-1.83821353e-01 9.82043768e-01 -4.24234459e-02 1.61947944e+01] [-2.14849872e-01 1.97410350e-03 9.76645092e-01 -1.22914914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35591999999997 meters Centerline goodness : 0.289149 Centerline is valid? [False, False] Translation: X:335.95, Y:16.20, Z:-122.92 [[ 9.59312791e-01 1.88471777e-01 2.10231676e-01 3.35952180e+02] [-1.83636021e-01 9.82076277e-01 -4.24735066e-02 1.61952887e+01] [-2.14468599e-01 2.13926956e-03 9.76728541e-01 -1.22915496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters Centerline goodness : 0.396495 Centerline is valid? [False, False] Translation: X:335.95, Y:16.20, Z:-122.92 [[ 9.59422083e-01 1.88330408e-01 2.09859298e-01 3.35953460e+02] [-1.83495615e-01 9.82103202e-01 -4.24577423e-02 1.61955802e+01] [-2.14099572e-01 2.22663471e-03 9.76809303e-01 -1.22916089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41591999999997 meters Centerline goodness : 0.349789 Centerline is valid? [False, False] Translation: X:335.95, Y:16.20, Z:-122.92 [[ 9.59458964e-01 1.88328221e-01 2.09692579e-01 3.35954074e+02] [-1.83489068e-01 9.82103497e-01 -4.24792032e-02 1.61959084e+01] [-2.13939848e-01 2.28075637e-03 9.76844174e-01 -1.22916700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters Centerline goodness : 0.399536 Centerline is valid? [False, False] Translation: X:336.00, Y:16.19, Z:-122.93 [[ 9.63575622e-01 1.85569593e-01 1.92577119e-01 3.36002532e+02] [-1.80467198e-01 9.82602402e-01 -4.38646886e-02 1.61894955e+01] [-1.97366692e-01 7.51309160e-03 9.80300945e-01 -1.22925118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47592 meters Centerline goodness : 0.400442 Centerline is valid? [False, False] Translation: X:336.00, Y:16.19, Z:-122.93 [[ 9.64147785e-01 1.82971257e-01 1.92199291e-01 3.36001733e+02] [-1.76868185e-01 9.83034165e-01 -4.85950187e-02 1.61920633e+01] [-1.97829962e-01 1.28588397e-02 9.80152007e-01 -1.22925031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters Centerline goodness : 0.423325 Centerline is valid? [False, False] Translation: X:336.04, Y:16.18, Z:-122.93 [[ 9.66598326e-01 1.84014674e-01 1.78399203e-01 3.36042659e+02] [-1.78850718e-01 9.82857974e-01 -4.47506762e-02 1.61807582e+01] [-1.83575860e-01 1.13491031e-02 9.82940029e-01 -1.22932282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53592 meters Centerline goodness : 0.792408 Centerline is valid? [False, False] Translation: X:336.04, Y:16.18, Z:-122.93 [[ 9.66524394e-01 1.84188309e-01 1.78620441e-01 3.36042120e+02] [-1.79083312e-01 9.82829848e-01 -4.44371230e-02 1.61797345e+01] [-1.83738300e-01 1.09616232e-02 9.82914076e-01 -1.22932582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters Centerline goodness : 0.764423 Centerline is valid? [False, False] Translation: X:336.04, Y:16.18, Z:-122.93 [[ 9.66485483e-01 1.84321053e-01 1.78694041e-01 3.36042049e+02] [-1.79278635e-01 9.82808976e-01 -4.41099610e-02 1.61785771e+01] [-1.83752502e-01 1.05956132e-02 9.82915434e-01 -1.22933168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59592 meters Centerline goodness : 0.440914 Centerline is valid? [False, False] Translation: X:336.08, Y:16.17, Z:-122.94 [[ 9.69410981e-01 1.82520108e-01 1.64099846e-01 3.36083825e+02] [-1.77514107e-01 9.83098182e-01 -4.47962771e-02 1.61692226e+01] [-1.69502482e-01 1.42959654e-02 9.85426067e-01 -1.22940324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters Centerline goodness : 0.392123 Centerline is valid? [False, False] Translation: X:336.08, Y:16.17, Z:-122.94 [[ 9.69369190e-01 1.82549764e-01 1.64313593e-01 3.36083213e+02] [-1.77719092e-01 9.83107736e-01 -4.37618871e-02 1.61651951e+01] [-1.69526686e-01 1.32197626e-02 9.85436929e-01 -1.22940827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65592 meters Centerline goodness : 0.167659 Centerline is valid? [False, False] Translation: X:336.12, Y:16.15, Z:-122.95 [[ 9.71899156e-01 1.80856917e-01 1.50674505e-01 3.36122251e+02] [-1.76141530e-01 9.83372578e-01 -4.41874874e-02 1.61549993e+01] [-1.56160789e-01 1.64057438e-02 9.87595393e-01 -1.22947060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters Centerline goodness : 0.807744 Centerline is valid? [False, False] Translation: X:336.12, Y:16.15, Z:-122.95 [[ 9.71848230e-01 1.80981816e-01 1.50852910e-01 3.36121817e+02] [-1.76344488e-01 9.83358669e-01 -4.36846663e-02 1.61531771e+01] [-1.56248647e-01 1.58527864e-02 9.87590527e-01 -1.22947539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71592 meters Centerline goodness : 0.806293 Centerline is valid? [False, False] Translation: X:336.12, Y:16.15, Z:-122.95 [[ 9.71818682e-01 1.81116018e-01 1.50882198e-01 3.36121855e+02] [-1.76526482e-01 9.83339077e-01 -4.33896498e-02 1.61517681e+01] [-1.56226922e-01 1.55321687e-02 9.87599059e-01 -1.22948648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters Centerline goodness : 0.834430 Centerline is valid? [False, False] Translation: X:336.16, Y:16.14, Z:-122.95 [[ 9.74103535e-01 1.79713391e-01 1.37205683e-01 3.36161384e+02] [-1.75151243e-01 9.83524938e-01 -4.47296062e-02 1.61444604e+01] [-1.42983720e-01 1.95395216e-02 9.89532143e-01 -1.22954412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.77592 meters Centerline goodness : 0.799514 Centerline is valid? [False, False] Translation: X:336.19, Y:16.13, Z:-122.96 [[ 9.76798096e-01 1.68035451e-01 1.32776377e-01 3.36190622e+02] [-1.63905788e-01 9.85601743e-01 -4.15222347e-02 1.61336146e+01] [-1.37841836e-01 1.87960231e-02 9.90275890e-01 -1.22957666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters Centerline goodness : 0.831281 Centerline is valid? [False, False] Translation: X:336.23, Y:16.13, Z:-122.96 [[ 9.78708350e-01 1.66644406e-01 1.19831580e-01 3.36228534e+02] [-1.62605387e-01 9.85762553e-01 -4.27981080e-02 1.61258335e+01] [-1.25257549e-01 2.24016052e-02 9.91871319e-01 -1.22961175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83592 meters Centerline goodness : 0.340025 Centerline is valid? [False, False] Translation: X:336.23, Y:16.12, Z:-122.96 [[ 9.78633910e-01 1.66886765e-01 1.20101946e-01 3.36228071e+02] [-1.62932198e-01 9.85738830e-01 -4.20958208e-02 1.61226282e+01] [-1.25414387e-01 2.16279237e-02 9.91868673e-01 -1.22962196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters Centerline goodness : 0.854385 Centerline is valid? [False, False] Translation: X:336.23, Y:16.12, Z:-122.96 [[ 9.78627173e-01 1.66893371e-01 1.20147656e-01 3.36228082e+02] [-1.63066158e-01 9.85759505e-01 -4.10807311e-02 1.61185492e+01] [-1.25292795e-01 2.06107031e-02 9.91905698e-01 -1.22962970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89592 meters Centerline goodness : 0.579220 Centerline is valid? [False, False] Translation: X:336.23, Y:16.12, Z:-122.96 [[ 9.79069218e-01 1.64215145e-01 1.20236648e-01 3.36226569e+02] [-1.59844148e-01 9.86106714e-01 -4.52039560e-02 1.61183273e+01] [-1.25989340e-01 2.50386773e-02 9.91715559e-01 -1.22963668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters Centerline goodness : 0.684289 Centerline is valid? [False, False] Translation: X:336.23, Y:16.11, Z:-122.97 [[ 9.79305126e-01 1.63186658e-01 1.19714596e-01 3.36229501e+02] [-1.58740927e-01 9.86255469e-01 -4.58417819e-02 1.61108354e+01] [-1.25549942e-01 2.58894861e-02 9.91749437e-01 -1.22969195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95592 meters Centerline goodness : 0.689926 Centerline is valid? [False, False] Translation: X:336.23, Y:16.11, Z:-122.97 [[ 9.79140647e-01 1.63683003e-01 1.20380515e-01 3.36228054e+02] [-1.59309217e-01 9.86194969e-01 -4.51669772e-02 1.61069241e+01] [-1.26111725e-01 2.50470977e-02 9.91699791e-01 -1.22970473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters Centerline goodness : 0.139843 Centerline is valid? [False, False] Translation: X:336.23, Y:16.10, Z:-122.98 [[ 9.79066645e-01 1.63548732e-01 1.21162355e-01 3.36228034e+02] [-1.58994683e-01 9.86187920e-01 -4.64120422e-02 1.61007784e+01] [-1.27079481e-01 2.61763122e-02 9.91547077e-01 -1.22976763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01592 meters Centerline goodness : 0.134457 Centerline is valid? [False, False] Translation: X:336.23, Y:16.09, Z:-122.98 [[ 9.78365727e-01 1.67533422e-01 1.21379806e-01 3.36229837e+02] [-1.63893526e-01 9.85689029e-01 -3.94468143e-02 1.60902212e+01] [-1.26251403e-01 1.87000467e-02 9.91822006e-01 -1.22980745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04591999999997 meters Centerline goodness : 0.144127 Centerline is valid? [False, False] Translation: X:336.23, Y:16.09, Z:-122.98 [[ 9.78166119e-01 1.68289025e-01 1.21941984e-01 3.36228047e+02] [-1.64717824e-01 9.85574504e-01 -3.88707598e-02 1.60857948e+01] [-1.26724433e-01 1.79360420e-02 9.91775789e-01 -1.22982772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07592 meters Centerline goodness : 0.521473 Centerline is valid? [False, False] Translation: X:336.25, Y:16.07, Z:-122.99 [[ 9.79154847e-01 1.59732331e-01 1.25464604e-01 3.36249227e+02] [-1.56332550e-01 9.87027761e-01 -3.65558976e-02 1.60695265e+01] [-1.29676206e-01 1.61796828e-02 9.91424379e-01 -1.22989880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10591999999997 meters Centerline goodness : 0.457574 Centerline is valid? [False, False] Translation: X:336.12, Y:16.11, Z:-122.99 [[ 9.67028516e-01 2.03922505e-01 1.52549865e-01 3.36121289e+02] [-1.99264193e-01 9.78893997e-01 -4.53907897e-02 1.61060613e+01] [-1.58586350e-01 1.34964622e-02 9.87252863e-01 -1.22985857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13592 meters Centerline goodness : 0.132881 Centerline is valid? [False, False] Translation: X:336.12, Y:16.10, Z:-122.99 [[ 9.66494782e-01 2.05986858e-01 1.53157598e-01 3.36123279e+02] [-2.02017083e-01 9.78514328e-01 -4.12166019e-02 1.60993067e+01] [-1.58356982e-01 8.89517958e-03 9.87341857e-01 -1.22990442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16591999999997 meters Centerline goodness : 0.145770 Centerline is valid? [False, False] Translation: X:336.17, Y:16.08, Z:-123.00 [[ 9.67391217e-01 2.04656429e-01 1.49231296e-01 3.36171471e+02] [-2.01063540e-01 9.78803840e-01 -3.89422077e-02 1.60817774e+01] [-1.54037938e-01 7.66737711e-03 9.88035184e-01 -1.23000443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19591999999994 meters Centerline goodness : 0.146222 Centerline is valid? [False, False] Translation: X:336.18, Y:16.08, Z:-123.01 [[ 9.67784952e-01 2.03557292e-01 1.48177986e-01 3.36175025e+02] [-1.99527790e-01 9.79003261e-01 -4.17286023e-02 1.60816659e+01] [-1.53560893e-01 1.08186872e-02 9.88079960e-01 -1.23007938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22592 meters Centerline goodness : 0.645502 Centerline is valid? [False, False] Translation: X:336.22, Y:16.06, Z:-123.02 [[ 9.68638635e-01 2.02999906e-01 1.43283753e-01 3.36223660e+02] [-1.99388063e-01 9.79132828e-01 -3.92849199e-02 1.60647072e+01] [-1.48268661e-01 9.48382128e-03 9.88901644e-01 -1.23018344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25591999999995 meters Centerline goodness : 0.678632 Centerline is valid? [False, False] Translation: X:336.22, Y:16.06, Z:-123.02 [[ 9.67912525e-01 2.04763627e-01 1.45661253e-01 3.36224249e+02] [-2.01633594e-01 9.78795607e-01 -3.60978468e-02 1.60591782e+01] [-1.49964121e-01 5.56935618e-03 9.88675753e-01 -1.23023952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28592 meters Centerline goodness : 0.143307 Centerline is valid? [False, False] Translation: X:336.25, Y:16.07, Z:-123.02 [[ 9.68943749e-01 2.04115135e-01 1.39588764e-01 3.36248558e+02] [-1.99368007e-01 9.78780721e-01 -4.73360094e-02 1.60667168e+01] [-1.46288787e-01 1.80363968e-02 9.89077489e-01 -1.23023307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31591999999995 meters Centerline goodness : 0.171727 Centerline is valid? [False, False] Translation: X:336.16, Y:16.18, Z:-123.07 [[ 9.59713729e-01 2.34108465e-01 1.55379488e-01 3.36164860e+02] [-2.21040238e-01 9.70440921e-01 -9.68794745e-02 1.61784311e+01] [-1.73466918e-01 5.86314428e-02 9.83092866e-01 -1.23074798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34592 meters Centerline goodness : 0.068660 Centerline is valid? [False, False] Translation: X:336.18, Y:16.17, Z:-123.08 [[ 9.60471999e-01 2.31939199e-01 1.53940724e-01 3.36179877e+02] [-2.19823647e-01 9.71213101e-01 -9.17751396e-02 1.61689583e+01] [-1.70795501e-01 5.43076404e-02 9.83808710e-01 -1.23080946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37591999999995 meters Centerline goodness : 0.068660 Centerline is valid? [False, False] Translation: X:336.18, Y:16.17, Z:-123.08 [[ 9.60471999e-01 2.31939199e-01 1.53940724e-01 3.36179877e+02] [-2.19823647e-01 9.71213101e-01 -9.17751396e-02 1.61689583e+01] [-1.70795501e-01 5.43076404e-02 9.83808710e-01 -1.23080946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters Centerline goodness : 0.072180 Centerline is valid? [False, False] Translation: X:336.21, Y:16.16, Z:-123.09 [[ 9.62227879e-01 2.26476621e-01 1.51082257e-01 3.36205486e+02] [-2.14818650e-01 9.72527181e-01 -8.96874021e-02 1.61595096e+01] [-1.67243701e-01 5.38444321e-02 9.84444169e-01 -1.23094521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43591999999995 meters Centerline goodness : 0.074440 Centerline is valid? [False, False] Translation: X:336.23, Y:16.15, Z:-123.11 [[ 9.63908718e-01 2.21406144e-01 1.47848920e-01 3.36228039e+02] [-2.10187828e-01 9.73709216e-01 -8.78147990e-02 1.61523394e+01] [-1.63404592e-01 5.35694069e-02 9.85103679e-01 -1.23106697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters Centerline goodness : 0.075044 Centerline is valid? [False, False] Translation: X:336.23, Y:16.15, Z:-123.12 [[ 9.63283135e-01 2.24728007e-01 1.46911279e-01 3.36229893e+02] [-2.13699471e-01 9.73001692e-01 -8.71793793e-02 1.61547949e+01] [-1.62536571e-01 5.25835631e-02 9.85300376e-01 -1.23115160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49591999999996 meters Centerline goodness : 0.079865 Centerline is valid? [False, False] Translation: X:336.24, Y:16.18, Z:-123.14 [[ 9.63829497e-01 2.24772212e-01 1.43213662e-01 3.36239189e+02] [-2.11864267e-01 9.72173027e-01 -9.99656864e-02 1.61769606e+01] [-1.61697968e-01 6.60080198e-02 9.84630240e-01 -1.23144854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters Centerline goodness : 0.646166 Centerline is valid? [False, False] Translation: X:336.26, Y:16.17, Z:-123.15 [[ 9.65487568e-01 2.19244087e-01 1.40590850e-01 3.36260287e+02] [-2.06799819e-01 9.73471834e-01 -9.79102781e-02 1.61687922e+01] [-1.58327482e-01 6.54569940e-02 9.85214591e-01 -1.23153800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55591999999996 meters Centerline goodness : 0.643319 Centerline is valid? [False, False] Translation: X:336.28, Y:16.16, Z:-123.16 [[ 9.67613672e-01 2.11401584e-01 1.37960690e-01 3.36282876e+02] [-1.99164889e-01 9.75120831e-01 -9.73278617e-02 1.61633946e+01] [-1.55103607e-01 6.66988442e-02 9.85644021e-01 -1.23160574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters Centerline goodness : 0.080042 Centerline is valid? [False, False] Translation: X:336.37, Y:16.14, Z:-123.17 [[ 9.72645337e-01 1.93945009e-01 1.27852970e-01 3.36373720e+02] [-1.82771951e-01 9.78642090e-01 -9.40960823e-02 1.61373408e+01] [-1.43371763e-01 6.81541790e-02 9.87319374e-01 -1.23170990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61591999999996 meters Centerline goodness : 0.630645 Centerline is valid? [False, False] Translation: X:336.40, Y:16.13, Z:-123.18 [[ 9.74787801e-01 1.84828112e-01 1.25009249e-01 3.36403951e+02] [-1.74039457e-01 9.80392741e-01 -9.24139653e-02 1.61282106e+01] [-1.39638859e-01 6.83274643e-02 9.87842268e-01 -1.23182970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters Centerline goodness : 0.077077 Centerline is valid? [False, False] Translation: X:336.42, Y:16.12, Z:-123.19 [[ 9.76343124e-01 1.78121918e-01 1.22583387e-01 3.36423116e+02] [-1.67574376e-01 9.81591531e-01 -9.16345760e-02 1.61226639e+01] [-1.36648941e-01 6.89249536e-02 9.88218811e-01 -1.23187597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67591999999996 meters Centerline goodness : 0.684838 Centerline is valid? [False, False] Translation: X:336.47, Y:16.11, Z:-123.20 [[ 9.79814526e-01 1.61265848e-01 1.18138988e-01 3.36471926e+02] [-1.51280684e-01 9.84461774e-01 -8.91581208e-02 1.61063756e+01] [-1.30681477e-01 6.94862750e-02 9.88986354e-01 -1.23203450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters Centerline goodness : 0.084398 Centerline is valid? [False, False] Translation: X:336.50, Y:16.10, Z:-123.21 [[ 9.81584615e-01 1.52099081e-01 1.15574710e-01 3.36500933e+02] [-1.42517344e-01 9.85950420e-01 -8.71239131e-02 1.60953183e+01] [-1.27202401e-01 6.90480920e-02 9.89470520e-01 -1.23213918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73591999999996 meters Centerline goodness : 0.230146 Centerline is valid? [False, False] Translation: X:336.53, Y:16.08, Z:-123.23 [[ 9.83307949e-01 1.43109525e-01 1.12361657e-01 3.36532307e+02] [-1.33996238e-01 9.87339409e-01 -8.48875676e-02 1.60831358e+01] [-1.23087312e-01 6.84145806e-02 9.90034827e-01 -1.23226359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters Centerline goodness : 0.643522 Centerline is valid? [False, False] Translation: X:336.56, Y:16.07, Z:-123.24 [[ 9.84946819e-01 1.33800835e-01 1.09439936e-01 3.36562320e+02] [-1.25111224e-01 9.88683771e-01 -8.27742859e-02 1.60715422e+01] [-1.19276757e-01 6.78361054e-02 9.90540922e-01 -1.23237848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79591999999997 meters Centerline goodness : 0.241383 Centerline is valid? [False, False] Translation: X:336.59, Y:16.05, Z:-123.25 [[ 9.86588956e-01 1.23983976e-01 1.06161228e-01 3.36593350e+02] [-1.15730477e-01 9.89998259e-01 -8.06839726e-02 1.60549785e+01] [-1.15102951e-01 6.73158267e-02 9.91070073e-01 -1.23251010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters Centerline goodness : 0.642785 Centerline is valid? [False, False] Translation: X:336.62, Y:16.04, Z:-123.26 [[ 9.88012415e-01 1.15018899e-01 1.02966598e-01 3.36622821e+02] [-1.07177135e-01 9.91119021e-01 -7.87156152e-02 1.60440920e+01] [-1.11105937e-01 6.67363402e-02 9.91565294e-01 -1.23260911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85591999999997 meters Centerline goodness : 0.652754 Centerline is valid? [False, False] Translation: X:336.65, Y:16.03, Z:-123.27 [[ 9.89303887e-01 1.06291312e-01 9.98998318e-02 3.36652691e+02] [-9.88751645e-02 9.92156715e-01 -7.64771541e-02 1.60340879e+01] [-1.07245146e-01 6.57815335e-02 9.92054065e-01 -1.23270876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters Centerline goodness : 0.648554 Centerline is valid? [False, False] Translation: X:336.68, Y:16.02, Z:-123.28 [[ 9.90529532e-01 9.75330287e-02 9.66361968e-02 3.36683640e+02] [-9.05620487e-02 9.93131781e-01 -7.40795581e-02 1.60226833e+01] [-1.03197682e-01 6.46264180e-02 9.92559149e-01 -1.23281430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91591999999997 meters Centerline goodness : 0.077321 Centerline is valid? [False, False] Translation: X:336.71, Y:16.01, Z:-123.29 [[ 9.91685651e-01 8.84017325e-02 9.35131227e-02 3.36712899e+02] [-8.17821825e-02 9.94016868e-01 -7.24026337e-02 1.60133349e+01] [-9.93541396e-02 6.41529457e-02 9.92981951e-01 -1.23289473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters Centerline goodness : 0.393991 Centerline is valid? [False, False] Translation: X:336.74, Y:16.00, Z:-123.30 [[ 9.92745197e-01 7.93911764e-02 9.02995853e-02 3.36743171e+02] [-7.31366188e-02 9.94820848e-01 -7.05869295e-02 1.60034806e+01] [-9.54358894e-02 6.34706288e-02 9.93410021e-01 -1.23299429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97592 meters Centerline goodness : 0.297845 Centerline is valid? [False, False] Translation: X:336.77, Y:15.99, Z:-123.31 [[ 9.93765954e-01 7.00109850e-02 8.67622652e-02 3.36774331e+02] [-6.41423641e-02 9.95574744e-01 -6.86781383e-02 1.59914306e+01] [-9.11865441e-02 6.26848588e-02 9.93858955e-01 -1.23309371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters Centerline goodness : 0.487273 Centerline is valid? [False, False] Translation: X:336.80, Y:15.98, Z:-123.31 [[ 9.94604173e-01 6.06555044e-02 8.41632294e-02 3.36800370e+02] [-5.50537352e-02 9.96208955e-01 -6.73558031e-02 1.59832480e+01] [-8.79296630e-02 6.23588626e-02 9.94172896e-01 -1.23313274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03592 meters Centerline goodness : 0.217668 Centerline is valid? [False, False] Translation: X:336.83, Y:15.97, Z:-123.32 [[ 9.95354394e-01 5.19549185e-02 8.10574861e-02 3.36829997e+02] [-4.67646505e-02 9.96810487e-01 -6.46677742e-02 1.59702089e+01] [-8.41587611e-02 6.05767282e-02 9.94609352e-01 -1.23321339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters Centerline goodness : 0.255678 Centerline is valid? [False, False] Translation: X:336.86, Y:15.96, Z:-123.32 [[ 9.96021100e-01 4.26019932e-02 7.82754021e-02 3.36855967e+02] [-3.76846050e-02 9.97285353e-01 -6.32597459e-02 1.59616549e+01] [-8.07579032e-02 6.00582641e-02 9.94922693e-01 -1.23324334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09592 meters Centerline goodness : 0.063827 Centerline is valid? [False, False] Translation: X:336.88, Y:15.95, Z:-123.33 [[ 9.96568874e-01 3.33982407e-02 7.57300305e-02 3.36881150e+02] [-2.87489412e-02 9.97682256e-01 -6.16734489e-02 1.59530132e+01] [-7.76142924e-02 5.92846813e-02 9.95219246e-01 -1.23326558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters Centerline goodness : 0.105202 Centerline is valid? [False, False] Translation: X:336.91, Y:15.94, Z:-123.33 [[ 9.97032121e-01 2.40973714e-02 7.31181737e-02 3.36907153e+02] [-1.97138958e-02 9.97998212e-01 -6.00910276e-02 1.59445597e+01] [-7.44198424e-02 5.84712406e-02 9.95511326e-01 -1.23329226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15592 meters Centerline goodness : 0.649195 Centerline is valid? [False, False] Translation: X:336.99, Y:15.93, Z:-123.34 [[ 9.99599827e-01 2.19745083e-02 1.78131143e-02 3.36986414e+02] [-2.09078639e-02 9.98097479e-01 -5.80024502e-02 1.59342535e+01] [-1.90537998e-02 5.76068050e-02 9.98157507e-01 -1.23341055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters Centerline goodness : 0.068044 Centerline is valid? [False, False] Translation: X:337.01, Y:15.93, Z:-123.34 [[ 9.99779837e-01 1.25362060e-02 1.68261790e-02 3.37009492e+02] [-1.15679441e-02 9.98337955e-01 -5.64580312e-02 1.59255215e+01] [-1.75059827e-02 5.62509569e-02 9.98263177e-01 -1.23340966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21592 meters Centerline goodness : 0.102533 Centerline is valid? [False, False] Translation: X:336.99, Y:15.91, Z:-123.35 [[ 9.99802309e-01 5.79479956e-03 1.90200679e-02 3.36989952e+02] [-4.77085013e-03 9.98559351e-01 -5.34458825e-02 1.59129906e+01] [-1.93023748e-02 5.33445749e-02 9.98389591e-01 -1.23346855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters Centerline goodness : 0.351214 Centerline is valid? [False, False] Translation: X:336.99, Y:15.90, Z:-123.35 [[ 9.99778010e-01 9.06354239e-03 1.90205710e-02 3.36989799e+02] [-8.13787683e-03 9.98804936e-01 -4.81920636e-02 1.59027204e+01] [-1.94346310e-02 4.80265784e-02 9.98656970e-01 -1.23347612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.27592 meters Centerline goodness : 0.401520 Centerline is valid? [False, False] Translation: X:336.99, Y:15.90, Z:-123.35 [[ 9.99780669e-01 8.85944651e-03 1.89769102e-02 3.36989954e+02] [-7.94970703e-03 9.98840095e-01 -4.74896578e-02 1.58978192e+01] [-1.93756309e-02 4.73283810e-02 9.98691448e-01 -1.23348287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters Centerline goodness : 0.159668 Centerline is valid? [False, False] Translation: X:336.99, Y:15.88, Z:-123.35 [[ 9.99752980e-01 1.16012428e-02 1.89575789e-02 3.36989974e+02] [-1.08006527e-02 9.99067587e-01 -4.18007472e-02 1.58824625e+01] [-1.94248432e-02 4.15856674e-02 9.98946099e-01 -1.23349633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33592 meters Centerline goodness : 0.689994 Centerline is valid? [False, False] Translation: X:336.98, Y:15.88, Z:-123.34 [[ 9.99728592e-01 1.13790035e-02 2.03288367e-02 3.36980095e+02] [-1.05378220e-02 9.99102867e-01 -4.10172528e-02 1.58763265e+01] [-2.07773345e-02 4.07918987e-02 9.98951612e-01 -1.23338820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters Centerline goodness : 0.382096 Centerline is valid? [False, False] Translation: X:336.98, Y:15.87, Z:-123.35 [[ 9.99747023e-01 9.12758265e-03 2.05566636e-02 3.36984330e+02] [-8.26653514e-03 9.99100609e-01 -4.15889219e-02 1.58682524e+01] [-2.09177814e-02 4.14084685e-02 9.98923313e-01 -1.23345632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39592 meters Centerline goodness : 0.793232 Centerline is valid? [False, False] Translation: X:336.96, Y:15.86, Z:-123.35 [[ 9.99713913e-01 5.12571183e-03 2.33627719e-02 3.36961986e+02] [-4.29074347e-03 9.99355114e-01 -3.56503237e-02 1.58559072e+01] [-2.35304388e-02 3.55398810e-02 9.99091205e-01 -1.23348425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters Centerline goodness : 0.132763 Centerline is valid? [False, False] Translation: X:336.96, Y:15.85, Z:-123.35 [[ 9.99715549e-01 5.00094075e-03 2.33197721e-02 3.36962074e+02] [-4.18306545e-03 9.99378908e-01 -3.49900129e-02 1.58517845e+01] [-2.34802714e-02 3.48825118e-02 9.99115552e-01 -1.23348750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45592 meters Centerline goodness : 0.647818 Centerline is valid? [False, False] Translation: X:336.96, Y:15.84, Z:-123.35 [[ 9.99721206e-01 4.57765034e-03 2.31636699e-02 3.36962471e+02] [-3.79977851e-03 9.99430997e-01 -3.35148310e-02 1.58419437e+01] [-2.33039089e-02 3.34174704e-02 9.99169756e-01 -1.23349382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters Centerline goodness : 0.763359 Centerline is valid? [False, False] Translation: X:336.96, Y:15.84, Z:-123.35 [[ 9.99724667e-01 4.32980478e-03 2.30617188e-02 3.36962787e+02] [-3.57600564e-03 9.99461178e-01 -3.26276955e-02 1.58358760e+01] [-2.31905642e-02 3.25362432e-02 9.99201476e-01 -1.23350273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51592 meters Centerline goodness : 0.408738 Centerline is valid? [False, False] Translation: X:336.96, Y:15.83, Z:-123.35 [[ 9.99727467e-01 4.09389662e-03 2.29832845e-02 3.36962921e+02] [-3.36282670e-03 9.99489937e-01 -3.17577872e-02 1.58301216e+01] [-2.31015747e-02 3.16718433e-02 9.99231310e-01 -1.23350697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters Centerline goodness : 0.789243 Centerline is valid? [False, False] Translation: X:336.97, Y:15.82, Z:-123.36 [[ 9.99744259e-01 3.54118945e-03 2.23355655e-02 3.36971992e+02] [-2.85273262e-03 9.99522105e-01 -3.07802405e-02 1.58228943e+01] [-2.24338901e-02 3.07086513e-02 9.99276588e-01 -1.23362009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57592 meters Centerline goodness : 0.678821 Centerline is valid? [False, False] Translation: X:336.97, Y:15.82, Z:-123.36 [[ 9.99722273e-01 4.92334831e-03 2.30464329e-02 3.36967321e+02] [-4.25853850e-03 9.99575913e-01 -2.88072606e-02 1.58178181e+01] [-2.31784874e-02 2.87011160e-02 9.99319270e-01 -1.23357256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters Centerline goodness : 0.756300 Centerline is valid? [False, False] Translation: X:336.97, Y:15.81, Z:-123.36 [[ 9.99700292e-01 8.30780218e-03 2.30283974e-02 3.36967181e+02] [-7.77098943e-03 9.99698241e-01 -2.33031774e-02 1.58071585e+01] [-2.32150466e-02 2.31172398e-02 9.99463183e-01 -1.23357726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63592 meters Centerline goodness : 0.815580 Centerline is valid? [False, False] Translation: X:336.96, Y:15.80, Z:-123.35 [[ 9.99668103e-01 9.84309660e-03 2.38075104e-02 3.36962108e+02] [-9.34388114e-03 9.99736022e-01 -2.09899442e-02 1.58017105e+01] [-2.40078317e-02 2.07605231e-02 9.99496185e-01 -1.23352281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters Centerline goodness : 0.827724 Centerline is valid? [False, False] Translation: X:336.97, Y:15.80, Z:-123.36 [[ 9.99711736e-01 9.35217370e-03 2.21129216e-02 3.36972436e+02] [-8.89677330e-03 9.99748134e-01 -2.06037691e-02 1.57970000e+01] [-2.23000421e-02 2.04010962e-02 9.99543147e-01 -1.23363708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69591999999994 meters Centerline goodness : 0.771071 Centerline is valid? [False, False] Translation: X:336.95, Y:15.79, Z:-123.37 [[ 9.99713997e-01 2.41668544e-03 2.37925019e-02 3.36953146e+02] [-1.97677200e-03 9.99826984e-01 -1.84957718e-02 1.57913025e+01] [-2.38330839e-02 1.84434496e-02 9.99545808e-01 -1.23369282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters Centerline goodness : 0.814086 Centerline is valid? [False, False] Translation: X:336.96, Y:15.79, Z:-123.38 [[ 9.99725820e-01 3.97488183e-03 2.30756430e-02 3.36958181e+02] [-3.59000929e-03 9.99854163e-01 -1.66962699e-02 1.57888231e+01] [-2.31386434e-02 1.66088504e-02 9.99594292e-01 -1.23375143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75591999999995 meters Centerline goodness : 0.861918 Centerline is valid? [False, False] Translation: X:336.95, Y:15.79, Z:-123.36 [[ 9.99690994e-01 4.15880750e-03 2.45075773e-02 3.36948030e+02] [-3.75727574e-03 9.99858331e-01 -1.64073178e-02 1.57879361e+01] [-2.45723402e-02 1.63101662e-02 9.99564995e-01 -1.23363797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters Centerline goodness : 0.619033 Centerline is valid? [False, False] Translation: X:336.96, Y:15.79, Z:-123.38 [[ 9.99665563e-01 4.24948951e-03 2.55089124e-02 3.36955201e+02] [-3.83334687e-03 9.99859138e-01 -1.63404092e-02 1.57886133e+01] [-2.55747576e-02 1.62371599e-02 9.99541038e-01 -1.23375007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10118.07 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%| | 0/12375 [00:00