+ python -m lidar_slam --no-model /working/bb2f578e-3a84-4fee-9965-8fd659c8322c Lidar SLAM 0.0.14 ===================================================== The recording path: /working/bb2f578e-3a84-4fee-9965-8fd659c8322c 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 0.000792138 Adjusted end_distance from 9.223372036854776e+18 to 158.620792138 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000792138 meters Centerline goodness : 0.527819 Centerline is valid? [0, False] SLAMing on 0.030792138 meters Centerline goodness : 0.528260 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999991e-01 6.53420592e-06 -1.36438898e-04 -4.07941325e-05] [-6.51190307e-06 9.99999987e-01 1.63463836e-04 -1.98786096e-04] [ 1.36439965e-04 -1.63462946e-04 9.99999977e-01 3.99463193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060792137999999996 meters Centerline goodness : 0.526638 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999978e-01 3.87915375e-06 -2.07757494e-04 -8.99794754e-05] [-3.83200114e-06 9.99999974e-01 2.26959769e-04 -2.15022472e-04] [ 2.07758369e-04 -2.26958968e-04 9.99999953e-01 5.67316266e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.090792138 meters Centerline goodness : 0.530541 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999971e-01 -1.52926478e-04 -1.86182911e-04 -3.18499169e-04] [ 1.52971360e-04 9.99999959e-01 2.41074412e-04 -2.19908649e-04] [ 1.86146037e-04 -2.41102886e-04 9.99999954e-01 8.01542201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120792138 meters Centerline goodness : 0.545395 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.13 [[ 0.99868758 0.04538585 -0.02373279 -0.03203045] [-0.04407779 0.99762101 0.05300447 -0.02999498] [ 0.02608198 -0.05188882 0.99831222 0.13463591] [ 0. 0. 0. 1. ]] SLAMing on 0.150792138 meters Centerline goodness : 0.540325 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.13 [[ 0.99869298 0.04529518 -0.02367866 -0.03197142] [-0.04399319 0.99763118 0.05288312 -0.03009455] [ 0.02601792 -0.0517723 0.99831994 0.13435793] [ 0. 0. 0. 1. ]] SLAMing on 0.180792138 meters Centerline goodness : 0.533428 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:0.34 [[ 0.97151588 0.23376189 -0.03888806 -0.12937376] [-0.22801296 0.96680594 0.11530987 -0.02129543] [ 0.06455226 -0.10315839 0.99256806 0.34038913] [ 0. 0. 0. 1. ]] SLAMing on 0.210792138 meters Centerline goodness : 0.536638 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:0.34 [[ 0.97154148 0.23367853 -0.0387491 -0.12931436] [-0.22798363 0.9668849 0.11470416 -0.02096667] [ 0.06426982 -0.10260569 0.99264367 0.339404 ] [ 0. 0. 0. 1. ]] SLAMing on 0.240792138 meters Centerline goodness : 0.532460 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:0.34 [[ 0.97156461 0.23359725 -0.03865909 -0.12912408] [-0.22793616 0.96694038 0.11433025 -0.02075283] [ 0.06408826 -0.10226742 0.99269032 0.33864636] [ 0. 0. 0. 1. ]] SLAMing on 0.270792138 meters Centerline goodness : 0.607530 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.00, Z:0.24 [[ 0.99160321 0.12374738 -0.03754553 -0.13464431] [-0.12228716 0.991729 0.03898003 -0.00407613] [ 0.04205867 -0.03406138 0.99853437 0.23529555] [ 0. 0. 0. 1. ]] SLAMing on 0.300792138 meters Centerline goodness : 0.675728 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.01, Z:0.31 [[ 0.99486184 0.09069085 -0.04500089 -0.15313283] [-0.08922913 0.99544774 0.03349571 0.01001113] [ 0.04783379 -0.02930821 0.99842524 0.30684495] [ 0. 0. 0. 1. ]] SLAMing on 0.33079213799999996 meters Centerline goodness : 0.589996 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.02, Z:0.25 [[ 0.98610331 0.14970753 -0.07202715 -0.13517573] [-0.14843702 0.98866106 0.02271045 0.024317 ] [ 0.07461036 -0.01170335 0.99714408 0.2470676 ] [ 0. 0. 0. 1. ]] SLAMing on 0.360792138 meters Centerline goodness : 0.607932 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.01, Z:0.25 [[ 0.98980008 0.11539175 -0.08354964 -0.14068718] [-0.11312592 0.99308501 0.03137982 0.00702248] [ 0.08659287 -0.02160812 0.99600942 0.24771371] [ 0. 0. 0. 1. ]] SLAMing on 0.390792138 meters Centerline goodness : 0.607932 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.01, Z:0.25 [[ 0.98990122 0.11467607 -0.08333657 -0.14119313] [-0.11240768 0.9931648 0.0314356 0.00625897] [ 0.08637186 -0.02175046 0.99602551 0.24792114] [ 0. 0. 0. 1. ]] SLAMing on 0.420792138 meters Centerline goodness : 0.572021 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.24 [[ 0.99184235 0.08641328 -0.09370967 -0.14652147] [-0.08396119 0.99602307 0.02980862 -0.00905715] [ 0.09591286 -0.02169747 0.99515323 0.23760848] [ 0. 0. 0. 1. ]] SLAMing on 0.45079213799999995 meters Centerline goodness : 0.587903 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.22 [[ 0.99363282 0.06229165 -0.09388059 -0.1462449 ] [-0.06029145 0.99789234 0.02399641 -0.0194508 ] [ 0.09517749 -0.01818342 0.99529423 0.22139839] [ 0. 0. 0. 1. ]] SLAMing on 0.480792138 meters Centerline goodness : 0.597157 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:0.22 [[ 0.99406974 0.03789175 -0.10192926 -0.15356564] [-0.03474728 0.99886915 0.03245082 -0.03261439] [ 0.10304361 -0.02871661 0.99426222 0.2195127 ] [ 0. 0. 0. 1. ]] SLAMing on 0.510792138 meters Centerline goodness : 0.597157 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:0.22 [[ 0.99406974 0.03789175 -0.10192926 -0.15356564] [-0.03474728 0.99886915 0.03245082 -0.03261439] [ 0.10304361 -0.02871661 0.99426222 0.2195127 ] [ 0. 0. 0. 1. ]] SLAMing on 0.540792138 meters Centerline goodness : 0.626339 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:0.19 [[ 0.99437396 0.03629676 -0.09951367 -0.14517532] [-0.03313974 0.99889927 0.0331965 -0.03343896] [ 0.10060906 -0.02971188 0.99448229 0.18984125] [ 0. 0. 0. 1. ]] SLAMing on 0.570792138 meters Centerline goodness : 0.611530 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.18 [[ 0.9938082 0.04041945 -0.10349656 -0.13417728] [-0.03748349 0.99884207 0.03015792 -0.02801221] [ 0.10459568 -0.02609178 0.9941725 0.17865525] [ 0. 0. 0. 1. ]] SLAMing on 0.600792138 meters Centerline goodness : 0.599716 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:0.15 [[ 0.99390255 0.04099842 -0.1023565 -0.12405145] [-0.0383214 0.99887351 0.02798551 -0.02790341] [ 0.10338855 -0.02389242 0.99435404 0.14846709] [ 0. 0. 0. 1. ]] SLAMing on 0.630792138 meters Centerline goodness : 0.580388 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:0.12 [[ 0.99392888 0.04111118 -0.10205509 -0.11421815] [-0.03849924 0.99888199 0.02743332 -0.02965107] [ 0.10306881 -0.02333772 0.99440041 0.12273998] [ 0. 0. 0. 1. ]] SLAMing on 0.6607921379999999 meters Centerline goodness : 0.569600 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:0.10 [[ 0.99396724 0.04159695 -0.10148309 -0.10652862] [-0.03906127 0.99887608 0.02684753 -0.03166877] [ 0.10248581 -0.0227215 0.99447493 0.10082795] [ 0. 0. 0. 1. ]] SLAMing on 0.690792138 meters Centerline goodness : 0.581722 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.07 [[ 0.99336149 0.05166952 -0.1027775 -0.09427805] [-0.0479147 0.99810244 0.03867437 -0.04216115] [ 0.10458076 -0.03349308 0.99395225 0.07211473] [ 0. 0. 0. 1. ]] SLAMing on 0.720792138 meters Centerline goodness : 0.613159 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:0.07 [[ 0.99285784 0.05417903 -0.10629182 -0.0866495 ] [-0.04937045 0.99765693 0.04736246 -0.05037953] [ 0.10860882 -0.04177652 0.99320635 0.06881138] [ 0. 0. 0. 1. ]] SLAMing on 0.750792138 meters Centerline goodness : 0.633746 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.05 [[ 0.99409198 0.02237608 -0.10620943 -0.07725711] [-0.01717478 0.99861966 0.0496367 -0.06277736] [ 0.1071735 -0.04751932 0.9931041 0.05158543] [ 0. 0. 0. 1. ]] SLAMing on 0.780792138 meters Centerline goodness : 0.580089 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.03 [[ 0.99360647 -0.01119999 -0.11234211 -0.0564959 ] [ 0.01713926 0.99849781 0.05204206 -0.07643713] [ 0.11159048 -0.05363479 0.99230584 0.02730582] [ 0. 0. 0. 1. ]] SLAMing on 0.8107921379999999 meters Centerline goodness : 0.550362 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.03 [[ 0.99359504 -0.01081105 -0.1124812 -0.05563747] [ 0.01666816 0.99854611 0.05126254 -0.07522736] [ 0.11176346 -0.05280906 0.99233066 0.02511586] [ 0. 0. 0. 1. ]] SLAMing on 0.840792138 meters Centerline goodness : 0.550362 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.03 [[ 0.99359504 -0.01081105 -0.1124812 -0.05563747] [ 0.01666816 0.99854611 0.05126254 -0.07522736] [ 0.11176346 -0.05280906 0.99233066 0.02511586] [ 0. 0. 0. 1. ]] SLAMing on 0.870792138 meters Centerline goodness : 0.550362 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.03 [[ 0.99359504 -0.01081105 -0.1124812 -0.05563747] [ 0.01666816 0.99854611 0.05126254 -0.07522736] [ 0.11176346 -0.05280906 0.99233066 0.02511586] [ 0. 0. 0. 1. ]] SLAMing on 0.9007921379999999 meters Centerline goodness : 0.747594 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-0.00 [[ 0.99385777 -0.00440617 -0.11057717 -0.04885171] [ 0.00980345 0.99878409 0.04831395 -0.07544692] [ 0.11022984 -0.04910124 0.99269253 -0.00297797] [ 0. 0. 0. 1. ]] SLAMing on 0.9307921379999999 meters Centerline goodness : 0.781406 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.15, Z:-0.48 [[ 0.99629662 -0.01016999 -0.08537928 -0.01276718] [-0.0263893 0.90888947 -0.41620133 0.15009709] [ 0.08183309 0.41691307 0.90525512 -0.48352708] [ 0. 0. 0. 1. ]] SLAMing on 0.960792138 meters Centerline goodness : 0.807802 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.15, Z:-0.49 [[ 0.99651667 -0.01730578 -0.08157837 -0.01300181] [-0.01818242 0.90960868 -0.41506801 0.15142087] [ 0.08138747 0.41510548 0.90612555 -0.49186035] [ 0. 0. 0. 1. ]] SLAMing on 0.990792138 meters Centerline goodness : 0.777916 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.14, Z:-0.49 [[ 0.99638588 -0.03230796 -0.07855814 -0.01454374] [-0.00279401 0.91187562 -0.41045711 0.14423838] [ 0.08489628 0.40919316 0.90848972 -0.49427763] [ 0. 0. 0. 1. ]] SLAMing on 1.020792138 meters Centerline goodness : 0.761559 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.49 [[ 0.99619766 -0.03457053 -0.07996935 -0.01566425] [-0.00101625 0.91322873 -0.407446 0.14098227] [ 0.08711593 0.40597802 0.9097212 -0.48853623] [ 0. 0. 0. 1. ]] SLAMing on 1.050792138 meters Centerline goodness : 0.833235 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.13, Z:-0.48 [[ 0.99586647 -0.04072993 -0.08118522 -0.01723473] [ 0.00438852 0.91435423 -0.40489145 0.13472727] [ 0.09072325 0.40286154 0.91075346 -0.48166821] [ 0. 0. 0. 1. ]] SLAMing on 1.080792138 meters Centerline goodness : 0.854144 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.13, Z:-0.48 [[ 0.99553526 -0.04551853 -0.08268989 -0.01981041] [ 0.0083417 0.91504044 -0.40327584 0.12908926] [ 0.09402112 0.40078554 0.91133473 -0.47501116] [ 0. 0. 0. 1. ]] SLAMing on 1.1107921379999999 meters Centerline goodness : 0.625853 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.13, Z:-0.48 [[ 0.99507874 -0.0584543 -0.08000874 -0.01728301] [ 0.02178135 0.916746 -0.39887635 0.126072 ] [ 0.09666373 0.39517067 0.91350767 -0.48222615] [ 0. 0. 0. 1. ]] SLAMing on 1.140792138 meters Centerline goodness : 0.667750 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:-0.49 [[ 0.99469063 -0.06282339 -0.08150939 -0.01032393] [ 0.02486073 0.91527443 -0.40206302 0.12679339] [ 0.09986242 0.39790193 0.91197673 -0.48842375] [ 0. 0. 0. 1. ]] SLAMing on 1.170792138 meters Centerline goodness : 0.631890 Centerline is valid? [False, False] Translation: X:0.01, Y:0.14, Z:-0.51 [[ 0.9958738 -0.06095841 -0.06722684 0.01102347] [ 0.02936679 0.91741595 -0.3968445 0.1442775 ] [ 0.08586599 0.39323281 0.91542066 -0.50904305] [ 0. 0. 0. 1. ]] SLAMing on 1.200792138 meters Centerline goodness : 0.748797 Centerline is valid? [False, False] Translation: X:0.02, Y:0.16, Z:-0.50 [[ 0.99754205 -0.05215585 -0.04679336 0.02294225] [ 0.03089082 0.92674522 -0.37441829 0.16087875] [ 0.06289363 0.37205251 0.92607846 -0.50095667] [ 0. 0. 0. 1. ]] SLAMing on 1.230792138 meters Centerline goodness : 0.953111 Centerline is valid? [False, True] The specified correction angle seems to be off! The frame is not close to be flat! Translation: X:0.03, Y:0.18, Z:-0.48 [[ 0.99917415 -0.03270716 -0.02410938 0.03175139] [ 0.02207263 0.93507228 -0.35376917 0.17801153] [ 0.0341148 0.35294485 0.93502199 -0.48238641] [ 0. 0. 0. 1. ]] SLAMing on 1.260792138 meters Centerline goodness : 0.309737 Centerline is valid? [True, False] Translation: X:0.04, Y:0.17, Z:-0.49 [[ 0.99919056 -0.04020091 0.00145283 0.044944 ] [ 0.03806596 0.93321405 -0.35729892 0.17196773] [ 0.01300794 0.35706501 0.93398896 -0.48613696] [ 0. 0. 0. 1. ]] SLAMing on 1.290792138 meters Centerline goodness : 0.811439 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.51 [[ 0.99839046 -0.05428334 0.01642595 0.05652509] [ 0.05652153 0.92850484 -0.36699328 0.16291946] [ 0.00467004 0.36733101 0.93007856 -0.5146535 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3207921379999998 meters Centerline goodness : 0.924095 Centerline is valid? [False, False] Translation: X:0.06, Y:0.17, Z:-0.55 [[ 0.99792255 -0.06295615 0.0136784 0.06198983] [ 0.06363685 0.93013395 -0.36166445 0.17366413] [ 0.01004626 0.36178357 0.93220798 -0.55179403] [ 0. 0. 0. 1. ]] SLAMing on 1.3507921379999999 meters Centerline goodness : 0.217580 Centerline is valid? [False, False] Translation: X:0.08, Y:0.20, Z:-0.61 [[ 0.99760901 -0.06730543 0.01569212 0.08170021] [ 0.0684554 0.9311533 -0.35814437 0.19665727] [ 0.00949329 0.35836227 0.93353434 -0.61349975] [ 0. 0. 0. 1. ]] SLAMing on 1.380792138 meters Centerline goodness : 0.208060 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.62 [[ 0.99763092 -0.06716143 0.01489625 0.08586178] [ 0.06804335 0.93144861 -0.35745433 0.19825984] [ 0.01013205 0.35762108 0.93381181 -0.61946753] [ 0. 0. 0. 1. ]] SLAMing on 1.410792138 meters Centerline goodness : 0.888990 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.62 [[ 0.99777219 -0.06515919 0.01431548 0.08820263] [ 0.0659854 0.93228794 -0.35564748 0.1999408 ] [ 0.00982755 0.35579978 0.93451053 -0.62314259] [ 0. 0. 0. 1. ]] SLAMing on 1.440792138 meters Centerline goodness : 0.208725 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.63 [[ 0.9977769 -0.06514403 0.01405387 0.08868777] [ 0.06588273 0.9324573 -0.35522226 0.19989666] [ 0.01003597 0.35535848 0.93467622 -0.62504419] [ 0. 0. 0. 1. ]] SLAMing on 1.470792138 meters Centerline goodness : 0.678175 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.63 [[ 0.99778008 -0.06510963 0.01398777 0.08879002] [ 0.06582922 0.93253614 -0.35502517 0.19984751] [ 0.01007146 0.35515784 0.93475209 -0.62567414] [ 0. 0. 0. 1. ]] SLAMing on 1.500792138 meters Centerline goodness : 0.424594 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.63 [[ 0.9977866 -0.0650214 0.01393283 0.08888318] [ 0.06572769 0.93255861 -0.35498495 0.20007728] [ 0.01008844 0.355115 0.93476819 -0.62598454] [ 0. 0. 0. 1. ]] SLAMing on 1.530792138 meters Centerline goodness : 0.554712 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.63 [[ 0.99777928 -0.06511215 0.01403241 0.08895775] [ 0.06584651 0.93250193 -0.35511179 0.20009888] [ 0.01003685 0.35524718 0.93471852 -0.62611586] [ 0. 0. 0. 1. ]] SLAMing on 1.560792138 meters Centerline goodness : 0.579345 Centerline is valid? [False, False] Translation: X:0.09, Y:0.20, Z:-0.62 [[ 0.99771321 -0.06599181 0.01460961 0.08678127] [ 0.0668721 0.93237308 -0.35525845 0.1979024 ] [ 0.00982254 0.35542303 0.93465394 -0.62418754] [ 0. 0. 0. 1. ]] SLAMing on 1.5907921379999999 meters Centerline goodness : 0.716096 Centerline is valid? [False, False] Translation: X:0.09, Y:0.19, Z:-0.62 [[ 0.99730779 -0.07210942 0.01331936 0.08916913] [ 0.0721682 0.93299628 -0.3525758 0.19281504] [ 0.01299712 0.35258783 0.93568846 -0.62006753] [ 0. 0. 0. 1. ]] SLAMing on 1.6207921379999999 meters Centerline goodness : 0.226673 Centerline is valid? [False, False] Translation: X:0.09, Y:0.19, Z:-0.62 [[ 0.99729002 -0.07222399 0.014011 0.08942592] [ 0.07251776 0.93292769 -0.35268555 0.193458 ] [ 0.01240111 0.35274583 0.935637 -0.62104755] [ 0. 0. 0. 1. ]] SLAMing on 1.650792138 meters Centerline goodness : 0.174838 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.68 [[ 0.99844035 -0.05261289 0.01867475 0.09725277] [ 0.05581788 0.93410247 -0.35261443 0.22279666] [ 0.00110794 0.35310686 0.93558234 -0.68321827] [ 0. 0. 0. 1. ]] SLAMing on 1.680792138 meters Centerline goodness : 0.940209 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.68 [[ 0.99843986 -0.05266004 0.0185679 0.09748459] [ 0.05582387 0.93399011 -0.35291099 0.22356045] [ 0.00124208 0.35339693 0.93547264 -0.68409543] [ 0. 0. 0. 1. ]] SLAMing on 1.710792138 meters Centerline goodness : 0.217925 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.69 [[ 0.99842299 -0.0530036 0.01849717 0.09782223] [ 0.05611992 0.93389076 -0.3531269 0.22321639] [ 0.00144266 0.35360808 0.93539256 -0.68510734] [ 0. 0. 0. 1. ]] SLAMing on 1.740792138 meters Centerline goodness : 0.219959 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.69 [[ 0.9984313 -0.05284856 0.01849262 0.09791089] [ 0.05597322 0.93388087 -0.35317632 0.22373727] [ 0.00139495 0.35365738 0.93537399 -0.68546708] [ 0. 0. 0. 1. ]] SLAMing on 1.770792138 meters Centerline goodness : 0.943200 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.69 [[ 0.99842984 -0.05288014 0.0184808 0.09798326] [ 0.05599848 0.93385533 -0.35323986 0.22387855] [ 0.00142098 0.35372012 0.93535023 -0.68593584] [ 0. 0. 0. 1. ]] SLAMing on 1.8007921379999998 meters Centerline goodness : 0.943467 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:-0.69 [[ 0.99842456 -0.05300373 0.0184122 0.09817475] [ 0.05608969 0.93382187 -0.35331383 0.22371857] [ 0.00153323 0.35378994 0.93532365 -0.68642075] [ 0. 0. 0. 1. ]] SLAMing on 1.8307921379999998 meters SLAMing on 1.8607921379999999 meters Centerline goodness : 0.182090 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.69 [[ 0.99845271 -0.05278594 0.01748781 0.10228697] [ 0.05555908 0.93386702 -0.35327834 0.22627022] [ 0.00231684 0.35370332 0.93535479 -0.69119554] [ 0. 0. 0. 1. ]] SLAMing on 1.890792138 meters Centerline goodness : 0.667031 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.69 [[ 0.99845618 -0.05284236 0.01711549 0.10314029] [ 0.05548026 0.9338844 -0.35324476 0.22637071] [ 0.0026824 0.35364899 0.93537436 -0.69260568] [ 0. 0. 0. 1. ]] SLAMing on 1.920792138 meters Centerline goodness : 0.947209 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.69 [[ 0.9984666 -0.05270306 0.01693638 0.10352858] [ 0.05528743 0.93399628 -0.3529791 0.22657999] [ 0.00278456 0.35337421 0.93547791 -0.69408574] [ 0. 0. 0. 1. ]] SLAMing on 1.950792138 meters Centerline goodness : 0.177925 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.70 [[ 0.99844562 -0.05319099 0.01664499 0.10420931] [ 0.05564146 0.93403735 -0.35281476 0.22534275] [ 0.00321952 0.3531925 0.93554513 -0.6959847 ] [ 0. 0. 0. 1. ]] SLAMing on 1.980792138 meters Centerline goodness : 0.607394 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.70 [[ 0.99846178 -0.05293338 0.01649659 0.10452815] [ 0.05534904 0.9341616 -0.35253169 0.22585089] [ 0.00325021 0.35290249 0.93565446 -0.69711854] [ 0. 0. 0. 1. ]] SLAMing on 2.010792138 meters Centerline goodness : 0.837885 Centerline is valid? [False, False] Translation: X:0.11, Y:0.23, Z:-0.70 [[ 0.9984725 -0.0531149 0.01521427 0.10897544] [ 0.05506709 0.93423098 -0.35239196 0.22753973] [ 0.00450362 0.35269149 0.93572882 -0.70324832] [ 0. 0. 0. 1. ]] SLAMing on 2.040792138 meters Centerline goodness : 0.211984 Centerline is valid? [False, False] Translation: X:0.11, Y:0.23, Z:-0.71 [[ 0.99857706 -0.05137294 0.01430685 0.11120377] [ 0.05312251 0.93474188 -0.35133404 0.22971142] [ 0.00467585 0.35159413 0.93614086 -0.70649064] [ 0. 0. 0. 1. ]] SLAMing on 2.070792138 meters Centerline goodness : 0.206255 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.74 [[ 0.9988405 -0.04661598 0.01202545 0.12205143] [ 0.0478561 0.93424429 -0.35340825 0.24640674] [ 0.00523976 0.35357397 0.93539189 -0.74460407] [ 0. 0. 0. 1. ]] SLAMing on 2.100792138 meters Centerline goodness : 0.206846 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.9988416 -0.04662952 0.01188072 0.1224147 ] [ 0.04781759 0.9342463 -0.35340816 0.24681107] [ 0.00537973 0.35356688 0.93539378 -0.74572017] [ 0. 0. 0. 1. ]] SLAMing on 2.130792138 meters Centerline goodness : 0.204526 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99884144 -0.04669455 0.01163631 0.12298123] [ 0.04779255 0.9342812 -0.35331927 0.24690457] [ 0.0056265 0.35346605 0.93543043 -0.7469641 ] [ 0. 0. 0. 1. ]] SLAMing on 2.160792138 meters Centerline goodness : 0.204302 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99883704 -0.04678458 0.01165215 0.12301894] [ 0.04788212 0.93426232 -0.35335707 0.2470161 ] [ 0.0056455 0.35350406 0.93541595 -0.74743968] [ 0. 0. 0. 1. ]] SLAMing on 2.190792138 meters Centerline goodness : 0.203624 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99884654 -0.04661119 0.01153202 0.12340462] [ 0.04767808 0.93430989 -0.35325887 0.24771537] [ 0.00569134 0.35340122 0.93545453 -0.74839321] [ 0. 0. 0. 1. ]] SLAMing on 2.2207921379999997 meters Centerline goodness : 0.204339 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99884029 -0.04676721 0.01144121 0.12374182] [ 0.04779206 0.93431218 -0.35323741 0.24759543] [ 0.00583026 0.35337455 0.93546375 -0.74920085] [ 0. 0. 0. 1. ]] SLAMing on 2.250792138 meters Centerline goodness : 0.202992 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99883777 -0.04684893 0.01132667 0.1241714 ] [ 0.04782883 0.9343576 -0.35311227 0.24748555] [ 0.00595977 0.35324362 0.93551239 -0.75009078] [ 0. 0. 0. 1. ]] SLAMing on 2.280792138 meters Centerline goodness : 0.202405 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99885039 -0.04662223 0.01114727 0.12443044] [ 0.04755413 0.93441419 -0.35299963 0.24819808] [ 0.00604146 0.35312391 0.93555705 -0.75084483] [ 0. 0. 0. 1. ]] SLAMing on 2.310792138 meters Centerline goodness : 0.201300 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99885561 -0.04651151 0.01114238 0.12462965] [ 0.04744886 0.93442186 -0.35299349 0.24878379] [ 0.00600658 0.35311822 0.93555943 -0.75144074] [ 0. 0. 0. 1. ]] SLAMing on 2.340792138 meters Centerline goodness : 0.201361 Centerline is valid? [False, False] Translation: X:0.12, Y:0.25, Z:-0.75 [[ 0.99884649 -0.04671247 0.011119 0.12484571] [ 0.04762935 0.93445611 -0.35287848 0.24836305] [ 0.00609361 0.35300102 0.93560309 -0.75235808] [ 0. 0. 0. 1. ]] SLAMing on 2.370792138 meters Centerline goodness : 0.199798 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.75 [[ 0.99884651 -0.04673176 0.01103624 0.12515859] [ 0.04761751 0.93441864 -0.35297928 0.24892707] [ 0.00618287 0.35309764 0.93556605 -0.75315618] [ 0. 0. 0. 1. ]] SLAMing on 2.400792138 meters Centerline goodness : 0.197178 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.75 [[ 0.9988417 -0.0468869 0.01081062 0.12576316] [ 0.04768315 0.93442407 -0.35295604 0.24888582] [ 0.00644732 0.3530627 0.93557745 -0.75420873] [ 0. 0. 0. 1. ]] SLAMing on 2.4307921379999997 meters Centerline goodness : 0.197788 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.76 [[ 0.99885114 -0.04681751 0.01022322 0.1268232 ] [ 0.04741005 0.9343963 -0.35306634 0.24997317] [ 0.00697715 0.3531454 0.93554244 -0.755698 ] [ 0. 0. 0. 1. ]] SLAMing on 2.460792138 meters Centerline goodness : 0.196598 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99821154 -0.05972705 0.0025287 0.13261238] [ 0.05685514 0.93544313 -0.34887482 0.24904415] [ 0.01847181 0.34839464 0.93716592 -0.76555597] [ 0. 0. 0. 1. ]] SLAMing on 2.4907921379999998 meters Centerline goodness : 0.197402 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.9982119 -0.05973681 0.00212374 0.13328315] [ 0.05672322 0.93545127 -0.34887448 0.24931232] [ 0.018854 0.34837113 0.93716705 -0.76655458] [ 0. 0. 0. 1. ]] SLAMing on 2.520792138 meters Centerline goodness : 0.196770 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99822664 -0.05948568 0.0022416 0.13298453] [ 0.05653202 0.93552051 -0.34871982 0.24960579] [ 0.01864678 0.34822813 0.93722434 -0.76634249] [ 0. 0. 0. 1. ]] SLAMing on 2.550792138 meters Centerline goodness : 0.199542 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.76 [[ 0.99824883 -0.0590863 0.00284246 0.13004287] [ 0.05637217 0.93563157 -0.34844761 0.24866633] [ 0.01792899 0.34799765 0.93732395 -0.76370613] [ 0. 0. 0. 1. ]] SLAMing on 2.580792138 meters Centerline goodness : 0.201115 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.76 [[ 0.99825227 -0.05902475 0.0029137 0.12997398] [ 0.05634019 0.9356514 -0.34839955 0.24867796] [ 0.01783798 0.3479548 0.93734159 -0.76395698] [ 0. 0. 0. 1. ]] SLAMing on 2.610792138 meters Centerline goodness : 0.200712 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.76 [[ 0.99825536 -0.05897943 0.00276918 0.13038521] [ 0.05624518 0.93561342 -0.34851688 0.2490485 ] [ 0.01796445 0.34806459 0.93729841 -0.76423027] [ 0. 0. 0. 1. ]] SLAMing on 2.6407921379999997 meters Centerline goodness : 0.199313 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.76 [[ 0.99826431 -0.05884188 0.00244899 0.1309756 ] [ 0.05600058 0.9355468 -0.34873502 0.2498524 ] [ 0.01822908 0.34826687 0.93721816 -0.76476734] [ 0. 0. 0. 1. ]] SLAMing on 2.670792138 meters Centerline goodness : 0.205783 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99825543 -0.05899948 0.00227246 0.13144086] [ 0.05608641 0.93553421 -0.348755 0.24971543] [ 0.0184504 0.34827402 0.93721118 -0.76548362] [ 0. 0. 0. 1. ]] SLAMing on 2.7007921379999997 meters Centerline goodness : 0.212407 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99822433 -0.05952654 0.00218547 0.13143891] [ 0.05654908 0.93548795 -0.34880439 0.24840677] [ 0.01871863 0.34830862 0.937193 -0.76657794] [ 0. 0. 0. 1. ]] SLAMing on 2.730792138 meters Centerline goodness : 0.211275 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99821347 -0.05970697 0.00222395 0.13142261] [ 0.05673321 0.93550746 -0.34872215 0.24790262] [ 0.01874063 0.34822532 0.93722351 -0.76713138] [ 0. 0. 0. 1. ]] SLAMing on 2.760792138 meters Centerline goodness : 0.211275 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99821347 -0.05970697 0.00222395 0.13142261] [ 0.05673321 0.93550746 -0.34872215 0.24790262] [ 0.01874063 0.34822532 0.93722351 -0.76713138] [ 0. 0. 0. 1. ]] SLAMing on 2.790792138 meters Centerline goodness : 0.979747 Centerline is valid? [False, True] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.9982168 -0.05965146 0.00221997 0.13148417] [ 0.05668099 0.9355327 -0.34866293 0.24798407] [ 0.01872139 0.34816703 0.93724555 -0.76743899] [ 0. 0. 0. 1. ]] SLAMing on 2.820792138 meters Centerline goodness : 0.205239 Centerline is valid? [True, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99820631 -0.05981465 0.00252553 0.13061959] [ 0.05693592 0.93543429 -0.34888535 0.24801021] [ 0.01850598 0.34840335 0.93716201 -0.76688692] [ 0. 0. 0. 1. ]] SLAMing on 2.850792138 meters Centerline goodness : 0.836432 Centerline is valid? [False, False] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99819705 -0.05997487 0.00237857 0.1308078 ] [ 0.05703439 0.93541938 -0.34890923 0.24790831] [ 0.01870082 0.34841583 0.9371535 -0.76732209] [ 0. 0. 0. 1. ]] SLAMing on 2.880792138 meters Centerline goodness : 0.980628 Centerline is valid? [False, True] Translation: X:0.13, Y:0.25, Z:-0.77 [[ 0.99822249 -0.0595428 0.00255299 0.13081103] [ 0.05668907 0.93541761 -0.34897026 0.24850991] [ 0.01839055 0.34849468 0.93713032 -0.76762989] [ 0. 0. 0. 1. ]] SLAMing on 2.9107921379999997 meters Centerline goodness : 0.984011 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.14, Z:-0.97 [[ 0.14919858 -0.97224845 -0.18020194 0.48628374] [ 0.98170197 0.16745393 -0.09066657 -0.13546195] [ 0.11832596 -0.16337727 0.9794421 -0.97048161] [ 0. 0. 0. 1. ]] SLAMing on 2.940792138 meters Centerline goodness : 0.984937 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.05, Z:-1.00 [[ 0.55792186 -0.82788244 -0.05773961 0.29323307] [ 0.81777515 0.56028906 -0.13160537 -0.05418437] [ 0.14130464 0.02620749 0.9896192 -1.00288268] [ 0. 0. 0. 1. ]] SLAMing on 2.9707921379999997 meters Centerline goodness : 0.985266 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.05, Z:-1.03 [[ 0.55504918 -0.82961115 -0.06054545 0.30177417] [ 0.81964636 0.55788281 -0.13017916 -0.04730468] [ 0.14177535 0.02262998 0.98964015 -1.02676546] [ 0. 0. 0. 1. ]] SLAMing on 3.000792138 meters Centerline goodness : 0.190228 Centerline is valid? [True, False] Translation: X:0.24, Y:-0.02, Z:-1.02 [[ 0.66656456 -0.74502489 -0.02509187 0.24052171] [ 0.7347838 0.66233016 -0.1463268 -0.01718088] [ 0.12563621 0.07909916 0.98891803 -1.01808778] [ 0. 0. 0. 1. ]] SLAMing on 3.030792138 meters Centerline goodness : 0.190391 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-1.00 [[ 0.7586977 -0.65141335 0.0062003 0.18633495] [ 0.64314061 0.74747994 -0.16626455 0.01632892] [ 0.10367235 0.1301322 0.98606169 -1.00207006] [ 0. 0. 0. 1. ]] SLAMing on 3.060792138 meters Centerline goodness : 0.985483 Centerline is valid? [False, True] Translation: X:0.15, Y:0.06, Z:-1.00 [[ 0.83269101 -0.55288789 0.03067022 0.14593691] [ 0.5481172 0.81510186 -0.18755398 0.05872771] [ 0.07869697 0.17298539 0.98177535 -0.99709213] [ 0. 0. 0. 1. ]] SLAMing on 3.090792138 meters Centerline goodness : 0.906991 Centerline is valid? [True, False] Translation: X:0.11, Y:0.10, Z:-0.99 [[ 0.88949398 -0.45413718 0.05059528 0.11339224] [ 0.45402285 0.86586153 -0.21011202 0.10054676] [ 0.05161117 0.20986478 0.97636728 -0.98747999] [ 0. 0. 0. 1. ]] SLAMing on 3.120792138 meters Centerline goodness : 0.924703 Centerline is valid? [False, False] Translation: X:0.09, Y:0.14, Z:-0.97 [[ 0.93101398 -0.35864945 0.06770184 0.08548772] [ 0.36426864 0.9014609 -0.2338303 0.13918631] [ 0.02283255 0.24236094 0.96991744 -0.9706221 ] [ 0. 0. 0. 1. ]] SLAMing on 3.150792138 meters Centerline goodness : 0.865989 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.96 [[ 0.95787175 -0.27574656 0.08028415 0.06567995] [ 0.2871673 0.92356282 -0.25409968 0.17311014] [-0.00408034 0.26644989 0.96384014 -0.95560156] [ 0. 0. 0. 1. ]] SLAMing on 3.1807921379999997 meters Centerline goodness : 0.923978 Centerline is valid? [False, False] Translation: X:0.06, Y:0.20, Z:-0.94 [[ 0.97267605 -0.21554837 0.08625657 0.05501568] [ 0.23108406 0.93467797 -0.27014302 0.19835954] [-0.02239323 0.28269416 0.95894867 -0.94473051] [ 0. 0. 0. 1. ]] SLAMing on 3.210792138 meters Centerline goodness : 0.958066 Centerline is valid? [False, True] Translation: X:0.05, Y:0.23, Z:-0.94 [[ 0.98449187 -0.14878727 0.09294143 0.04628086] [ 0.16960609 0.94263276 -0.28753654 0.22791341] [-0.04482785 0.29884082 0.95324951 -0.93699745] [ 0. 0. 0. 1. ]] SLAMing on 3.2407921379999998 meters Centerline goodness : 0.987856 Centerline is valid? [True, True] Translation: X:0.07, Y:0.23, Z:-0.74 [[ 0.98532456 0.17066962 -0.00272005 0.07266365] [-0.16316731 0.93709325 -0.30859792 0.22706093] [-0.05011935 0.30451294 0.95118869 -0.74200954] [ 0. 0. 0. 1. ]] SLAMing on 3.270792138 meters Centerline goodness : 0.935847 Centerline is valid? [True, False] Translation: X:0.07, Y:0.21, Z:-0.76 [[ 9.92376749e-01 1.23239045e-01 -7.25844698e-04 6.93350444e-02] [-1.17955770e-01 9.48094169e-01 -2.95303035e-01 2.09184717e-01] [-3.57046948e-02 2.93137483e-01 9.55403366e-01 -7.58934429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300792138 meters Centerline goodness : 0.955234 Centerline is valid? [False, True] Translation: X:0.06, Y:0.18, Z:-0.77 [[ 0.99821091 0.05974917 0.00223969 0.0643777 ] [-0.0567475 0.95853165 -0.27927906 0.18263048] [-0.01883351 0.2786523 0.96020737 -0.77412606] [ 0. 0. 0. 1. ]] SLAMing on 3.330792138 meters Centerline goodness : 0.970842 Centerline is valid? [True, True] Translation: X:0.10, Y:0.05, Z:-0.84 [[ 0.9841834 -0.17538358 -0.02497278 0.09775916] [ 0.16801519 0.96878776 -0.18226674 0.05118101] [ 0.05615992 0.1751881 0.98293194 -0.83677675] [ 0. 0. 0. 1. ]] SLAMing on 3.360792138 meters Centerline goodness : 0.972428 Centerline is valid? [True, True] Translation: X:0.13, Y:0.20, Z:-0.70 [[ 0.99695595 0.01870441 -0.07568999 0.12643123] [-0.04109635 0.95105388 -0.30628028 0.19514091] [ 0.06625647 0.30845853 0.94892751 -0.69823285] [ 0. 0. 0. 1. ]] SLAMing on 3.3907921379999997 meters Centerline goodness : 0.975538 Centerline is valid? [True, True] Translation: X:0.15, Y:0.13, Z:-0.72 [[ 0.99334007 -0.05829122 -0.09938635 0.15192964] [ 0.03046583 0.96476396 -0.26134716 0.1309281 ] [ 0.11111861 0.25657872 0.96011459 -0.71559226] [ 0. 0. 0. 1. ]] SLAMing on 3.420792138 meters Centerline goodness : 0.199109 Centerline is valid? [True, False] Translation: X:0.15, Y:0.13, Z:-0.72 [[ 0.99334157 -0.05866457 -0.0991514 0.15190538] [ 0.03088798 0.96474719 -0.2613595 0.1299684 ] [ 0.11098858 0.25655667 0.96013552 -0.71634545] [ 0. 0. 0. 1. ]] SLAMing on 3.4507921379999997 meters Centerline goodness : 0.147707 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-0.71 [[ 0.99293485 -0.06431482 -0.09971951 0.14987198] [ 0.03648391 0.96513662 -0.25919148 0.12432049] [ 0.1129128 0.2537221 0.96066425 -0.70858238] [ 0. 0. 0. 1. ]] SLAMing on 3.480792138 meters Centerline goodness : 0.950065 Centerline is valid? [False, True] Translation: X:0.15, Y:0.12, Z:-0.71 [[ 0.99294872 -0.06429689 -0.09959289 0.14970605] [ 0.03650037 0.96513918 -0.25917964 0.12428909] [ 0.11278544 0.25371692 0.96068058 -0.70872378] [ 0. 0. 0. 1. ]] SLAMing on 3.510792138 meters Centerline goodness : 0.152135 Centerline is valid? [True, False] Translation: X:0.15, Y:0.12, Z:-0.70 [[ 0.99261173 -0.0682802 -0.10029836 0.14823631] [ 0.04050636 0.96568558 -0.25653577 0.11984789] [ 0.11437299 0.25057769 0.96131662 -0.70204794] [ 0. 0. 0. 1. ]] SLAMing on 3.540792138 meters Centerline goodness : 0.990754 Centerline is valid? [False, True] Translation: X:0.15, Y:0.13, Z:-0.70 [[ 0.99334705 -0.05290326 -0.1022882 0.1517901 ] [ 0.0243648 0.96467465 -0.26231504 0.12957989] [ 0.11255216 0.25807764 0.9595457 -0.70479953] [ 0. 0. 0. 1. ]] SLAMing on 3.570792138 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.21, Z:-0.80 [[ 0.66235286 -0.72761357 -0.17851382 0.30290764] [ 0.73261591 0.67888804 -0.04883601 -0.20676047] [ 0.15672464 -0.0984354 0.98272471 -0.79564726] [ 0. 0. 0. 1. ]] SLAMing on 3.6007921379999996 meters Centerline goodness : 0.933337 Centerline is valid? [True, False] Translation: X:0.25, Y:-0.17, Z:-0.80 [[ 0.75346685 -0.64058948 -0.14809736 0.248579 ] [ 0.63881707 0.76655449 -0.0656275 -0.17053992] [ 0.15556499 -0.04515898 0.98679289 -0.79775616] [ 0. 0. 0. 1. ]] SLAMing on 3.630792138 meters Centerline goodness : 0.906312 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:-0.80 [[ 0.83094867 -0.54324786 -0.12002529 0.20071032] [ 0.53622702 0.83953127 -0.08745181 -0.12865335] [ 0.148273 0.00830716 0.98891158 -0.79577491] [ 0. 0. 0. 1. ]] SLAMing on 3.6607921379999997 meters Centerline goodness : 0.889737 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.79 [[ 0.89094199 -0.44357908 -0.09726238 0.16368439] [ 0.43330886 0.89448075 -0.11021623 -0.08379328] [ 0.13588894 0.05605161 0.98913721 -0.7929773 ] [ 0. 0. 0. 1. ]] SLAMing on 3.690792138 meters Centerline goodness : 0.847352 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.80 [[ 0.93540636 -0.34384915 -0.08235719 0.13737019] [ 0.33163324 0.9340025 -0.13288613 -0.03960702] [ 0.1226146 0.09699015 0.98770369 -0.80019017] [ 0. 0. 0. 1. ]] SLAMing on 3.7207921379999997 meters Centerline goodness : 0.786452 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.81 [[ 9.63945237e-01 -2.57599078e-01 -6.67255231e-02 1.25142740e-01] [ 2.44887088e-01 9.56867302e-01 -1.56317882e-01 -9.87213535e-04] [ 1.04114814e-01 1.34341659e-01 9.85450366e-01 -8.08279908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.750792138 meters Centerline goodness : 0.686747 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.82 [[ 0.98117345 -0.18361441 -0.05987001 0.11883854] [ 0.17065411 0.96942066 -0.17635405 0.0358223 ] [ 0.09042037 0.16281685 0.98250437 -0.81846383] [ 0. 0. 0. 1. ]] SLAMing on 3.780792138 meters Centerline goodness : 0.791115 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.84 [[ 0.98874355 -0.13798052 -0.0578582 0.1232852 ] [ 0.12504637 0.97440142 -0.18682956 0.06423325] [ 0.08215596 0.17749157 0.98068708 -0.84163477] [ 0. 0. 0. 1. ]] SLAMing on 3.810792138 meters Centerline goodness : 0.718333 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:-0.85 [[ 0.99421031 -0.09244689 -0.054767 0.12175582] [ 0.07989231 0.97682616 -0.19856455 0.08822341] [ 0.07185451 0.19303946 0.97855643 -0.8488294 ] [ 0. 0. 0. 1. ]] SLAMing on 3.840792138 meters Centerline goodness : 0.755758 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:-0.86 [[ 0.99548359 -0.08101436 -0.04948826 0.12324062] [ 0.06947976 0.97697472 -0.20172497 0.09455795] [ 0.0646914 0.19737546 0.97819116 -0.8559528 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8707921379999997 meters Centerline goodness : 0.824027 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.87 [[ 0.99602529 -0.0743086 -0.04911054 0.1283067 ] [ 0.06292641 0.97726638 -0.20246158 0.10050614] [ 0.06303871 0.1985665 0.97805801 -0.86892261] [ 0. 0. 0. 1. ]] SLAMing on 3.900792138 meters Centerline goodness : 0.218857 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.87 [[ 0.99598726 -0.0741864 -0.05005762 0.13258821] [ 0.06263265 0.97733206 -0.20223549 0.10117168] [ 0.06392604 0.19828873 0.97805677 -0.87337572] [ 0. 0. 0. 1. ]] SLAMing on 3.9307921379999997 meters Centerline goodness : 0.197844 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.88 [[ 0.99636345 -0.06964511 -0.04908603 0.134904 ] [ 0.05829367 0.97735071 -0.20343903 0.10570155] [ 0.0621428 0.1998378 0.97785639 -0.88197121] [ 0. 0. 0. 1. ]] SLAMing on 3.960792138 meters Centerline goodness : 0.199856 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.88 [[ 0.9963654 -0.06954084 -0.04919409 0.13551037] [ 0.05817036 0.97736012 -0.2034291 0.10619993] [ 0.06222697 0.19982808 0.97785303 -0.88294779] [ 0. 0. 0. 1. ]] SLAMing on 3.9907921379999998 meters Centerline goodness : 0.196055 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.99632291 -0.06954799 -0.05003741 0.13966485] [ 0.05800523 0.9773599 -0.2034773 0.10723461] [ 0.06305599 0.19982666 0.97780021 -0.88719255] [ 0. 0. 0. 1. ]] SLAMing on 4.020792138 meters Centerline goodness : 0.197245 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.99632335 -0.06940897 -0.05022138 0.14035649] [ 0.05783125 0.97736788 -0.2034885 0.10781504] [ 0.06320869 0.19983598 0.97778844 -0.88795521] [ 0. 0. 0. 1. ]] SLAMing on 4.050792138 meters Centerline goodness : 0.190701 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.9963093 -0.06935355 -0.05057532 0.14152246] [ 0.05771707 0.97741031 -0.20331704 0.10775525] [ 0.0635336 0.1996476 0.97780587 -0.8893473 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0807921380000005 meters Centerline goodness : 0.858601 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.9962879 -0.06940709 -0.0509222 0.14269216] [ 0.0577112 0.97744593 -0.20314742 0.10743795] [ 0.06387357 0.19945453 0.97782312 -0.89085729] [ 0. 0. 0. 1. ]] SLAMing on 4.110792138 meters Centerline goodness : 0.734474 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.99630385 -0.06894614 -0.05123536 0.14343302] [ 0.05720344 0.97749846 -0.20303825 0.10849683] [ 0.06408119 0.19935695 0.97782944 -0.89164276] [ 0. 0. 0. 1. ]] SLAMing on 4.140792138 meters Centerline goodness : 0.939761 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.89 [[ 0.9962888 -0.0688614 -0.05164046 0.14447049] [ 0.05703677 0.97750032 -0.20307619 0.10903048] [ 0.06446268 0.19937713 0.97780025 -0.89277659] [ 0. 0. 0. 1. ]] SLAMing on 4.170792138 meters Centerline goodness : 0.997988 Centerline is valid? [False, True] Translation: X:0.15, Y:0.11, Z:-0.89 [[ 0.99627381 -0.06875592 -0.05206843 0.14548976] [ 0.05685229 0.97752557 -0.20300634 0.10927029] [ 0.06485611 0.19928969 0.97779206 -0.89394224] [ 0. 0. 0. 1. ]] SLAMing on 4.200792138000001 meters Centerline goodness : 0.870902 Centerline is valid? [True, False] Translation: X:0.15, Y:0.11, Z:-0.89 [[ 0.99626876 -0.06861979 -0.05234386 0.14621276] [ 0.05666585 0.97754328 -0.20297319 0.1096595 ] [ 0.06509636 0.19924974 0.97778423 -0.89466255] [ 0. 0. 0. 1. ]] SLAMing on 4.230792138 meters Centerline goodness : 0.737546 Centerline is valid? [False, False] Translation: X:0.15, Y:0.11, Z:-0.90 [[ 0.99624689 -0.06856192 -0.05283371 0.14736171] [ 0.05652495 0.97759422 -0.20276706 0.10933287] [ 0.06555203 0.19901963 0.97780065 -0.89602456] [ 0. 0. 0. 1. ]] SLAMing on 4.260792138 meters Centerline goodness : 0.998160 Centerline is valid? [False, True] Translation: X:0.15, Y:0.11, Z:-0.90 [[ 0.99624758 -0.06841043 -0.0530168 0.14780824] [ 0.05635004 0.97763615 -0.20261351 0.10947211] [ 0.06569202 0.19886572 0.97782257 -0.89674119] [ 0. 0. 0. 1. ]] SLAMing on 4.2907921380000005 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.10, Z:-0.94 [[ 0.85678244 -0.50687924 -0.09485402 0.2242734 ] [ 0.50148847 0.86184304 -0.07573566 -0.10386815] [ 0.12013811 0.01732079 0.99260608 -0.94259374] [ 0. 0. 0. 1. ]] SLAMing on 4.320792138000001 meters Centerline goodness : 0.736968 Centerline is valid? [True, False] Translation: X:0.19, Y:-0.05, Z:-0.95 [[ 0.91204914 -0.40266863 -0.07761656 0.19487739] [ 0.39494751 0.91345785 -0.09803686 -0.05488575] [ 0.11037583 0.05875997 0.99215142 -0.94672965] [ 0. 0. 0. 1. ]] SLAMing on 4.350792138 meters Centerline goodness : 0.997953 Centerline is valid? [False, True] Translation: X:0.17, Y:-0.01, Z:-0.94 [[ 0.95060426 -0.30398926 -0.06278588 0.17100305] [ 0.2950414 0.94772416 -0.12152982 -0.00931445] [ 0.09644746 0.09700233 0.99060004 -0.94320725] [ 0. 0. 0. 1. ]] SLAMing on 4.380792138 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.10, Z:-0.97 [[ 0.84325578 -0.52819847 -0.09962968 0.23965213] [ 0.52376087 0.8491023 -0.0685554 -0.10326469] [ 0.12080665 0.0056276 0.9926601 -0.97215058] [ 0. 0. 0. 1. ]] SLAMing on 4.410792138000001 meters Centerline goodness : 0.955647 Centerline is valid? [True, True] Translation: X:0.12, Y:0.05, Z:-0.88 [[ 0.98561524 0.16562842 -0.03361284 0.1152886 ] [-0.16875126 0.97536493 -0.14207835 0.04834224] [ 0.00925257 0.14570679 0.98928455 -0.8807871 ] [ 0. 0. 0. 1. ]] SLAMing on 4.440792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.04, Z:-0.94 [[ 0.81883829 -0.56437151 -0.10482681 0.24457782] [ 0.5576444 0.82540983 -0.087928 -0.03520484] [ 0.13614914 0.01354273 0.99059578 -0.94266904] [ 0. 0. 0. 1. ]] SLAMing on 4.470792138 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.03, Z:-0.97 [[ 0.80845597 -0.57843012 -0.1087085 0.25821721] [ 0.57201919 0.81569734 -0.08620843 -0.03354197] [ 0.13853879 0.00751237 0.99032852 -0.96742996] [ 0. 0. 0. 1. ]] SLAMing on 4.500792138 meters Centerline goodness : 0.190334 Centerline is valid? [True, False] Translation: X:0.22, Y:0.01, Z:-0.96 [[ 0.87603899 -0.47428606 -0.08722625 0.21884287] [ 0.46490959 0.87868053 -0.10853386 0.01148909] [ 0.12812011 0.05452758 0.99025854 -0.96329203] [ 0. 0. 0. 1. ]] SLAMing on 4.530792138000001 meters Centerline goodness : 0.999469 Centerline is valid? [False, True] Translation: X:0.19, Y:0.06, Z:-0.96 [[ 0.92510895 -0.37310053 -0.07049415 0.19030715] [ 0.36216946 0.9228161 -0.13131539 0.0572347 ] [ 0.11404697 0.09595022 0.98883105 -0.96035457] [ 0. 0. 0. 1. ]] SLAMing on 4.560792138 meters Centerline goodness : 0.188226 Centerline is valid? [True, False] Translation: X:0.17, Y:0.10, Z:-0.96 [[ 0.95923419 -0.27641001 -0.05888348 0.17106002] [ 0.26491082 0.95199899 -0.15336291 0.10160798] [ 0.09844805 0.13151208 0.98641399 -0.95698452] [ 0. 0. 0. 1. ]] SLAMing on 4.590792138 meters Centerline goodness : 0.803401 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-0.96 [[ 0.97907891 -0.19713164 -0.0504342 0.16086779] [ 0.18590682 0.96737043 -0.17214267 0.13931728] [ 0.08272332 0.15916519 0.9837801 -0.95972036] [ 0. 0. 0. 1. ]] SLAMing on 4.6207921380000005 meters Centerline goodness : 0.997674 Centerline is valid? [False, True] Translation: X:0.16, Y:0.17, Z:-0.97 [[ 0.98937431 -0.1380533 -0.04560442 0.15729525] [ 0.12737861 0.97427927 -0.18588865 0.16860579] [ 0.07009398 0.17810443 0.98151192 -0.96597346] [ 0. 0. 0. 1. ]] SLAMing on 4.650792138 meters Centerline goodness : 0.980791 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.17, Z:-1.02 [[ 5.06592593e-01 -8.52075490e-01 -1.31648408e-01 3.26909188e-01] [ 8.59545102e-01 5.11059868e-01 -1.70190594e-04 -1.73520836e-01] [ 6.74252333e-02 -1.13071527e-01 9.91296458e-01 -1.02368873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.680792138 meters Centerline goodness : 0.924016 Centerline is valid? [True, False] Translation: X:0.27, Y:-0.15, Z:-1.04 [[ 0.61297756 -0.78322218 -0.10402653 0.27389505] [ 0.78650281 0.61742456 -0.01415059 -0.14547006] [ 0.07531159 -0.07314316 0.99447385 -1.03579369] [ 0. 0. 0. 1. ]] SLAMing on 4.710792138 meters Centerline goodness : 0.924016 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:-1.03 [[ 0.71935799 -0.69070077 -0.07386834 0.21498499] [ 0.69044161 0.72262972 -0.03311598 -0.10942362] [ 0.0762527 -0.02717953 0.99671801 -1.03139249] [ 0. 0. 0. 1. ]] SLAMing on 4.740792138000001 meters Centerline goodness : 0.884487 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:-1.03 [[ 0.8046266 -0.59171065 -0.04954329 0.16737925] [ 0.58941834 0.80602542 -0.05393553 -0.06789871] [ 0.07184738 0.01419623 0.9973146 -1.02788691] [ 0. 0. 0. 1. ]] SLAMing on 4.770792138 meters Centerline goodness : 0.998807 Centerline is valid? [False, True] Translation: X:0.13, Y:-0.02, Z:-1.02 [[ 0.87278961 -0.48729881 -0.02789568 0.1271282 ] [ 0.48416769 0.87158594 -0.0769389 -0.02363542] [ 0.06180572 0.05364528 0.99664549 -1.02138272] [ 0. 0. 0. 1. ]] SLAMing on 4.800792138 meters Centerline goodness : 0.173699 Centerline is valid? [True, False] Translation: X:0.10, Y:0.02, Z:-1.03 [[ 0.91836249 -0.39550756 -0.01356844 0.10410877] [ 0.39245637 0.9146142 -0.09725665 0.01925915] [ 0.05087562 0.08399184 0.99516684 -1.02836538] [ 0. 0. 0. 1. ]] SLAMing on 4.8307921380000005 meters Centerline goodness : 0.999567 Centerline is valid? [False, True] Translation: X:0.09, Y:0.05, Z:-1.03 [[ 0.94836003 -0.31716891 -0.00413854 0.08840212] [ 0.31459555 0.94217259 -0.1155009 0.05419825] [ 0.04053251 0.10823447 0.99329875 -1.03024696] [ 0. 0. 0. 1. ]] SLAMing on 4.860792138 meters Centerline goodness : 0.696851 Centerline is valid? [True, False] Translation: X:0.08, Y:0.09, Z:-1.04 [[ 0.96867951 -0.24831001 0.00146439 0.08102572] [ 0.2463668 0.96032827 -0.13066375 0.08834832] [ 0.03103882 0.12693207 0.99142566 -1.0431048 ] [ 0. 0. 0. 1. ]] SLAMing on 4.890792138 meters Centerline goodness : 0.694208 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.05 [[ 0.9823733 -0.18677597 0.00757923 0.07321987] [ 0.18586143 0.97162759 -0.14627153 0.11734558] [ 0.01995581 0.14510193 0.98921544 -1.04539003] [ 0. 0. 0. 1. ]] SLAMing on 4.920792138 meters Centerline goodness : 0.921278 Centerline is valid? [False, False] Translation: X:0.07, Y:0.15, Z:-1.05 [[ 0.99192314 -0.12626978 0.01201764 0.06906331] [ 0.12654367 0.97867418 -0.16181331 0.14554008] [ 0.00867078 0.16202712 0.98674821 -1.05084568] [ 0. 0. 0. 1. ]] SLAMing on 4.950792138000001 meters Centerline goodness : 0.512439 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-1.06 [[ 9.96285777e-01 -8.49122588e-02 1.43023810e-02 6.93253943e-02] [ 8.61060929e-02 9.81215348e-01 -1.72633084e-01 1.65951898e-01] [ 6.24949362e-04 1.73223409e-01 9.84882358e-01 -1.06152053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980792138 meters Centerline goodness : 0.638773 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-1.06 [[ 0.99740623 -0.06913677 0.02002297 0.06817858] [ 0.07158893 0.98173995 -0.17624327 0.17309351] [-0.00747246 0.17721956 0.98414297 -1.0624675 ] [ 0. 0. 0. 1. ]] SLAMing on 5.010792138 meters Centerline goodness : 0.646195 Centerline is valid? [False, False] Translation: X:0.07, Y:0.18, Z:-1.06 [[ 0.99828869 -0.05237499 0.02601072 0.06687515] [ 0.05621268 0.98206791 -0.17995208 0.18131392] [-0.0161193 0.18110626 0.98333143 -1.06274841] [ 0. 0. 0. 1. ]] SLAMing on 5.0407921380000005 meters Centerline goodness : 0.580897 Centerline is valid? [False, False] Translation: X:0.07, Y:0.18, Z:-1.06 [[ 0.99829051 -0.05241484 0.02586021 0.06727617] [ 0.05622311 0.98208416 -0.1798601 0.18099101] [-0.01596956 0.18100658 0.98335222 -1.06323329] [ 0. 0. 0. 1. ]] SLAMing on 5.070792138 meters Centerline goodness : 0.550786 Centerline is valid? [False, False] Translation: X:0.08, Y:0.18, Z:-1.10 [[ 0.99747286 -0.06780612 0.0212184 0.07722134] [ 0.07051112 0.9814137 -0.17848062 0.18106766] [-0.00872194 0.17952571 0.98371462 -1.10210854] [ 0. 0. 0. 1. ]] SLAMing on 5.100792138 meters Centerline goodness : 0.964392 Centerline is valid? [False, True] Translation: X:0.08, Y:0.18, Z:-1.10 [[ 0.99746598 -0.06783732 0.02144094 0.07729618] [ 0.07058091 0.98142603 -0.17838521 0.18034197] [-0.00894152 0.1794465 0.9837271 -1.10259363] [ 0. 0. 0. 1. ]] SLAMing on 5.130792138 meters Centerline goodness : 0.925785 Centerline is valid? [True, False] Translation: X:0.08, Y:0.18, Z:-1.10 [[ 0.99746783 -0.06780247 0.02146533 0.07730769] [ 0.07054954 0.98145735 -0.17822523 0.18012941] [-0.0089832 0.1792883 0.98375556 -1.10280816] [ 0. 0. 0. 1. ]] SLAMing on 5.160792138000001 meters Centerline goodness : 0.959888 Centerline is valid? [False, True] Translation: X:0.08, Y:0.18, Z:-1.10 [[ 0.99746348 -0.06783597 0.02156126 0.07715306] [ 0.07059847 0.98147802 -0.17809199 0.1797746 ] [-0.00908086 0.17916245 0.98377759 -1.10301471] [ 0. 0. 0. 1. ]] SLAMing on 5.190792138 meters Centerline goodness : 0.517187 Centerline is valid? [True, False] Translation: X:0.08, Y:0.18, Z:-1.11 [[ 0.99763072 -0.06564709 0.0205766 0.08097415] [ 0.06826851 0.98163795 -0.17811893 0.18352861] [-0.00850578 0.17910165 0.9837938 -1.10863233] [ 0. 0. 0. 1. ]] SLAMing on 5.220792138 meters Centerline goodness : 0.997406 Centerline is valid? [False, True] Translation: X:0.08, Y:0.19, Z:-1.11 [[ 0.99848026 -0.04924366 0.0247432 0.07782113] [ 0.05294398 0.98176167 -0.18259507 0.19061031] [-0.01530028 0.18362758 0.98287681 -1.10514019] [ 0. 0. 0. 1. ]] SLAMing on 5.250792138 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.07, Z:-1.16 [[ 7.84135320e-01 -6.20105904e-01 -2.45044457e-02 1.82807316e-01] [ 6.19801286e-01 7.84518110e-01 -1.94345374e-02 -7.25859895e-02] [ 3.12756528e-02 5.14202568e-05 9.99510796e-01 -1.15987251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280792138 meters Centerline goodness : 0.480859 Centerline is valid? [True, False] Translation: X:0.13, Y:-0.02, Z:-1.14 [[ 0.86805911 -0.49639186 0.00827684 0.12902471] [ 0.49615851 0.86682812 -0.04935328 -0.02489497] [ 0.01732397 0.04694819 0.99874709 -1.14118018] [ 0. 0. 0. 1. ]] SLAMing on 5.310792138 meters Centerline goodness : 0.868476 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-1.14 [[ 0.91496293 -0.40292992 0.02214288 0.10242135] [ 0.40344762 0.91221952 -0.0713131 0.01598647] [ 0.00853501 0.07418233 0.99720817 -1.14082559] [ 0. 0. 0. 1. ]] SLAMing on 5.340792138 meters Centerline goodness : 0.488286 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-1.13 [[ 0.9525211 -0.30218423 0.03725909 0.07757615] [ 0.30441255 0.94760564 -0.09683257 0.05833101] [-0.00604565 0.1035772 0.99460304 -1.12806135] [ 0. 0. 0. 1. ]] SLAMing on 5.3707921380000005 meters Centerline goodness : 0.488286 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.12 [[ 0.97581101 -0.21393029 0.04501883 0.06271741] [ 0.21788032 0.96856172 -0.12006814 0.09772623] [-0.01791731 0.12697254 0.9917444 -1.120308 ] [ 0. 0. 0. 1. ]] SLAMing on 5.400792138 meters Centerline goodness : 0.486021 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:-1.13 [[ 0.9863339 -0.15718745 0.04937138 0.0597343 ] [ 0.16250432 0.97753416 -0.13423606 0.12577257] [-0.02716199 0.14042464 0.98971872 -1.13087039] [ 0. 0. 0. 1. ]] SLAMing on 5.430792138 meters Centerline goodness : 0.449235 Centerline is valid? [False, False] Translation: X:0.06, Y:0.15, Z:-1.13 [[ 0.99356294 -0.10030047 0.05265461 0.05547163] [ 0.10717462 0.98283852 -0.15014006 0.15240248] [-0.03669186 0.15481683 0.98726159 -1.13016094] [ 0. 0. 0. 1. ]] SLAMing on 5.460792138 meters Centerline goodness : 0.999057 Centerline is valid? [False, True] Translation: X:0.06, Y:0.17, Z:-1.15 [[ 0.99672596 -0.05834527 0.055975 0.05711085] [ 0.06670919 0.98460429 -0.16156819 0.17372195] [-0.04568648 0.16477326 0.98527281 -1.14674841] [ 0. 0. 0. 1. ]] SLAMing on 5.490792138000001 meters Centerline goodness : 0.988090 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.22, Z:-1.19 [[ 0.69418859 -0.71977977 0.00439159 0.15071557] [ 0.71660733 0.69167663 0.08976287 -0.22395628] [-0.06764706 -0.05916531 0.99595348 -1.19141246] [ 0. 0. 0. 1. ]] SLAMing on 5.520792138 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.21, Z:-1.24 [[ 0.7269894 -0.68636334 0.01979331 0.13226481] [ 0.68315529 0.72589425 0.07985228 -0.20533008] [-0.06917552 -0.04452986 0.99661017 -1.23620689] [ 0. 0. 0. 1. ]] SLAMing on 5.550792138 meters Centerline goodness : 0.927777 Centerline is valid? [True, False] Translation: X:0.09, Y:-0.16, Z:-1.23 [[ 0.80972792 -0.58508462 0.04490756 0.08542078] [ 0.58268719 0.81073797 0.05638779 -0.1638469 ] [-0.06939989 -0.01949171 0.99739848 -1.23088667] [ 0. 0. 0. 1. ]] SLAMing on 5.5807921380000005 meters Centerline goodness : 0.985851 Centerline is valid? [False, True] Translation: X:0.05, Y:-0.12, Z:-1.23 [[ 0.87159025 -0.48614302 0.06320918 0.05040774] [ 0.48508354 0.87387537 0.03218388 -0.12238816] [-0.07088291 0.00261057 0.99748123 -1.22983851] [ 0. 0. 0. 1. ]] SLAMing on 5.610792138 meters Centerline goodness : 0.767684 Centerline is valid? [True, False] Translation: X:0.02, Y:-0.08, Z:-1.23 [[ 0.91875161 -0.38701314 0.07820683 0.02232307] [ 0.38762484 0.92178405 0.00782012 -0.08000966] [-0.0751163 0.02313016 0.99690648 -1.22597225] [ 0. 0. 0. 1. ]] SLAMing on 5.640792138 meters Centerline goodness : 0.998863 Centerline is valid? [False, True] Translation: X:0.00, Y:-0.04, Z:-1.23 [[ 0.9511251 -0.29592864 0.08824563 0.00328223] [ 0.29837846 0.95431858 -0.01569529 -0.03982276] [-0.07956975 0.04125878 0.99597508 -1.22680557] [ 0. 0. 0. 1. ]] SLAMing on 5.670792138 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.21, Z:-1.25 [[ 0.84269565 -0.53151518 0.08576511 0.00678478] [ 0.52503838 0.84655976 0.08758576 -0.20936907] [-0.11915845 -0.02877817 0.9924581 -1.25125713] [ 0. 0. 0. 1. ]] SLAMing on 5.700792138000001 meters Centerline goodness : 0.714551 Centerline is valid? [True, False] Translation: X:-0.03, Y:-0.17, Z:-1.25 [[ 0.89761187 -0.42867062 0.10263736 -0.02605806] [ 0.42423595 0.9033694 0.06282986 -0.16524809] [-0.11965277 -0.01285437 0.99273258 -1.24589218] [ 0. 0. 0. 1. ]] SLAMing on 5.730792138 meters Centerline goodness : 0.999633 Centerline is valid? [False, True] Translation: X:-0.05, Y:-0.12, Z:-1.25 [[ 9.34305420e-01 -3.37712283e-01 1.14121852e-01 -4.78744364e-02] [ 3.35331425e-01 9.41248997e-01 4.00394839e-02 -1.24861494e-01] [-1.20938904e-01 8.59536264e-04 9.92659580e-01 -1.25015989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760792138 meters Centerline goodness : 0.797502 Centerline is valid? [True, False] Translation: X:-0.06, Y:-0.08, Z:-1.25 [[ 0.96204515 -0.24312206 0.12393863 -0.06481697] [ 0.24307556 0.96987981 0.01572964 -0.08312063] [-0.1240298 0.01499383 0.99216521 -1.24986922] [ 0. 0. 0. 1. ]] SLAMing on 5.7907921380000005 meters Centerline goodness : 0.998976 Centerline is valid? [False, True] Translation: X:-0.07, Y:-0.05, Z:-1.25 [[ 0.978339 -0.16064881 0.13055557 -0.07497086] [ 0.16281723 0.98663777 -0.00603773 -0.04680296] [-0.12784111 0.02716364 0.99142261 -1.2541457 ] [ 0. 0. 0. 1. ]] SLAMing on 5.820792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.11, Z:-1.29 [[ 0.94757117 -0.29475128 0.12341217 -0.05600085] [ 0.2930175 0.95555834 0.03238827 -0.10863449] [-0.12747401 0.00547174 0.99182682 -1.28750756] [ 0. 0. 0. 1. ]] SLAMing on 5.850792138 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.11, Z:-1.32 [[ 0.94835746 -0.29242492 0.12290561 -0.05122896] [ 0.29070781 0.95627379 0.03208451 -0.10655454] [-0.12691372 0.00530203 0.99189959 -1.32050885] [ 0. 0. 0. 1. ]] SLAMing on 5.880792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.11, Z:-1.35 [[ 0.94732777 -0.29536991 0.12380109 -0.04642017] [ 0.29367675 0.95536463 0.03213074 -0.10661529] [-0.12776564 0.00591916 0.99178672 -1.35222028] [ 0. 0. 0. 1. ]] SLAMing on 5.910792138000001 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:-0.04, Y:-0.11, Z:-1.38 [[ 0.94647688 -0.29785637 0.12435068 -0.04078369] [ 0.29618904 0.95458905 0.03212166 -0.10713393] [-0.12827144 0.0064289 0.99171826 -1.38481625] [ 0. 0. 0. 1. ]] SLAMing on 5.940792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:-0.04, Y:-0.11, Z:-1.42 [[ 0.94515168 -0.30126011 0.12621664 -0.03558439] [ 0.29959727 0.95351498 0.03241388 -0.10852176] [-0.13011446 0.00717813 0.991473 -1.41680348] [ 0. 0. 0. 1. ]] SLAMing on 5.970792138 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.11, Z:-1.45 [[ 0.94492465 -0.30204903 0.12603086 -0.02996216] [ 0.30041762 0.95326352 0.03221675 -0.10866327] [-0.12987166 0.00741949 0.99150305 -1.44931918] [ 0. 0. 0. 1. ]] SLAMing on 6.000792138 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.11, Z:-1.48 [[ 0.94368874 -0.30594887 0.12588429 -0.02327893] [ 0.30437951 0.9520133 0.03199668 -0.11024431] [-0.12963286 0.00812169 0.9915288 -1.48079618] [ 0. 0. 0. 1. ]] SLAMing on 6.030792138 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.11, Z:-1.51 [[ 0.94296179 -0.30858945 0.12488241 -0.01739836] [ 0.30708827 0.95115675 0.03158518 -0.11201359] [-0.1285296 0.0085663 0.99166867 -1.51265826] [ 0. 0. 0. 1. ]] SLAMing on 6.060792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.12, Z:-1.55 [[ 0.94006843 -0.31882554 0.12091992 -0.01536564] [ 0.31751848 0.94776307 0.03044971 -0.11926806] [-0.12431158 0.0097695 0.99219514 -1.54575048] [ 0. 0. 0. 1. ]] SLAMing on 6.090792138 meters Centerline goodness : 0.957071 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.14, Z:-1.48 [[ 0.95961934 0.25842364 0.11112133 -0.04120801] [-0.24639712 0.96277006 -0.11118574 0.13876656] [-0.13571732 0.07931601 0.98756761 -1.47920279] [ 0. 0. 0. 1. ]] SLAMing on 6.1207921380000005 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.28, Z:-1.55 [[ 0.73899607 -0.67110507 0.05918436 0.07333747] [ 0.66088199 0.73918382 0.12977783 -0.27794252] [-0.13084268 -0.05679143 0.98977519 -1.55210858] [ 0. 0. 0. 1. ]] SLAMing on 6.150792138 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.10, Z:-1.59 [[ 0.94547049 -0.30559965 0.11266943 -0.01906291] [ 0.30403789 0.9521483 0.0312182 -0.10023871] [-0.11681827 0.00473989 0.993142 -1.59279412] [ 0. 0. 0. 1. ]] SLAMing on 6.180792138 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.10, Z:-1.63 [[ 0.94436998 -0.30929289 0.11181789 -0.01341015] [ 0.30779767 0.95095207 0.03083437 -0.10201914] [-0.11587031 0.00529823 0.99325022 -1.62503709] [ 0. 0. 0. 1. ]] SLAMing on 6.210792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.10, Z:-1.65 [[ 0.94780195 -0.29430582 0.12270103 -0.02289158] [ 0.29228535 0.95570626 0.0345661 -0.10310191] [-0.12743915 0.0031019 0.99184154 -1.65230296] [ 0. 0. 0. 1. ]] SLAMing on 6.240792138000001 meters Centerline goodness : 0.983936 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.10, Z:-1.68 [[ 9.46196956e-01 -2.99870190e-01 1.21610815e-01 -1.24765333e-02] [ 2.97550097e-01 9.53979545e-01 3.72420085e-02 -1.03703058e-01] [-1.27181998e-01 9.47034623e-04 9.91878946e-01 -1.68455435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270792138 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.12, Z:-1.72 [[ 0.93900474 -0.32168673 0.12160485 -0.00922599] [ 0.3187059 0.9468433 0.04375297 -0.11598234] [-0.12921548 -0.00232807 0.99161381 -1.71649619] [ 0. 0. 0. 1. ]] SLAMing on 6.300792138 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.11, Z:-1.75 [[ 9.44167991e-01 -3.06131235e-01 1.21780429e-01 -6.21833520e-03] [ 3.03564043e-01 9.51989242e-01 3.95645618e-02 -1.08121997e-01] [-1.28045606e-01 -3.87433457e-04 9.91768205e-01 -1.74770755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3307921380000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.11, Z:-1.78 [[ 0.93773295 -0.32570441 0.12072094 0.00537755] [ 0.32278072 0.94546973 0.04358435 -0.11158509] [-0.12833361 -0.00190409 0.99172923 -1.78269542] [ 0. 0. 0. 1. ]] SLAMing on 6.360792138 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:0.00, Y:-0.09, Z:-1.81 [[ 0.94768489 -0.29518677 0.12148302 0.00490616] [ 0.29340584 0.95542827 0.0327083 -0.09251215] [-0.12572337 0.00464666 0.99205446 -1.81493019] [ 0. 0. 0. 1. ]] SLAMing on 6.390792138 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.09, Z:-1.85 [[ 0.94581437 -0.30122981 0.12122614 0.0110545 ] [ 0.2993004 0.95354368 0.0342596 -0.09394826] [-0.12591443 0.0038798 0.99203352 -1.84760871] [ 0. 0. 0. 1. ]] SLAMing on 6.420792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.09, Z:-1.88 [[ 0.94757936 -0.30112612 0.10684767 0.03174712] [ 0.29959571 0.95357919 0.03048159 -0.08936544] [-0.11106651 0.00312738 0.99380805 -1.8775325 ] [ 0. 0. 0. 1. ]] SLAMing on 6.450792138000001 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:0.02, Y:-0.09, Z:-1.91 [[ 0.94760585 -0.29574763 0.12073311 0.02171238] [ 0.29407079 0.95525149 0.03188989 -0.08841985] [-0.12476184 0.00528503 0.99217264 -1.91103488] [ 0. 0. 0. 1. ]] SLAMing on 6.480792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.09, Z:-1.94 [[ 0.94259379 -0.31524221 0.1101785 0.04160614] [ 0.31337609 0.94900875 0.0343194 -0.09176726] [-0.11537928 0.00217805 0.99331912 -1.94218298] [ 0. 0. 0. 1. ]] SLAMing on 6.510792138 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.08, Z:-1.97 [[ 0.95150684 -0.2832557 0.12000391 0.03534258] [ 0.28172409 0.95902946 0.02990034 -0.079135 ] [-0.12355672 0.00535762 0.99232305 -1.97399326] [ 0. 0. 0. 1. ]] SLAMing on 6.5407921380000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.08, Z:-2.01 [[ 0.94841529 -0.29335895 0.12020381 0.04005288] [ 0.29157609 0.95599329 0.032561 -0.08363566] [-0.1244661 0.0041672 0.99221511 -2.00669311] [ 0. 0. 0. 1. ]] SLAMing on 6.570792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.08, Z:-2.04 [[ 0.94910838 -0.29096645 0.12054796 0.04446068] [ 0.28923514 0.95672274 0.03200991 -0.08148833] [-0.12464478 0.00448583 0.99219129 -2.03976717] [ 0. 0. 0. 1. ]] SLAMing on 6.600792138 meters Centerline goodness : 0.999941 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.08, Z:-2.07 [[ 0.94894588 -0.29137564 0.12083856 0.04986204] [ 0.2895858 0.95659975 0.03251126 -0.08139618] [-0.12506713 0.00414171 0.99213964 -2.07207955] [ 0. 0. 0. 1. ]] SLAMing on 6.630792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.08, Z:-2.10 [[ 0.95164502 -0.28299473 0.11952294 0.05579192] [ 0.28131518 0.95911282 0.03105419 -0.07524699] [-0.12342415 0.00407105 0.99234566 -2.10392216] [ 0. 0. 0. 1. ]] SLAMing on 6.660792138000001 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.07, Z:-2.14 [[ 0.95246678 -0.2777223 0.12520929 0.05348033] [ 0.27584365 0.96065455 0.03245192 -0.0747628 ] [-0.12929549 0.00362881 0.99159947 -2.1357102 ] [ 0. 0. 0. 1. ]] SLAMing on 6.690792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.08, Z:-2.17 [[ 0.94972709 -0.28779076 0.12326769 0.06227932] [ 0.28581338 0.95768826 0.0338217 -0.07695736] [-0.12778559 0.00311017 0.99179694 -2.16784647] [ 0. 0. 0. 1. ]] SLAMing on 6.720792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.07, Z:-2.20 [[ 0.95119319 -0.28377268 0.12126243 0.06929486] [ 0.28204889 0.95888227 0.03151522 -0.07201437] [-0.12521956 0.00422487 0.99212006 -2.19967884] [ 0. 0. 0. 1. ]] SLAMing on 6.750792138 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:0.08, Y:-0.06, Z:-2.23 [[ 0.9580182 -0.26237771 0.11558139 0.07862084] [ 0.261196 0.96494821 0.02552642 -0.06103741] [-0.11822762 0.00573462 0.99296996 -2.23060224] [ 0. 0. 0. 1. ]] SLAMing on 6.780792138 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:0.08, Y:-0.06, Z:-2.26 [[ 0.9584316 -0.26222306 0.11246303 0.08370408] [ 0.26094094 0.96499815 0.02623733 -0.06049508] [-0.11540665 0.00419952 0.99330945 -2.26197185] [ 0. 0. 0. 1. ]] SLAMing on 6.810792138 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:0.08, Y:-0.08, Z:-2.29 [[ 9.47577199e-01 -2.94709932e-01 1.23464598e-01 8.02170410e-02] [ 2.92327642e-01 9.55586538e-01 3.74021015e-02 -7.78675067e-02] [-1.29003878e-01 6.50736182e-04 9.91643876e-01 -2.29499600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:0.08, Y:-0.07, Z:-2.33 [[ 0.95243949 -0.27784406 0.1251467 0.08170143] [ 0.2759118 0.96062078 0.03286936 -0.06902935] [-0.12935108 0.00322337 0.99159362 -2.32698356] [ 0. 0. 0. 1. ]] SLAMing on 6.8707921380000005 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.07, Z:-2.36 [[ 0.95274915 -0.27662267 0.12549488 0.08599392] [ 0.27470535 0.96097283 0.0326832 -0.06757861] [-0.12963808 0.00333523 0.99155577 -2.36005372] [ 0. 0. 0. 1. ]] SLAMing on 6.900792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.06, Z:-2.39 [[ 0.9571812 -0.26563425 0.11507649 0.09767037] [ 0.26428065 0.96406371 0.027146 -0.06107994] [-0.11815198 0.00442885 0.99298565 -2.38846623] [ 0. 0. 0. 1. ]] SLAMing on 6.930792138 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.06, Z:-2.42 [[ 0.95793631 -0.26325186 0.114265 0.101477 ] [ 0.26195123 0.96471654 0.02652455 -0.05875905] [-0.11721598 0.00452303 0.99309615 -2.41963746] [ 0. 0. 0. 1. ]] SLAMing on 6.960792138 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.06, Z:-2.45 [[ 0.95600852 -0.27034932 0.11383741 0.10716251] [ 0.26884161 0.96275705 0.02868875 -0.06147479] [-0.11735376 0.00317754 0.99308509 -2.45241757] [ 0. 0. 0. 1. ]] SLAMing on 6.990792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.06, Z:-2.48 [[ 0.95701011 -0.26687878 0.11361061 0.11177856] [ 0.265381 0.9637255 0.02839158 -0.05868678] [-0.11706655 0.00297906 0.9931196 -2.48362344] [ 0. 0. 0. 1. ]] SLAMing on 7.020792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.06, Z:-2.52 [[ 9.58501495e-01 -2.61331288e-01 1.13933503e-01 1.16320831e-01] [ 2.59808518e-01 9.65245947e-01 2.82806458e-02 -5.56553316e-02] [-1.17364470e-01 2.49385346e-03 9.93085778e-01 -2.51661241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.05, Z:-2.55 [[ 9.59627190e-01 -2.56952147e-01 1.14416999e-01 1.20765784e-01] [ 2.55413843e-01 9.66421623e-01 2.81605263e-02 -5.33063784e-02] [-1.17810970e-01 2.20007872e-03 9.93033602e-01 -2.54804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0807921380000005 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.05, Z:-2.58 [[ 9.59569652e-01 -2.57308707e-01 1.14097815e-01 1.25336062e-01] [ 2.55804027e-01 9.66326218e-01 2.78915874e-02 -5.25891511e-02] [-1.17432458e-01 2.42275960e-03 9.93077916e-01 -2.58031880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110792138 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.05, Z:-2.61 [[ 9.60309082e-01 -2.54142800e-01 1.14969140e-01 1.29733541e-01] [ 2.52630123e-01 9.67163827e-01 2.77876438e-02 -5.01053287e-02] [-1.18256023e-01 2.35994116e-03 9.92980334e-01 -2.61242892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140792138 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.05, Z:-2.65 [[ 9.61185898e-01 -2.50690723e-01 1.15220794e-01 1.34722803e-01] [ 2.49151040e-01 9.68065215e-01 2.78118433e-02 -4.78172034e-02] [-1.18513414e-01 1.97502928e-03 9.92950487e-01 -2.64522642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170792138 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.05, Z:-2.68 [[ 9.60994205e-01 -2.51472903e-01 1.15115233e-01 1.39122472e-01] [ 2.49969155e-01 9.67861619e-01 2.75555322e-02 -4.77495113e-02] [-1.18345085e-01 2.29455070e-03 9.92969877e-01 -2.67683564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200792138 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.05, Z:-2.71 [[ 9.61498613e-01 -2.49693195e-01 1.14776847e-01 1.43518457e-01] [ 2.48207004e-01 9.68322400e-01 2.72949073e-02 -4.58871274e-02] [-1.17956345e-01 2.24440188e-03 9.93016245e-01 -2.70996823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230792138 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.04, Z:-2.74 [[ 9.61891918e-01 -2.48358742e-01 1.14376015e-01 1.47600244e-01] [ 2.46898412e-01 9.68665445e-01 2.69894376e-02 -4.45664551e-02] [-1.17495157e-01 2.27833470e-03 9.93070842e-01 -2.74247976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260792138 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.04, Z:-2.78 [[ 9.62221571e-01 -2.46886831e-01 1.14789115e-01 1.52389996e-01] [ 2.45430382e-01 9.69041564e-01 2.68770449e-02 -4.25697456e-02] [-1.17871012e-01 2.31106411e-03 9.93026225e-01 -2.77521467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2907921380000005 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.04, Z:-2.81 [[ 9.62113630e-01 -2.47184370e-01 1.15053248e-01 1.57744862e-01] [ 2.45751036e-01 9.68965030e-01 2.67058036e-02 -4.22906249e-02] [-1.18083831e-01 2.58043720e-03 9.93000277e-01 -2.80709782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320792138 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.04, Z:-2.84 [[ 0.96167753 -0.2488213 0.11517066 0.16284692] [ 0.24741884 0.96854487 0.02654721 -0.04247593] [-0.11815346 0.00296553 0.99299092 -2.83944567] [ 0. 0. 0. 1. ]] SLAMing on 7.350792138 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.04, Z:-2.87 [[ 9.62598696e-01 -2.45616973e-01 1.14350572e-01 1.67601327e-01] [ 2.44236530e-01 9.69363040e-01 2.61498520e-02 -3.99983085e-02] [-1.17270066e-01 2.75677353e-03 9.93096235e-01 -2.87180025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380792138 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.04, Z:-2.90 [[ 0.96254432 -0.24517082 0.11575708 0.17243271] [ 0.24377675 0.96947547 0.02627194 -0.03855374] [-0.11866476 0.00293097 0.99293005 -2.90410286] [ 0. 0. 0. 1. ]] SLAMing on 7.410792138000001 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.04, Z:-2.94 [[ 9.63563176e-01 -2.40732200e-01 1.16593372e-01 1.77083752e-01] [ 2.39314927e-01 9.70587984e-01 2.62170134e-02 -3.70030501e-02] [-1.19475405e-01 2.64078547e-03 9.92833649e-01 -2.93580451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.04, Z:-2.97 [[ 9.64308492e-01 -2.37754591e-01 1.16541355e-01 1.81575353e-01] [ 2.36339777e-01 9.71322150e-01 2.60152040e-02 -3.53123037e-02] [-1.19384434e-01 2.45667567e-03 9.92845064e-01 -2.96856635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470792138 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.04, Z:-3.00 [[ 0.9637284 -0.23920095 0.11836584 0.18690958] [ 0.23779287 0.97096544 0.0260895 -0.03583556] [-0.12116977 0.00300336 0.99262725 -3.00055002] [ 0. 0. 0. 1. ]] SLAMing on 7.500792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:-3.03 [[ 9.64828331e-01 -2.35041388e-01 1.17736305e-01 1.90857226e-01] [ 2.33621406e-01 9.71982150e-01 2.59179352e-02 -3.32229981e-02] [-1.20529374e-01 2.49936298e-03 9.92706615e-01 -3.03351813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.03, Z:-3.06 [[ 9.65292920e-01 -2.33242952e-01 1.17504485e-01 1.95134423e-01] [ 2.31844994e-01 9.72415253e-01 2.56217718e-02 -3.17644861e-02] [-1.20239251e-01 2.51031163e-03 9.92741769e-01 -3.06483793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560792138 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.03, Z:-3.10 [[ 9.65788489e-01 -2.31457449e-01 1.16961722e-01 2.00254222e-01] [ 2.30083377e-01 9.72841887e-01 2.53042205e-02 -3.03097291e-02] [-1.19642112e-01 2.47242305e-03 9.92814007e-01 -3.09772340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590792138 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.03, Z:-3.13 [[ 9.66047428e-01 -2.30177288e-01 1.17348979e-01 2.04804010e-01] [ 2.28810227e-01 9.73145426e-01 2.51765613e-02 -2.93334361e-02] [-1.19992695e-01 2.52889431e-03 9.92771554e-01 -3.13019383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6207921380000005 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.03, Z:-3.16 [[ 9.67189762e-01 -2.25195043e-01 1.17605941e-01 2.08658168e-01] [ 2.23814940e-01 9.74311319e-01 2.49865076e-02 -2.57895829e-02] [-1.20211637e-01 2.15527228e-03 9.92745948e-01 -3.16202407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650792138 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.02, Z:-3.20 [[ 9.67637602e-01 -2.23314406e-01 1.17508076e-01 2.13515861e-01] [ 2.21945863e-01 9.74744190e-01 2.47749586e-02 -2.37891671e-02] [-1.20072919e-01 2.10724976e-03 9.92762839e-01 -3.19500834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680792138 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.02, Z:-3.23 [[ 9.67900131e-01 -2.21827362e-01 1.18160725e-01 2.17986921e-01] [ 2.20462549e-01 9.75083527e-01 2.46653580e-02 -2.24418215e-02] [-1.20688028e-01 2.17641131e-03 9.92688100e-01 -3.22685083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.02, Z:-3.26 [[ 9.68287012e-01 -2.19826742e-01 1.18728539e-01 2.22718404e-01] [ 2.18470989e-01 9.75536367e-01 2.44790364e-02 -2.10471742e-02] [-1.21205154e-01 2.23600819e-03 9.92624960e-01 -3.25865493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.02, Z:-3.29 [[ 9.68719066e-01 -2.18108736e-01 1.18372080e-01 2.27439377e-01] [ 2.16752943e-01 9.75922317e-01 2.43678635e-02 -1.99124230e-02] [-1.20836798e-01 2.05188276e-03 9.92670266e-01 -3.29174621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770792138 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.02, Z:-3.32 [[ 9.68681083e-01 -2.17055173e-01 1.20598553e-01 2.32057868e-01] [ 2.15666175e-01 9.76156930e-01 2.46119633e-02 -1.90249005e-02] [-1.23065267e-01 2.16788531e-03 9.92396211e-01 -3.32425250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800792138 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-3.36 [[ 9.67642399e-01 -2.18445224e-01 1.26292799e-01 2.36952241e-01] [ 2.16965182e-01 9.75845480e-01 2.55285716e-02 -1.66524603e-02] [-1.28818851e-01 2.69861182e-03 9.91664470e-01 -3.35642508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8307921380000005 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:-3.39 [[ 0.96130283 -0.24202347 0.13161119 0.24541406] [ 0.24068403 0.97024891 0.02623464 -0.02657034] [-0.13404501 0.00645728 0.99095421 -3.38770076] [ 0. 0. 0. 1. ]] SLAMing on 7.860792138 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.02, Z:-3.42 [[ 0.96488409 -0.22694352 0.13226989 0.2486427 ] [ 0.22545747 0.9738978 0.02630585 -0.0193014 ] [-0.1347873 0.00443913 0.99086461 -3.42033048] [ 0. 0. 0. 1. ]] SLAMing on 7.890792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.02, Z:-3.45 [[ 0.96356733 -0.23235021 0.13248161 0.25405439] [ 0.23094426 0.97261692 0.02609729 -0.0214231 ] [-0.13491757 0.00544937 0.99084184 -3.4526701 ] [ 0. 0. 0. 1. ]] SLAMing on 7.920792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.02, Z:-3.48 [[ 0.96399872 -0.22977453 0.13382877 0.25900079] [ 0.22834974 0.97322897 0.02611072 -0.01977513] [-0.13624561 0.00538906 0.99066043 -3.48486738] [ 0. 0. 0. 1. ]] SLAMing on 7.950792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.02, Z:-3.52 [[ 0.96488341 -0.22597429 0.13392397 0.26298834] [ 0.22454601 0.97411989 0.02587535 -0.01783488] [-0.13630516 0.0051054 0.99065374 -3.51721494] [ 0. 0. 0. 1. ]] SLAMing on 7.980792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.02, Z:-3.55 [[ 0.96559734 -0.22289018 0.13394676 0.26736679] [ 0.22146683 0.97483114 0.02562587 -0.01562114] [-0.13628723 0.00492049 0.99065715 -3.54987652] [ 0. 0. 0. 1. ]] SLAMing on 8.010792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.01, Z:-3.58 [[ 0.96598 -0.22077047 0.13469609 0.27190329] [ 0.21934568 0.9753135 0.02551579 -0.01288048] [-0.13700405 0.00489727 0.99055838 -3.58298849] [ 0. 0. 0. 1. ]] SLAMing on 8.040792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.01, Z:-3.62 [[ 0.96583801 -0.22147707 0.13455425 0.27637515] [ 0.22009683 0.9751515 0.02523745 -0.0129584 ] [-0.1368003 0.00523968 0.99058479 -3.61528444] [ 0. 0. 0. 1. ]] SLAMing on 8.070792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.01, Z:-3.65 [[ 0.96627054 -0.21951653 0.13466153 0.28111541] [ 0.21815041 0.97559483 0.02500252 -0.01111814] [-0.13686356 0.00521727 0.99057617 -3.64833765] [ 0. 0. 0. 1. ]] SLAMing on 8.100792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-3.68 [[ 0.96719329 -0.21526967 0.13489296 0.28526636] [ 0.21389251 0.97654249 0.02479431 -0.00801135] [-0.13706617 0.0048717 0.99054991 -3.68132221] [ 0. 0. 0. 1. ]] SLAMing on 8.130792137999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-3.71 [[ 0.96766944 -0.21290244 0.13523465 0.28966996] [ 0.21153349 0.97706158 0.02458171 -0.00707959] [-0.13736608 0.00481969 0.99050862 -3.71346715] [ 0. 0. 0. 1. ]] SLAMing on 8.160792138 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-3.75 [[ 0.96811278 -0.21122747 0.13468705 0.29462689] [ 0.20988327 0.97742526 0.02426653 -0.00654864] [-0.13677229 0.00477582 0.990591 -3.74584938] [ 0. 0. 0. 1. ]] SLAMing on 8.190792137999999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:-3.78 [[ 0.96863046 -0.20900931 0.1344252 0.2994009 ] [ 0.20768679 0.97790224 0.02394583 -0.00561405] [-0.13645961 0.00472368 0.99063437 -3.77798459] [ 0. 0. 0. 1. ]] SLAMing on 8.220792137999998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.00, Z:-3.81 [[ 0.96909958 -0.20689793 0.13431028 0.30428174] [ 0.20558804 0.97835152 0.02370349 -0.004337 ] [-0.13630687 0.00464155 0.99065579 -3.81110372] [ 0. 0. 0. 1. ]] SLAMing on 8.250792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.00, Z:-3.84 [[ 9.69487616e-01 -2.05007202e-01 1.34409111e-01 3.08842890e-01] [ 2.03712139e-01 9.78749519e-01 2.34679332e-02 -3.23956941e-03] [-1.36363948e-01 4.62889682e-03 9.90647994e-01 -3.84334083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280792137999999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.00, Z:-3.88 [[ 9.70232585e-01 -2.01129490e-01 1.34891289e-01 3.13343155e-01] [ 1.99823235e-01 9.79554994e-01 2.32956705e-02 -1.31442044e-03] [-1.36818882e-01 4.35219507e-03 9.90586519e-01 -3.87593932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.00, Z:-3.91 [[ 9.70575416e-01 -1.99135086e-01 1.35383085e-01 3.17792103e-01] [ 1.97834981e-01 9.79962457e-01 2.31279941e-02 -1.12831737e-04] [-1.37275936e-01 4.33604758e-03 9.90523355e-01 -3.90894351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340792138 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.00, Z:-3.94 [[ 9.69949083e-01 -2.01842423e-01 1.35861742e-01 3.22485888e-01] [ 2.00595149e-01 9.79405298e-01 2.29531704e-02 -1.21419245e-03] [-1.37696634e-01 4.98979996e-03 9.90461882e-01 -3.94206484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370792137999999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.00, Z:-3.98 [[ 9.70093350e-01 -2.00456014e-01 1.36880528e-01 3.26553396e-01] [ 1.99212506e-01 9.79689501e-01 2.28661112e-02 -5.65120999e-04] [-1.38684066e-01 5.08605053e-03 9.90323615e-01 -3.97517519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400792138 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.00, Z:-4.01 [[ 9.70307419e-01 -1.99452695e-01 1.36828850e-01 3.31554580e-01] [ 1.98235231e-01 9.79893721e-01 2.26072776e-02 -1.13731998e-04] [-1.38586813e-01 5.18828955e-03 9.90336699e-01 -4.00820279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:0.34, Y:0.00, Z:-4.04 [[ 9.70994826e-01 -1.96547785e-01 1.36154382e-01 3.35798352e-01] [ 1.95352870e-01 9.80481363e-01 2.22160653e-02 1.09870419e-03] [-1.37863352e-01 5.02646481e-03 9.90438504e-01 -4.03953675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460792137999999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:0.34, Y:0.00, Z:-4.07 [[ 9.72453367e-01 -1.88344637e-01 1.37334435e-01 3.40298518e-01] [ 1.87195945e-01 9.82090543e-01 2.13505081e-02 3.69092921e-03] [-1.38896104e-01 4.94607584e-03 9.90294607e-01 -4.07109169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490792138 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:0.35, Y:0.00, Z:-4.10 [[ 9.71062318e-01 -1.95592826e-01 1.37045325e-01 3.45846153e-01] [ 1.94191351e-01 9.80678426e-01 2.36546634e-02 6.95565303e-04] [-1.39024076e-01 3.64286454e-03 9.90282301e-01 -4.10417938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520792138 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:0.35, Y:0.00, Z:-4.14 [[ 9.71167827e-01 -1.95474924e-01 1.36464672e-01 3.50698015e-01] [ 1.94084772e-01 9.80702039e-01 2.35501977e-02 1.25927434e-03] [-1.38434656e-01 3.61452056e-03 9.90364974e-01 -4.13686121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550792137999998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:0.36, Y:0.00, Z:-4.17 [[ 9.71077950e-01 -1.96380562e-01 1.35802393e-01 3.55143004e-01] [ 1.94988984e-01 9.80521304e-01 2.36065184e-02 1.38370081e-03] [-1.37793001e-01 3.55620115e-03 9.90454664e-01 -4.16877701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580792138 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:0.36, Y:0.00, Z:-4.20 [[ 9.71952862e-01 -1.91829807e-01 1.36047638e-01 3.59654424e-01] [ 1.90544370e-01 9.81419962e-01 2.25322275e-02 3.86308646e-03] [-1.37842220e-01 4.02284851e-03 9.90446030e-01 -4.20190195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610792137999999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.01, Z:-4.23 [[ 9.69971276e-01 -2.04148357e-01 1.32208818e-01 3.63905172e-01] [ 2.02735784e-01 9.78934310e-01 2.42037081e-02 -5.88041625e-03] [-1.34364896e-01 3.32655683e-03 9.90926339e-01 -4.23408052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640792138 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:0.36, Y:0.01, Z:-4.27 [[ 9.75641388e-01 -1.77871379e-01 1.28396476e-01 3.60264868e-01] [ 1.76679905e-01 9.84050604e-01 2.07031369e-02 1.02327187e-02] [-1.30031126e-01 2.48624003e-03 9.91506795e-01 -4.26709262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:0.36, Y:0.03, Z:-4.30 [[ 9.81164101e-01 -1.47763362e-01 1.24430686e-01 3.59812963e-01] [ 1.46988105e-01 9.89017756e-01 1.54394112e-02 3.10530408e-02] [-1.25345537e-01 3.14123476e-03 9.92108174e-01 -4.29956854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700792137999999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:0.37, Y:0.02, Z:-4.33 [[ 9.76803981e-01 -1.74864262e-01 1.23598030e-01 3.66853354e-01] [ 1.73165891e-01 9.84589459e-01 2.44370974e-02 1.80345413e-02] [-1.25966493e-01 -2.46729091e-03 9.92031428e-01 -4.33304446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730792138 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:0.37, Y:0.03, Z:-4.37 [[ 9.81639470e-01 -1.44784620e-01 1.24182784e-01 3.70760895e-01] [ 1.43794892e-01 9.89462438e-01 1.69443895e-02 3.19695784e-02] [-1.25327487e-01 1.22356849e-03 9.92114673e-01 -4.36536357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760792138 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:0.38, Y:0.03, Z:-4.40 [[ 9.81957342e-01 -1.42401346e-01 1.24425221e-01 3.75202177e-01] [ 1.41524813e-01 9.89806990e-01 1.59012626e-02 3.35754043e-02] [-1.25421315e-01 1.99489457e-03 9.92101564e-01 -4.39814417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790792137999999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:0.38, Y:0.03, Z:-4.43 [[ 9.81536870e-01 -1.45671968e-01 1.23955844e-01 3.81908740e-01] [ 1.44575414e-01 9.89332863e-01 1.78447885e-02 3.22384326e-02] [-1.25233076e-01 4.05649685e-04 9.92127266e-01 -4.43000436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820792138 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-4.46 [[ 9.84162845e-01 -1.26833581e-01 1.23841581e-01 3.86471682e-01] [ 1.26212903e-01 9.91919601e-01 1.28766560e-02 4.03469713e-02] [-1.24474084e-01 2.95767909e-03 9.92218451e-01 -4.46203344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:0.06, Z:-4.49 [[ 9.88824466e-01 -8.66982140e-02 1.21283122e-01 3.86002760e-01] [ 8.69721454e-02 9.96206095e-01 3.04332595e-03 6.10252371e-02] [-1.21086837e-01 7.53893819e-03 9.92613289e-01 -4.49196454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:0.03, Z:-4.52 [[ 9.80422997e-01 -1.50254709e-01 1.27256705e-01 3.88581468e-01] [ 1.48582898e-01 9.88642029e-01 2.25845096e-02 2.98528466e-02] [-1.29204756e-01 -3.23420249e-03 9.91612662e-01 -4.52441452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:0.03, Z:-4.56 [[ 9.81313699e-01 -1.43620314e-01 1.28049322e-01 3.92247494e-01] [ 1.42095253e-01 9.89629888e-01 2.10148454e-02 3.28362960e-02] [-1.29739595e-01 -2.42695494e-03 9.91545131e-01 -4.55592642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.40, Y:0.05, Z:-4.59 [[ 9.86681697e-01 -1.09228688e-01 1.20533488e-01 3.99685794e-01] [ 1.08704422e-01 9.94013958e-01 1.09361844e-02 4.95439088e-02] [-1.21006514e-01 2.31199013e-03 9.92649021e-01 -4.58758066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970792137999998 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:0.40, Y:0.03, Z:-4.62 [[ 0.97967191 -0.154756 0.12764609 0.40314176] [ 0.15284835 0.98794175 0.02466729 0.02730928] [-0.12992431 -0.00465536 0.99151299 -4.61821063] [ 0. 0. 0. 1. ]] SLAMing on 9.000792138 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:0.41, Y:0.04, Z:-4.65 [[ 9.82821050e-01 -1.31671337e-01 1.29326884e-01 4.06267887e-01] [ 1.30307421e-01 9.91291773e-01 1.89893773e-02 3.78926405e-02] [-1.30701033e-01 -1.81090696e-03 9.91420174e-01 -4.65043956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030792137999999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-4.68 [[ 9.84708789e-01 -1.22755078e-01 1.23611452e-01 4.15647355e-01] [ 1.21786925e-01 9.92436991e-01 1.53871248e-02 4.28109096e-02] [-1.24565425e-01 -9.75784036e-05 9.92211391e-01 -4.68249862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060792138 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-4.71 [[ 9.82740014e-01 -1.31106494e-01 1.30511120e-01 4.15195984e-01] [ 1.29730100e-01 9.91366709e-01 1.90302031e-02 3.70426482e-02] [-1.31879363e-01 -1.77052148e-03 9.91264192e-01 -4.71384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-4.74 [[ 9.84629542e-01 -1.16100422e-01 1.30481252e-01 4.19353919e-01] [ 1.14968063e-01 9.93237022e-01 1.62037594e-02 4.42021883e-02] [-1.31480074e-01 -9.53523412e-04 9.91318355e-01 -4.74458131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120792137999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-4.78 [[ 9.84767348e-01 -1.13847426e-01 1.31423113e-01 4.23023722e-01] [ 1.12728991e-01 9.93497851e-01 1.59434898e-02 4.46855989e-02] [-1.32383705e-01 -8.85433244e-04 9.91198149e-01 -4.77629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150792138 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:0.43, Y:0.04, Z:-4.81 [[ 9.83692980e-01 -1.22201967e-01 1.31965151e-01 4.27385179e-01] [ 1.20882986e-01 9.92503720e-01 1.79908300e-02 4.03875283e-02] [-1.33174418e-01 -1.74511175e-03 9.91091080e-01 -4.80834325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180792138 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:0.43, Y:0.04, Z:-4.84 [[ 9.83573399e-01 -1.22732263e-01 1.32363746e-01 4.30979075e-01] [ 1.21406203e-01 9.92438350e-01 1.80736242e-02 4.03277194e-02] [-1.33581074e-01 -1.70695623e-03 9.91036419e-01 -4.83976573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210792137999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:0.43, Y:0.04, Z:-4.87 [[ 9.83802055e-01 -1.20024527e-01 1.33145145e-01 4.34473007e-01] [ 1.18589635e-01 9.92767543e-01 1.86843308e-02 4.14231291e-02] [-1.34424757e-01 -2.59204884e-03 9.90920414e-01 -4.87154977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240792138 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:0.44, Y:0.05, Z:-4.90 [[ 9.84945719e-01 -1.10366536e-01 1.33045700e-01 4.38401154e-01] [ 1.09156470e-01 9.93889653e-01 1.63775323e-02 4.64775829e-02] [-1.34040276e-01 -1.60818132e-03 9.90974580e-01 -4.90247848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270792138 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:0.44, Y:0.04, Z:-4.93 [[ 9.83899045e-01 -1.19361263e-01 1.33024654e-01 4.42336017e-01] [ 1.17877566e-01 9.92846310e-01 1.90022246e-02 4.27226476e-02] [-1.34341166e-01 -3.01564816e-03 9.90930551e-01 -4.93382332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300792137999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:0.45, Y:0.05, Z:-4.97 [[ 9.84641514e-01 -1.13046074e-01 1.33047635e-01 4.45528146e-01] [ 1.11597311e-01 9.93584622e-01 1.83204695e-02 4.53840325e-02] [-1.34265141e-01 -3.19133654e-03 9.90940305e-01 -4.96596833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330792138 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:0.45, Y:0.05, Z:-5.00 [[ 9.84598960e-01 -1.12841786e-01 1.33535089e-01 4.49875685e-01] [ 1.11429057e-01 9.93608816e-01 1.80301643e-02 4.58968225e-02] [-1.34716197e-01 -2.87279199e-03 9.90880060e-01 -4.99816887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360792137999999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:0.46, Y:0.07, Z:-5.03 [[ 9.90342551e-01 -6.13246705e-02 1.24341932e-01 4.60021636e-01] [ 6.10908096e-02 9.98115957e-01 5.69642005e-03 6.92002879e-02] [-1.24456997e-01 1.95474213e-03 9.92223077e-01 -5.02744849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390792137999998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:0.46, Y:0.02, Z:-5.06 [[ 0.9784124 -0.15843271 0.13269606 0.46090855] [ 0.15560903 0.98731786 0.03145262 0.02412603] [-0.13599631 -0.01012493 0.9906576 -5.06191966] [ 0. 0. 0. 1. ]] SLAMing on 9.420792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:0.47, Y:0.07, Z:-5.09 [[ 9.89937507e-01 -6.53430963e-02 1.25514986e-01 4.67896586e-01] [ 6.49176762e-02 9.97862580e-01 7.48108382e-03 6.73313297e-02] [-1.25735545e-01 7.42335748e-04 9.92063517e-01 -5.09087447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450792137999999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:0.47, Y:0.02, Z:-5.12 [[ 0.9785179 -0.15772105 0.13276595 0.46879541] [ 0.15483927 0.987427 0.03182313 0.02404481] [-0.13611586 -0.01058212 0.99063641 -5.12447781] [ 0. 0. 0. 1. ]] SLAMing on 9.480792138 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:0.47, Y:0.05, Z:-5.16 [[ 9.85052406e-01 -1.08158441e-01 1.34065316e-01 4.69740171e-01] [ 1.06529774e-01 9.94122493e-01 1.92840937e-02 4.75575955e-02] [-1.35363083e-01 -4.71389505e-03 9.90784848e-01 -5.15615659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510792138 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:0.47, Y:0.05, Z:-5.19 [[ 9.85707292e-01 -1.01233024e-01 1.34658866e-01 4.73271669e-01] [ 9.97543657e-02 9.94854641e-01 1.77005694e-02 5.08596587e-02] [-1.35757880e-01 -4.01477055e-03 9.90733910e-01 -5.18827306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540792137999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:0.48, Y:0.05, Z:-5.22 [[ 9.86196823e-01 -9.43520584e-02 1.36064378e-01 4.77086622e-01] [ 9.29533654e-02 9.95531891e-01 1.66110302e-02 5.34671442e-02] [-1.37023712e-01 -3.73410337e-03 9.90560729e-01 -5.21996905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570792138 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:0.48, Y:0.05, Z:-5.25 [[ 9.85714548e-01 -9.88836414e-02 1.36340952e-01 4.81171675e-01] [ 9.73108049e-02 9.95088173e-01 1.81696396e-02 5.12909172e-02] [-1.37467949e-01 -4.64263025e-03 9.90495335e-01 -5.25304720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600792138 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:0.48, Y:0.05, Z:-5.28 [[ 0.98595513 -0.0955928 0.13694703 0.48419093] [ 0.09389969 0.99540442 0.01878542 0.05163983] [-0.13811343 -0.0056623 0.99040023 -5.28495972] [ 0. 0. 0. 1. ]] SLAMing on 9.630792137999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:0.49, Y:0.06, Z:-5.32 [[ 9.86694785e-01 -8.65190180e-02 1.37651231e-01 4.86611406e-01] [ 8.50174494e-02 9.96238461e-01 1.67619237e-02 5.65588318e-02] [-1.38583675e-01 -4.83614619e-03 9.90338920e-01 -5.31605761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660792138 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:0.50, Y:0.06, Z:-5.35 [[ 9.87651676e-01 -9.30174514e-02 1.26063158e-01 5.00446679e-01] [ 9.18645239e-02 9.95659413e-01 1.49413203e-02 5.55072597e-02] [-1.26905773e-01 -3.17608802e-03 9.91909692e-01 -5.34806568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690792137999999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:0.50, Y:0.06, Z:-5.38 [[ 9.88210552e-01 -8.71262758e-02 1.25892478e-01 5.04067379e-01] [ 8.61816668e-02 9.96195389e-01 1.29408976e-02 5.88224942e-02] [-1.26540998e-01 -1.93870802e-03 9.91959484e-01 -5.38022892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720792137999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:0.51, Y:0.07, Z:-5.41 [[ 9.89967339e-01 -5.78350857e-02 1.28917687e-01 5.07637467e-01] [ 5.73932651e-02 9.98326097e-01 7.14267687e-03 7.11016277e-02] [-1.29114988e-01 3.27990169e-04 9.91629574e-01 -5.41018908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750792138 meters Centerline goodness : 0.981645 Centerline is valid? [True, True] Translation: X:0.50, Y:0.03, Z:-5.45 [[ 0.98052852 -0.13861794 0.13910031 0.49975132] [ 0.13543388 0.99026473 0.0321471 0.027696 ] [-0.14220229 -0.01268226 0.98975637 -5.44766259] [ 0. 0. 0. 1. ]] SLAMing on 9.780792137999999 meters Centerline goodness : 0.981645 Centerline is valid? [True, True] Translation: X:0.50, Y:0.06, Z:-5.48 [[ 9.86517178e-01 -8.19223672e-02 1.41677741e-01 4.99972799e-01] [ 8.03870550e-02 9.96626550e-01 1.65360871e-02 5.52993092e-02] [-1.42554474e-01 -4.92407758e-03 9.89774709e-01 -5.47993039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:0.52, Y:0.08, Z:-5.51 [[ 9.90964761e-01 -3.11809924e-02 1.30447642e-01 5.18171415e-01] [ 3.12101531e-02 9.99511185e-01 1.82133386e-03 8.31820359e-02] [-1.30440668e-01 2.26641320e-03 9.91453527e-01 -5.50596384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:0.52, Y:0.05, Z:-5.54 [[ 0.98741826 -0.09121194 0.12917258 0.52425589] [ 0.08961951 0.9958116 0.0180996 0.05498714] [-0.13028246 -0.0062955 0.99145693 -5.53839891] [ 0. 0. 0. 1. ]] SLAMing on 9.870792137999999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:0.53, Y:0.05, Z:-5.57 [[ 0.98689986 -0.0968374 0.1290395 0.52953945] [ 0.09514474 0.99527764 0.01923261 0.05205158] [-0.13029257 -0.00670323 0.99145293 -5.57044671] [ 0. 0. 0. 1. ]] SLAMing on 9.900792138 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:0.53, Y:0.05, Z:-5.60 [[ 0.98737861 -0.09036993 0.1300644 0.53273111] [ 0.08880236 0.99588996 0.01781393 0.05407854] [-0.13113967 -0.00603907 0.99134551 -5.60098703] [ 0. 0. 0. 1. ]] SLAMing on 9.930792138 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:0.54, Y:0.05, Z:-5.63 [[ 0.98719995 -0.09230314 0.13006305 0.53728185] [ 0.09065011 0.99570936 0.01858573 0.05307903] [-0.13122051 -0.0065576 0.99133152 -5.6341595 ] [ 0. 0. 0. 1. ]] SLAMing on 9.960792137999999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:0.54, Y:0.04, Z:-5.67 [[ 0.98239426 -0.13436446 0.12979875 0.5444856 ] [ 0.13227823 0.99090726 0.02460225 0.03579215] [-0.13192419 -0.00699956 0.9912351 -5.66888432] [ 0. 0. 0. 1. ]] SLAMing on 9.990792138 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:0.55, Y:0.06, Z:-5.70 [[ 9.87883316e-01 -8.27745532e-02 1.31281865e-01 5.46480702e-01] [ 8.20520096e-02 9.96568298e-01 1.09130412e-02 6.00562146e-02] [-1.31734667e-01 -8.87050384e-06 9.91285013e-01 -5.70216573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020792138 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:0.55, Y:0.07, Z:-5.73 [[ 9.89876199e-01 -5.09746644e-02 1.32463937e-01 5.49031563e-01] [ 5.06627208e-02 9.98699403e-01 5.72642980e-03 7.33082478e-02] [-1.32583558e-01 1.04252690e-03 9.91171284e-01 -5.73186350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050792137999998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:0.56, Y:0.04, Z:-5.77 [[ 9.83665694e-01 -1.23822871e-01 1.30651057e-01 5.57215950e-01] [ 1.22016613e-01 9.92289233e-01 2.17720782e-02 3.97988368e-02] [-1.32339518e-01 -5.47484704e-03 9.91189325e-01 -5.76574023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:0.56, Y:0.07, Z:-5.80 [[ 9.89559602e-01 -5.42124123e-02 1.33539541e-01 5.58853641e-01] [ 5.39415664e-02 9.98528121e-01 5.64793921e-03 7.15270762e-02] [-1.33649175e-01 1.61435955e-03 9.91027392e-01 -5.79535981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110792137999999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:0.56, Y:0.05, Z:-5.83 [[ 9.86659745e-01 -9.55769822e-02 1.31786145e-01 5.63505362e-01] [ 9.41487978e-02 9.95412293e-01 1.70402905e-02 5.30303200e-02] [-1.32810208e-01 -4.40546161e-03 9.91131697e-01 -5.82767174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140792137999998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:0.57, Y:0.06, Z:-5.86 [[ 9.87256570e-01 -8.80563899e-02 1.32553902e-01 5.67486451e-01] [ 8.68298124e-02 9.96109972e-01 1.50168745e-02 5.60755860e-02] [-1.33360595e-01 -3.31587759e-03 9.91062035e-01 -5.85986357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:0.57, Y:0.04, Z:-5.89 [[ 9.84078792e-01 -1.20057613e-01 1.31053808e-01 5.74287037e-01] [ 1.18339813e-01 9.92754306e-01 2.08464950e-02 4.31162946e-02] [-1.32607013e-01 -5.00571054e-03 9.91156054e-01 -5.89384907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200792137999999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:0.58, Y:0.06, Z:-5.93 [[ 9.88103779e-01 -7.79004706e-02 1.32598789e-01 5.76606522e-01] [ 7.72746951e-02 9.96961017e-01 9.86671323e-03 6.28779582e-02] [-1.32964445e-01 4.97194381e-04 9.91120683e-01 -5.92682973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230792138 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:0.58, Y:0.07, Z:-5.96 [[ 9.89639247e-01 -5.12897707e-02 1.34102648e-01 5.79666658e-01] [ 5.10529770e-02 9.98682377e-01 5.20616417e-03 7.45370238e-02] [-1.34192974e-01 1.69411500e-03 9.90953771e-01 -5.95635721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.59, Y:0.05, Z:-5.99 [[ 9.84968551e-01 -1.11760218e-01 1.31706518e-01 5.86804637e-01] [ 1.10163292e-01 9.93724684e-01 1.93726860e-02 4.72036846e-02] [-1.33045114e-01 -4.57226278e-03 9.91099436e-01 -5.99138467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.59, Y:0.07, Z:-6.02 [[ 9.88854535e-01 -6.82261541e-02 1.32332535e-01 5.89191753e-01] [ 6.76148936e-02 9.97669879e-01 9.11253415e-03 6.77408909e-02] [-1.32645897e-01 -6.33204503e-05 9.91163489e-01 -6.02285287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:0.59, Y:0.07, Z:-6.06 [[ 9.89428117e-01 -6.05664550e-02 1.31771413e-01 5.93804555e-01] [ 5.99011448e-02 9.98163644e-01 9.01072909e-03 6.77483993e-02] [-1.32075181e-01 -1.02221025e-03 9.91239175e-01 -6.05536402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.60, Y:0.07, Z:-6.09 [[ 9.90156300e-01 -5.05028024e-02 1.30537233e-01 5.97426617e-01] [ 4.97998787e-02 9.98721795e-01 8.64570024e-03 7.22765119e-02] [-1.30807011e-01 -2.05985620e-03 9.91405710e-01 -6.08681832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.60, Y:0.07, Z:-6.12 [[ 9.90246233e-01 -4.86422523e-02 1.30561589e-01 6.01964726e-01] [ 4.79736827e-02 9.98814422e-01 8.26295479e-03 7.32109554e-02] [-1.30808726e-01 -1.91883963e-03 9.91405767e-01 -6.12001048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:-6.15 [[ 9.90410409e-01 -4.73344912e-02 1.29794714e-01 6.06402459e-01] [ 4.66578327e-02 9.98876854e-01 8.25090921e-03 7.37325132e-02] [-1.30039488e-01 -2.11584631e-03 9.91506558e-01 -6.15291623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440792137999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:-6.19 [[ 9.90664060e-01 -4.46758744e-02 1.28797461e-01 6.10701156e-01] [ 4.40186358e-02 9.98999106e-01 7.94641529e-03 7.47721201e-02] [-1.29023562e-01 -2.20273951e-03 9.91639082e-01 -6.18609485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470792137999998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:0.61, Y:0.08, Z:-6.22 [[ 9.90797841e-01 -4.16742768e-02 1.28774583e-01 6.14698062e-01] [ 4.10386850e-02 9.99128757e-01 7.58634045e-03 7.59618406e-02] [-1.28978544e-01 -2.23179020e-03 9.91644873e-01 -6.21780155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:0.62, Y:0.08, Z:-6.25 [[ 9.91065403e-01 -3.95507908e-02 1.27377789e-01 6.19392927e-01] [ 3.89235233e-02 9.99214711e-01 7.41082629e-03 7.76752174e-02] [-1.27570864e-01 -2.38662122e-03 9.91826587e-01 -6.25057602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530792137999999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:0.62, Y:0.08, Z:-6.28 [[ 9.91159976e-01 -3.61480403e-02 1.27652740e-01 6.23784287e-01] [ 3.55204777e-02 9.99343084e-01 7.18996156e-03 7.90973750e-02] [-1.27828786e-01 -2.59211582e-03 9.91792863e-01 -6.28267303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560792137999998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:0.63, Y:0.08, Z:-6.32 [[ 9.91208527e-01 -3.68090870e-02 1.27085591e-01 6.28811031e-01] [ 3.62168770e-02 9.99319659e-01 6.96827233e-03 7.78522096e-02] [-1.27255626e-01 -2.30436772e-03 9.91867277e-01 -6.31578881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590792138 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:0.63, Y:0.08, Z:-6.35 [[ 9.91257775e-01 -3.42251329e-02 1.27423166e-01 6.32598013e-01] [ 3.36368613e-02 9.99411216e-01 6.76628477e-03 7.87508779e-02] [-1.27579718e-01 -2.42101703e-03 9.91825365e-01 -6.34817671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:0.08, Z:-6.38 [[ 9.91433656e-01 -3.12262870e-02 1.26823601e-01 6.36907111e-01] [ 3.06488304e-02 9.99509063e-01 6.50253483e-03 8.03865134e-02] [-1.26964388e-01 -2.55983685e-03 9.91903973e-01 -6.37982232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:0.08, Z:-6.41 [[ 9.91519015e-01 -2.80893423e-02 1.26889842e-01 6.41527637e-01] [ 2.75057606e-02 9.99601480e-01 6.34931377e-03 8.21622465e-02] [-1.27017622e-01 -2.80526371e-03 9.91896494e-01 -6.41262959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.65, Y:0.09, Z:-6.45 [[ 9.91690914e-01 -2.16556593e-02 1.26807582e-01 6.45338075e-01] [ 2.10522037e-02 9.99759785e-01 6.09725480e-03 8.60363221e-02] [-1.26909161e-01 -3.37701315e-03 9.91908595e-01 -6.44550168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.65, Y:0.09, Z:-6.48 [[ 9.91840634e-01 -1.69166707e-02 1.26356568e-01 6.49447803e-01] [ 1.63126738e-02 9.99850039e-01 5.81339899e-03 8.91366534e-02] [-1.26435963e-01 -3.70475186e-03 9.91967853e-01 -6.47759937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740792138 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:0.65, Y:0.09, Z:-6.51 [[ 9.91922140e-01 -1.95781103e-02 1.25328234e-01 6.54342810e-01] [ 1.90301290e-02 9.99803405e-01 5.56821867e-03 8.89737613e-02] [-1.25412610e-01 -3.13822691e-03 9.92099707e-01 -6.51035113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770792138 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:0.66, Y:0.09, Z:-6.54 [[ 9.91957217e-01 -1.75939453e-02 1.25344854e-01 6.58914563e-01] [ 1.70806726e-02 9.99840756e-01 5.16851794e-03 8.98679761e-02] [-1.25415828e-01 -2.98597427e-03 9.92099770e-01 -6.54354188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800792137999998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:0.66, Y:0.09, Z:-6.58 [[ 9.92010799e-01 -1.32243604e-02 1.25457921e-01 6.63176711e-01] [ 1.26728978e-02 9.99906212e-01 5.19272622e-03 9.21872917e-02] [-1.25514825e-01 -3.56132507e-03 9.92085352e-01 -6.57568859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:0.67, Y:0.09, Z:-6.61 [[ 9.92061059e-01 -1.70628673e-02 1.24594193e-01 6.67487257e-01] [ 1.65760938e-02 9.99850391e-01 4.94258505e-03 8.96745320e-02] [-1.24659887e-01 -2.83806112e-03 9.92195474e-01 -6.60797046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860792137999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:0.67, Y:0.09, Z:-6.64 [[ 9.92174120e-01 -1.00422015e-02 1.24457504e-01 6.71157721e-01] [ 9.54519455e-03 9.99943913e-01 4.58906295e-03 9.28996820e-02] [-1.24496607e-01 -3.36517841e-03 9.92214327e-01 -6.63994719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890792137999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:0.68, Y:0.09, Z:-6.67 [[ 9.92167592e-01 -8.77814607e-03 1.24605027e-01 6.75132093e-01] [ 8.28066768e-03 9.99955545e-01 4.50981591e-03 9.26730097e-02] [-1.24639075e-01 -3.44268038e-03 9.92196175e-01 -6.67134408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920792138 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:0.68, Y:0.09, Z:-6.70 [[ 9.92209572e-01 -4.71064070e-03 1.24490866e-01 6.80029732e-01] [ 4.20715855e-03 9.99981875e-01 4.30692105e-03 9.47539744e-02] [-1.24508898e-01 -3.74961548e-03 9.92211406e-01 -6.70415823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950792137999999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:0.68, Y:0.10, Z:-6.74 [[ 9.92385840e-01 2.27029712e-03 1.23147028e-01 6.84037259e-01] [-2.78481811e-03 9.99988098e-01 4.00613778e-03 9.87262302e-02] [-1.23136467e-01 -4.31857647e-03 9.92380351e-01 -6.73634990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:0.69, Y:0.10, Z:-6.77 [[ 9.92442287e-01 3.17858183e-04 1.22711882e-01 6.87696302e-01] [-7.86894727e-04 9.99992570e-01 3.77381369e-03 9.79111205e-02] [-1.22709771e-01 -3.84185363e-03 9.92435163e-01 -6.76880969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010792138 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:0.69, Y:0.10, Z:-6.80 [[ 9.92475941e-01 -1.33659839e-03 1.22432515e-01 6.92516786e-01] [ 9.09872144e-04 9.99993316e-01 3.54124268e-03 9.52521270e-02] [-1.22436429e-01 -3.40320023e-03 9.92470523e-01 -6.80181222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040792137999999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:0.70, Y:0.10, Z:-6.83 [[ 9.92638048e-01 5.11839683e-03 1.21010362e-01 6.95044194e-01] [-5.55444795e-03 9.99979239e-01 3.26637987e-03 9.88252807e-02] [-1.20991131e-01 -3.91447870e-03 9.92645870e-01 -6.83330350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070792138 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:0.70, Y:0.10, Z:-6.87 [[ 9.92609580e-01 7.76152212e-03 1.21103178e-01 6.99256329e-01] [-8.19446475e-03 9.99961690e-01 3.07737129e-03 1.00247136e-01] [-1.21074653e-01 -4.04700395e-03 9.92635155e-01 -6.86643576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100792138 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:0.70, Y:0.10, Z:-6.90 [[ 9.92722908e-01 9.46599838e-03 1.20048417e-01 7.03660900e-01] [-9.87826426e-03 9.99947177e-01 2.83952826e-03 1.00574735e-01] [-1.20015196e-01 -4.00473473e-03 9.92763977e-01 -6.89956987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130792137999999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:0.71, Y:0.10, Z:-6.93 [[ 9.92700427e-01 1.29094999e-02 1.19913329e-01 7.06293365e-01] [-1.33086665e-02 9.99908239e-01 2.52852336e-03 1.02655596e-01] [-1.19869683e-01 -4.10595272e-03 9.92781144e-01 -6.93131464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160792138 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:0.71, Y:0.10, Z:-6.96 [[ 9.92698324e-01 1.47680767e-02 1.19716083e-01 7.10217278e-01] [-1.51738694e-02 9.99881798e-01 2.47872848e-03 1.03577746e-01] [-1.19665326e-01 -4.27718582e-03 9.92805074e-01 -6.96377803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190792137999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:0.72, Y:0.10, Z:-7.00 [[ 9.92620484e-01 1.21330625e-02 1.20653898e-01 7.16933940e-01] [-1.25006318e-02 9.99919242e-01 2.29002568e-03 1.00849182e-01] [-1.20616369e-01 -3.78137635e-03 9.92691993e-01 -6.99646341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220792137999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.72, Y:0.08, Z:-7.03 [[ 9.92445379e-01 -1.21267100e-02 1.22086493e-01 7.23192461e-01] [ 1.19614991e-02 9.99926283e-01 2.08607476e-03 8.09899159e-02] [-1.22102790e-01 -6.09977779e-04 9.92517273e-01 -7.02884081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250792138 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:0.73, Y:0.08, Z:-7.06 [[ 9.92225800e-01 -1.05948761e-02 1.23998830e-01 7.29708449e-01] [ 1.04421410e-02 9.99943709e-01 1.88161449e-03 8.20388284e-02] [-1.24011786e-01 -5.72173166e-04 9.92280580e-01 -7.06086524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280792137999999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:0.73, Y:0.08, Z:-7.09 [[ 9.92249023e-01 -1.14591992e-02 1.23735857e-01 7.34780541e-01] [ 1.13438613e-02 9.99934317e-01 1.63664153e-03 8.13926822e-02] [-1.23746484e-01 -2.20313556e-04 9.92313841e-01 -7.09398647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310792137999998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:0.74, Y:0.08, Z:-7.13 [[ 9.92315804e-01 -1.57542073e-02 1.22723874e-01 7.40172622e-01] [ 1.57023954e-02 9.99875744e-01 1.38941671e-03 7.89067345e-02] [-1.22730514e-01 5.48318634e-04 9.92439882e-01 -7.12691209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340792138 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:0.74, Y:0.08, Z:-7.16 [[ 9.92376180e-01 -1.61341156e-02 1.22185136e-01 7.44731979e-01] [ 1.61168482e-02 9.99869477e-01 1.12970722e-03 7.80443048e-02] [-1.22187415e-01 8.48144763e-04 9.92506683e-01 -7.15822917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.75, Y:0.08, Z:-7.19 [[ 9.92452710e-01 -2.19481253e-02 1.20647828e-01 7.51245728e-01] [ 2.19978579e-02 9.99757595e-01 9.19794508e-04 7.73961172e-02] [-1.20638770e-01 1.74114123e-03 9.92694946e-01 -7.19097521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:0.75, Y:0.10, Z:-7.22 [[ 9.91538053e-01 3.87738279e-02 1.23890595e-01 7.54432087e-01] [-3.78632239e-02 9.99235880e-01 -9.69704539e-03 1.02886694e-01] [-1.24171919e-01 4.92409217e-03 9.92248501e-01 -7.21794771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430792138 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:0.76, Y:0.06, Z:-7.25 [[ 9.91215378e-01 -4.27964517e-02 1.25142075e-01 7.58652134e-01] [ 4.17341562e-02 9.99067098e-01 1.10992998e-02 6.41628014e-02] [-1.25500340e-01 -5.77909777e-03 9.92076744e-01 -7.24908290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460792137999999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:0.77, Y:0.04, Z:-7.29 [[ 0.9867494 -0.10713411 0.121852 0.767047 ] [ 0.1050608 0.99419203 0.02333327 0.03730086] [-0.12364408 -0.01022222 0.99227398 -7.28587567] [ 0. 0. 0. 1. ]] SLAMing on 11.490792138 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:0.77, Y:0.08, Z:-7.32 [[ 9.92314948e-01 -1.51796973e-02 1.22803181e-01 7.68200963e-01] [ 1.53222375e-02 9.99882584e-01 -2.16365216e-04 8.05397278e-02] [-1.22785477e-01 2.09632194e-03 9.92431021e-01 -7.31761124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520792138 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:0.77, Y:0.08, Z:-7.35 [[ 9.92183634e-01 -1.79805371e-02 1.23484158e-01 7.73068108e-01] [ 1.81728674e-02 9.99834767e-01 -4.31273565e-04 7.92321603e-02] [-1.23456000e-01 2.67196380e-03 9.92346450e-01 -7.35067055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550792137999998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:0.78, Y:0.08, Z:-7.38 [[ 9.92294016e-01 -1.52188203e-02 1.22967366e-01 7.78345087e-01] [ 1.54191849e-02 9.99880888e-01 -6.77882121e-04 7.96651807e-02] [-1.22942403e-01 2.56871493e-03 9.92410483e-01 -7.38373989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580792138 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:0.78, Y:0.08, Z:-7.42 [[ 9.92183733e-01 -1.56621142e-02 1.23798780e-01 7.82880326e-01] [ 1.58999564e-02 9.99873152e-01 -9.33374683e-04 7.94608356e-02] [-1.23768458e-01 2.89447439e-03 9.92306904e-01 -7.41594753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610792137999999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:0.79, Y:0.08, Z:-7.45 [[ 9.92325969e-01 -1.19058129e-02 1.23074863e-01 7.87735410e-01] [ 1.21551693e-02 9.99925310e-01 -1.27537438e-03 8.03546681e-02] [-1.23050487e-01 2.76158293e-03 9.92396570e-01 -7.44724376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640792137999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:0.79, Y:0.08, Z:-7.48 [[ 9.92330443e-01 -7.85555985e-03 1.23363615e-01 7.91796838e-01] [ 8.08166704e-03 9.99966455e-01 -1.33254772e-03 8.19257304e-02] [-1.23349009e-01 2.31931133e-03 9.92360641e-01 -7.48033556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.80, Y:0.08, Z:-7.51 [[ 9.92293520e-01 -1.01696015e-02 1.23491492e-01 7.96712532e-01] [ 1.04448525e-02 9.99944200e-01 -1.58169156e-03 8.09501240e-02] [-1.23468516e-01 2.85935272e-03 9.92344370e-01 -7.51287722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700792137999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:0.80, Y:0.08, Z:-7.54 [[ 9.92155736e-01 -1.12285476e-02 1.24502675e-01 8.00649701e-01] [ 1.15511206e-02 9.99931536e-01 -1.86929040e-03 8.06642215e-02] [-1.24473162e-01 3.29277260e-03 9.92217511e-01 -7.54439516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730792138 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:0.81, Y:0.08, Z:-7.58 [[ 9.92096276e-01 -1.13116512e-02 1.24968100e-01 8.05061799e-01] [ 1.16664772e-02 9.99929723e-01 -2.10783615e-03 8.01643529e-02] [-1.24935475e-01 3.54911389e-03 9.92158521e-01 -7.57714663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760792138 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:0.81, Y:0.08, Z:-7.61 [[ 9.91990051e-01 -1.07803098e-02 1.25855167e-01 8.09336459e-01] [ 1.11669706e-02 9.99934846e-01 -2.36713567e-03 8.04512458e-02] [-1.25821448e-01 3.75359598e-03 9.92045802e-01 -7.60947613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790792137999999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:0.81, Y:0.08, Z:-7.64 [[ 9.91979110e-01 -8.41955709e-03 1.26121194e-01 8.13945063e-01] [ 8.81998448e-03 9.99957679e-01 -2.61684472e-03 8.09004508e-02] [-1.26093824e-01 3.70824228e-03 9.92011389e-01 -7.64189391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820792138 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:0.82, Y:0.08, Z:-7.67 [[ 9.91990627e-01 -5.77566915e-03 1.26179386e-01 8.18303293e-01] [ 6.18905185e-03 9.99976688e-01 -2.88436111e-03 8.21160895e-02] [-1.26159786e-01 3.64218995e-03 9.92003247e-01 -7.67359143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:0.82, Y:0.08, Z:-7.71 [[ 9.92006436e-01 -2.46054307e-03 1.26163293e-01 8.22757198e-01] [ 2.87520454e-03 9.99991047e-01 -3.10470951e-03 8.27364059e-02] [-1.26154524e-01 3.44263709e-03 9.92004629e-01 -7.70607197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880792137999999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:0.83, Y:0.08, Z:-7.74 [[ 9.92033578e-01 3.00724049e-04 1.25973372e-01 8.27183874e-01] [ 1.20655823e-04 9.99994424e-01 -3.33734813e-03 8.34411992e-02] [-1.25973674e-01 3.32596083e-03 9.92028009e-01 -7.73844113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:0.83, Y:0.08, Z:-7.77 [[ 9.91971662e-01 -6.75735826e-04 1.26458551e-01 8.31732792e-01] [ 1.13890683e-03 9.99992906e-01 -3.59036431e-03 8.27712224e-02] [-1.26455228e-01 3.70556416e-03 9.91965395e-01 -7.77155100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940792137999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:0.84, Y:0.08, Z:-7.80 [[ 9.91978631e-01 2.91911995e-03 1.26371970e-01 8.36006463e-01] [-2.45449783e-03 9.99989645e-01 -3.83218152e-03 8.33340459e-02] [-1.26381848e-01 3.49126245e-03 9.91975524e-01 -7.80439103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970792137999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:0.08, Z:-7.84 [[ 9.91980105e-01 6.92886171e-03 1.26204050e-01 8.40333569e-01] [-6.46698959e-03 9.99970810e-01 -4.06908055e-03 8.49224071e-02] [-1.26228560e-01 3.22028667e-03 9.91995958e-01 -7.83668534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:0.09, Z:-7.87 [[ 9.91924455e-01 9.79624512e-03 1.26451214e-01 8.44461047e-01] [-9.31105915e-03 9.99946849e-01 -4.42745588e-03 8.60418988e-02] [-1.26487865e-01 3.21430703e-03 9.91962947e-01 -7.86833932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030792137999999 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:0.85, Y:0.09, Z:-7.90 [[ 9.91841470e-01 1.09080640e-02 1.27009894e-01 8.49016118e-01] [-1.04187199e-02 9.99935524e-01 -4.51651606e-03 8.61172781e-02] [-1.27050972e-01 3.15638741e-03 9.91891167e-01 -7.90111914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060792137999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:0.85, Y:0.09, Z:-7.93 [[ 9.91745038e-01 1.42941873e-02 1.27426276e-01 8.53052304e-01] [-1.37988247e-02 9.99893417e-01 -4.76940746e-03 8.71550055e-02] [-1.27480869e-01 2.97170333e-03 9.91836578e-01 -7.93355785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:0.86, Y:0.09, Z:-7.97 [[ 9.91687494e-01 1.55067592e-02 1.27731963e-01 8.57428357e-01] [-1.49744055e-02 9.99874733e-01 -5.12703313e-03 8.78977241e-02] [-1.27795466e-01 3.17170442e-03 9.91795472e-01 -7.96549048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120792137999999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:0.86, Y:0.09, Z:-8.00 [[ 9.91715681e-01 1.74490789e-02 1.27261689e-01 8.61816155e-01] [-1.69289534e-02 9.99843341e-01 -5.16759444e-03 8.85506068e-02] [-1.27331922e-01 2.97037723e-03 9.91855715e-01 -7.99858767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:0.87, Y:0.09, Z:-8.03 [[ 9.91673702e-01 1.74463968e-02 1.27588757e-01 8.66121084e-01] [-1.68925683e-02 9.99842611e-01 -5.42159957e-03 8.79856408e-02] [-1.27663264e-01 3.22115592e-03 9.91812339e-01 -8.03168687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:0.87, Y:0.09, Z:-8.06 [[ 9.91446603e-01 2.10036913e-02 1.28811792e-01 8.70531913e-01] [-2.04230978e-02 9.99774448e-01 -5.82666329e-03 8.94780170e-02] [-1.28905119e-01 3.14608970e-03 9.91651941e-01 -8.06355627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210792137999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:0.88, Y:0.09, Z:-8.10 [[ 9.91395358e-01 2.28814862e-02 1.28886312e-01 8.75064206e-01] [-2.23075670e-02 9.99733776e-01 -5.89493342e-03 8.99136508e-02] [-1.28986884e-01 2.96906959e-03 9.91641855e-01 -8.09634282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240792138 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:0.88, Y:0.09, Z:-8.13 [[ 9.91375329e-01 2.53174323e-02 1.28584541e-01 8.79476212e-01] [-2.47343862e-02 9.99675267e-01 -6.12943521e-03 9.01104046e-02] [-1.28697967e-01 2.89611114e-03 9.91679608e-01 -8.12923342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270792138 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:0.88, Y:0.09, Z:-8.16 [[ 9.91283013e-01 2.86694773e-02 1.28592571e-01 8.83759419e-01] [-2.80829397e-02 9.99585284e-01 -6.37242504e-03 9.22748573e-02] [-1.28721936e-01 2.70561926e-03 9.91677036e-01 -8.16227535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300792137999998 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:0.89, Y:0.09, Z:-8.20 [[ 9.91228864e-01 3.05697837e-02 1.28572268e-01 8.88341100e-01] [-2.99487621e-02 9.99528568e-01 -6.76113651e-03 9.26958441e-02] [-1.28718341e-01 2.85125339e-03 9.91677094e-01 -8.19547070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330792138 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:0.89, Y:0.09, Z:-8.23 [[ 9.91152489e-01 3.29497000e-02 1.28573173e-01 8.93224793e-01] [-3.23529358e-02 9.99453863e-01 -6.72778124e-03 9.33287313e-02] [-1.28724633e-01 2.50853750e-03 9.91677204e-01 -8.22835238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360792137999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:0.90, Y:0.09, Z:-8.26 [[ 9.91089185e-01 3.36283027e-02 1.28885086e-01 8.97467234e-01] [-3.30027566e-02 9.99430840e-01 -6.98674842e-03 9.28841558e-02] [-1.29046682e-01 2.67092767e-03 9.91634923e-01 -8.26128564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390792137999998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:0.90, Y:0.09, Z:-8.29 [[ 9.90878895e-01 3.58779212e-02 1.29891455e-01 9.02521708e-01] [-3.52254688e-02 9.99352598e-01 -7.31780374e-03 9.33524688e-02] [-1.30069910e-01 2.67556990e-03 9.91501215e-01 -8.29257661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:0.91, Y:0.09, Z:-8.33 [[ 9.90721193e-01 3.87263041e-02 1.30275830e-01 9.07258254e-01] [-3.80648265e-02 9.99246638e-01 -7.56471030e-03 9.40106314e-02] [-1.30470638e-01 2.53559196e-03 9.91448931e-01 -8.32557928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450792137999999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:0.91, Y:0.09, Z:-8.36 [[ 9.90714951e-01 3.85036869e-02 1.30389235e-01 9.11421491e-01] [-3.78055855e-02 9.99254468e-01 -7.82597068e-03 9.27570153e-02] [-1.30593355e-01 2.82386477e-03 9.91431995e-01 -8.35841976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:0.92, Y:0.10, Z:-8.39 [[ 9.90428297e-01 4.45733700e-02 1.30633086e-01 9.15708054e-01] [-4.38918533e-02 9.99003507e-01 -8.09304451e-03 9.55244835e-02] [-1.30863645e-01 2.28185205e-03 9.91397750e-01 -8.39153826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:0.92, Y:0.09, Z:-8.42 [[ 9.90282602e-01 4.54496934e-02 1.31433231e-01 9.20189699e-01] [-4.47301999e-02 9.98963595e-01 -8.42291074e-03 9.46164144e-02] [-1.31679831e-01 2.46202728e-03 9.91289242e-01 -8.42343172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540792137999999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:0.93, Y:0.10, Z:-8.46 [[ 9.89837676e-01 5.23794176e-02 1.32203522e-01 9.25329408e-01] [-5.16820530e-02 9.98625666e-01 -8.70315372e-03 9.68343222e-02] [-1.32477697e-01 1.78216001e-03 9.91184384e-01 -8.45602803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570792138 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:0.93, Y:0.10, Z:-8.49 [[ 9.89808200e-01 5.39659840e-02 1.31785431e-01 9.29783999e-01] [-5.32397506e-02 9.98540924e-01 -9.03060217e-03 9.68804694e-02] [-1.32080491e-01 1.92234062e-03 9.91237130e-01 -8.48751040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600792138 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:0.93, Y:0.10, Z:-8.52 [[ 9.89632376e-01 5.66374794e-02 1.31984686e-01 9.34237932e-01] [-5.59235255e-02 9.98393467e-01 -9.11286037e-03 9.73786482e-02] [-1.32288777e-01 1.63733273e-03 9.91209866e-01 -8.51989676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630792137999999 meters Centerline goodness : 0.999922 Centerline is valid? [True, True] Translation: X:0.94, Y:0.09, Z:-8.55 [[ 9.89817949e-01 5.19459722e-02 1.32521863e-01 9.38075880e-01] [-5.11498696e-02 9.98646685e-01 -9.40685556e-03 9.46714286e-02] [-1.32831168e-01 2.53259846e-03 9.91135443e-01 -8.55270313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660792138 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:0.94, Y:0.09, Z:-8.58 [[ 9.89722523e-01 5.22823718e-02 1.33101020e-01 9.42479926e-01] [-5.14454012e-02 9.98628487e-01 -9.72189073e-03 9.38056734e-02] [-1.33426754e-01 2.77453883e-03 9.91054793e-01 -8.58446676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690792137999999 meters Centerline goodness : 0.999941 Centerline is valid? [True, True] Translation: X:0.95, Y:0.09, Z:-8.62 [[ 9.89470007e-01 5.57009085e-02 1.33590843e-01 9.47416199e-01] [-5.48584193e-02 9.98444248e-01 -9.98190499e-03 9.47705924e-02] [-1.33939010e-01 2.54821313e-03 9.90986301e-01 -8.61689098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720792137999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.95, Y:0.09, Z:-8.65 [[ 9.89513579e-01 5.58310771e-02 1.33213239e-01 9.52019601e-01] [-5.49581266e-02 9.98436315e-01 -1.02239258e-02 9.38335434e-02] [-1.33575748e-01 2.79556339e-03 9.91034664e-01 -8.64902345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:0.96, Y:0.09, Z:-8.68 [[ 9.89379836e-01 5.73562655e-02 1.33558225e-01 9.56468325e-01] [-5.64601291e-02 9.98349739e-01 -1.04905517e-02 9.34254860e-02] [-1.33939518e-01 2.83842567e-03 9.90985443e-01 -8.68067057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780792137999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:0.96, Y:0.09, Z:-8.71 [[ 9.89234067e-01 5.94818198e-02 1.33708163e-01 9.61475854e-01] [-5.85740884e-02 9.98225550e-01 -1.07157895e-02 9.34789484e-02] [-1.34108300e-01 2.76859024e-03 9.90962814e-01 -8.71365616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810792137999998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:0.97, Y:0.09, Z:-8.75 [[ 9.89106311e-01 6.22717216e-02 1.33382676e-01 9.65696573e-01] [-6.13568730e-02 9.98055691e-01 -1.09622621e-02 9.41463175e-02] [-1.33805978e-01 2.65889868e-03 9.91003981e-01 -8.74575456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:0.97, Y:0.10, Z:-8.78 [[ 9.88978077e-01 6.50729700e-02 1.32995760e-01 9.70215863e-01] [-6.41582192e-02 9.97877375e-01 -1.11565383e-02 9.50159718e-02] [-1.33439449e-01 2.50080063e-03 9.91053813e-01 -8.77796883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870792137999999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:0.97, Y:0.10, Z:-8.81 [[ 9.88837320e-01 6.74775451e-02 1.32844026e-01 9.74733664e-01] [-6.65561506e-02 9.97717904e-01 -1.13693436e-02 9.54430637e-02] [-1.33308038e-01 2.40084425e-03 9.91071745e-01 -8.81044016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:0.98, Y:0.10, Z:-8.84 [[ 9.88675162e-01 6.98791131e-02 1.32809388e-01 9.79101147e-01] [-6.89408794e-02 9.97552657e-01 -1.16555006e-02 9.57599985e-02] [-1.33298833e-01 2.36750796e-03 9.91073063e-01 -8.84230853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930792138 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:0.98, Y:0.10, Z:-8.87 [[ 9.88421935e-01 7.34124315e-02 1.32788150e-01 9.83860368e-01] [-7.24731410e-02 9.97299375e-01 -1.18996295e-02 9.68820334e-02] [-1.33303120e-01 2.13828045e-03 9.91073007e-01 -8.87488410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960792137999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:0.99, Y:0.10, Z:-8.91 [[ 9.88346003e-01 7.51320525e-02 1.32390909e-01 9.87915152e-01] [-7.41799308e-02 9.97171266e-01 -1.21162835e-02 9.73895134e-02] [-1.32926732e-01 2.15433187e-03 9.91123525e-01 -8.90802159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990792138 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:0.99, Y:0.10, Z:-8.94 [[ 9.88333786e-01 7.73081431e-02 1.31224154e-01 9.92261009e-01] [-7.63586655e-02 9.97005043e-01 -1.22596300e-02 9.78125090e-02] [-1.31778913e-01 2.09650520e-03 9.91276915e-01 -8.94045913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020792138 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:1.00, Y:0.10, Z:-8.97 [[ 9.88430774e-01 7.87195871e-02 1.29645023e-01 9.97310484e-01] [-7.77709083e-02 9.96894488e-01 -1.23719632e-02 9.90075769e-02] [-1.30216325e-01 2.14621795e-03 9.91483284e-01 -8.97338592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050792137999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:1.00, Y:0.09, Z:-9.00 [[ 9.89456821e-01 7.13020858e-02 1.26060351e-01 1.00058569e+00] [-7.03113125e-02 9.97449294e-01 -1.22973433e-02 9.49329292e-02] [-1.26615634e-01 3.30422145e-03 9.91946351e-01 -9.00481449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080792138 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:1.00, Y:0.10, Z:-9.04 [[ 9.89102496e-01 7.53103351e-02 1.26509309e-01 1.00483417e+00] [-7.43133968e-02 9.97155480e-01 -1.25883786e-02 9.60509041e-02] [-1.27097486e-01 3.04986020e-03 9.91885542e-01 -9.03682335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110792137999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:1.01, Y:0.10, Z:-9.07 [[ 9.89027986e-01 7.65576442e-02 1.26343064e-01 1.00958501e+00] [-7.55467928e-02 9.97060353e-01 -1.27802771e-02 9.58074111e-02] [-1.26950088e-01 3.09523848e-03 9.91904277e-01 -9.06962298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140792137999998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:1.01, Y:0.10, Z:-9.10 [[ 9.88792482e-01 7.89136612e-02 1.26736185e-01 1.01375964e+00] [-7.78801006e-02 9.96876695e-01 -1.30975360e-02 9.59462691e-02] [-1.27373924e-01 3.08051832e-03 9.91849986e-01 -9.10120905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170792138 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:1.02, Y:0.09, Z:-9.13 [[ 9.89283392e-01 7.50308348e-02 1.25254717e-01 1.01903626e+00] [-7.41373984e-02 9.97178390e-01 -1.17858240e-02 9.34250558e-02] [-1.25785597e-01 2.37346104e-03 9.92054610e-01 -9.13302434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200792137999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:1.02, Y:0.10, Z:-9.17 [[ 9.88404373e-01 8.40952165e-02 1.26430969e-01 1.02285060e+00] [-8.29703057e-02 9.96451602e-01 -1.41468516e-02 9.69594793e-02] [-1.27172024e-01 3.49279382e-03 9.91874527e-01 -9.16556103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230792137999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:1.03, Y:0.10, Z:-9.20 [[ 9.88474499e-01 8.32015017e-02 1.26474011e-01 1.02721246e+00] [-8.21353118e-02 9.96527966e-01 -1.36309594e-02 9.56180352e-02] [-1.27169005e-01 3.08587348e-03 9.91876263e-01 -9.19800367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260792138 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:1.03, Y:0.10, Z:-9.23 [[ 9.88524066e-01 8.34166839e-02 1.25943746e-01 1.03158913e+00] [-8.23258324e-02 9.96509213e-01 -1.38508460e-02 9.50161563e-02] [-1.26659495e-01 3.32347084e-03 9.91940687e-01 -9.22964624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290792137999999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:1.04, Y:0.09, Z:-9.26 [[ 9.88772953e-01 8.23621512e-02 1.24677679e-01 1.03572514e+00] [-8.12546138e-02 9.96595731e-01 -1.39512055e-02 9.37460000e-02] [-1.25402294e-01 3.66393802e-03 9.92099209e-01 -9.26152354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:1.04, Y:0.09, Z:-9.29 [[ 9.89021532e-01 8.23752682e-02 1.22681395e-01 1.03997368e+00] [-8.12769913e-02 9.96594083e-01 -1.39386281e-02 9.26547217e-02] [-1.23411751e-01 3.81442862e-03 9.92348220e-01 -9.29376544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:1.04, Y:0.09, Z:-9.33 [[ 9.88944251e-01 8.95172494e-02 1.18219843e-01 1.04407978e+00] [-8.85188041e-02 9.95980558e-01 -1.36802551e-02 9.42205407e-02] [-1.18969284e-01 3.06433054e-03 9.92893206e-01 -9.32563424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380792137999999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:1.05, Y:0.09, Z:-9.36 [[ 9.88974395e-01 8.89393366e-02 1.18403719e-01 1.04862254e+00] [-8.79085678e-02 9.96031417e-01 -1.39104645e-02 9.27483698e-02] [-1.19171011e-01 3.34839191e-03 9.92868097e-01 -9.35878569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410792138 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:1.05, Y:0.09, Z:-9.39 [[ 9.88765368e-01 9.22598389e-02 1.17605995e-01 1.05248811e+00] [-9.12389661e-02 9.95729956e-01 -1.40465252e-02 9.39354378e-02] [-1.18399742e-01 3.15846828e-03 9.92960989e-01 -9.39147891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440792137999999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:1.06, Y:0.09, Z:-9.42 [[ 9.88639440e-01 9.24177076e-02 1.18537017e-01 1.05657109e+00] [-9.13497783e-02 9.95714416e-01 -1.44229203e-02 9.30697033e-02] [-1.19361950e-01 3.43073759e-03 9.92844880e-01 -9.42344533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470792137999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:1.06, Y:0.10, Z:-9.46 [[ 9.87801196e-01 1.01234180e-01 1.18323448e-01 1.06066088e+00] [-1.00206983e-01 9.94859281e-01 -1.46140625e-02 9.57150144e-02] [-1.19194623e-01 2.57895260e-03 9.92867560e-01 -9.45612098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.06, Y:0.09, Z:-9.49 [[ 9.88772078e-01 9.38463825e-02 1.16286860e-01 1.06343950e+00] [-9.27776222e-02 9.95580075e-01 -1.45817526e-02 9.04516174e-02] [-1.17141326e-01 3.62921139e-03 9.93108624e-01 -9.48902115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.07, Y:0.09, Z:-9.52 [[ 9.89198361e-01 9.10658668e-02 1.14863439e-01 1.06675318e+00] [-8.99655416e-02 9.95835822e-01 -1.47382497e-02 8.97182023e-02] [-1.15727278e-01 4.24530097e-03 9.93271954e-01 -9.52080710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560792137999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.07, Y:0.09, Z:-9.55 [[ 9.89095850e-01 9.19338640e-02 1.15054610e-01 1.07088997e+00] [-9.08289283e-02 9.95756220e-01 -1.48207950e-02 8.90510417e-02] [-1.15928877e-01 4.20889994e-03 9.93248600e-01 -9.55311196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.08, Y:0.09, Z:-9.59 [[ 9.89006401e-01 9.27311084e-02 1.15183683e-01 1.07530156e+00] [-9.16028909e-02 9.95681709e-01 -1.50613618e-02 8.79613687e-02] [-1.16082943e-01 4.34462485e-03 9.93230021e-01 -9.58568557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620792137999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.08, Y:0.09, Z:-9.62 [[ 9.88678601e-01 9.54759464e-02 1.15753914e-01 1.07973257e+00] [-9.43280661e-02 9.95422562e-01 -1.53668308e-02 8.84401022e-02] [-1.16691220e-01 4.27401392e-03 9.93159047e-01 -9.61807086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650792138 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:1.08, Y:0.09, Z:-9.65 [[ 9.88195518e-01 1.00458280e-01 1.15662233e-01 1.08396244e+00] [-9.93197020e-02 9.94933594e-01 -1.55801342e-02 9.04349920e-02] [-1.16641395e-01 3.90868026e-03 9.93166405e-01 -9.65095935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:1.09, Y:0.09, Z:-9.68 [[ 9.88070486e-01 1.01227596e-01 1.16058985e-01 1.08838022e+00] [-1.00058493e-01 9.94854974e-01 -1.58706729e-02 8.94796955e-02] [-1.17068409e-01 4.06865636e-03 9.93115519e-01 -9.68414040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710792137999999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:1.09, Y:0.09, Z:-9.72 [[ 9.87758019e-01 1.04146061e-01 1.16136532e-01 1.09294607e+00] [-1.02965605e-01 9.94554055e-01 -1.61343375e-02 8.97409282e-02] [-1.17184387e-01 3.97875298e-03 9.93102205e-01 -9.71595206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740792138 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:1.10, Y:0.09, Z:-9.75 [[ 9.87534596e-01 1.06065635e-01 1.16299193e-01 1.09735263e+00] [-1.04870571e-01 9.94351229e-01 -1.63644919e-02 8.98369773e-02] [-1.17377955e-01 3.96413913e-03 9.93079403e-01 -9.74854389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770792138 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:1.10, Y:0.09, Z:-9.78 [[ 9.87321422e-01 1.07972115e-01 1.16354768e-01 1.10163405e+00] [-1.06759799e-01 9.94145927e-01 -1.66198839e-02 8.97210285e-02] [-1.17468103e-01 3.98715589e-03 9.93068652e-01 -9.78028748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800792137999998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:1.11, Y:0.09, Z:-9.81 [[ 9.87066928e-01 1.09930454e-01 1.16679798e-01 1.10642127e+00] [-1.08701446e-01 9.93931381e-01 -1.68643132e-02 8.96985826e-02] [-1.17825615e-01 3.96294297e-03 9.93026394e-01 -9.81306289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:1.12, Y:0.10, Z:-9.84 [[ 9.84601082e-01 1.22917020e-01 1.24306536e-01 1.11537343e+00] [-1.21733049e-01 9.92415480e-01 -1.71049855e-02 9.89046357e-02] [-1.25466224e-01 1.70937363e-03 9.92096419e-01 -9.84411331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860792137999999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:1.13, Y:0.10, Z:-9.88 [[ 9.83684357e-01 1.24934864e-01 1.29446378e-01 1.12576762e+00] [-1.23542813e-01 9.92161891e-01 -1.87604992e-02 9.81516779e-02] [-1.30775604e-01 2.46223990e-03 9.91408936e-01 -9.87512483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890792137999998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:1.13, Y:0.10, Z:-9.91 [[ 9.83323304e-01 1.27367443e-01 1.29818388e-01 1.13062243e+00] [-1.25900095e-01 9.91851613e-01 -1.94818794e-02 9.78014165e-02] [-1.31241934e-01 2.81283875e-03 9.91346379e-01 -9.90692608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:1.13, Y:0.10, Z:-9.94 [[ 9.83190117e-01 1.29329724e-01 1.28883728e-01 1.13497279e+00] [-1.27890555e-01 9.91598219e-01 -1.94159047e-02 9.76814245e-02] [-1.30311929e-01 2.60651411e-03 9.91469620e-01 -9.93937610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950792137999999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:1.14, Y:0.10, Z:-9.97 [[ 9.83087807e-01 1.30468372e-01 1.28516019e-01 1.13950024e+00] [-1.29014860e-01 9.91448810e-01 -1.96067153e-02 9.70520080e-02] [-1.29975110e-01 2.69464664e-03 9.91513595e-01 -9.97174818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980792137999998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:1.14, Y:0.10, Z:-10.00 [[ 9.83167709e-01 1.30460898e-01 1.27910948e-01 1.14391686e+00] [-1.28987558e-01 9.91449098e-01 -1.97710810e-02 9.57097690e-02] [-1.29396547e-01 2.93936759e-03 9.91588571e-01 -1.00047787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:1.15, Y:0.10, Z:-10.04 [[ 9.82817199e-01 1.33450182e-01 1.27520204e-01 1.14842211e+00] [-1.31975011e-01 9.91051528e-01 -1.99866089e-02 9.63543515e-02] [-1.29046310e-01 2.81370274e-03 9.91634576e-01 -1.00360278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040792137999999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:1.15, Y:0.10, Z:-10.07 [[ 9.82545803e-01 1.36130917e-01 1.26775859e-01 1.15274789e+00] [-1.34666401e-01 9.90687260e-01 -2.00926145e-02 9.69427349e-02] [-1.28330454e-01 2.66946543e-03 9.91727870e-01 -1.00687368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:1.16, Y:0.10, Z:-10.10 [[ 9.81692943e-01 1.42762881e-01 1.26086184e-01 1.15782172e+00] [-1.41334052e-01 9.89754772e-01 -2.02528300e-02 9.95581944e-02] [-1.27685754e-01 2.06178908e-03 9.91812531e-01 -1.00999390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:1.16, Y:0.10, Z:-10.13 [[ 9.81433167e-01 1.44568341e-01 1.26051312e-01 1.16240299e+00] [-1.43126769e-01 9.89492702e-01 -2.04675447e-02 9.92689445e-02] [-1.27685812e-01 2.04621025e-03 9.91812556e-01 -1.01331447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130792137999999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:1.17, Y:0.10, Z:-10.17 [[ 9.81243098e-01 1.44995253e-01 1.27036844e-01 1.16767396e+00] [-1.43501578e-01 9.89429771e-01 -2.08812414e-02 9.76554465e-02] [-1.28721716e-01 2.25958636e-03 9.91678181e-01 -1.01660644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:1.17, Y:0.10, Z:-10.20 [[ 9.80870324e-01 1.46661234e-01 1.27999566e-01 1.17222979e+00] [-1.45124923e-01 9.89184069e-01 -2.12987121e-02 9.65846041e-02] [-1.29738827e-01 2.31534741e-03 9.91545499e-01 -1.01984447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190792137999999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:1.18, Y:0.10, Z:-10.23 [[ 9.80587191e-01 1.48578483e-01 1.27957790e-01 1.17681385e+00] [-1.47026065e-01 9.88897909e-01 -2.15467558e-02 9.63197308e-02] [-1.29738575e-01 2.31534242e-03 9.91545532e-01 -1.02316503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220792137999998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:1.18, Y:0.10, Z:-10.26 [[ 9.79621622e-01 1.54806141e-01 1.27970843e-01 1.18108825e+00] [-1.53273696e-01 9.87943336e-01 -2.17976881e-02 9.71898132e-02] [-1.29802358e-01 1.73892245e-03 9.91538362e-01 -1.02643430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250792138 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:1.19, Y:0.10, Z:-10.30 [[ 9.79315056e-01 1.56769589e-01 1.27927002e-01 1.18567756e+00] [-1.55220612e-01 9.87633673e-01 -2.20519697e-02 9.69314446e-02] [-1.29802093e-01 1.73891837e-03 9.91538397e-01 -1.02975488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280792137999999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:1.19, Y:0.10, Z:-10.33 [[ 9.78579581e-01 1.60399944e-01 1.29049844e-01 1.19023363e+00] [-1.58806414e-01 9.87050752e-01 -2.26127455e-02 9.73555117e-02] [-1.31005829e-01 1.63442801e-03 9.91380251e-01 -1.03290168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310792137999998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:-10.36 [[ 9.77329670e-01 1.67066622e-01 1.30059448e-01 1.19578301e+00] [-1.65494690e-01 9.85945254e-01 -2.28793191e-02 9.94671110e-02] [-1.32053867e-01 8.36489228e-04 9.91242189e-01 -1.03604372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:-10.39 [[ 9.77050819e-01 1.68569205e-01 1.30215664e-01 1.20035651e+00] [-1.66976202e-01 9.85689444e-01 -2.31358622e-02 9.90000221e-02] [-1.32252199e-01 8.61996139e-04 9.91215725e-01 -1.03931175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370792137999999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:-10.43 [[ 9.76571966e-01 1.71155579e-01 1.30433746e-01 1.20471437e+00] [-1.69546895e-01 9.85243721e-01 -2.34235025e-02 9.90788593e-02] [-1.32518092e-01 7.60099307e-04 9.91180295e-01 -1.04259357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400792137999998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:1.21, Y:0.10, Z:-10.46 [[ 9.76594710e-01 1.70054729e-01 1.31697233e-01 1.20839151e+00] [-1.68364883e-01 9.85433875e-01 -2.39445848e-02 9.82030952e-02] [-1.33850804e-01 1.21096563e-03 9.91000755e-01 -1.04574398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430792138 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:1.21, Y:0.10, Z:-10.49 [[ 9.75801545e-01 1.73066121e-01 1.33639301e-01 1.21185435e+00] [-1.71316454e-01 9.84909614e-01 -2.45708080e-02 9.81577741e-02] [-1.35875007e-01 1.08162116e-03 9.90725397e-01 -1.04891777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460792137999999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:1.22, Y:0.10, Z:-10.52 [[ 9.74038292e-01 1.80938901e-01 1.36053368e-01 1.21540548e+00] [-1.79154436e-01 9.83494287e-01 -2.53510383e-02 1.01032456e-01] [-1.38394699e-01 3.18317544e-04 9.90377103e-01 -1.05209830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:1.22, Y:0.10, Z:-10.55 [[ 9.74356466e-01 1.79255401e-01 1.36003598e-01 1.21936923e+00] [-1.77445512e-01 9.83802370e-01 -2.54162869e-02 9.87819727e-02] [-1.38356669e-01 6.31295386e-04 9.90382266e-01 -1.05538358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520792138 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:1.22, Y:0.10, Z:-10.59 [[ 9.73856031e-01 1.81450191e-01 1.36675741e-01 1.22359921e+00] [-1.79607883e-01 9.83399968e-01 -2.57974985e-02 9.86605141e-02] [-1.39087881e-01 5.75008891e-04 9.90279875e-01 -1.05870435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550792137999998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:-10.62 [[ 9.73454433e-01 1.83617301e-01 1.36642431e-01 1.22757379e+00] [-1.81759858e-01 9.82997664e-01 -2.60566083e-02 9.85127455e-02] [-1.39103634e-01 5.28812018e-04 9.90277688e-01 -1.06195775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580792138 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:-10.65 [[ 9.73371428e-01 1.84203372e-01 1.36444792e-01 1.23163605e+00] [-1.82315415e-01 9.82887873e-01 -2.63157318e-02 9.76117932e-02] [-1.38957378e-01 7.38992661e-04 9.90298087e-01 -1.06517142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610792137999999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:1.24, Y:0.10, Z:-10.68 [[ 9.72923273e-01 1.86833737e-01 1.36064175e-01 1.23604186e+00] [-1.84948128e-01 9.82391364e-01 -2.64839099e-02 9.78679636e-02] [-1.38616358e-01 6.01997767e-04 9.90345971e-01 -1.06848454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640792137999998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:1.24, Y:0.10, Z:-10.72 [[ 9.72647038e-01 1.88022136e-01 1.36401675e-01 1.24062035e+00] [-1.86085727e-01 9.82164458e-01 -2.69272956e-02 9.73986726e-02] [-1.39031805e-01 8.08349516e-04 9.90287586e-01 -1.07163533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:1.24, Y:0.10, Z:-10.75 [[ 9.72413807e-01 1.89099747e-01 1.36574793e-01 1.24473570e+00] [-1.87158345e-01 9.81957612e-01 -2.70370344e-02 9.63236505e-02] [-1.39223354e-01 7.30073185e-04 9.90260736e-01 -1.07490789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700792137999999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:1.25, Y:0.10, Z:-10.78 [[ 9.71386680e-01 1.94205303e-01 1.36719484e-01 1.24929033e+00] [-1.92271654e-01 9.80960870e-01 -2.73383082e-02 9.80253425e-02] [-1.39425708e-01 2.68787194e-04 9.90232498e-01 -1.07817612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730792137999998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:1.25, Y:0.10, Z:-10.81 [[ 9.71473876e-01 1.92252473e-01 1.38843420e-01 1.25275828e+00] [-1.90471115e-01 9.81344927e-01 -2.61321502e-02 9.55393948e-02] [-1.41277256e-01 -1.05895972e-03 9.89969502e-01 -1.08137128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760792138 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:-10.85 [[ 9.70711375e-01 1.97173176e-01 1.37266764e-01 1.25817579e+00] [-1.95196646e-01 9.80368646e-01 -2.78493806e-02 9.57447285e-02] [-1.40063183e-01 2.39698525e-04 9.90142539e-01 -1.08461164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790792137999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:1.26, Y:0.09, Z:-10.88 [[ 9.70637597e-01 1.97679055e-01 1.37060742e-01 1.26177289e+00] [-1.95675002e-01 9.80266699e-01 -2.80801160e-02 9.43915896e-02] [-1.39906932e-01 4.36255363e-04 9.90164562e-01 -1.08778072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820792138 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:1.27, Y:0.09, Z:-10.91 [[ 9.70940185e-01 1.95516604e-01 1.38015997e-01 1.26525816e+00] [-1.93737451e-01 9.80699702e-01 -2.63418685e-02 9.17040950e-02] [-1.40502519e-01 -1.16248866e-03 9.90079639e-01 -1.09090456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850792138 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:1.27, Y:0.10, Z:-10.94 [[ 9.69006364e-01 2.05614925e-01 1.36927604e-01 1.27091768e+00] [-2.03604922e-01 9.78632973e-01 -2.86799699e-02 9.55665997e-02] [-1.39898898e-01 -8.80608453e-05 9.90165789e-01 -1.09409980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880792137999999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:1.28, Y:0.09, Z:-10.97 [[ 9.69094979e-01 2.05333682e-01 1.36722353e-01 1.27556631e+00] [-2.03329158e-01 9.78692023e-01 -2.86212887e-02 9.35187864e-02] [-1.39685990e-01 -6.28937509e-05 9.90195849e-01 -1.09739344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:1.28, Y:0.09, Z:-11.01 [[ 9.69031378e-01 2.05825795e-01 1.36432877e-01 1.27953955e+00] [-2.03796620e-01 9.78588639e-01 -2.88307686e-02 9.21884500e-02] [-1.39445780e-01 1.33360221e-04 9.90229699e-01 -1.10065084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940792137999999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:1.28, Y:0.09, Z:-11.04 [[ 9.68357981e-01 2.09599038e-01 1.35466097e-01 1.28398861e+00] [-2.07595974e-01 9.77787414e-01 -2.89082207e-02 9.30264267e-02] [-1.38516180e-01 -1.28709985e-04 9.90360162e-01 -1.10379360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970792137999998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:1.29, Y:0.09, Z:-11.07 [[ 9.68142583e-01 2.08885021e-01 1.38083258e-01 1.28696414e+00] [-2.06958895e-01 9.77939525e-01 -2.83249325e-02 9.18132440e-02] [-1.40953730e-01 -1.15498513e-03 9.90015511e-01 -1.10692671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:1.29, Y:0.09, Z:-11.10 [[ 9.68638770e-01 2.07607247e-01 1.36521661e-01 1.29232590e+00] [-2.05560079e-01 9.78212257e-01 -2.90832356e-02 9.08476195e-02] [-1.39585053e-01 1.07746020e-04 9.90210079e-01 -1.11013998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030792137999999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:1.30, Y:0.09, Z:-11.13 [[ 9.68546719e-01 2.07979378e-01 1.36608316e-01 1.29671795e+00] [-2.05846020e-01 9.78132985e-01 -2.97200265e-02 8.95978144e-02] [-1.39802253e-01 6.64955996e-04 9.90179220e-01 -1.11344182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060792137999998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:1.30, Y:0.09, Z:-11.17 [[ 9.68181686e-01 2.09725972e-01 1.36525598e-01 1.30130543e+00] [-2.07556882e-01 9.77759876e-01 -3.00959504e-02 8.92045581e-02] [-1.39801154e-01 8.01520474e-04 9.90179274e-01 -1.11676131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090792138 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:1.30, Y:0.09, Z:-11.20 [[ 9.68680498e-01 2.08063234e-01 1.35527796e-01 1.30496141e+00] [-2.05910745e-01 9.78114838e-01 -2.98685128e-02 8.67352447e-02] [-1.38776287e-01 1.02641646e-03 9.90323224e-01 -1.11996918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120792137999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:1.31, Y:0.09, Z:-11.23 [[ 9.68302208e-01 2.09803301e-01 1.35548551e-01 1.30949153e+00] [-2.07635558e-01 9.77743103e-01 -3.00981596e-02 8.60150566e-02] [-1.38846354e-01 9.99415430e-04 9.90313431e-01 -1.12325658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150792137999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:1.31, Y:0.09, Z:-11.26 [[ 9.67015119e-01 2.14104693e-01 1.37988910e-01 1.31216990e+00] [-2.11994909e-01 9.76810685e-01 -2.99840738e-02 8.66355170e-02] [-1.41208773e-01 -2.57893753e-04 9.89979806e-01 -1.12635392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180792138 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:1.32, Y:0.08, Z:-11.30 [[ 9.68016975e-01 2.09603281e-01 1.37875307e-01 1.31587003e+00] [-2.07656726e-01 9.77785976e-01 -2.85178924e-02 8.37277967e-02] [-1.40789985e-01 -1.02493091e-03 9.90038954e-01 -1.12967210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210792137999999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:1.32, Y:0.09, Z:-11.33 [[ 9.63710026e-01 2.28224737e-01 1.38479078e-01 1.31846614e+00] [-2.25840470e-01 9.73608380e-01 -3.29059905e-02 9.10693550e-02] [-1.42334352e-01 4.37652937e-04 9.89818539e-01 -1.13272273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:1.32, Y:0.08, Z:-11.36 [[ 9.71302471e-01 1.95005460e-01 1.36177752e-01 1.32235197e+00] [-1.93580254e-01 9.80796665e-01 -2.37610444e-02 7.54446687e-02] [-1.38196218e-01 -3.28216258e-03 9.90399431e-01 -1.13598333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:1.33, Y:0.09, Z:-11.39 [[ 9.66015338e-01 2.20864844e-01 1.34287333e-01 1.32914849e+00] [-2.18669432e-01 9.75304208e-01 -3.10705874e-02 8.56139271e-02] [-1.37833402e-01 6.50129094e-04 9.90455214e-01 -1.13928102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300792137999998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:1.33, Y:0.09, Z:-11.42 [[ 9.63062124e-01 2.31784411e-01 1.37066892e-01 1.33270439e+00] [-2.29477844e-01 9.72767179e-01 -3.26179974e-02 8.86108112e-02] [-1.40894517e-01 -4.06569925e-05 9.90024613e-01 -1.14235589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:1.33, Y:0.08, Z:-11.46 [[ 9.66871217e-01 2.14694232e-01 1.38081268e-01 1.33449856e+00] [-2.12963999e-01 9.76676854e-01 -2.73616158e-02 7.94489986e-02] [-1.40735159e-01 -2.95118026e-03 9.90042881e-01 -1.14559219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360792137999999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:1.34, Y:0.08, Z:-11.49 [[ 9.67664314e-01 2.13147340e-01 1.34885085e-01 1.34034658e+00] [-2.11393391e-01 9.77017948e-01 -2.73635555e-02 7.82204360e-02] [-1.37617618e-01 -2.03507935e-03 9.90483341e-01 -1.14900392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390792137999998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:1.35, Y:0.09, Z:-11.52 [[ 9.63765750e-01 2.31025237e-01 1.33352608e-01 1.34683801e+00] [-2.28841333e-01 9.72947758e-01 -3.16907707e-02 8.52559173e-02] [-1.37066489e-01 2.58907120e-05 9.90561849e-01 -1.15217339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:1.35, Y:0.08, Z:-11.55 [[ 9.63517805e-01 2.32242704e-01 1.33029192e-01 1.35096686e+00] [-2.30033506e-01 9.72657848e-01 -3.19577184e-02 8.43469052e-02] [-1.36813835e-01 1.90659143e-04 9.90596759e-01 -1.15532419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450792137999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:1.36, Y:0.08, Z:-11.59 [[ 9.62846720e-01 2.35057538e-01 1.32944153e-01 1.35588856e+00] [-2.32868351e-01 9.71981447e-01 -3.20062089e-02 8.40509740e-02] [-1.36742551e-01 -1.41412326e-04 9.90606610e-01 -1.15854890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480792137999998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:1.36, Y:0.09, Z:-11.62 [[ 9.61617287e-01 2.39923436e-01 1.33150056e-01 1.36037344e+00] [-2.37736558e-01 9.70791646e-01 -3.23250603e-02 8.51912801e-02] [-1.37016502e-01 -5.70299352e-04 9.90568601e-01 -1.16176059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:1.36, Y:0.08, Z:-11.65 [[ 9.63930908e-01 2.28128169e-01 1.37093920e-01 1.36461377e+00] [-2.25656237e-01 9.73630139e-01 -3.35203727e-02 7.89142110e-02] [-1.41125714e-01 1.37522520e-03 9.89990728e-01 -1.16498420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540792137999999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:1.37, Y:0.08, Z:-11.68 [[ 9.62892340e-01 2.32783278e-01 1.36566054e-01 1.36852094e+00] [-2.30338722e-01 9.72528166e-01 -3.36606565e-02 7.95997879e-02] [-1.40649972e-01 9.55137844e-04 9.90058924e-01 -1.16813650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:1.37, Y:0.08, Z:-11.71 [[ 9.63654581e-01 2.27675942e-01 1.39762348e-01 1.37076554e+00] [-2.25149827e-01 9.73736288e-01 -3.38407579e-02 7.54247509e-02] [-1.43796397e-01 1.14333280e-03 9.89606634e-01 -1.17130962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:1.38, Y:0.07, Z:-11.74 [[ 9.64571548e-01 2.25079092e-01 1.37626780e-01 1.37668587e+00] [-2.22596416e-01 9.74339252e-01 -3.33744961e-02 7.33887938e-02] [-1.41607075e-01 1.55686138e-03 9.89921720e-01 -1.17448012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630792137999999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:1.38, Y:0.07, Z:-11.78 [[ 9.63000070e-01 2.29853666e-01 1.40705922e-01 1.37947704e+00] [-2.27203031e-01 9.73223911e-01 -3.48425184e-02 7.26714416e-02] [-1.44947049e-01 1.58453560e-03 9.89438145e-01 -1.17752417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660792138 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:1.38, Y:0.07, Z:-11.81 [[ 9.65505857e-01 2.20715800e-01 1.38141145e-01 1.38411230e+00] [-2.18225621e-01 9.75336461e-01 -3.31114331e-02 6.70520175e-02] [-1.42042312e-01 1.82334532e-03 9.89858908e-01 -1.18080839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690792137999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:1.39, Y:0.07, Z:-11.84 [[ 9.63420546e-01 2.29577596e-01 1.38256929e-01 1.38930466e+00] [-2.26913553e-01 9.73287649e-01 -3.49484088e-02 6.98429163e-02] [-1.42587133e-01 2.29764420e-03 9.89779587e-01 -1.18397734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720792137999998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:1.39, Y:0.07, Z:-11.87 [[ 9.63156373e-01 2.30780655e-01 1.38094497e-01 1.39401399e+00] [-2.28101821e-01 9.73002975e-01 -3.51392815e-02 6.82331907e-02] [-1.42475823e-01 2.34501673e-03 9.89795505e-01 -1.18709962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750792138 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:1.40, Y:0.07, Z:-11.90 [[ 9.61808690e-01 2.35501430e-01 1.39510288e-01 1.39777589e+00] [-2.32748156e-01 9.71871681e-01 -3.59684747e-02 6.81996349e-02] [-1.44056725e-01 2.12402927e-03 9.89567152e-01 -1.19014694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780792137999999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:1.40, Y:0.06, Z:-11.93 [[ 9.65383130e-01 2.20276348e-01 1.39691598e-01 1.40039014e+00] [-2.17928013e-01 9.75437363e-01 -3.20831915e-02 6.09508588e-02] [-1.43327572e-01 5.29859402e-04 9.89675162e-01 -1.19335058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810792137999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:1.40, Y:0.06, Z:-11.97 [[ 9.66619887e-01 2.15165438e-01 1.39103660e-01 1.40476670e+00] [-2.12810502e-01 9.76576990e-01 -3.17658959e-02 5.84327563e-02] [-1.42680356e-01 1.10282707e-03 9.89768205e-01 -1.19660259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:1.41, Y:0.06, Z:-12.00 [[ 9.63325167e-01 2.30074287e-01 1.38095786e-01 1.41075327e+00] [-2.27296948e-01 9.73168219e-01 -3.57730955e-02 6.39874744e-02] [-1.42620899e-01 3.07237256e-03 9.89772620e-01 -1.19992429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870792137999999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:1.42, Y:0.06, Z:-12.03 [[ 9.62723287e-01 2.32860424e-01 1.37622293e-01 1.41619502e+00] [-2.30133559e-01 9.72506611e-01 -3.56291507e-02 6.39025821e-02] [-1.42135209e-01 2.62950496e-03 9.89843759e-01 -1.20321605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900792137999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:1.42, Y:0.06, Z:-12.07 [[ 9.61325822e-01 2.38378908e-01 1.37942597e-01 1.42129527e+00] [-2.35655464e-01 9.71169974e-01 -3.59914576e-02 6.47470404e-02] [-1.42545312e-01 2.09259103e-03 9.89786065e-01 -1.20651903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930792138 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-12.10 [[ 9.60678213e-01 2.40161937e-01 1.39354278e-01 1.42531009e+00] [-2.37354659e-01 9.70730440e-01 -3.66766797e-02 6.34366446e-02] [-1.44083782e-01 2.15809985e-03 9.89563139e-01 -1.20973677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960792137999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-12.13 [[ 9.59835630e-01 2.43316127e-01 1.39688317e-01 1.42950761e+00] [-2.40489846e-01 9.69945084e-01 -3.70292862e-02 6.37384107e-02] [-1.44499819e-01 1.94840641e-03 9.89502909e-01 -1.21303465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990792138 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-12.16 [[ 9.59473869e-01 2.44887995e-01 1.39426556e-01 1.43363386e+00] [-2.42046794e-01 9.69549331e-01 -3.72484068e-02 6.29792588e-02] [-1.44302611e-01 1.99112211e-03 9.89531602e-01 -1.21633534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020792138 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.44, Y:0.06, Z:-12.20 [[ 9.59221396e-01 2.46051890e-01 1.39114273e-01 1.43805406e+00] [-2.43193460e-01 9.69254391e-01 -3.74548502e-02 6.19330442e-02] [-1.44052956e-01 2.09581226e-03 9.89567761e-01 -1.21961996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050792138000002 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:1.44, Y:0.06, Z:-12.23 [[ 9.58876058e-01 2.47560916e-01 1.38817503e-01 1.44253593e+00] [-2.44688487e-01 9.68869950e-01 -3.76638391e-02 6.08010583e-02] [-1.43820201e-01 2.14790880e-03 9.89601504e-01 -1.22286161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:1.45, Y:0.06, Z:-12.26 [[ 9.58817489e-01 2.47988008e-01 1.38459276e-01 1.44678726e+00] [-2.45094113e-01 9.68760243e-01 -3.78479526e-02 5.91755010e-02] [-1.43519680e-01 2.35372533e-03 9.89644664e-01 -1.22614250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:1.45, Y:0.06, Z:-12.29 [[ 9.58349585e-01 2.49852167e-01 1.38347274e-01 1.45132265e+00] [-2.46919033e-01 9.68280768e-01 -3.82537037e-02 5.86132901e-02] [-1.43516776e-01 2.49984588e-03 9.89644727e-01 -1.22946252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140792138000002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:-12.33 [[ 9.58370597e-01 2.49605651e-01 1.38646380e-01 1.45593922e+00] [-2.46657376e-01 9.68344237e-01 -3.83350559e-02 5.67570162e-02] [-1.43826070e-01 2.54103803e-03 9.89599719e-01 -1.23266619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:-12.36 [[ 9.57745606e-01 2.51892964e-01 1.38828272e-01 1.45966806e+00] [-2.48924707e-01 9.67752017e-01 -3.86331945e-02 5.64631105e-02] [-1.44082770e-01 2.44298549e-03 9.89562624e-01 -1.23589815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200792138 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:1.46, Y:0.05, Z:-12.39 [[ 9.58100610e-01 2.50055401e-01 1.39697950e-01 1.46296882e+00] [-2.46983407e-01 9.68226730e-01 -3.91943450e-02 5.35580521e-02] [-1.45060047e-01 3.04905030e-03 9.89418155e-01 -1.23912571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230792138 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:1.47, Y:0.06, Z:-12.42 [[ 9.54996621e-01 2.61880416e-01 1.39284245e-01 1.46703081e+00] [-2.58487257e-01 9.65090575e-01 -4.22435733e-02 5.60677272e-02] [-1.45484677e-01 4.33926728e-03 9.89350989e-01 -1.24207874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260792138 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:1.47, Y:0.06, Z:-12.45 [[ 9.56702634e-01 2.57218361e-01 1.36230631e-01 1.46751949e+00] [-2.54804675e-01 9.66352721e-01 -3.51709443e-02 5.77951032e-02] [-1.40693454e-01 -1.06406662e-03 9.90052635e-01 -1.24529149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:1.47, Y:0.05, Z:-12.49 [[ 9.61178050e-01 2.40689534e-01 1.34927032e-01 1.47012799e+00] [-2.38467963e-01 9.70601823e-01 -3.26363728e-02 4.98279988e-02] [-1.38815656e-01 -8.06409185e-04 9.90317910e-01 -1.24869706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:1.48, Y:0.06, Z:-12.52 [[ 9.54621818e-01 2.66520461e-01 1.32906088e-01 1.47758494e+00] [-2.63741728e-01 9.63827893e-01 -3.84199602e-02 6.08946500e-02] [-1.38338300e-01 1.62365100e-03 9.90383703e-01 -1.25188800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:1.48, Y:0.06, Z:-12.55 [[ 9.53020652e-01 2.72634353e-01 1.31992982e-01 1.48209868e+00] [-2.69939083e-01 9.62117369e-01 -3.82499510e-02 6.31085711e-02] [-1.37420991e-01 8.22928749e-04 9.90512390e-01 -1.25504097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380792138 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:1.49, Y:0.06, Z:-12.58 [[ 9.52966091e-01 2.73624934e-01 1.30326606e-01 1.48639830e+00] [-2.70973978e-01 9.61836045e-01 -3.80069114e-02 6.23267174e-02] [-1.35752466e-01 9.04178885e-04 9.90742373e-01 -1.25827641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410792138 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:1.49, Y:0.06, Z:-12.61 [[ 9.52485595e-01 2.75541561e-01 1.29799997e-01 1.49131563e+00] [-2.72890088e-01 9.61288728e-01 -3.81442110e-02 6.18834412e-02] [-1.35285590e-01 9.10678720e-04 9.90806227e-01 -1.26144746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440792138 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:1.50, Y:0.06, Z:-12.65 [[ 9.52711276e-01 2.74926863e-01 1.29446687e-01 1.49544660e+00] [-2.72251694e-01 9.61464359e-01 -3.82792443e-02 5.94618997e-02] [-1.34982368e-01 1.22698789e-03 9.90847241e-01 -1.26474716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:1.49, Y:0.06, Z:-12.68 [[ 9.47671120e-01 2.88742728e-01 1.36187686e-01 1.49434193e+00] [-2.85878000e-01 9.57406604e-01 -4.05754008e-02 6.37416061e-02] [-1.42102842e-01 -4.80927935e-04 9.89851782e-01 -1.26766897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:1.50, Y:0.05, Z:-12.71 [[ 9.55042926e-01 2.66472478e-01 1.29943941e-01 1.50099999e+00] [-2.64290337e-01 9.63840856e-01 -3.40796527e-02 5.20391292e-02] [-1.34326569e-01 -1.79539671e-03 9.90935492e-01 -1.27099429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530792138000002 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:1.50, Y:0.06, Z:-12.74 [[ 9.49720609e-01 2.82223068e-01 1.35576197e-01 1.50285496e+00] [-2.79557686e-01 9.59348139e-01 -3.87123905e-02 5.66833281e-02] [-1.40990302e-01 -1.13541291e-03 9.90010326e-01 -1.27384721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:1.51, Y:0.05, Z:-12.77 [[ 9.52417442e-01 2.76606360e-01 1.28023191e-01 1.51160934e+00] [-2.74287764e-01 9.60982724e-01 -3.57551038e-02 5.22792185e-02] [-1.32918164e-01 -1.06141044e-03 9.91126448e-01 -1.27702492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:1.52, Y:0.05, Z:-12.80 [[ 9.50985441e-01 2.81898654e-01 1.27121356e-01 1.51573684e+00] [-2.79459109e-01 9.59444130e-01 -3.70076704e-02 5.34461082e-02] [-1.32398252e-01 -3.31465157e-04 9.91196546e-01 -1.28022349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620792138000002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:1.52, Y:0.05, Z:-12.83 [[ 9.50980323e-01 2.81589558e-01 1.27842665e-01 1.51964156e+00] [-2.79206826e-01 9.59534508e-01 -3.65660449e-02 5.14596197e-02] [-1.32966065e-01 -9.20955614e-04 9.91120163e-01 -1.28343387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:1.52, Y:0.05, Z:-12.87 [[ 9.50234086e-01 2.83597500e-01 1.28948207e-01 1.52319761e+00] [-2.81122711e-01 9.58943137e-01 -3.73909327e-02 5.07008255e-02] [-1.34257973e-01 -7.20130898e-04 9.90946153e-01 -1.28663638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:-12.90 [[ 9.50652565e-01 2.82456822e-01 1.28366054e-01 1.52745396e+00] [-2.80039707e-01 9.59279606e-01 -3.68836084e-02 4.82129653e-02] [-1.33556964e-01 -8.84095232e-04 9.91040744e-01 -1.28979473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710792138000002 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:-12.93 [[ 9.48988961e-01 2.85957809e-01 1.32846090e-01 1.52677410e+00] [-2.83363164e-01 9.58241515e-01 -3.84514866e-02 4.81576890e-02] [-1.38294142e-01 -1.15365217e-03 9.90390529e-01 -1.29286816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:1.53, Y:0.04, Z:-12.96 [[ 9.49665956e-01 2.82859056e-01 1.34630335e-01 1.52844088e+00] [-2.80391972e-01 9.59158770e-01 -3.73469603e-02 4.47132829e-02] [-1.39695793e-01 -2.28212860e-03 9.90191839e-01 -1.29598871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770792138 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:1.53, Y:0.04, Z:-12.99 [[ 9.50620414e-01 2.78757636e-01 1.36436828e-01 1.53099746e+00] [-2.76540805e-01 9.60352538e-01 -3.53296753e-02 4.05351813e-02] [-1.40875870e-01 -4.14523964e-03 9.90018589e-01 -1.29916843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800792138000002 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:1.54, Y:0.04, Z:-13.02 [[ 9.49465634e-01 2.82993010e-01 1.35757009e-01 1.53630832e+00] [-2.80600104e-01 9.59116957e-01 -3.68543740e-02 4.14193840e-02] [-1.40636380e-01 -3.10146923e-03 9.90056458e-01 -1.30232402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830792138 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:1.54, Y:0.04, Z:-13.05 [[ 9.49361160e-01 2.86253787e-01 1.29507364e-01 1.54485908e+00] [-2.83955800e-01 9.58150983e-01 -3.62739230e-02 4.09502100e-02] [-1.34471156e-01 -2.33731359e-03 9.90914752e-01 -1.30545795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:1.54, Y:0.04, Z:-13.09 [[ 9.45749994e-01 2.95521210e-01 1.34996900e-01 1.54443989e+00] [-2.92949485e-01 9.55332451e-01 -3.89936905e-02 4.45832918e-02] [-1.40490382e-01 -2.66898967e-03 9.90078446e-01 -1.30853872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890792138000002 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:1.55, Y:0.04, Z:-13.12 [[ 9.47351990e-01 2.89956920e-01 1.35827800e-01 1.54628779e+00] [-2.87613396e-01 9.57031314e-01 -3.70081002e-02 4.07061811e-02] [-1.40722212e-01 -4.00619739e-03 9.90041014e-01 -1.31184496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:1.55, Y:0.04, Z:-13.15 [[ 9.45384435e-01 2.96341002e-01 1.35758167e-01 1.55086751e+00] [-2.93858130e-01 9.55075608e-01 -3.84445390e-02 4.18616680e-02] [-1.41052008e-01 -3.54877238e-03 9.89995827e-01 -1.31503061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:-13.18 [[ 9.46717110e-01 2.95256185e-01 1.28648741e-01 1.56019338e+00] [-2.92954023e-01 9.55414155e-01 -3.69016583e-02 3.91999230e-02] [-1.33808271e-01 -2.75273482e-03 9.91003415e-01 -1.31816094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:-13.21 [[ 9.45228241e-01 3.00110098e-01 1.28364719e-01 1.56482453e+00] [-2.97647318e-01 9.53902686e-01 -3.84153698e-02 3.96049343e-02] [-1.33976290e-01 -1.89612174e-03 9.90982724e-01 -1.32138837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010792138 meters Centerline goodness : 0.999922 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:-13.24 [[ 9.43612448e-01 3.02204003e-01 1.35160235e-01 1.56246744e+00] [-2.99610870e-01 9.53238221e-01 -3.96260013e-02 4.02050330e-02] [-1.40815038e-01 -3.10388753e-03 9.90031056e-01 -1.32444683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040792138 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:1.57, Y:0.04, Z:-13.28 [[ 9.44542903e-01 3.02243400e-01 1.28404173e-01 1.57261495e+00] [-2.99832326e-01 9.53227665e-01 -3.81784757e-02 3.76332015e-02] [-1.33937602e-01 -2.43851350e-03 9.90986767e-01 -1.32763979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070792138 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:1.58, Y:0.04, Z:-13.31 [[ 9.42386334e-01 3.08804593e-01 1.28637945e-01 1.57720777e+00] [-3.06327404e-01 9.51122110e-01 -3.91184485e-02 3.87723274e-02] [-1.34430350e-01 -2.54063647e-03 9.90919788e-01 -1.33091242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:1.58, Y:0.04, Z:-13.34 [[ 9.41345432e-01 3.12017584e-01 1.28506052e-01 1.58228478e+00] [-3.09514951e-01 9.50072852e-01 -3.95230468e-02 3.89323136e-02] [-1.34421997e-01 -2.56970478e-03 9.90920846e-01 -1.33421292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:1.59, Y:0.03, Z:-13.38 [[ 9.44082621e-01 3.04231127e-01 1.27088262e-01 1.58513511e+00] [-3.01898917e-01 9.52594204e-01 -3.77004784e-02 3.49051969e-02] [-1.32533201e-01 -2.77544218e-03 9.91174681e-01 -1.33760327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:-13.41 [[ 9.32515888e-01 3.38330719e-01 1.26279228e-01 1.59489321e+00] [-3.35175921e-01 9.41027037e-01 -4.61000815e-02 4.89701071e-02] [-1.34429241e-01 6.63301908e-04 9.90922973e-01 -1.34057007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.60, Y:0.04, Z:-13.44 [[ 9.39077569e-01 3.19249251e-01 1.27331201e-01 1.59575405e+00] [-3.16612523e-01 9.47669028e-01 -4.09868772e-02 3.79574949e-02] [-1.33752866e-01 -1.82479596e-03 9.91013038e-01 -1.34384505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.60, Y:0.04, Z:-13.47 [[ 9.37672339e-01 3.23265079e-01 1.27554985e-01 1.59906744e+00] [-3.20567380e-01 9.46306786e-01 -4.17135667e-02 3.76939538e-02] [-1.34190687e-01 -1.77630963e-03 9.90953936e-01 -1.34698454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250792138 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:1.60, Y:0.03, Z:-13.50 [[ 9.38285217e-01 3.21387866e-01 1.27791590e-01 1.60226283e+00] [-3.18782547e-01 9.46944715e-01 -4.09071510e-02 3.49667819e-02] [-1.34158632e-01 -2.35515332e-03 9.90957070e-01 -1.35011910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280792138000002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:-13.53 [[ 9.37056970e-01 3.25012662e-01 1.27636219e-01 1.60653953e+00] [-3.22345835e-01 9.45707207e-01 -4.16057889e-02 3.48277180e-02] [-1.34228900e-01 -2.15600895e-03 9.90948008e-01 -1.35334200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310792138 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:-13.57 [[ 9.36105186e-01 3.27766185e-01 1.27579029e-01 1.61110231e+00] [-3.25049673e-01 9.44756748e-01 -4.21591973e-02 3.41882263e-02] [-1.34349507e-01 -2.00407839e-03 9.90931982e-01 -1.35655715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340792138 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:-13.60 [[ 9.35146043e-01 3.30158442e-01 1.28441746e-01 1.61398799e+00] [-3.27368264e-01 9.43923511e-01 -4.28768612e-02 3.33193881e-02] [-1.35395342e-01 -1.95162445e-03 9.90789732e-01 -1.35966942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370792138000002 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:1.62, Y:0.03, Z:-13.63 [[ 9.36975408e-01 3.25028766e-01 1.28192769e-01 1.61683192e+00] [-3.22277758e-01 9.45702528e-01 -4.22347671e-02 2.79735677e-02] [-1.34959740e-01 -1.74074015e-03 9.90849554e-01 -1.36289480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:1.62, Y:0.02, Z:-13.66 [[ 9.40567382e-01 3.14934500e-01 1.27079745e-01 1.61875323e+00] [-3.12412203e-01 9.49110793e-01 -3.98411639e-02 2.24268040e-02] [-1.33160115e-01 -2.22796386e-03 9.91092034e-01 -1.36614872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430792138 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:1.63, Y:0.03, Z:-13.69 [[ 9.34537247e-01 3.33329206e-01 1.24626542e-01 1.62516593e+00] [-3.30182363e-01 9.42809178e-01 -4.57215524e-02 2.88555062e-02] [-1.32739376e-01 1.57900767e-03 9.91149719e-01 -1.36945211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460792138000002 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:1.63, Y:0.03, Z:-13.73 [[ 9.34414921e-01 3.33768735e-01 1.24367149e-01 1.62866695e+00] [-3.30601095e-01 9.42653306e-01 -4.59092689e-02 2.82480768e-02] [-1.32558182e-01 1.78239034e-03 9.91173623e-01 -1.37268891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:1.63, Y:0.03, Z:-13.76 [[ 9.33750648e-01 3.35667400e-01 1.24246221e-01 1.63294383e+00] [-3.32473234e-01 9.41978729e-01 -4.62344260e-02 2.73363078e-02] [-1.32556687e-01 1.86288237e-03 9.91173675e-01 -1.37601199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:1.64, Y:0.03, Z:-13.79 [[ 9.30588137e-01 3.44245547e-01 1.24501900e-01 1.63813299e+00] [-3.41085232e-01 9.38879269e-01 -4.65465684e-02 2.95632306e-02] [-1.32915701e-01 8.49925019e-04 9.91126982e-01 -1.37920573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550792138000002 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:1.64, Y:0.03, Z:-13.82 [[ 9.25554972e-01 3.57319642e-01 1.25182536e-01 1.64402231e+00] [-3.53924708e-01 9.33981402e-01 -4.91532375e-02 3.30648464e-02] [-1.34481578e-01 1.18883083e-03 9.90915381e-01 -1.38230055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580792138 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:1.64, Y:0.02, Z:-13.86 [[ 9.36500971e-01 3.27054079e-01 1.26497277e-01 1.64257062e+00] [-3.24410422e-01 9.45003243e-01 -4.15541731e-02 1.69961745e-02] [-1.33130799e-01 -2.12151156e-03 9.91096206e-01 -1.38572470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610792138 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.65, Y:0.03, Z:-13.89 [[ 9.28551452e-01 3.49832204e-01 1.24135531e-01 1.65055909e+00] [-3.46678177e-01 9.36812249e-01 -4.68727107e-02 2.58853227e-02] [-1.32689270e-01 4.88643854e-04 9.91157565e-01 -1.38903289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640792138000002 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:1.65, Y:0.03, Z:-13.92 [[ 9.27605964e-01 3.52404519e-01 1.23928326e-01 1.65450655e+00] [-3.49232383e-01 9.35847648e-01 -4.71796829e-02 2.55831030e-02] [-1.32604366e-01 4.84370476e-04 9.91168930e-01 -1.39224464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670792138 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:1.66, Y:0.03, Z:-13.95 [[ 9.23881127e-01 3.61734409e-01 1.24867450e-01 1.66039245e+00] [-3.58584927e-01 9.32280876e-01 -4.76363117e-02 2.78808016e-02] [-1.33643228e-01 -7.65296012e-04 9.91029213e-01 -1.39541782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700792138 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:1.66, Y:0.02, Z:-13.99 [[ 9.25717351e-01 3.57074472e-01 1.24680420e-01 1.66296848e+00] [-3.53856395e-01 9.34075905e-01 -4.78315390e-02 2.32760210e-02] [-1.33540397e-01 1.59521811e-04 9.91043358e-01 -1.39857876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730792138 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:1.67, Y:0.02, Z:-14.02 [[ 9.24140023e-01 3.61069900e-01 1.24874913e-01 1.66740882e+00] [-3.57842200e-01 9.32538738e-01 -4.81711693e-02 2.38948459e-02] [-1.33843854e-01 -1.68608243e-04 9.91002419e-01 -1.40172617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760792138 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:1.67, Y:0.02, Z:-14.05 [[ 9.23816315e-01 3.62082728e-01 1.24336293e-01 1.67168600e+00] [-3.58859236e-01 9.32145960e-01 -4.82074408e-02 2.30366100e-02] [-1.33354655e-01 -8.44066424e-05 9.91068378e-01 -1.40502892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790792138 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:1.68, Y:0.02, Z:-14.08 [[ 9.23525891e-01 3.63189046e-01 1.23262507e-01 1.67555456e+00] [-3.59994773e-01 9.31715470e-01 -4.80629439e-02 2.18508991e-02] [-1.32301520e-01 1.35147828e-05 9.91209518e-01 -1.40826643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:1.68, Y:0.02, Z:-14.11 [[ 9.18897789e-01 3.74683244e-01 1.23447640e-01 1.68068551e+00] [-3.71280552e-01 9.27152766e-01 -5.03835305e-02 2.49005476e-02] [-1.33332685e-01 4.63606845e-04 9.91071229e-01 -1.41132545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:1.68, Y:0.01, Z:-14.15 [[ 9.29963866e-01 3.46135411e-01 1.23925320e-01 1.67985325e+00] [-3.43414363e-01 9.38181933e-01 -4.33732171e-02 1.06120254e-02] [-1.31277503e-01 -2.22221028e-03 9.91343169e-01 -1.41471988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:1.69, Y:0.02, Z:-14.18 [[ 9.18282117e-01 3.76471807e-01 1.22584389e-01 1.68915863e+00] [-3.73103974e-01 9.26427988e-01 -5.02454805e-02 2.24650482e-02] [-1.32481616e-01 4.02803325e-04 9.91185381e-01 -1.41783611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-14.21 [[ 9.28364449e-01 3.50618200e-01 1.23313943e-01 1.68832438e+00] [-3.47857441e-01 9.36516171e-01 -4.39620441e-02 9.20680286e-03] [-1.30899394e-01 -2.08287369e-03 9.91393469e-01 -1.42118458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:1.70, Y:0.02, Z:-14.24 [[ 9.21466730e-01 3.68942646e-01 1.21574623e-01 1.69571261e+00] [-3.65750016e-01 9.29452149e-01 -4.84316826e-02 1.56516978e-02] [-1.30866307e-01 1.62263964e-04 9.91400012e-01 -1.42441623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:1.70, Y:0.02, Z:-14.27 [[ 9.15624521e-01 3.82708923e-01 1.23148756e-01 1.70124886e+00] [-3.79299522e-01 9.23868973e-01 -5.09705232e-02 1.92756084e-02] [-1.33280188e-01 -4.04032862e-05 9.91078397e-01 -1.42747629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:1.70, Y:0.01, Z:-14.31 [[ 9.21459981e-01 3.67846453e-01 1.24901924e-01 1.70188235e+00] [-3.64860992e-01 9.29883403e-01 -4.68328179e-02 1.04194794e-02] [-1.33371512e-01 -2.41727229e-03 9.91063165e-01 -1.43069975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:1.71, Y:0.01, Z:-14.34 [[ 9.18180244e-01 3.71710108e-01 1.37027867e-01 1.70731536e+00] [-3.68009746e-01 9.28345901e-01 -5.23709321e-02 1.17252685e-02] [-1.46676064e-01 -2.34163530e-03 9.89181808e-01 -1.43380583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:1.71, Y:0.01, Z:-14.37 [[ 9.22248668e-01 3.61465727e-01 1.37112812e-01 1.70954388e+00] [-3.57793712e-01 9.32383958e-01 -5.14180322e-02 5.25921704e-03] [-1.46427643e-01 -1.63789037e-03 9.89220027e-01 -1.43705344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090792138 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:1.71, Y:0.00, Z:-14.40 [[ 9.22251744e-01 3.61638468e-01 1.36635794e-01 1.71293478e+00] [-3.57915076e-01 9.32317694e-01 -5.17736958e-02 2.76965728e-03] [-1.46111328e-01 -1.15562935e-03 9.89267479e-01 -1.44039190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120792138000002 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:1.72, Y:0.01, Z:-14.44 [[ 9.14475485e-01 3.81846251e-01 1.33895585e-01 1.71989778e+00] [-3.77789074e-01 9.24225842e-01 -5.55158457e-02 1.08439433e-02] [-1.44948277e-01 1.83590955e-04 9.89439217e-01 -1.44359109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:1.72, Y:0.01, Z:-14.47 [[ 9.15796627e-01 3.78991100e-01 1.32974751e-01 1.72273870e+00] [-3.74900429e-01 9.25399762e-01 -5.55423200e-02 7.22790546e-03] [-1.44104848e-01 1.01317809e-03 9.89561906e-01 -1.44673318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:-14.50 [[ 9.15338704e-01 3.80207525e-01 1.32654793e-01 1.72625551e+00] [-3.76142205e-01 9.24900799e-01 -5.54576654e-02 5.58188673e-03] [-1.43777946e-01 8.65481026e-04 9.89609596e-01 -1.44999769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210792138000002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:-14.53 [[ 9.11749614e-01 3.88943436e-01 1.32044098e-01 1.73194927e+00] [-3.84960137e-01 9.21261613e-01 -5.55223657e-02 8.08778193e-03] [-1.43242218e-01 -2.09218598e-04 9.89687639e-01 -1.45331374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240792138 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:1.74, Y:0.01, Z:-14.56 [[ 9.12430471e-01 3.87199209e-01 1.32466632e-01 1.73509255e+00] [-3.83122512e-01 9.21996001e-01 -5.60402915e-02 5.29365213e-03] [-1.43832461e-01 3.81920758e-04 9.89601979e-01 -1.45646606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270792138 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:1.74, Y:0.00, Z:-14.60 [[ 9.11712440e-01 3.88940158e-01 1.32310165e-01 1.73930131e+00] [-3.84828370e-01 9.21262879e-01 -5.64077427e-02 4.20953173e-03] [-1.43831680e-01 5.10935565e-04 9.89602035e-01 -1.45978917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300792138000002 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:1.74, Y:0.00, Z:-14.63 [[ 9.11780045e-01 3.88447660e-01 1.33287528e-01 1.74293303e+00] [-3.84268238e-01 9.21470594e-01 -5.68319045e-02 1.01652526e-03] [-1.44896758e-01 6.00032711e-04 9.89446598e-01 -1.46291446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330792138 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.00, Z:-14.66 [[ 9.11067701e-01 3.90169031e-01 1.33130660e-01 1.74713161e+00] [-3.85954470e-01 9.20742959e-01 -5.71974671e-02 -8.84099321e-05] [-1.44895798e-01 7.28391658e-04 9.89446652e-01 -1.46623762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.00, Z:-14.70 [[ 9.10268733e-01 3.91890937e-01 1.33537739e-01 1.75109186e+00] [-3.87673832e-01 9.20011583e-01 -5.73383518e-02 -2.03199638e-03] [-1.45326647e-01 4.24221846e-04 9.89383639e-01 -1.46952992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390792138000002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.00, Z:-14.73 [[ 9.09172685e-01 3.94485757e-01 1.33364226e-01 1.75551287e+00] [-3.90254288e-01 9.18901990e-01 -5.76257107e-02 -3.72206885e-03] [-1.45281175e-01 3.45760860e-04 9.89390348e-01 -1.47270601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.01, Z:-14.76 [[ 9.10451204e-01 3.91707421e-01 1.32830349e-01 1.75782216e+00] [-3.87435253e-01 9.20089204e-01 -5.77042559e-02 -7.33946641e-03] [-1.44818955e-01 1.07374951e-03 9.89457587e-01 -1.47602576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.01, Z:-14.79 [[ 9.06647773e-01 4.00593139e-01 1.32344068e-01 1.76326811e+00] [-3.96164482e-01 9.16254908e-01 -5.94192408e-02 -5.27100518e-03] [-1.45063842e-01 1.44230324e-03 9.89421246e-01 -1.47912651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.02, Z:-14.83 [[ 9.15711388e-01 3.78815655e-01 1.34057273e-01 1.76146686e+00] [-3.75013976e-01 9.25471320e-01 -5.35476819e-02 -1.69353330e-02] [-1.44350861e-01 -1.23912860e-03 9.89525792e-01 -1.48254849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.01, Z:-14.86 [[ 9.08324372e-01 3.96983334e-01 1.31723451e-01 1.76886184e+00] [-3.92688413e-01 9.17825056e-01 -5.82492632e-02 -1.08443348e-02] [-1.44023071e-01 1.18295227e-03 9.89573623e-01 -1.48583131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.01, Z:-14.89 [[ 9.07921887e-01 3.97940577e-01 1.31609816e-01 1.77241151e+00] [-3.93614251e-01 9.17410212e-01 -5.85348108e-02 -1.22728927e-02] [-1.44033565e-01 1.34153691e-03 9.89571893e-01 -1.48907072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570792138 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.01, Z:-14.92 [[ 9.03172872e-01 4.08589934e-01 1.31654961e-01 1.77785584e+00] [-4.04037053e-01 9.12716356e-01 -6.08515646e-02 -9.16454422e-03] [-1.45026973e-01 1.76599981e-03 9.89426126e-01 -1.49214326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.02, Z:-14.96 [[ 9.12447311e-01 3.86828028e-01 1.33431559e-01 1.77812639e+00] [-3.82935115e-01 9.22151173e-01 -5.47531863e-02 -2.05665011e-02] [-1.44224136e-01 -1.13623201e-03 9.89544394e-01 -1.49553285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630792138 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.01, Z:-14.99 [[ 9.05332096e-01 4.03760046e-01 1.31725556e-01 1.78577858e+00] [-3.99374398e-01 9.14864221e-01 -5.93594677e-02 -1.45910237e-02] [-1.44477979e-01 1.13221677e-03 9.89507368e-01 -1.49866875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660792138 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.02, Z:-15.02 [[ 9.04866057e-01 4.04736831e-01 1.31929967e-01 1.78904795e+00] [-4.00329087e-01 9.14432554e-01 -5.95795781e-02 -1.70865539e-02] [-1.44755107e-01 1.09613455e-03 9.89466906e-01 -1.50180122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690792138 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.01, Z:-15.05 [[ 9.00402988e-01 4.18749047e-01 1.17998702e-01 1.78589234e+00] [-4.15315562e-01 9.08101629e-01 -5.35202366e-02 -6.54704463e-03] [-1.29566361e-01 -8.16916234e-04 9.91570416e-01 -1.50526851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720792138 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.01, Z:-15.08 [[ 9.01766259e-01 4.15677610e-01 1.18447201e-01 1.78946667e+00] [-4.12150202e-01 9.09512021e-01 -5.40378966e-02 -9.83331473e-03] [-1.30191496e-01 -8.84857866e-05 9.91488863e-01 -1.50840208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.01, Z:-15.12 [[ 8.98314561e-01 4.23022647e-01 1.18670933e-01 1.79510232e+00] [-4.19512907e-01 9.06118635e-01 -5.43869524e-02 -8.59996450e-03] [-1.30536856e-01 -9.27396756e-04 9.91443024e-01 -1.51166991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.01, Z:-15.15 [[ 8.97213602e-01 4.25313723e-01 1.18810733e-01 1.79976476e+00] [-4.21772132e-01 9.05045476e-01 -5.47809661e-02 -1.07453832e-02] [-1.30828213e-01 -9.60828113e-04 9.91404587e-01 -1.51481938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.01, Z:-15.18 [[ 8.95070430e-01 4.29913584e-01 1.18419745e-01 1.80465863e+00] [-4.26399138e-01 9.02868992e-01 -5.48758517e-02 -1.02767023e-02] [-1.30509389e-01 -1.37632481e-03 9.91446118e-01 -1.51808685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840792138 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.02, Z:-15.21 [[ 8.96637449e-01 4.26957873e-01 1.17252975e-01 1.80815102e+00] [-4.23449355e-01 9.04271268e-01 -5.46270842e-02 -1.53198721e-02] [-1.29351960e-01 -6.70007336e-04 9.91598518e-01 -1.52134833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870792138000002 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.02, Z:-15.25 [[ 8.96400387e-01 4.27374283e-01 1.17548156e-01 1.81123812e+00] [-4.23809615e-01 9.04074681e-01 -5.50852147e-02 -1.89432148e-02] [-1.29814316e-01 -4.39631115e-04 9.91538224e-01 -1.52452558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900792138 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.02, Z:-15.28 [[ 8.95570704e-01 4.29138066e-01 1.17446300e-01 1.81534455e+00] [-4.25560130e-01 9.03238791e-01 -5.53015514e-02 -2.02915027e-02] [-1.29814055e-01 -4.54013412e-04 9.91538252e-01 -1.52784995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.02, Z:-15.31 [[ 8.96726413e-01 4.26325355e-01 1.18863081e-01 1.81871216e+00] [-4.22856393e-01 9.04568528e-01 -5.42977832e-02 -2.35953364e-02] [-1.30668324e-01 -1.57175754e-03 9.91424893e-01 -1.53103597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960792138000002 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.02, Z:-15.34 [[ 8.94527584e-01 4.30933777e-01 1.18812803e-01 1.82316944e+00] [-4.27258891e-01 9.02383401e-01 -5.61608165e-02 -2.33230726e-02] [-1.31416294e-01 -5.26426970e-04 9.91327131e-01 -1.53416189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.03, Z:-15.37 [[ 8.95356519e-01 4.29039695e-01 1.19422123e-01 1.82630378e+00] [-4.25352623e-01 9.03285474e-01 -5.61293046e-02 -2.66834218e-02] [-1.31953969e-01 -5.40774588e-04 9.91255697e-01 -1.53742965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020792138 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.03, Z:-15.41 [[ 8.92057135e-01 4.36156139e-01 1.18329582e-01 1.83183139e+00] [-4.32458594e-01 8.99870793e-01 -5.66755688e-02 -2.61720281e-02] [-1.31200732e-01 -6.14799171e-04 9.91355632e-01 -1.54059553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050792138000002 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.03, Z:-15.44 [[ 8.92157837e-01 4.36054335e-01 1.17944949e-01 1.83576878e+00] [-4.32419716e-01 8.99919918e-01 -5.61901317e-02 -2.88629074e-02] [-1.30642959e-01 -8.71254829e-04 9.91429099e-01 -1.54374918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080792138 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.03, Z:-15.47 [[ 8.92329009e-01 4.35684125e-01 1.18018143e-01 1.84037327e+00] [-4.32094721e-01 9.00098853e-01 -5.58230029e-02 -3.14504620e-02] [-1.30549191e-01 -1.18253170e-03 9.91441128e-01 -1.54682131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110792138 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:-15.50 [[ 8.93925124e-01 4.32227202e-01 1.18648715e-01 1.84295490e+00] [-4.28755056e-01 9.01762602e-01 -5.47111662e-02 -3.52050351e-02] [-1.30640629e-01 -1.96355061e-03 9.91427844e-01 -1.55004454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140792138000002 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.03, Z:-15.53 [[ 8.88699049e-01 4.42915922e-01 1.18488344e-01 1.84951734e+00] [-4.39374617e-01 8.96560094e-01 -5.59458976e-02 -3.25040339e-02] [-1.31011249e-01 -2.34170464e-03 9.91378116e-01 -1.55326130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170792138 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.04, Z:-15.57 [[ 8.90435429e-01 4.39252819e-01 1.19086980e-01 1.85220867e+00] [-4.35821674e-01 8.98358366e-01 -5.48790932e-02 -3.63174120e-02] [-1.31088581e-01 -3.03439815e-03 9.91366015e-01 -1.55658317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200792138 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:-15.60 [[ 8.89866073e-01 4.40576334e-01 1.18451959e-01 1.85626467e+00] [-4.37114311e-01 8.97711189e-01 -5.51878536e-02 -3.86823402e-02] [-1.30650112e-01 -2.66724816e-03 9.91424951e-01 -1.55980395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230792138 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:-15.63 [[ 8.89278049e-01 4.41628462e-01 1.18948949e-01 1.86017809e+00] [-4.38117374e-01 8.97194161e-01 -5.56399544e-02 -4.04456632e-02] [-1.31292490e-01 -2.63421090e-03 9.91340175e-01 -1.56302080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260792138 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:-15.66 [[ 8.88816243e-01 4.42479590e-01 1.19237153e-01 1.86400787e+00] [-4.39067187e-01 8.96771726e-01 -5.49588582e-02 -4.19968177e-02] [-1.31246681e-01 -3.50479556e-03 9.91343546e-01 -1.56617045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.05, Z:-15.69 [[ 8.95565656e-01 4.28676080e-01 1.19159451e-01 1.86522807e+00] [-4.25465366e-01 9.03450746e-01 -5.24973503e-02 -5.09920162e-02] [-1.30159053e-01 -3.68339556e-03 9.91486285e-01 -1.56943245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.04, Z:-15.73 [[ 8.84387191e-01 4.52036547e-01 1.16285241e-01 1.87422910e+00] [-4.48287711e-01 8.91999106e-01 -5.81009766e-02 -4.26748400e-02] [-1.29990096e-01 -7.45484881e-04 9.91515012e-01 -1.57268458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.04, Z:-15.76 [[ 8.82989964e-01 4.54805369e-01 1.16106844e-01 1.87812717e+00] [-4.51038640e-01 8.90590511e-01 -5.84182008e-02 -4.35018639e-02] [-1.29972565e-01 -7.85987856e-04 9.91517279e-01 -1.57591298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.04, Z:-15.79 [[ 8.81439664e-01 4.57660660e-01 1.16665499e-01 1.88264116e+00] [-4.53871689e-01 8.89126212e-01 -5.87798464e-02 -4.41223567e-02] [-1.30631577e-01 -1.14027905e-03 9.91430326e-01 -1.57914373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.05, Z:-15.82 [[ 8.80348779e-01 4.59849380e-01 1.16295208e-01 1.88719347e+00] [-4.56064040e-01 8.87996131e-01 -5.88936567e-02 -4.56843973e-02] [-1.30351907e-01 -1.19110373e-03 9.91467075e-01 -1.58238707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440792138 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.05, Z:-15.86 [[ 8.78686176e-01 4.62794054e-01 1.17184758e-01 1.89156449e+00] [-4.58935594e-01 8.86464776e-01 -5.96516601e-02 -4.67755689e-02] [-1.31486594e-01 -1.36516751e-03 9.91317009e-01 -1.58565333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-15.89 [[ 8.77391052e-01 4.65130325e-01 1.17638102e-01 1.89590496e+00] [-4.61206925e-01 8.85241189e-01 -6.03009858e-02 -4.72499865e-02] [-1.32185911e-01 -1.34796216e-03 9.91224025e-01 -1.58882223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-15.92 [[ 8.77061159e-01 4.65556275e-01 1.18410631e-01 1.89930721e+00] [-4.61572899e-01 8.85017261e-01 -6.07857388e-02 -4.91232998e-02] [-1.33094635e-01 -1.34232785e-03 9.91102425e-01 -1.59206423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-15.95 [[ 8.76029352e-01 4.67661309e-01 1.17751753e-01 1.90396732e+00] [-4.63700308e-01 8.83906668e-01 -6.07538180e-02 -4.95485930e-02] [-1.32493770e-01 -1.37939637e-03 9.91182878e-01 -1.59531694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560792138 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.05, Z:-15.99 [[ 8.73922904e-01 4.71512586e-01 1.18045076e-01 1.90870872e+00] [-4.67525598e-01 8.81857703e-01 -6.12111702e-02 -4.98046917e-02] [-1.32960797e-01 -1.69525130e-03 9.91119848e-01 -1.59863854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590792138 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.05, Z:-16.02 [[ 8.74225813e-01 4.71089926e-01 1.17488339e-01 1.91148433e+00] [-4.67080802e-01 8.82084304e-01 -6.13417081e-02 -5.24890467e-02] [-1.32532080e-01 -1.25004306e-03 9.91177928e-01 -1.60180143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620792138000002 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.06, Z:-16.05 [[ 8.74790430e-01 4.69976411e-01 1.17744965e-01 1.91407545e+00] [-4.65927383e-01 8.82678406e-01 -6.15670794e-02 -5.61340040e-02] [-1.32866013e-01 -1.00231155e-03 9.91133502e-01 -1.60509511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-16.08 [[ 8.72846345e-01 4.73627685e-01 1.17541795e-01 1.91854111e+00] [-4.69584407e-01 8.80724232e-01 -6.17682064e-02 -5.63786863e-02] [-1.32777039e-01 -1.28164081e-03 9.91145103e-01 -1.60841506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680792138 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-16.12 [[ 8.73413183e-01 4.72577973e-01 1.17556245e-01 1.92187425e+00] [-4.68484518e-01 8.81288444e-01 -6.20720130e-02 -5.88680522e-02] [-1.32934826e-01 -8.58766410e-04 9.91124409e-01 -1.61173112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710792138000002 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.06, Z:-16.15 [[ 8.73289289e-01 4.72623732e-01 1.18290424e-01 1.92561622e+00] [-4.68433343e-01 8.81264139e-01 -6.27990412e-02 -6.10131160e-02] [-1.33925426e-01 -5.69448629e-04 9.90991249e-01 -1.61494902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.06, Z:-16.18 [[ 8.70441003e-01 4.77667924e-01 1.19020224e-01 1.93072651e+00] [-4.73430960e-01 8.78539800e-01 -6.34897360e-02 -6.07154262e-02] [-1.34891014e-01 -1.08378944e-03 9.90859849e-01 -1.61816639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.06, Z:-16.21 [[ 8.68979229e-01 4.80146533e-01 1.19726379e-01 1.93464228e+00] [-4.75844472e-01 8.77187430e-01 -6.41424296e-02 -6.23852003e-02] [-1.35820240e-01 -1.23269663e-03 9.90732730e-01 -1.62144231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800792138000002 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.06, Z:-16.25 [[ 8.66485623e-01 4.84699028e-01 1.19455085e-01 1.93927883e+00] [-4.80415487e-01 8.74679431e-01 -6.43183771e-02 -6.27529531e-02] [-1.35659960e-01 -1.65712372e-03 9.90754071e-01 -1.62472752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.07, Z:-16.28 [[ 8.67097091e-01 4.83456636e-01 1.20051308e-01 1.94210415e+00] [-4.79073117e-01 8.75367515e-01 -6.49666249e-02 -6.66552870e-02] [-1.36497561e-01 -1.18098284e-03 9.90639703e-01 -1.62797317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860792138 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-16.31 [[ 8.65626431e-01 4.86025605e-01 1.20291283e-01 1.94568382e+00] [-4.81601657e-01 8.73943624e-01 -6.54399406e-02 -6.71746950e-02] [-1.36933287e-01 -1.28593914e-03 9.90579437e-01 -1.63112464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890792138000002 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-16.34 [[ 8.63904037e-01 4.89119635e-01 1.20132414e-01 1.95003902e+00] [-4.84697840e-01 8.72215377e-01 -6.56379524e-02 -6.77074506e-02] [-1.36886150e-01 -1.52302956e-03 9.90585616e-01 -1.63436322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920792138 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-16.38 [[ 8.62911718e-01 4.90901106e-01 1.19997796e-01 1.95403991e+00] [-4.86462352e-01 8.71213972e-01 -6.58831969e-02 -6.92647061e-02] [-1.36885890e-01 -1.52302715e-03 9.90585652e-01 -1.63768807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950792138 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.07, Z:-16.41 [[ 8.61915797e-01 4.92680522e-01 1.19862677e-01 1.95803762e+00] [-4.88224828e-01 8.70208931e-01 -6.61281649e-02 -7.08301406e-02] [-1.36885631e-01 -1.52302474e-03 9.90585688e-01 -1.64101293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980792138 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.07, Z:-16.44 [[ 8.61035315e-01 4.94209892e-01 1.19894827e-01 1.96206080e+00] [-4.89722110e-01 8.69341348e-01 -6.64671099e-02 -7.24105189e-02] [-1.37078234e-01 -1.48461882e-03 9.90559112e-01 -1.64430469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010792138 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.08, Z:-16.47 [[ 8.62513012e-01 4.91528469e-01 1.20295752e-01 1.96437277e+00] [-4.86936998e-01 8.70861174e-01 -6.70311547e-02 -7.61223440e-02] [-1.37708620e-01 -7.61208950e-04 9.90472492e-01 -1.64747974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040792138 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.08, Z:-16.51 [[ 8.61386129e-01 4.93374965e-01 1.20810101e-01 1.96855322e+00] [-4.88722123e-01 8.69816353e-01 -6.76032456e-02 -7.74375908e-02] [-1.38436351e-01 -8.10071194e-04 9.90371002e-01 -1.65071368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070792138 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.08, Z:-16.54 [[ 8.62050983e-01 4.92219323e-01 1.20781788e-01 1.97117969e+00] [-4.87509833e-01 8.70471155e-01 -6.79273913e-02 -8.00929585e-02] [-1.38572237e-01 -3.25434839e-04 9.90352275e-01 -1.65387598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100792138 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.08, Z:-16.57 [[ 8.61134285e-01 4.93852707e-01 1.20653414e-01 1.97501477e+00] [-4.89127323e-01 8.69545513e-01 -6.81547010e-02 -8.16836691e-02] [-1.38572019e-01 -3.24531830e-04 9.90352306e-01 -1.65710159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.08, Z:-16.60 [[ 8.60873437e-01 4.94246396e-01 1.20902544e-01 1.97888105e+00] [-4.89466436e-01 8.69321850e-01 -6.85720737e-02 -8.40658870e-02] [-1.38994723e-01 -1.45860510e-04 9.90293111e-01 -1.66037675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.09, Z:-16.64 [[ 8.61826795e-01 4.92519734e-01 1.21156459e-01 1.98192586e+00] [-4.87653801e-01 8.70301167e-01 -6.90626539e-02 -8.70445141e-02] [-1.39457328e-01 4.37637746e-04 9.90227985e-01 -1.66355122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:-16.67 [[ 8.59327302e-01 4.96832783e-01 1.21300341e-01 1.98656348e+00] [-4.91956181e-01 8.67846291e-01 -6.94401228e-02 -8.71228299e-02] [-1.39770181e-01 -2.65910904e-06 9.90183971e-01 -1.66679988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:-16.70 [[ 8.58833166e-01 4.97780577e-01 1.20913564e-01 1.98984858e+00] [-4.92897566e-01 8.67302991e-01 -6.95522182e-02 -8.93185145e-02] [-1.39490439e-01 1.35750433e-04 9.90223409e-01 -1.67001640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:-16.73 [[ 8.59610878e-01 4.96581455e-01 1.20316237e-01 1.99287254e+00] [-4.91696456e-01 8.67989939e-01 -6.94842584e-02 -9.24500988e-02] [-1.38937878e-01 5.70356874e-04 9.90300934e-01 -1.67333752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.09, Z:-16.77 [[ 8.59065991e-01 4.97787744e-01 1.19218226e-01 1.99698320e+00] [-4.92960619e-01 8.67298651e-01 -6.91583585e-02 -9.30849259e-02] [-1.37823990e-01 6.41703447e-04 9.90456529e-01 -1.67658760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310792138 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:-16.80 [[ 8.64010324e-01 4.89574374e-01 1.17486562e-01 1.99850671e+00] [-4.84769958e-01 8.71958790e-01 -6.84540446e-02 -9.77245033e-02] [-1.35956786e-01 2.19104570e-03 9.90712346e-01 -1.67988389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:-16.83 [[ 8.68214055e-01 4.81983661e-01 1.17881744e-01 2.00058719e+00] [-4.77038615e-01 8.76172648e-01 -6.89612339e-02 -1.02816395e-01] [-1.36522948e-01 3.63896840e-03 9.90630225e-01 -1.68315473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370792138000002 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.10, Z:-16.86 [[ 8.52728603e-01 5.09559010e-01 1.14906680e-01 2.00923801e+00] [-5.05060382e-01 8.60435608e-01 -6.75616320e-02 -9.60285562e-02] [-1.33296437e-01 -4.23075638e-04 9.91076123e-01 -1.68630262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400792138 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.10, Z:-16.90 [[ 8.48378864e-01 5.16789161e-01 1.14814054e-01 2.01370032e+00] [-5.12324712e-01 8.56111708e-01 -6.77947879e-02 -9.55258395e-02] [-1.33329268e-01 -1.30641210e-03 9.91070936e-01 -1.68954790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430792138 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.10, Z:-16.93 [[ 8.47197920e-01 5.18718773e-01 1.14832570e-01 2.01772366e+00] [-5.14223972e-01 8.54943924e-01 -6.81512540e-02 -9.70635812e-02] [-1.33526743e-01 -1.31205963e-03 9.91044342e-01 -1.69270256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460792138000002 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.10, Z:-16.96 [[ 8.43416732e-01 5.24655292e-01 1.15693734e-01 2.02252048e+00] [-5.20108640e-01 8.51312369e-01 -6.89510931e-02 -9.61305985e-02] [-1.34667063e-01 -2.01880504e-03 9.90888847e-01 -1.69598552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.10, Z:-16.99 [[ 8.45050014e-01 5.22051921e-01 1.15552003e-01 2.02494172e+00] [-5.17448169e-01 8.52912682e-01 -6.91906789e-02 -1.00233154e-01] [-1.34676896e-01 -1.32258814e-03 9.90888684e-01 -1.69928415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.10, Z:-17.02 [[ 8.42705941e-01 5.26023126e-01 1.14657610e-01 2.02926519e+00] [-5.21468162e-01 8.50468823e-01 -6.90922367e-02 -1.01333114e-01] [-1.33856837e-01 -1.56585469e-03 9.90999443e-01 -1.70244027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550792138000002 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.10, Z:-17.06 [[ 8.38627750e-01 5.32747401e-01 1.13506401e-01 2.03432032e+00] [-5.28333495e-01 8.46270506e-01 -6.84832073e-02 -1.00101347e-01] [-1.32541370e-01 -2.53731522e-03 9.91174227e-01 -1.70574243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.10, Z:-17.09 [[ 8.38232311e-01 5.33299440e-01 1.13834529e-01 2.03749584e+00] [-5.28805618e-01 8.45923532e-01 -6.91230524e-02 -1.01972894e-01] [-1.33158592e-01 -2.25516242e-03 9.91092177e-01 -1.70888301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.11, Z:-17.12 [[ 8.40116268e-01 5.30478673e-01 1.13123971e-01 2.03983135e+00] [-5.25988279e-01 8.47696731e-01 -6.88954457e-02 -1.05641526e-01] [-1.32442385e-01 -1.62169832e-03 9.91189379e-01 -1.71206608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640792138000002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.11, Z:-17.15 [[ 8.37474068e-01 5.34637966e-01 1.13134571e-01 2.04447957e+00] [-5.30173659e-01 8.45078316e-01 -6.89821101e-02 -1.06002878e-01] [-1.32488028e-01 -2.21024108e-03 9.91182141e-01 -1.71535607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.11, Z:-17.19 [[ 8.37590214e-01 5.34601344e-01 1.12445703e-01 2.04794847e+00] [-5.30144912e-01 8.45102251e-01 -6.89097815e-02 -1.08846376e-01] [-1.31867379e-01 -1.89435895e-03 9.91265558e-01 -1.71852238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700792138 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.11, Z:-17.22 [[ 8.37778459e-01 5.34366028e-01 1.12161501e-01 2.05111816e+00] [-5.29889101e-01 8.45251692e-01 -6.90443206e-02 -1.10888987e-01] [-1.31699638e-01 -1.58931225e-03 9.91288394e-01 -1.72170307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730792138 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.11, Z:-17.25 [[ 8.37093470e-01 5.35555019e-01 1.11603514e-01 2.05415456e+00] [-5.31096286e-01 8.44498953e-01 -6.89800842e-02 -1.13353900e-01] [-1.31191681e-01 -1.52943402e-03 9.91355841e-01 -1.72498680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760792138 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.11, Z:-17.28 [[ 8.35181260e-01 5.38571385e-01 1.11414212e-01 2.05808043e+00] [-5.34109248e-01 8.42578154e-01 -6.92052440e-02 -1.14117938e-01] [-1.31147145e-01 -1.70843797e-03 9.91361441e-01 -1.72815254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.12, Z:-17.31 [[ 8.34811357e-01 5.39273659e-01 1.10787717e-01 2.06144772e+00] [-5.34830956e-01 8.42129121e-01 -6.90969800e-02 -1.15279174e-01] [-1.30559744e-01 -1.56975700e-03 9.91439201e-01 -1.73140428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.12, Z:-17.35 [[ 8.36201073e-01 5.37469047e-01 1.09063239e-01 2.06380028e+00] [-5.33110461e-01 8.43282866e-01 -6.83172294e-02 -1.17350639e-01] [-1.28689557e-01 -1.01581318e-03 9.91684408e-01 -1.73466718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:-17.38 [[ 8.35416866e-01 5.38706771e-01 1.08966396e-01 2.06733390e+00] [-5.34321522e-01 8.42492839e-01 -6.86026721e-02 -1.18848421e-01] [-1.28760132e-01 -9.11261380e-04 9.91675349e-01 -1.73786174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:-17.41 [[ 8.34352617e-01 5.40381859e-01 1.08826266e-01 2.07112247e+00] [-5.35981897e-01 8.41419412e-01 -6.88242649e-02 -1.20578669e-01] [-1.28759917e-01 -9.05203102e-04 9.91675383e-01 -1.74108738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:-17.44 [[ 8.33493662e-01 5.41738854e-01 1.08661534e-01 2.07457999e+00] [-5.37325094e-01 8.40546414e-01 -6.90178978e-02 -1.21861382e-01] [-1.28724739e-01 -8.60588306e-04 9.91679989e-01 -1.74428055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:-17.48 [[ 8.31423171e-01 5.44971068e-01 1.08360723e-01 2.07833313e+00] [-5.40574254e-01 8.38454089e-01 -6.90957012e-02 -1.22343211e-01] [-1.28510649e-01 -1.12924998e-03 9.91707486e-01 -1.74753257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:-17.51 [[ 8.30348219e-01 5.46685739e-01 1.07965452e-01 2.08248683e+00] [-5.42294950e-01 8.37337112e-01 -6.91574185e-02 -1.23570125e-01] [-1.28210854e-01 -1.12438030e-03 9.91746294e-01 -1.75085645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000792138 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.12, Z:-17.54 [[ 8.27477504e-01 5.51010011e-01 1.08022905e-01 2.08680804e+00] [-5.46608881e-01 8.34497249e-01 -6.95203082e-02 -1.23940762e-01] [-1.28451203e-01 -1.51978803e-03 9.91714666e-01 -1.75413891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.13, Z:-17.57 [[ 8.25717815e-01 5.53687396e-01 1.07797757e-01 2.09079604e+00] [-5.49282962e-01 8.32722982e-01 -6.97184470e-02 -1.25043589e-01] [-1.28367895e-01 -1.64370736e-03 9.91725255e-01 -1.75731542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.13, Z:-17.61 [[ 8.24948478e-01 5.54797663e-01 1.07979456e-01 2.09439877e+00] [-5.50348144e-01 8.31983840e-01 -7.01413588e-02 -1.27184845e-01] [-1.28751425e-01 -1.56328630e-03 9.91675666e-01 -1.76050478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.13, Z:-17.64 [[ 8.23577606e-01 5.56875231e-01 1.07749270e-01 2.09863589e+00] [-5.52411636e-01 8.30594701e-01 -7.03834299e-02 -1.28128467e-01] [-1.28690762e-01 -1.55573392e-03 9.91683552e-01 -1.76367215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.13, Z:-17.67 [[ 8.17003675e-01 5.66207159e-01 1.09153329e-01 2.10405947e+00] [-5.61550637e-01 8.24260388e-01 -7.24961721e-02 -1.27411117e-01] [-1.31018617e-01 -2.06548223e-03 9.91377756e-01 -1.76684193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:-17.70 [[ 8.19862130e-01 5.61655002e-01 1.11219362e-01 2.10738723e+00] [-5.57211199e-01 8.27361545e-01 -7.06296934e-02 -1.31822736e-01] [-1.31688144e-01 -4.06606338e-03 9.91282856e-01 -1.77012021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:-17.73 [[ 8.19722969e-01 5.61763167e-01 1.11697802e-01 2.11315329e+00] [-5.57343883e-01 8.27285917e-01 -7.04684795e-02 -1.31402862e-01] [-1.31992615e-01 -4.48945530e-03 9.91240533e-01 -1.77345621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210792138000002 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.13, Z:-17.77 [[ 8.09201611e-01 5.77021621e-01 1.10629120e-01 2.12429565e+00] [-5.72369769e-01 8.16718783e-01 -7.32343992e-02 -1.25346752e-01] [-1.32610712e-01 -4.05937021e-03 9.91159886e-01 -1.77669405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240792138 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.13, Z:-17.80 [[ 8.07580800e-01 5.79161379e-01 1.11289482e-01 2.13113184e+00] [-5.74429223e-01 8.15202274e-01 -7.40021605e-02 -1.27679136e-01] [-1.33582632e-01 -4.16520656e-03 9.91028926e-01 -1.77998407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270792138 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.14, Z:-17.83 [[ 8.14448955e-01 5.69161067e-01 1.12821006e-01 2.12887587e+00] [-5.64150947e-01 8.22222973e-01 -7.53862826e-02 -1.40024475e-01] [-1.35670960e-01 -2.24979811e-03 9.90751396e-01 -1.78319686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300792138000002 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.15, Z:-17.86 [[ 8.17829343e-01 5.64190748e-01 1.13331219e-01 2.12900191e+00] [-5.59045864e-01 8.25643633e-01 -7.60283666e-02 -1.48198993e-01] [-1.36465700e-01 -1.17912005e-03 9.90644095e-01 -1.78649720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330792138 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.16, Z:-17.90 [[ 8.20479941e-01 5.60632287e-01 1.11821755e-01 2.12874166e+00] [-5.55546163e-01 8.28064821e-01 -7.53466181e-02 -1.55434136e-01] [-1.34837409e-01 -3.01758453e-04 9.90867692e-01 -1.78973534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360792138 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.16, Z:-17.93 [[ 8.23002601e-01 5.57198790e-01 1.10436536e-01 2.12970333e+00] [-5.52164102e-01 8.30378967e-01 -7.47367136e-02 -1.60391406e-01] [-1.33347383e-01 5.29419087e-04 9.91069218e-01 -1.79305545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390792138000002 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.16, Z:-17.96 [[ 8.23448963e-01 5.56774815e-01 1.09241065e-01 2.13276077e+00] [-5.51785441e-01 8.30662909e-01 -7.43771445e-02 -1.62722874e-01] [-1.32153822e-01 9.68153122e-04 9.91228748e-01 -1.79624783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.16, Z:-17.99 [[ 8.14737117e-01 5.69297365e-01 1.10017907e-01 2.14152452e+00] [-5.63989449e-01 8.22130885e-01 -7.75674535e-02 -1.61017868e-01] [-1.34608066e-01 1.14814468e-03 9.90898254e-01 -1.79926750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450792138 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.17, Z:-18.02 [[ 8.28783282e-01 5.47852284e-01 1.13912888e-01 2.13711665e+00] [-5.42958443e-01 8.36574096e-01 -7.30746907e-02 -1.74479391e-01] [-1.35330708e-01 -1.28688243e-03 9.90799649e-01 -1.80244666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480792138 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.18, Z:-18.06 [[ 8.30449652e-01 5.45174936e-01 1.14619655e-01 2.13933502e+00] [-5.40364305e-01 8.38320145e-01 -7.22893693e-02 -1.78299036e-01] [-1.35498318e-01 -1.90368862e-03 9.90775747e-01 -1.80576596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510792138 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.18, Z:-18.09 [[ 8.31256054e-01 5.43963024e-01 1.14532097e-01 2.14199064e+00] [-5.39174638e-01 8.39107109e-01 -7.20414437e-02 -1.81836743e-01] [-1.35292578e-01 -1.86791559e-03 9.90803931e-01 -1.80896492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.19, Z:-18.12 [[ 8.38262724e-01 5.33130450e-01 1.14400739e-01 2.14237334e+00] [-5.28534468e-01 8.46030943e-01 -6.98781718e-02 -1.88715414e-01] [-1.34040746e-01 -1.88846712e-03 9.90974022e-01 -1.81226339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.18, Z:-18.16 [[ 8.22594995e-01 5.57716641e-01 1.10858572e-01 2.15363359e+00] [-5.52402476e-01 8.30029092e-01 -7.68323599e-02 -1.80014040e-01] [-1.34866526e-01 1.96336506e-03 9.90861830e-01 -1.81556022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600792138 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.18, Z:-18.19 [[ 8.19957236e-01 5.61247639e-01 1.12566513e-01 2.15961873e+00] [-5.55747202e-01 8.27646121e-01 -7.84024617e-02 -1.80223523e-01] [-1.37168434e-01 1.72814109e-03 9.90546230e-01 -1.81874904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630792138 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.18, Z:-18.22 [[ 8.16439944e-01 5.66288097e-01 1.12887596e-01 2.16538980e+00] [-5.60758286e-01 8.24206557e-01 -7.89537568e-02 -1.80618613e-01] [-1.37753269e-01 1.15834608e-03 9.90465898e-01 -1.82199880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.18, Z:-18.25 [[ 8.15074845e-01 5.68234300e-01 1.12972460e-01 2.16933073e+00] [-5.62666742e-01 8.22866049e-01 -7.93574404e-02 -1.82176611e-01] [-1.38054822e-01 1.11640720e-03 9.90423960e-01 -1.82523980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.18, Z:-18.29 [[ 8.13961296e-01 5.69883103e-01 1.12695415e-01 2.17252832e+00] [-5.64309955e-01 8.21725004e-01 -7.95128453e-02 -1.84472506e-01] [-1.37917668e-01 1.12523383e-03 9.90443058e-01 -1.82856427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.18, Z:-18.32 [[ 8.10465535e-01 5.74729528e-01 1.13276587e-01 2.17865975e+00] [-5.69095404e-01 8.18343211e-01 -8.02795777e-02 -1.83204574e-01] [-1.38838170e-01 5.98645826e-04 9.90314902e-01 -1.83185385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.19, Z:-18.35 [[ 8.09291339e-01 5.76416175e-01 1.13101380e-01 2.18233202e+00] [-5.70764042e-01 8.17156053e-01 -8.05257267e-02 -1.85107300e-01] [-1.38837809e-01 6.14572249e-04 9.90314942e-01 -1.83507972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780792138 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.19, Z:-18.38 [[ 8.09471612e-01 5.76298764e-01 1.12407487e-01 2.18516679e+00] [-5.70672368e-01 8.17238616e-01 -8.03373765e-02 -1.86521715e-01] [-1.38162070e-01 8.82979056e-04 9.90409240e-01 -1.83833520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810792138 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.19, Z:-18.42 [[ 8.08297514e-01 5.77987681e-01 1.12184536e-01 2.18888587e+00] [-5.72334401e-01 8.16044900e-01 -8.06477120e-02 -1.88362259e-01] [-1.38161002e-01 9.80276066e-04 9.90409297e-01 -1.84156051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840792138 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.19, Z:-18.45 [[ 8.07607011e-01 5.78937816e-01 1.12258277e-01 2.19225098e+00] [-5.73272471e-01 8.15371202e-01 -8.07989925e-02 -1.90092219e-01] [-1.38309758e-01 8.99253043e-04 9.90388612e-01 -1.84484168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870792138 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.19, Z:-18.48 [[ 8.08003549e-01 5.78258923e-01 1.12902090e-01 2.19502729e+00] [-5.72466675e-01 8.15852202e-01 -8.16522556e-02 -1.92957390e-01] [-1.39327564e-01 1.34262818e-03 9.90245438e-01 -1.84800256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900792138 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.19, Z:-18.51 [[ 8.07287339e-01 5.79363086e-01 1.12363546e-01 2.19829605e+00] [-5.73591471e-01 8.15068351e-01 -8.15868111e-02 -1.94775050e-01] [-1.38852357e-01 1.41322821e-03 9.90312085e-01 -1.85126687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930792138 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.20, Z:-18.54 [[ 8.06379297e-01 5.80595528e-01 1.12522270e-01 2.20187352e+00] [-5.74766008e-01 8.14190724e-01 -8.20822778e-02 -1.96407804e-01] [-1.39271192e-01 1.51547362e-03 9.90253118e-01 -1.85447871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960792138000002 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.20, Z:-18.58 [[ 8.03848287e-01 5.84120911e-01 1.12386355e-01 2.20630001e+00] [-5.78295976e-01 8.11665828e-01 -8.22942758e-02 -1.97121360e-01] [-1.39289971e-01 1.15953611e-03 9.90250958e-01 -1.85780443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990792138 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.20, Z:-18.61 [[ 8.01171661e-01 5.87802803e-01 1.12302423e-01 2.21121846e+00] [-5.81971882e-01 8.09003833e-01 -8.25925310e-02 -1.97325559e-01] [-1.39401212e-01 8.13942603e-04 9.90235649e-01 -1.86107572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020792138 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.20, Z:-18.64 [[ 8.00245528e-01 5.88950962e-01 1.12888706e-01 2.21488692e+00] [-5.83018615e-01 8.08168256e-01 -8.33868403e-02 -1.99709141e-01] [-1.40343828e-01 9.13728958e-04 9.90102406e-01 -1.86436476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050792138000002 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.20, Z:-18.68 [[ 7.95174757e-01 5.95622496e-01 1.13714328e-01 2.21982579e+00] [-5.89613576e-01 8.03264489e-01 -8.43918979e-02 -1.99324943e-01] [-1.41608394e-01 5.87954422e-05 9.89922754e-01 -1.86758798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.20, Z:-18.71 [[ 7.96193804e-01 5.94395025e-01 1.13004341e-01 2.22207479e+00] [-5.88403115e-01 8.04173032e-01 -8.41873476e-02 -2.03019895e-01] [-1.40915584e-01 5.37338372e-04 9.90021469e-01 -1.87088375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.20, Z:-18.74 [[ 7.95444451e-01 5.95434773e-01 1.12807610e-01 2.22413719e+00] [-5.89418973e-01 8.03403377e-01 -8.44291907e-02 -2.04838473e-01] [-1.40902091e-01 6.67785363e-04 9.90023310e-01 -1.87412092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140792138000002 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.21, Z:-18.77 [[ 7.95080319e-01 5.95973345e-01 1.12530257e-01 2.22839831e+00] [-5.89946611e-01 8.03003784e-01 -8.45453651e-02 -2.06509146e-01] [-1.40749006e-01 8.33512130e-04 9.90044960e-01 -1.87740692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.21, Z:-18.81 [[ 7.94741266e-01 5.96401161e-01 1.12658667e-01 2.23105587e+00] [-5.90309854e-01 8.02685808e-01 -8.50280525e-02 -2.09922068e-01] [-1.41140342e-01 1.07178093e-03 9.89989018e-01 -1.88062550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.21, Z:-18.84 [[ 7.95162457e-01 5.95776569e-01 1.12990919e-01 2.23399415e+00] [-5.89597190e-01 8.03148923e-01 -8.55976671e-02 -2.13903426e-01] [-1.41745619e-01 1.44492314e-03 9.89902062e-01 -1.88388015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.22, Z:-18.87 [[ 7.93942548e-01 5.97436641e-01 1.12803770e-01 2.23760969e+00] [-5.91238987e-01 8.01914787e-01 -8.58436651e-02 -2.15912339e-01] [-1.41745162e-01 1.46095152e-03 9.89902104e-01 -1.88710601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.22, Z:-18.90 [[ 7.91817095e-01 6.00122228e-01 1.13485678e-01 2.24099201e+00] [-5.93828965e-01 7.99907334e-01 -8.66915080e-02 -2.17398198e-01] [-1.42803527e-01 1.25273518e-03 9.89750263e-01 -1.89041581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.22, Z:-18.94 [[ 7.92101430e-01 5.99619218e-01 1.14158300e-01 2.24377904e+00] [-5.93189997e-01 8.00283722e-01 -8.75876264e-02 -2.20667343e-01] [-1.43878253e-01 1.66072272e-03 9.89594003e-01 -1.89366152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.22, Z:-18.97 [[ 7.88431439e-01 6.04416297e-01 1.14266386e-01 2.24818923e+00] [-5.97970045e-01 7.96667906e-01 -8.80458580e-02 -2.21575739e-01] [-1.44248714e-01 1.09024623e-03 9.89540863e-01 -1.89695278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.22, Z:-19.00 [[ 7.89721379e-01 6.02780629e-01 1.13998496e-01 2.25077572e+00] [-5.96289245e-01 7.97905125e-01 -8.82414178e-02 -2.24909232e-01] [-1.44150202e-01 1.71005694e-03 9.89554342e-01 -1.90011124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.22, Z:-19.03 [[ 7.84767979e-01 6.08550723e-01 1.17495686e-01 2.25263592e+00] [-6.01742507e-01 7.93514795e-01 -9.07756839e-02 -2.23248703e-01] [-1.48476174e-01 5.35701207e-04 9.88915840e-01 -1.90335634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410792138 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.23, Z:-19.07 [[ 7.88776462e-01 6.03749738e-01 1.15403409e-01 2.25828018e+00] [-5.97273563e-01 7.97173661e-01 -8.81954935e-02 -2.29273524e-01] [-1.45244564e-01 6.39123774e-04 9.89395577e-01 -1.90654940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.23, Z:-19.10 [[ 7.86827793e-01 6.06051764e-01 1.16633114e-01 2.26152432e+00] [-5.99417648e-01 7.95425078e-01 -8.94283480e-02 -2.30442380e-01] [-1.46971112e-01 4.52763024e-04 9.89140681e-01 -1.90972582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.23, Z:-19.13 [[ 7.88564353e-01 6.03705171e-01 1.17074030e-01 2.26379491e+00] [-5.97238500e-01 7.97207554e-01 -8.81265553e-02 -2.33861432e-01] [-1.46534758e-01 -4.27657989e-04 9.89205430e-01 -1.91287082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.24, Z:-19.16 [[ 7.87762841e-01 6.05339639e-01 1.13989591e-01 2.26708751e+00] [-5.98869119e-01 7.95966258e-01 -8.82807693e-02 -2.35620187e-01] [-1.44171717e-01 1.27946379e-03 9.89551858e-01 -1.91620278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530792138 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.23, Z:-19.19 [[ 7.82081593e-01 6.12770435e-01 1.13405357e-01 2.27284718e+00] [-6.06213933e-01 7.90260091e-01 -8.94072486e-02 -2.34998782e-01] [-1.44405847e-01 1.17585582e-03 9.89517847e-01 -1.91940565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560792138 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.24, Z:-19.23 [[ 7.78404910e-01 6.17529271e-01 1.12886648e-01 2.27742092e+00] [-6.11033128e-01 7.86547698e-01 -8.93377592e-02 -2.35274403e-01] [-1.43959414e-01 5.63468955e-04 9.89583432e-01 -1.92271360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.24, Z:-19.26 [[ 7.74820526e-01 6.22118471e-01 1.12346607e-01 2.28258466e+00] [-6.15660646e-01 7.82923110e-01 -8.94056602e-02 -2.35840797e-01] [-1.43579668e-01 1.05955757e-04 9.89638756e-01 -1.92590973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.24, Z:-19.29 [[ 7.74062369e-01 6.23066138e-01 1.12321133e-01 2.28573212e+00] [-6.16603924e-01 7.82169155e-01 -8.95042684e-02 -2.38277258e-01] [-1.43621205e-01 2.42347218e-05 9.89632734e-01 -1.92923451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.24, Z:-19.32 [[ 7.73697181e-01 6.23024711e-01 1.15034264e-01 2.28795027e+00] [-6.16474025e-01 7.82201244e-01 -9.01165372e-02 -2.40579878e-01] [-1.46124774e-01 -1.19272492e-03 9.89265449e-01 -1.93241462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.24, Z:-19.36 [[ 7.73537281e-01 6.23666098e-01 1.12608492e-01 2.29253778e+00] [-6.17213303e-01 7.81690806e-01 -8.94830777e-02 -2.43547584e-01] [-1.43832585e-01 -2.84962867e-04 9.89601994e-01 -1.93572493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710792138000002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.24, Z:-19.39 [[ 7.71283378e-01 6.26617364e-01 1.11680926e-01 2.29642057e+00] [-6.20143188e-01 7.79327067e-01 -8.98429132e-02 -2.44960546e-01] [-1.43333098e-01 3.61799602e-05 9.89674503e-01 -1.93897502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.25, Z:-19.42 [[ 7.69375496e-01 6.29105764e-01 1.10848026e-01 2.29949687e+00] [-6.22698213e-01 7.77319705e-01 -8.95601042e-02 -2.47477157e-01] [-1.42507133e-01 -1.19518327e-04 9.89793768e-01 -1.94216740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.25, Z:-19.45 [[ 7.68208615e-01 6.30559699e-01 1.10679671e-01 2.30299215e+00] [-6.24137246e-01 7.76140742e-01 -8.97677319e-02 -2.49668446e-01] [-1.42506916e-01 -1.18960212e-04 9.89793799e-01 -1.94539339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800792138000002 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.25, Z:-19.49 [[ 7.64704398e-01 6.34831135e-01 1.10528790e-01 2.30744760e+00] [-6.28420837e-01 7.72650643e-01 -8.99901922e-02 -2.49968171e-01] [-1.42528717e-01 -6.42698970e-04 9.89790459e-01 -1.94857758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830792138 meters Centerline goodness : 0.986038 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.24, Z:-19.52 [[ 7.53765670e-01 6.47238432e-01 1.13664977e-01 2.30393368e+00] [-6.40247819e-01 7.62286580e-01 -9.48783435e-02 -2.42838707e-01] [-1.48054197e-01 -1.25771530e-03 9.88978449e-01 -1.95177745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:-19.55 [[ 7.76320932e-01 6.20117152e-01 1.13050999e-01 2.30734481e+00] [-6.14149872e-01 7.84504327e-01 -8.58655692e-02 -2.62568289e-01] [-1.41935710e-01 -2.77101753e-03 9.89872000e-01 -1.95500476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890792138000002 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.26, Z:-19.58 [[ 7.58231188e-01 6.42054172e-01 1.13366244e-01 2.31741690e+00] [-6.35595448e-01 7.66652859e-01 -9.08945586e-02 -2.55664312e-01] [-1.45271786e-01 -3.13597964e-03 9.89386817e-01 -1.95816507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.26, Z:-19.62 [[ 7.58109244e-01 6.42652101e-01 1.10763939e-01 2.32232355e+00] [-6.36201985e-01 7.66156449e-01 -9.08368338e-02 -2.57628303e-01] [-1.43238989e-01 -1.60399472e-03 9.89686829e-01 -1.96151658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.26, Z:-19.65 [[ 7.53814283e-01 6.47713318e-01 1.10596042e-01 2.32718143e+00] [-6.41203230e-01 7.61881905e-01 -9.16208563e-02 -2.58038198e-01] [-1.43605172e-01 -1.84942910e-03 9.89633333e-01 -1.96467282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.26, Z:-19.68 [[ 7.51146493e-01 6.50138637e-01 1.14449547e-01 2.32527650e+00] [-6.43313054e-01 7.59809632e-01 -9.40087128e-02 -2.57657589e-01] [-1.48078564e-01 -3.01257254e-03 9.88971012e-01 -1.96794875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010792138 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.27, Z:-19.71 [[ 7.55846277e-01 6.45327728e-01 1.10673072e-01 2.33030151e+00] [-6.38924056e-01 7.63902814e-01 -9.07113059e-02 -2.65293033e-01] [-1.43081992e-01 -2.14788523e-03 9.89708508e-01 -1.97111430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040792138 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.27, Z:-19.74 [[ 7.51242493e-01 6.50764234e-01 1.10184520e-01 2.33463447e+00] [-6.44240048e-01 7.59277442e-01 -9.19376225e-02 -2.65918969e-01] [-1.43490337e-01 -1.91783145e-03 9.89649860e-01 -1.97434550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070792138 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.27, Z:-19.78 [[ 7.52457432e-01 6.48877985e-01 1.12983066e-01 2.33572651e+00] [-6.42143981e-01 7.60888787e-01 -9.32703667e-02 -2.69949253e-01] [-1.46488636e-01 -2.36941539e-03 9.89209515e-01 -1.97750319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100792138 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.27, Z:-19.81 [[ 7.47221498e-01 6.54429867e-01 1.15678784e-01 2.33493985e+00] [-6.47448570e-01 7.56114097e-01 -9.54034673e-02 -2.68051975e-01] [-1.49901238e-01 -3.60854150e-03 9.88694390e-01 -1.98069256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.28, Z:-19.84 [[ 7.54676088e-01 6.46407343e-01 1.12345668e-01 2.34401570e+00] [-6.40210030e-01 7.62979504e-01 -8.94057868e-02 -2.77248601e-01] [-1.43509999e-01 -4.45241387e-03 9.89638851e-01 -1.98391127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.27, Z:-19.87 [[ 7.45570554e-01 6.57382050e-01 1.09422982e-01 2.35134326e+00] [-6.50868530e-01 7.53553720e-01 -9.23414726e-02 -2.74635502e-01] [-1.43159721e-01 -2.37289222e-03 9.89696753e-01 -1.98715080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.27, Z:-19.90 [[ 7.41193649e-01 6.62371820e-01 1.09066708e-01 2.35710548e+00] [-6.55898077e-01 7.49169142e-01 -9.24300259e-02 -2.74926908e-01] [-1.42932456e-01 -3.02809582e-03 9.89727813e-01 -1.99041480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.28, Z:-19.94 [[ 7.38640129e-01 6.65258188e-01 1.08822346e-01 2.36171062e+00] [-6.58788401e-01 7.46606162e-01 -9.26125310e-02 -2.76712364e-01] [-1.42858679e-01 -3.28356787e-03 9.89737650e-01 -1.99368818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.28, Z:-19.97 [[ 7.39417272e-01 6.64086181e-01 1.10687135e-01 2.36366213e+00] [-6.57516490e-01 7.47646266e-01 -9.32583858e-02 -2.79985247e-01] [-1.44686429e-01 -3.82175555e-03 9.89470177e-01 -1.99684367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.28, Z:-20.00 [[ 7.40769989e-01 6.62912036e-01 1.08662116e-01 2.36618859e+00] [-6.56569429e-01 7.48688984e-01 -9.15499323e-02 -2.83462937e-01] [-1.42043682e-01 -3.52678141e-03 9.89854108e-01 -2.00005138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310792138 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.29, Z:-20.03 [[ 7.38626874e-01 6.65487442e-01 1.07502588e-01 2.36919179e+00] [-6.59052285e-01 7.46404415e-01 -9.23609011e-02 -2.85580419e-01] [-1.41705426e-01 -2.62958293e-03 9.89905378e-01 -2.00329835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340792138 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.29, Z:-20.06 [[ 7.39939012e-01 6.64076525e-01 1.07203674e-01 2.37085477e+00] [-6.57588967e-01 7.47662031e-01 -9.26187727e-02 -2.89395140e-01] [-1.41658069e-01 -1.96371017e-03 9.89913701e-01 -2.00649502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370792138 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.29, Z:-20.10 [[ 7.39850928e-01 6.64132482e-01 1.07464647e-01 2.37344217e+00] [-6.57596588e-01 7.47612518e-01 -9.29636990e-02 -2.92702030e-01] [-1.42082127e-01 -1.88910596e-03 9.89853070e-01 -2.00976935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400792138 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.29, Z:-20.13 [[ 7.36330205e-01 6.67938302e-01 1.08056716e-01 2.37785800e+00] [-6.61310096e-01 7.44213027e-01 -9.38931692e-02 -2.93156027e-01] [-1.43132060e-01 -2.32262110e-03 9.89700873e-01 -2.01295950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430792138 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.29, Z:-20.16 [[ 7.33549681e-01 6.70996513e-01 1.08021037e-01 2.38176309e+00] [-6.64350839e-01 7.41455826e-01 -9.42402342e-02 -2.94037788e-01] [-1.43327696e-01 -2.63397273e-03 9.89671781e-01 -2.01617426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460792138000002 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.30, Z:-20.19 [[ 7.32182099e-01 6.72330473e-01 1.09000496e-01 2.38582832e+00] [-6.65529897e-01 7.40246290e-01 -9.54221505e-02 -2.96884735e-01] [-1.44842432e-01 -2.67669820e-03 9.89451113e-01 -2.01947398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.30, Z:-20.23 [[ 7.29105840e-01 6.75349735e-01 1.10938767e-01 2.38889740e+00] [-6.68227382e-01 7.37492378e-01 -9.78629532e-02 -2.98914398e-01] [-1.47908214e-01 -2.77987103e-03 9.88997185e-01 -2.02252608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.31, Z:-20.26 [[ 7.39372267e-01 6.64043225e-01 1.11244084e-01 2.38812680e+00] [-6.57353662e-01 7.47685702e-01 -9.40864214e-02 -3.07194449e-01] [-1.45653062e-01 -3.56181534e-03 9.89329318e-01 -2.02574308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550792138000002 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.31, Z:-20.29 [[ 7.31502641e-01 6.73011180e-01 1.09361049e-01 2.39436403e+00] [-6.66046162e-01 7.39629104e-01 -9.65986459e-02 -3.06248895e-01] [-1.45898583e-01 -2.17734232e-03 9.89297156e-01 -2.02901100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.31, Z:-20.32 [[ 7.27356253e-01 6.77192449e-01 1.11190230e-01 2.39719455e+00] [-6.70083712e-01 7.35798613e-01 -9.79194550e-02 -3.07406507e-01] [-1.48123932e-01 -3.28443404e-03 9.88963353e-01 -2.03222434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610792138 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.31, Z:-20.35 [[ 7.30295736e-01 6.74221778e-01 1.09968776e-01 2.40073343e+00] [-6.67255528e-01 7.38523815e-01 -9.67090249e-02 -3.11685435e-01] [-1.46417890e-01 -2.75108491e-03 9.89219001e-01 -2.03546478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640792138000002 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.31, Z:-20.39 [[ 7.19768756e-01 6.85287232e-01 1.10970026e-01 2.41132540e+00] [-6.78106850e-01 7.28262041e-01 -9.90227238e-02 -3.09267653e-01] [-1.48674266e-01 -3.97607222e-03 9.88878230e-01 -2.03865383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670792138 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.32, Z:-20.42 [[ 7.31548909e-01 6.72923841e-01 1.09588766e-01 2.40547347e+00] [-6.65730870e-01 7.39710851e-01 -9.81339181e-02 -3.20162187e-01] [-1.47100652e-01 -1.16686370e-03 9.89120840e-01 -2.04191501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700792138 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.31, Z:-20.45 [[ 7.15564170e-01 6.89264913e-01 1.13498009e-01 2.40192655e+00] [-6.81247508e-01 7.24505773e-01 -1.04848545e-01 -3.12227677e-01] [-1.54498386e-01 -2.29437403e-03 9.87990377e-01 -2.04503793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730792138 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.34, Z:-20.48 [[ 7.52315278e-01 6.48870725e-01 1.13967125e-01 2.40028323e+00] [-6.42427696e-01 7.60885298e-01 -9.13247975e-02 -3.37155389e-01] [-1.45973898e-01 -4.51059722e-03 9.89278159e-01 -2.04824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760792138 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.33, Z:-20.51 [[ 7.31067368e-01 6.73672281e-01 1.08195013e-01 2.41336011e+00] [-6.66520420e-01 7.39030017e-01 -9.79038464e-02 -3.28559420e-01] [-1.45914470e-01 -5.39878018e-04 9.89297062e-01 -2.05147328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790792138 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.33, Z:-20.54 [[ 7.23822281e-01 6.81543881e-01 1.07606895e-01 2.42010926e+00] [-6.74210924e-01 7.31777149e-01 -9.97087471e-02 -3.29515882e-01] [-1.46700153e-01 -3.78331120e-04 9.89180935e-01 -2.05440322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.34, Z:-20.58 [[ 7.49397295e-01 6.52739615e-01 1.11061647e-01 2.40961239e+00] [-6.46222466e-01 7.57577205e-01 -9.20505473e-02 -3.44504185e-01] [-1.44222811e-01 -2.78810053e-03 9.89541312e-01 -2.05782090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.34, Z:-20.61 [[ 7.32066551e-01 6.72874770e-01 1.06386599e-01 2.42075858e+00] [-6.65804198e-01 7.39756306e-01 -9.72901770e-02 -3.38096432e-01] [-1.44164263e-01 3.90240369e-04 9.89553694e-01 -2.06104945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880792138 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.34, Z:-20.64 [[ 7.32123401e-01 6.72701226e-01 1.07090553e-01 2.42390251e+00] [-6.65481180e-01 7.39913895e-01 -9.82966262e-02 -3.40899860e-01] [-1.45362049e-01 6.98512883e-04 9.89378283e-01 -2.06427968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.34, Z:-20.67 [[ 7.19151207e-01 6.86568943e-01 1.06979573e-01 2.43184331e+00] [-6.78912150e-01 7.27064141e-01 -1.02254724e-01 -3.37761649e-01] [-1.47985929e-01 9.06876437e-04 9.88989051e-01 -2.06724394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.35, Z:-20.71 [[ 7.39589656e-01 6.63450099e-01 1.13318604e-01 2.42534706e+00] [-6.56397765e-01 7.48214544e-01 -9.65244540e-02 -3.51265052e-01] [-1.48825787e-01 -2.99359086e-03 9.88858900e-01 -2.07055015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.35, Z:-20.74 [[ 7.37662531e-01 6.65648003e-01 1.12989938e-01 2.42962614e+00] [-6.58679242e-01 7.46257600e-01 -9.61314247e-02 -3.53550853e-01] [-1.48309291e-01 -3.51157685e-03 9.88934792e-01 -2.07382631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.35, Z:-20.77 [[ 7.31309861e-01 6.72876467e-01 1.11459169e-01 2.43522132e+00] [-6.65699920e-01 7.39750647e-01 -9.80438515e-02 -3.53081266e-01] [-1.48423393e-01 -2.49792455e-03 9.88920754e-01 -2.07704985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030792138 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.36, Z:-20.80 [[ 7.31373374e-01 6.72678843e-01 1.12232626e-01 2.43806861e+00] [-6.65383471e-01 7.39930695e-01 -9.88301725e-02 -3.56565177e-01] [-1.49525331e-01 -2.39597762e-03 9.88754992e-01 -2.08017097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060792138 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.36, Z:-20.83 [[ 7.29244390e-01 6.75033048e-01 1.11950899e-01 2.44152957e+00] [-6.67685387e-01 7.37783923e-01 -9.93534466e-02 -3.58435736e-01] [-1.49662433e-01 -2.29503546e-03 9.88734489e-01 -2.08339397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090792138 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.36, Z:-20.87 [[ 7.26741300e-01 6.77717686e-01 1.12008129e-01 2.44502008e+00] [-6.70251589e-01 7.35319056e-01 -1.00342876e-01 -3.59698016e-01] [-1.50365853e-01 -2.15031457e-03 9.88628083e-01 -2.08662833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120792138 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.36, Z:-20.90 [[ 7.27198032e-01 6.77228793e-01 1.12000820e-01 2.44677511e+00] [-6.69714111e-01 7.35770205e-01 -1.00624122e-01 -3.62837307e-01] [-1.50552419e-01 -1.83486587e-03 9.88600325e-01 -2.08981981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.37, Z:-20.93 [[ 7.31578010e-01 6.72286251e-01 1.13246689e-01 2.44818394e+00] [-6.64954777e-01 7.40285855e-01 -9.90555244e-02 -3.67690532e-01] [-1.50428589e-01 -2.83708340e-03 9.88616807e-01 -2.09308070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.37, Z:-20.97 [[ 7.32737260e-01 6.71432951e-01 1.10787638e-01 2.45127871e+00] [-6.64101795e-01 7.41064542e-01 -9.89552942e-02 -3.70429602e-01] [-1.48542635e-01 -1.06603791e-03 9.88905430e-01 -2.09651465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210792138000002 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.37, Z:-21.00 [[ 7.19688134e-01 6.85783469e-01 1.08397523e-01 2.45906073e+00] [-6.77901607e-01 7.27804744e-01 -1.03680596e-01 -3.66809188e-01] [-1.49994670e-01 1.13483907e-03 9.88686154e-01 -2.09955057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240792138 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.36, Z:-21.02 [[ 7.10764831e-01 6.94566129e-01 1.11315984e-01 2.46021455e+00] [-6.86379996e-01 7.19428385e-01 -1.06326386e-01 -3.64615882e-01] [-1.53934585e-01 -8.32008768e-04 9.88080691e-01 -2.10248240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.38, Z:-21.06 [[ 7.43536668e-01 6.58667238e-01 1.15371975e-01 2.45189331e+00] [-6.51730398e-01 7.52422463e-01 -9.54354511e-02 -3.84691496e-01] [-1.49668671e-01 -4.23166612e-03 9.88727152e-01 -2.10575374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300792138000002 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.38, Z:-21.09 [[ 7.24109927e-01 6.80767905e-01 1.10543534e-01 2.46350726e+00] [-6.73228055e-01 7.32498118e-01 -1.01046990e-01 -3.76428438e-01] [-1.49762478e-01 -1.25187990e-03 9.88721211e-01 -2.10899387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.38, Z:-21.12 [[ 7.18409141e-01 6.86935576e-01 1.09580202e-01 2.46921064e+00] [-6.79345676e-01 7.26717193e-01 -1.01840925e-01 -3.76189251e-01] [-1.49591971e-01 -1.27938441e-03 9.88746988e-01 -2.11225775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.38, Z:-21.16 [[ 7.18588387e-01 6.86703826e-01 1.09857110e-01 2.47258151e+00] [-6.79068705e-01 7.26936296e-01 -1.02124020e-01 -3.79191843e-01] [-1.49988075e-01 -1.21539081e-03 9.88687059e-01 -2.11550158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390792138000002 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.38, Z:-21.19 [[ 7.13145728e-01 6.92764006e-01 1.07243663e-01 2.47853179e+00] [-6.85048993e-01 7.21164356e-01 -1.03101154e-01 -3.79431639e-01] [-1.48765075e-01 5.89846038e-05 9.88872565e-01 -2.11870895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420792138 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.38, Z:-21.22 [[ 7.10999584e-01 6.95177670e-01 1.05865952e-01 2.48206753e+00] [-6.87370686e-01 7.18837112e-01 -1.03897772e-01 -3.82101037e-01] [-1.48327786e-01 1.10212089e-03 9.88937639e-01 -2.12202183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.38, Z:-21.25 [[ 7.07009098e-01 6.99372060e-01 1.04961212e-01 2.48710349e+00] [-6.91680673e-01 7.14757608e-01 -1.03437945e-01 -3.81850045e-01] [-1.47363433e-01 5.31925964e-04 9.89082269e-01 -2.12527758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480792138 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.38, Z:-21.29 [[ 7.05566248e-01 7.00922366e-01 1.04326918e-01 2.49030875e+00] [-6.93278436e-01 7.13237390e-01 -1.03234853e-01 -3.84037842e-01] [-1.46769476e-01 5.11425404e-04 9.89170592e-01 -2.12854647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.39, Z:-21.32 [[ 7.07417076e-01 6.99149269e-01 1.03688865e-01 2.49205114e+00] [-6.91516518e-01 7.14974751e-01 -1.03034025e-01 -3.88597480e-01] [-1.46171084e-01 1.18546532e-03 9.89258616e-01 -2.13183321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.39, Z:-21.35 [[ 7.04397208e-01 7.02263623e-01 1.03200660e-01 2.49549689e+00] [-6.94672943e-01 7.11916489e-01 -1.02977746e-01 -3.89858860e-01] [-1.45787776e-01 8.46530651e-04 9.89315525e-01 -2.13513903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570792138 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.39, Z:-21.38 [[ 7.03247029e-01 7.03538807e-01 1.02356056e-01 2.49858875e+00] [-6.96023864e-01 7.10656294e-01 -1.02559312e-01 -3.92451038e-01] [-1.44894431e-01 8.82274208e-04 9.89446727e-01 -2.13843483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.39, Z:-21.42 [[ 6.99536637e-01 7.07207695e-01 1.02497656e-01 2.50266166e+00] [-6.99644709e-01 7.07005713e-01 -1.03151365e-01 -3.94086520e-01] [-1.45415868e-01 4.46216011e-04 9.89370520e-01 -2.14158677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.40, Z:-21.45 [[ 6.97228445e-01 7.09531124e-01 1.02166915e-01 2.50582560e+00] [-7.01988265e-01 7.04674062e-01 -1.03184021e-01 -3.96257121e-01] [-1.45206650e-01 2.22859201e-04 9.89401324e-01 -2.14490816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.40, Z:-21.48 [[ 6.97717590e-01 7.09093175e-01 1.01867726e-01 2.50864678e+00] [-7.01526981e-01 7.05114519e-01 -1.03312193e-01 -3.99391668e-01] [-1.45086384e-01 6.19775650e-04 9.89418798e-01 -2.14813736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.40, Z:-21.51 [[ 6.96241913e-01 7.10574967e-01 1.01638649e-01 2.51191444e+00] [-7.02991640e-01 7.03621213e-01 -1.03537152e-01 -4.01844340e-01] [-1.45086018e-01 6.35784361e-04 9.89418841e-01 -2.15136399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720792138 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.41, Z:-21.55 [[ 6.93993144e-01 7.12827187e-01 1.01246814e-01 2.51502557e+00] [-7.05266299e-01 7.01339571e-01 -1.03548316e-01 -4.05079464e-01] [-1.44820452e-01 4.55855830e-04 9.89457846e-01 -2.15452822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.41, Z:-21.58 [[ 6.92029503e-01 7.14771881e-01 1.00976849e-01 2.51848542e+00] [-7.07216529e-01 6.99357603e-01 -1.03651938e-01 -4.07306462e-01] [-1.44706418e-01 3.17702222e-04 9.89474584e-01 -2.15780120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.41, Z:-21.61 [[ 6.90537140e-01 7.16246228e-01 1.00746216e-01 2.52173963e+00] [-7.08673838e-01 6.97847569e-01 -1.03875703e-01 -4.09776894e-01] [-1.44706082e-01 3.33823288e-04 9.89474627e-01 -2.16102780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810792138 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.41, Z:-21.64 [[ 6.90369488e-01 7.16423420e-01 1.00635247e-01 2.52410224e+00] [-7.08812422e-01 6.97665504e-01 -1.04152750e-01 -4.13408340e-01] [-1.44827210e-01 5.72367082e-04 9.89456796e-01 -2.16432168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.42, Z:-21.68 [[ 6.87968137e-01 7.18846298e-01 9.97990076e-02 2.52794234e+00] [-7.11325494e-01 6.95168950e-01 -1.03711969e-01 -4.15064319e-01] [-1.43930136e-01 3.60951805e-04 9.89587786e-01 -2.16755073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.42, Z:-21.71 [[ 6.86436765e-01 7.20341365e-01 9.95634743e-02 2.53119582e+00] [-7.12803469e-01 6.93619619e-01 -1.03937671e-01 -4.17539971e-01] [-1.43929783e-01 3.77448608e-04 9.89587831e-01 -2.17077736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.42, Z:-21.74 [[ 6.87468696e-01 7.19353500e-01 9.95858119e-02 2.53347659e+00] [-7.11739974e-01 6.94643623e-01 -1.04386049e-01 -4.21524448e-01] [-1.44267119e-01 8.82937942e-04 9.89538387e-01 -2.17393094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.42, Z:-21.77 [[ 6.86040008e-01 7.20745251e-01 9.93750029e-02 2.53666627e+00] [-7.13117227e-01 6.93199467e-01 -1.04586416e-01 -4.24059632e-01] [-1.44266862e-01 8.84439338e-04 9.89538423e-01 -2.17715756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960792138000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.43, Z:-21.80 [[ 6.84685837e-01 7.22051144e-01 9.92343206e-02 2.53956479e+00] [-7.14397122e-01 6.91839093e-01 -1.04859057e-01 -4.26389415e-01] [-1.44367784e-01 9.02797819e-04 9.89523687e-01 -2.18029260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.43, Z:-21.84 [[ 6.82844337e-01 7.23792735e-01 9.92355175e-02 2.54295028e+00] [-7.16099799e-01 6.90016975e-01 -1.05250425e-01 -4.28518476e-01] [-1.44653685e-01 8.07122621e-04 9.89482016e-01 -2.18357227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020792138 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.43, Z:-21.87 [[ 6.80438652e-01 7.26112130e-01 9.88150563e-02 2.54660655e+00] [-7.18422863e-01 6.87575924e-01 -1.05394206e-01 -4.30484972e-01] [-1.44470865e-01 7.23296128e-04 9.89508790e-01 -2.18677285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050792138000002 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.43, Z:-21.90 [[ 6.79697657e-01 7.26792972e-01 9.89094096e-02 2.54996542e+00] [-7.19074853e-01 6.86856254e-01 -1.05640153e-01 -4.33377110e-01] [-1.44715067e-01 6.80094924e-04 9.89473136e-01 -2.19007843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.44, Z:-21.93 [[ 6.78795361e-01 7.27702596e-01 9.84164091e-02 2.55288444e+00] [-7.20002864e-01 6.85892322e-01 -1.05582183e-01 -4.36227702e-01] [-1.44335488e-01 8.08599325e-04 9.89528480e-01 -2.19327383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110792138 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.44, Z:-21.97 [[ 6.78009269e-01 7.28442282e-01 9.83629590e-02 2.55564647e+00] [-7.20701365e-01 6.85106553e-01 -1.05917669e-01 -4.39554038e-01] [-1.44544016e-01 9.22842546e-04 9.89497941e-01 -2.19655676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140792138000002 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.44, Z:-22.00 [[ 6.74103631e-01 7.32148072e-01 9.76908107e-02 2.55984061e+00] [-7.24487756e-01 6.81145369e-01 -1.05633699e-01 -4.41049160e-01] [-1.43881152e-01 4.32263961e-04 9.89594880e-01 -2.19983331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170792138 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.44, Z:-22.03 [[ 6.71923826e-01 7.34153468e-01 9.76578593e-02 2.56359945e+00] [-7.26455280e-01 6.78983499e-01 -1.06038363e-01 -4.43978434e-01] [-1.44156507e-01 3.05635203e-04 9.89554853e-01 -2.20311922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200792138 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.45, Z:-22.06 [[ 6.70429786e-01 7.35544265e-01 9.74604367e-02 2.56698195e+00] [-7.27827398e-01 6.77476596e-01 -1.06267310e-01 -4.46315117e-01] [-1.44191475e-01 3.10393949e-04 9.89549757e-01 -2.20641928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230792138 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.45, Z:-22.10 [[ 6.72512631e-01 7.33747402e-01 9.66514875e-02 2.56849593e+00] [-7.26078529e-01 6.79421653e-01 -1.05812038e-01 -4.50353302e-01] [-1.43306422e-01 9.83362460e-04 9.89677878e-01 -2.20968613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260792138 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.45, Z:-22.13 [[ 6.71150602e-01 7.35062854e-01 9.61221601e-02 2.57180036e+00] [-7.27421365e-01 6.77998182e-01 -1.05719547e-01 -4.53039863e-01] [-1.42881162e-01 1.03242502e-03 9.89739313e-01 -2.21282799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290792138 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.45, Z:-22.16 [[ 6.62689192e-01 7.42305071e-01 9.91272758e-02 2.57729318e+00] [-7.34189930e-01 6.70062030e-01 -1.09462423e-01 -4.54573786e-01] [-1.47675935e-01 -2.38683305e-04 9.89035773e-01 -2.21614199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320792138 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.46, Z:-22.19 [[ 6.61124851e-01 7.43731406e-01 9.88813779e-02 2.58046141e+00] [-7.35598962e-01 6.68478531e-01 -1.09684192e-01 -4.57156792e-01] [-1.47675656e-01 -2.22094075e-04 9.89035819e-01 -2.21936861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.46, Z:-22.23 [[ 6.62234498e-01 7.42887107e-01 9.77968069e-02 2.58202318e+00] [-7.34859378e-01 6.69416669e-01 -1.08917479e-01 -4.60947719e-01] [-1.46380204e-01 2.62011428e-04 9.89228370e-01 -2.22251195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380792138 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.46, Z:-22.26 [[ 6.62856785e-01 7.42377402e-01 9.74508849e-02 2.58347787e+00] [-7.34342494e-01 6.69981626e-01 -1.08929897e-01 -4.64588212e-01] [-1.46157397e-01 6.42595643e-04 9.89261140e-01 -2.22576684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.47, Z:-22.29 [[ 6.60749185e-01 7.44242465e-01 9.75380321e-02 2.58641910e+00] [-7.36137897e-01 6.67909293e-01 -1.09536174e-01 -4.67480683e-01] [-1.46668030e-01 5.74496178e-04 9.89185604e-01 -2.22898646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.47, Z:-22.32 [[ 6.59254033e-01 7.45596945e-01 9.73104081e-02 2.58952517e+00] [-7.37477249e-01 6.66396922e-01 -1.09738092e-01 -4.70114420e-01] [-1.46667743e-01 5.81067617e-04 9.89185643e-01 -2.23221310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470792138 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.47, Z:-22.35 [[ 6.54022855e-01 7.50158805e-01 9.75493290e-02 2.59504805e+00] [-7.41983010e-01 6.61257700e-01 -1.10451197e-01 -4.71080692e-01] [-1.47361183e-01 -1.42337299e-04 9.89082737e-01 -2.23542299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500792138 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.47, Z:-22.39 [[ 6.54594470e-01 7.49609510e-01 9.79370334e-02 2.59803033e+00] [-7.41301719e-01 6.61880291e-01 -1.11293495e-01 -4.74537029e-01] [-1.48249254e-01 2.51214910e-04 9.88949996e-01 -2.23872045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530792138 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.48, Z:-22.42 [[ 6.53563488e-01 7.50589091e-01 9.73179544e-02 2.60045478e+00] [-7.42302660e-01 6.60769106e-01 -1.11224771e-01 -4.77166479e-01] [-1.47788797e-01 4.53072652e-04 9.89018840e-01 -2.24186291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560792138 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.48, Z:-22.45 [[ 6.52531028e-01 7.51566774e-01 9.66987119e-02 2.60313157e+00] [-7.43372764e-01 6.59656933e-01 -1.10678203e-01 -4.80135552e-01] [-1.46970035e-01 3.37772651e-04 9.89140887e-01 -2.24509516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.48, Z:-22.48 [[ 6.49821863e-01 7.53983430e-01 9.61276939e-02 2.60709396e+00] [-7.45821424e-01 6.56893406e-01 -1.10641118e-01 -4.82472689e-01] [-1.46567218e-01 2.02923765e-04 9.89200692e-01 -2.24828932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.49, Z:-22.52 [[ 6.48822973e-01 7.54854197e-01 9.60410842e-02 2.60992511e+00] [-7.46690547e-01 6.55892617e-01 -1.10716309e-01 -4.85360582e-01] [-1.46567309e-01 1.22314929e-04 9.89200692e-01 -2.25151593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650792138 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.49, Z:-22.55 [[ 6.47133855e-01 7.56345246e-01 9.57060222e-02 2.61265679e+00] [-7.48193263e-01 6.54172657e-01 -1.10747351e-01 -4.88360257e-01] [-1.46371495e-01 6.17588651e-05 9.89229691e-01 -2.25481405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680792138 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.49, Z:-22.58 [[ 6.46075886e-01 7.57300080e-01 9.53023452e-02 2.61543833e+00] [-7.49154604e-01 6.53067040e-01 -1.10773739e-01 -4.90848182e-01] [-1.46127782e-01 1.72050838e-04 9.89265708e-01 -2.25801934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710792138 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.49, Z:-22.61 [[ 6.46057976e-01 7.57413525e-01 9.45190169e-02 2.61747078e+00] [-7.49343276e-01 6.52935356e-01 -1.10272729e-01 -4.94231451e-01] [-1.45236865e-01 4.15386429e-04 9.89396827e-01 -2.26129935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.50, Z:-22.65 [[ 6.43981732e-01 7.59247247e-01 9.39741777e-02 2.62092850e+00] [-7.51222909e-01 6.50802217e-01 -1.10093666e-01 -4.95929142e-01] [-1.44746916e-01 3.02754708e-04 9.89468665e-01 -2.26457560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770792138 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.50, Z:-22.68 [[ 6.42415201e-01 7.60603048e-01 9.37321370e-02 2.62399978e+00] [-7.52563043e-01 6.49217146e-01 -1.10299426e-01 -4.98613623e-01] [-1.44746590e-01 3.18685561e-04 9.89468708e-01 -2.26780222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800792138000002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.50, Z:-22.71 [[ 6.41015088e-01 7.61923161e-01 9.25891721e-02 2.62722840e+00] [-7.54033811e-01 6.47667364e-01 -1.09361770e-01 -5.00445535e-01] [-1.43292250e-01 2.87178295e-04 9.89680377e-01 -2.27111122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830792138 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.50, Z:-22.74 [[ 6.39449360e-01 7.63266691e-01 9.23497426e-02 2.63028704e+00] [-7.55362125e-01 6.46083483e-01 -1.09563651e-01 -5.03145986e-01] [-1.43291928e-01 3.02908534e-04 9.89680419e-01 -2.27433785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.51, Z:-22.78 [[ 6.38940819e-01 7.63689132e-01 9.23771586e-02 2.63286662e+00] [-7.55724675e-01 6.45583986e-01 -1.10006965e-01 -5.06278615e-01] [-1.43648338e-01 4.76242384e-04 9.89628682e-01 -2.27763296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890792138000002 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.51, Z:-22.81 [[ 6.36624759e-01 7.65650277e-01 9.21334316e-02 2.63622651e+00] [-7.57681193e-01 6.43256978e-01 -1.10180167e-01 -5.08552586e-01] [-1.43624948e-01 3.35653536e-04 9.89632135e-01 -2.28093178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920792138 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.51, Z:-22.84 [[ 6.35920846e-01 7.66238825e-01 9.21017974e-02 2.63896773e+00] [-7.58213098e-01 6.42555683e-01 -1.10612357e-01 -5.11651856e-01] [-1.43936016e-01 5.07914301e-04 9.89586866e-01 -2.28416250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950792138 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.51, Z:-22.87 [[ 6.34534345e-01 7.67424363e-01 9.17933088e-02 2.64189260e+00] [-7.59392152e-01 6.41139244e-01 -1.10743076e-01 -5.13973078e-01] [-1.43839227e-01 5.63167081e-04 9.89600909e-01 -2.28733045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.52, Z:-22.91 [[ 6.30623250e-01 7.70644446e-01 9.17684814e-02 2.64592563e+00] [-7.62590124e-01 6.37265351e-01 -1.11126838e-01 -5.15422925e-01] [-1.44120154e-01 9.74302169e-05 9.89560191e-01 -2.29061943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010792138 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.52, Z:-22.94 [[ 6.29648299e-01 7.71475586e-01 9.14791701e-02 2.64926068e+00] [-7.63407104e-01 6.36258882e-01 -1.11284450e-01 -5.17842435e-01] [-1.44057671e-01 2.34216509e-04 9.89569266e-01 -2.29374622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040792138 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.52, Z:-22.97 [[ 6.30861411e-01 7.70477554e-01 9.15326155e-02 2.65101266e+00] [-7.62326070e-01 6.37466697e-01 -1.11781812e-01 -5.22094661e-01] [-1.44474371e-01 7.41132318e-04 9.89508265e-01 -2.29700656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.52, Z:-23.00 [[ 6.25992404e-01 7.74455751e-01 9.13881829e-02 2.65547313e+00] [-7.66303884e-01 6.32628070e-01 -1.12071777e-01 -5.23841794e-01] [-1.44609362e-01 1.24961477e-04 9.89488816e-01 -2.30029454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100792138 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.53, Z:-23.04 [[ 6.25665998e-01 7.74791825e-01 9.07727180e-02 2.65764378e+00] [-7.66683574e-01 6.32216341e-01 -1.11798007e-01 -5.27182176e-01] [-1.44008178e-01 3.54259811e-04 9.89576434e-01 -2.30360149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130792138 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.53, Z:-23.07 [[ 6.19766185e-01 7.79523028e-01 9.07398737e-02 2.66408833e+00] [-7.71395328e-01 6.26373434e-01 -1.12274528e-01 -5.27854461e-01] [-1.44357626e-01 -4.12358860e-04 9.89525495e-01 -2.30672434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.53, Z:-23.10 [[ 6.20591670e-01 7.78920776e-01 9.02685130e-02 2.66650614e+00] [-7.70808970e-01 6.27122337e-01 -1.12120946e-01 -5.31358778e-01] [-1.43942735e-01 1.54553202e-06 9.89586019e-01 -2.31003043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.54, Z:-23.13 [[ 6.30142711e-01 7.71653356e-01 8.64364638e-02 2.66077074e+00] [-7.64087867e-01 6.36040512e-01 -1.07806302e-01 -5.37148244e-01] [-1.38166187e-01 1.88830192e-03 9.90407259e-01 -2.31333022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.54, Z:-23.17 [[ 6.27927491e-01 7.73564298e-01 8.54713046e-02 2.66395450e+00] [-7.66117759e-01 6.33715366e-01 -1.07090678e-01 -5.40195809e-01] [-1.37006004e-01 1.76409609e-03 9.90568646e-01 -2.31652164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.54, Z:-23.20 [[ 6.27537993e-01 7.73938858e-01 8.49394560e-02 2.66697662e+00] [-7.66532029e-01 6.33257374e-01 -1.06835139e-01 -5.43450028e-01] [-1.36472402e-01 1.93429492e-03 9.90641985e-01 -2.31980126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.55, Z:-23.23 [[ 6.24138073e-01 7.76768097e-01 8.41604971e-02 2.67151196e+00] [-7.69460771e-01 6.29784715e-01 -1.06307732e-01 -5.46137307e-01] [-1.35579449e-01 1.59250177e-03 9.90765198e-01 -2.32307919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.55, Z:-23.26 [[ 6.22537085e-01 7.78077038e-01 8.39267579e-02 2.67447755e+00] [-7.70756719e-01 6.28166806e-01 -1.06491986e-01 -5.48928739e-01] [-1.35578972e-01 1.60809784e-03 9.90765238e-01 -2.32630581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.55, Z:-23.29 [[ 6.16442016e-01 7.82951746e-01 8.35811268e-02 2.67947661e+00] [-7.75391382e-01 6.22078845e-01 -1.08563880e-01 -5.52014464e-01] [-1.36994330e-01 2.11525139e-03 9.90569573e-01 -2.32934497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.56, Z:-23.33 [[ 6.29129221e-01 7.71799684e-01 9.23128961e-02 2.67016547e+00] [-7.64165814e-01 6.35861213e-01 -1.08310324e-01 -5.55871094e-01] [-1.42292064e-01 -2.40116985e-03 9.89821804e-01 -2.33256997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.57, Z:-23.36 [[ 6.37716184e-01 7.65273815e-01 8.76016953e-02 2.67425808e+00] [-7.58242771e-01 6.43704755e-01 -1.03499219e-01 -5.65131128e-01] [-1.35594870e-01 -4.20225360e-04 9.90764278e-01 -2.33593247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.56, Z:-23.39 [[ 6.20667760e-01 7.79630040e-01 8.33578546e-02 2.68564253e+00] [-7.72158970e-01 6.26235453e-01 -1.07701824e-01 -5.61741290e-01] [-1.36169221e-01 2.48153450e-03 9.90682485e-01 -2.33910102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460792138 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.56, Z:-23.42 [[ 6.18209084e-01 7.81554527e-01 8.36065181e-02 2.68902783e+00] [-7.74036968e-01 6.23833224e-01 -1.08161368e-01 -5.64694827e-01] [-1.36690530e-01 2.15180439e-03 9.90611462e-01 -2.34235515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490792138 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.57, Z:-23.45 [[ 6.09226202e-01 7.88613748e-01 8.32573745e-02 2.69451637e+00] [-7.80852604e-01 6.14884815e-01 -1.10389651e-01 -5.65431123e-01] [-1.38248492e-01 2.24053018e-03 9.90395040e-01 -2.34538247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520792138 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.58, Z:-23.49 [[ 6.31791682e-01 7.70315530e-01 8.63322343e-02 2.68895656e+00] [-7.63113251e-01 6.37662700e-01 -1.05092561e-01 -5.77654864e-01] [-1.36005277e-01 5.15333768e-04 9.90707979e-01 -2.34870484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550792138000002 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.57, Z:-23.52 [[ 6.13568264e-01 7.85366643e-01 8.20562125e-02 2.69921640e+00] [-7.77930218e-01 6.19026473e-01 -1.07846192e-01 -5.74061053e-01] [-1.35493769e-01 2.33699337e-03 9.90775442e-01 -2.35186411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580792138 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.58, Z:-23.55 [[ 6.19081503e-01 7.80845563e-01 8.37752942e-02 2.69865403e+00] [-7.73528583e-01 6.24722906e-01 -1.06652816e-01 -5.79505520e-01] [-1.35615723e-01 1.22420082e-03 9.90760757e-01 -2.35518632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610792138 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.58, Z:-23.58 [[ 6.24103040e-01 7.76939919e-01 8.28236589e-02 2.70017808e+00] [-7.69774765e-01 6.29571705e-01 -1.05291399e-01 -5.84359000e-01] [-1.33948523e-01 1.95711954e-03 9.90986359e-01 -2.35846726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640792138000002 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.58, Z:-23.62 [[ 6.14933714e-01 7.84418778e-01 8.08931868e-02 2.70680499e+00] [-7.77097303e-01 6.20224712e-01 -1.06963028e-01 -5.84252280e-01] [-1.34075762e-01 2.91329510e-03 9.90966802e-01 -2.36164176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670792138 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.59, Z:-23.65 [[ 6.13640673e-01 7.85459624e-01 8.06120533e-02 2.70969992e+00] [-7.78175529e-01 6.18906653e-01 -1.06758613e-01 -5.86662936e-01] [-1.33745916e-01 2.78110010e-03 9.91011753e-01 -2.36479749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700792138 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.59, Z:-23.68 [[ 6.05905813e-01 7.91452225e-01 8.05078951e-02 2.71490256e+00] [-7.84057881e-01 6.11226743e-01 -1.07958824e-01 -5.86746844e-01] [-1.34652830e-01 2.29002924e-03 9.90890191e-01 -2.36795342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730792138 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.59, Z:-23.71 [[ 6.17293810e-01 7.82439018e-01 8.20824880e-02 2.71297696e+00] [-7.75294110e-01 6.22725427e-01 -1.05508699e-01 -5.94342474e-01] [-1.33668975e-01 1.49179715e-03 9.91024914e-01 -2.37116684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.59, Z:-23.74 [[ 6.07256957e-01 7.90437184e-01 8.02997329e-02 2.72020658e+00] [-7.83096944e-01 6.12538419e-01 -1.07498193e-01 -5.94083731e-01] [-1.34157240e-01 2.39654997e-03 9.90957159e-01 -2.37435822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.60, Z:-23.78 [[ 6.06732628e-01 7.90837984e-01 8.03168776e-02 2.72246472e+00] [-7.83479692e-01 6.12020882e-01 -1.07656920e-01 -5.98000360e-01] [-1.34294788e-01 2.39232350e-03 9.90938538e-01 -2.37765159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820792138 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.60, Z:-23.81 [[ 6.02332210e-01 7.94211336e-01 8.01515057e-02 2.72662048e+00] [-7.86849060e-01 6.07638572e-01 -1.07907004e-01 -6.00369881e-01] [-1.34404112e-01 1.92872730e-03 9.90924727e-01 -2.38094237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850792138 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.60, Z:-23.84 [[ 5.99153653e-01 7.96625290e-01 8.00190497e-02 2.73091165e+00] [-7.89221526e-01 6.04470831e-01 -1.08371576e-01 -6.02793100e-01] [-1.34700719e-01 1.77846880e-03 9.90884733e-01 -2.38413468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880792138 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.61, Z:-23.87 [[ 5.99518740e-01 7.96358033e-01 7.99447605e-02 2.73319089e+00] [-7.88947034e-01 6.04822449e-01 -1.08408411e-01 -6.06119418e-01] [-1.34684294e-01 1.92069207e-03 9.90886700e-01 -2.38736505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910792138 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.61, Z:-23.91 [[ 5.99313492e-01 7.96570973e-01 7.93600839e-02 2.73565733e+00] [-7.89183351e-01 6.04540831e-01 -1.08259053e-01 -6.09207866e-01] [-1.34212430e-01 2.25145397e-03 9.90950026e-01 -2.39050908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.61, Z:-23.94 [[ 5.96729933e-01 7.98455596e-01 7.98877286e-02 2.73854383e+00] [-7.90966043e-01 6.02050615e-01 -1.09122752e-01 -6.12579837e-01] [-1.35226128e-01 1.92833186e-03 9.90812886e-01 -2.39378563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.62, Z:-23.97 [[ 5.96279544e-01 7.98824516e-01 7.95619132e-02 2.74020481e+00] [-7.91329079e-01 6.01560276e-01 -1.09194883e-01 -6.15521628e-01] [-1.35088836e-01 2.15101971e-03 9.90831156e-01 -2.39694332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.62, Z:-24.00 [[ 5.94707906e-01 8.00018038e-01 7.93324980e-02 2.74298899e+00] [-7.92510977e-01 5.99972038e-01 -1.09361345e-01 -6.18438025e-01] [-1.35088329e-01 2.16618104e-03 9.90831192e-01 -2.40017038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.62, Z:-24.03 [[ 5.92130053e-01 8.01915798e-01 7.94547198e-02 2.74644049e+00] [-7.94350699e-01 5.97433839e-01 -1.09908031e-01 -6.21584652e-01] [-1.35605925e-01 1.96493613e-03 9.90760906e-01 -2.40345130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.62, Z:-24.07 [[ 5.87473235e-01 8.05360106e-01 7.91852133e-02 2.74967119e+00] [-7.97787516e-01 5.92783821e-01 -1.10192650e-01 -6.23838565e-01] [-1.35684477e-01 1.56225758e-03 9.90750868e-01 -2.40662416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.63, Z:-24.10 [[ 5.88303745e-01 8.04723513e-01 7.94907035e-02 2.75148468e+00] [-7.97066299e-01 5.93647047e-01 -1.10763250e-01 -6.26941039e-01] [-1.36323213e-01 1.80307371e-03 9.90662773e-01 -2.40995312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.63, Z:-24.13 [[ 5.87432944e-01 8.05325506e-01 7.98333658e-02 2.75394248e+00] [-7.97514301e-01 5.92829261e-01 -1.11912493e-01 -6.30589702e-01] [-1.37453540e-01 2.07283406e-03 9.90506046e-01 -2.41316878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.63, Z:-24.16 [[ 5.85781632e-01 8.06518598e-01 7.99226618e-02 2.75626286e+00] [-7.98656543e-01 5.91205387e-01 -1.12356206e-01 -6.32986317e-01] [-1.37868078e-01 1.98544492e-03 9.90448611e-01 -2.41640053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.64, Z:-24.20 [[ 5.87674991e-01 8.05158924e-01 7.97321217e-02 2.75741925e+00] [-7.97301821e-01 5.93054308e-01 -1.12233660e-01 -6.37366248e-01] [-1.37651411e-01 2.38634954e-03 9.90477862e-01 -2.41964363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.64, Z:-24.23 [[ 5.85058920e-01 8.07081162e-01 7.95365144e-02 2.76067722e+00] [-7.99210678e-01 5.90436303e-01 -1.12460059e-01 -6.40152325e-01] [-1.37725640e-01 2.22932895e-03 9.90467909e-01 -2.42292291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240792138 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.64, Z:-24.26 [[ 5.81762624e-01 8.09489218e-01 7.92430180e-02 2.76414567e+00] [-8.01624486e-01 5.87131427e-01 -1.12582729e-01 -6.42719837e-01] [-1.37660572e-01 1.97328036e-03 9.90477498e-01 -2.42612776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270792138 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.65, Z:-24.29 [[ 5.82691895e-01 8.08843577e-01 7.90077379e-02 2.76581141e+00] [-8.00957537e-01 5.88019026e-01 -1.12697156e-01 -6.46427736e-01] [-1.37612424e-01 2.38587623e-03 9.90483280e-01 -2.42942496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300792138000002 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.65, Z:-24.33 [[ 5.80882091e-01 8.10197261e-01 7.84626901e-02 2.76877677e+00] [-8.02364535e-01 5.86152637e-01 -1.12411027e-01 -6.49576726e-01] [-1.37066219e-01 2.34187280e-03 9.90559118e-01 -2.43267524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330792138 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.65, Z:-24.36 [[ 5.79158941e-01 8.11454552e-01 7.82076211e-02 2.77156300e+00] [-8.03609317e-01 5.84410772e-01 -1.12588259e-01 -6.52500777e-01] [-1.37065632e-01 2.35812416e-03 9.90559161e-01 -2.43590233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360792138 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.65, Z:-24.39 [[ 5.75593498e-01 8.13993999e-01 7.81402243e-02 2.77529420e+00] [-8.06121598e-01 5.80869755e-01 -1.12952635e-01 -6.54534798e-01] [-1.37332060e-01 2.02428006e-03 9.90522997e-01 -2.43918732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390792138000002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.66, Z:-24.42 [[ 5.73860451e-01 8.15222141e-01 7.80835728e-02 2.77841750e+00] [-8.07300172e-01 5.79144821e-01 -1.13391837e-01 -6.57427995e-01] [-1.37661233e-01 2.03420911e-03 9.90477282e-01 -2.44243003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420792138 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.66, Z:-24.46 [[ 5.70589145e-01 8.17478747e-01 7.84635373e-02 2.78180284e+00] [-8.09426696e-01 5.75955938e-01 -1.14469130e-01 -6.59613874e-01] [-1.38767621e-01 1.80436115e-03 9.90323327e-01 -2.44569262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450792138 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.66, Z:-24.49 [[ 5.68897671e-01 8.18687374e-01 7.81436006e-02 2.78462290e+00] [-8.10616715e-01 5.74236336e-01 -1.14687279e-01 -6.62527736e-01] [-1.38765923e-01 1.90081733e-03 9.90323384e-01 -2.44891915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480792138 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.67, Z:-24.52 [[ 5.68013350e-01 8.19279106e-01 7.83746121e-02 2.78694650e+00] [-8.11119397e-01 5.73391602e-01 -1.15357677e-01 -6.65315087e-01] [-1.39449479e-01 1.95353268e-03 9.90227260e-01 -2.45205844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.67, Z:-24.55 [[ 5.65056023e-01 8.21334780e-01 7.82359927e-02 2.79008594e+00] [-8.13201257e-01 5.70444406e-01 -1.15312170e-01 -6.67868009e-01] [-1.39339180e-01 1.53622836e-03 9.90243522e-01 -2.45535518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.67, Z:-24.59 [[ 5.63347190e-01 8.22532078e-01 7.79802875e-02 2.79282055e+00] [-8.14386068e-01 5.68716601e-01 -1.15484889e-01 -6.70846712e-01] [-1.39338710e-01 1.55202799e-03 9.90243564e-01 -2.45858225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.67, Z:-24.62 [[ 5.61816767e-01 8.23592298e-01 7.78308833e-02 2.79579037e+00] [-8.15423713e-01 5.67180158e-01 -1.15718783e-01 -6.74675089e-01] [-1.39449231e-01 1.54760475e-03 9.90228013e-01 -2.46188438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.68, Z:-24.65 [[ 5.60065701e-01 8.24808787e-01 7.75685224e-02 2.79852987e+00] [-8.16627491e-01 5.65409603e-01 -1.15894441e-01 -6.77653010e-01] [-1.39448741e-01 1.56391378e-03 9.90228056e-01 -2.46511147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.68, Z:-24.68 [[ 5.57259120e-01 8.26707543e-01 7.75687454e-02 2.80143874e+00] [-8.18472227e-01 5.62630190e-01 -1.16406537e-01 -6.80278371e-01] [-1.39876680e-01 1.38074036e-03 9.90167970e-01 -2.46833213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.68, Z:-24.72 [[ 5.55622661e-01 8.27831057e-01 7.73252914e-02 2.80410783e+00] [-8.19584091e-01 5.60975757e-01 -1.16568082e-01 -6.83307249e-01] [-1.39876293e-01 1.39328946e-03 9.90168007e-01 -2.47155921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690792138 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.69, Z:-24.75 [[ 5.56462999e-01 8.27303475e-01 7.69278268e-02 2.80589514e+00] [-8.19077310e-01 5.61752503e-01 -1.16389371e-01 -6.86704497e-01] [-1.39503731e-01 1.75654114e-03 9.90219988e-01 -2.47481362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.69, Z:-24.78 [[ 5.57556367e-01 8.26600920e-01 7.65625007e-02 2.80723779e+00] [-8.18365206e-01 5.62784015e-01 -1.16415388e-01 -6.90327894e-01] [-1.39317218e-01 2.25205430e-03 9.90245243e-01 -2.47803778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.69, Z:-24.81 [[ 5.50615614e-01 8.31236487e-01 7.66051503e-02 2.81183653e+00] [-8.22966487e-01 5.55917303e-01 -1.16970570e-01 -6.92025150e-01] [-1.39816334e-01 1.36235103e-03 9.90176518e-01 -2.48129320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.70, Z:-24.85 [[ 5.50524204e-01 8.31339039e-01 7.61479003e-02 2.81331722e+00] [-8.23088246e-01 5.55763150e-01 -1.16846311e-01 -6.95752819e-01] [-1.39459097e-01 1.65028086e-03 9.90226457e-01 -2.48450664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810792138 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.70, Z:-24.88 [[ 5.47776136e-01 8.33482333e-01 7.24465655e-02 2.81659579e+00] [-8.25980562e-01 5.52544618e-01 -1.11582060e-01 -6.97636257e-01] [-1.33031635e-01 1.28253471e-03 9.91110962e-01 -2.48781409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840792138 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.70, Z:-24.91 [[ 5.47906033e-01 8.33402059e-01 7.23877549e-02 2.81815368e+00] [-8.25834569e-01 5.52664798e-01 -1.12066437e-01 -7.01504732e-01] [-1.33402563e-01 1.62156678e-03 9.91060607e-01 -2.49095300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870792138 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.70, Z:-24.94 [[ 5.46620053e-01 8.34266894e-01 7.21475399e-02 2.81961252e+00] [-8.26691680e-01 5.51358264e-01 -1.12182578e-01 -7.04813283e-01] [-1.33369353e-01 1.67747555e-03 9.91064984e-01 -2.49420219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.71, Z:-24.97 [[ 5.45206086e-01 8.35275070e-01 7.11750105e-02 2.82212179e+00] [-8.27843922e-01 5.49829684e-01 -1.11183449e-01 -7.07152866e-01] [-1.32002897e-01 1.69609339e-03 9.91247879e-01 -2.49747336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.71, Z:-25.01 [[ 5.45930743e-01 8.34805444e-01 7.11301155e-02 2.82360627e+00] [-8.27304522e-01 5.50540977e-01 -1.11677487e-01 -7.10404402e-01] [-1.32389018e-01 2.12190762e-03 9.91195564e-01 -2.50068802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960792138 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.71, Z:-25.04 [[ 5.43693417e-01 8.36312875e-01 7.05566694e-02 2.82723756e+00] [-8.28884754e-01 5.48248846e-01 -1.11235190e-01 -7.12776679e-01] [-1.31710034e-01 1.99449313e-03 9.91286280e-01 -2.50400371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.72, Z:-25.07 [[ 5.42270433e-01 8.37266792e-01 7.01932829e-02 2.82975479e+00] [-8.29852988e-01 5.46790756e-01 -1.11193020e-01 -7.16506306e-01] [-1.31479261e-01 2.04658132e-03 9.91316809e-01 -2.50730720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.72, Z:-25.11 [[ 5.39609200e-01 8.39014971e-01 6.98268538e-02 2.83286794e+00] [-8.31623531e-01 5.44105008e-01 -1.11139748e-01 -7.19022608e-01] [-1.31241053e-01 1.90237591e-03 9.91348661e-01 -2.51058954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050792138000002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.72, Z:-25.14 [[ 5.41969524e-01 8.37543140e-01 6.92136022e-02 2.83307391e+00] [-8.30201182e-01 5.46365361e-01 -1.10683741e-01 -7.24170707e-01] [-1.30518323e-01 2.52600019e-03 9.91442679e-01 -2.51384621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.73, Z:-25.17 [[ 5.40187537e-01 8.38714295e-01 6.89619959e-02 2.83570895e+00] [-8.31361868e-01 5.44565762e-01 -1.10840315e-01 -7.27228329e-01] [-1.30517699e-01 2.54218308e-03 9.91442720e-01 -2.51707331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110792138 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.73, Z:-25.20 [[ 5.40108539e-01 8.38844709e-01 6.79876523e-02 2.83720192e+00] [-8.31636656e-01 5.44363871e-01 -1.09765428e-01 -7.30269012e-01] [-1.29086170e-01 2.74422106e-03 9.91629583e-01 -2.52023879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140792138000002 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.73, Z:-25.23 [[ 5.38443447e-01 8.39932370e-01 6.77662810e-02 2.83976650e+00] [-8.32715731e-01 5.42684139e-01 -1.09901946e-01 -7.33371978e-01] [-1.29085888e-01 2.74593449e-03 9.91629615e-01 -2.52346586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170792138 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.74, Z:-25.27 [[ 5.35257937e-01 8.42015946e-01 6.71422923e-02 2.84316759e+00] [-8.34891094e-01 5.39447004e-01 -1.09333393e-01 -7.35643228e-01] [-1.28280169e-01 2.46506443e-03 9.91734905e-01 -2.52672647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.74, Z:-25.30 [[ 5.34874007e-01 8.42326653e-01 6.62993628e-02 2.84458757e+00] [-8.35311742e-01 5.38960783e-01 -1.08515287e-01 -7.38638216e-01] [-1.27138075e-01 2.66136992e-03 9.91881458e-01 -2.52995458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.74, Z:-25.33 [[ 5.33192394e-01 8.43409388e-01 6.60793155e-02 2.84713906e+00] [-8.36386187e-01 5.37264844e-01 -1.08649132e-01 -7.41753677e-01] [-1.27137791e-01 2.66306392e-03 9.91881490e-01 -2.53318168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260792138 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.75, Z:-25.36 [[ 5.32445885e-01 8.43910836e-01 6.56953645e-02 2.84913743e+00] [-8.36916227e-01 5.36476309e-01 -1.08463815e-01 -7.45082398e-01] [-1.26777795e-01 2.76959513e-03 9.91927276e-01 -2.53641573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.74, Z:-25.40 [[ 5.35829054e-01 8.41267046e-01 7.18121323e-02 2.84433655e+00] [-8.33644081e-01 5.40619361e-01 -1.12996697e-01 -7.42553246e-01] [-1.33883427e-01 6.81154302e-04 9.90996854e-01 -2.53957856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.75, Z:-25.43 [[ 5.21633388e-01 8.50773454e-01 6.38994425e-02 2.85853813e+00] [-8.43781403e-01 5.25524709e-01 -1.08888581e-01 -7.48601598e-01] [-1.26220250e-01 2.88275824e-03 9.91998053e-01 -2.54278776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350792138 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.75, Z:-25.46 [[ 5.23900128e-01 8.49273901e-01 6.52878033e-02 2.85919403e+00] [-8.42242896e-01 5.27948093e-01 -1.09076647e-01 -7.53051090e-01] [-1.27104521e-01 2.15708103e-03 9.91886983e-01 -2.54600062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380792138 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.76, Z:-25.49 [[ 5.19578293e-01 8.51946801e-01 6.50003558e-02 2.86308452e+00] [-8.44940389e-01 5.23625462e-01 -1.09050977e-01 -7.55498365e-01] [-1.26941472e-01 1.73909441e-03 9.91908684e-01 -2.54927204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.76, Z:-25.52 [[ 5.17757848e-01 8.53083462e-01 6.46174738e-02 2.86563820e+00] [-8.46095884e-01 5.21771539e-01 -1.08978056e-01 -7.57769621e-01] [-1.26682936e-01 1.75166510e-03 9.91941715e-01 -2.55248508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.76, Z:-25.56 [[ 5.17072014e-01 8.53561964e-01 6.37848446e-02 2.86738265e+00] [-8.46698273e-01 5.20988018e-01 -1.08044066e-01 -7.60616227e-01] [-1.25453445e-01 1.86004498e-03 9.92097764e-01 -2.55580544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.76, Z:-25.59 [[ 5.18008210e-01 8.53015038e-01 6.35046424e-02 2.86875335e+00] [-8.46142265e-01 5.21881455e-01 -1.08087996e-01 -7.64338665e-01] [-1.25342581e-01 2.25650748e-03 9.92110954e-01 -2.55909383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.77, Z:-25.62 [[ 5.14942683e-01 8.54925410e-01 6.27421468e-02 2.87175960e+00] [-8.48167747e-01 5.18746946e-01 -1.07299019e-01 -7.66377808e-01] [-1.24279955e-01 2.03697926e-03 9.92245103e-01 -2.56234473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530792138 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.77, Z:-25.66 [[ 5.17130868e-01 8.53618134e-01 6.25439550e-02 2.87256813e+00] [-8.46829534e-01 5.20892743e-01 -1.07473213e-01 -7.70671613e-01] [-1.24319776e-01 2.61364750e-03 9.92238763e-01 -2.56558453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560792138 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.77, Z:-25.69 [[ 5.21167445e-01 8.50783477e-01 6.74682867e-02 2.86881983e+00] [-8.43632468e-01 5.25516196e-01 -1.10077184e-01 -7.72103030e-01] [-1.29107527e-01 4.50207642e-04 9.91630498e-01 -2.56873718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590792138 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.78, Z:-25.72 [[ 5.11775986e-01 8.56459638e-01 6.75442698e-02 2.87584268e+00] [-8.48635508e-01 5.16210863e-01 -1.15516748e-01 -7.76240230e-01] [-1.33802518e-01 1.79823195e-03 9.91006384e-01 -2.57196707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620792138 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.78, Z:-25.75 [[ 5.02707218e-01 8.62263492e-01 6.15395996e-02 2.88538426e+00] [-8.54805074e-01 5.06441457e-01 -1.13249000e-01 -7.81434305e-01] [-1.28816683e-01 4.32672798e-03 9.91658985e-01 -2.57509375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650792138 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.79, Z:-25.78 [[ 5.08101351e-01 8.58942213e-01 6.36497634e-02 2.88504246e+00] [-8.51680518e-01 5.12066743e-01 -1.11480698e-01 -7.85910719e-01] [-1.28348405e-01 2.43422983e-03 9.91726153e-01 -2.57824014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.79, Z:-25.81 [[ 4.98102713e-01 8.64866833e-01 6.24423644e-02 2.89125086e+00] [-8.57561402e-01 5.01995910e-01 -1.12198697e-01 -7.88075843e-01] [-1.28382743e-01 2.33831379e-03 9.91721939e-01 -2.58145297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.80, Z:-25.85 [[ 5.12481286e-01 8.56208045e-01 6.53507118e-02 2.88615714e+00] [-8.49244995e-01 5.16631070e-01 -1.08973735e-01 -7.95110585e-01] [-1.27066396e-01 3.48234690e-04 9.91894152e-01 -2.58477347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740792138 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.80, Z:-25.88 [[ 5.00794276e-01 8.63308389e-01 6.24797472e-02 2.89379866e+00] [-8.56212228e-01 5.04673433e-01 -1.10477815e-01 -7.95818107e-01] [-1.26908293e-01 1.83073403e-03 9.91912765e-01 -2.58803482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.80, Z:-25.91 [[ 4.96894891e-01 8.65598750e-01 6.19214879e-02 2.89766125e+00] [-8.58572251e-01 5.00735911e-01 -1.10078321e-01 -7.98589472e-01] [-1.26289970e-01 1.53328426e-03 9.91992184e-01 -2.59120675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.80, Z:-25.94 [[ 4.95410671e-01 8.66469209e-01 6.16390854e-02 2.90079586e+00] [-8.59451795e-01 4.99228109e-01 -1.10063197e-01 -8.02376218e-01] [-1.26138335e-01 1.55065959e-03 9.92011449e-01 -2.59444141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.81, Z:-25.98 [[ 4.94004850e-01 8.67233899e-01 6.21656926e-02 2.90362103e+00] [-8.60029168e-01 4.97898224e-01 -1.11566965e-01 -8.05639116e-01] [-1.27706842e-01 1.65031301e-03 9.91810586e-01 -2.59768812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.81, Z:-26.01 [[ 4.92680609e-01 8.68026768e-01 6.16063989e-02 2.90618332e+00] [-8.60887633e-01 4.96514470e-01 -1.11111949e-01 -8.08945438e-01] [-1.27036614e-01 1.70651576e-03 9.91896560e-01 -2.60099295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890792138000002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.81, Z:-26.04 [[ 4.90818866e-01 8.69097847e-01 6.13658991e-02 2.90868772e+00] [-8.61950469e-01 4.94637262e-01 -1.11244634e-01 -8.12241242e-01] [-1.27036332e-01 1.70659965e-03 9.91896596e-01 -2.60431965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.82, Z:-26.08 [[ 4.87251184e-01 8.71122931e-01 6.10829200e-02 2.91250477e+00] [-8.63984847e-01 4.91062847e-01 -1.11298983e-01 -8.15467450e-01] [-1.26950649e-01 1.45584418e-03 9.91907966e-01 -2.60755602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950792138 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.82, Z:-26.11 [[ 4.85521625e-01 8.72102432e-01 6.08777372e-02 2.91477852e+00] [-8.64942349e-01 4.89321070e-01 -1.11533060e-01 -8.18907868e-01] [-1.27057013e-01 1.49597970e-03 9.91894287e-01 -2.61069159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980792138 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.82, Z:-26.14 [[ 4.82562101e-01 8.73755472e-01 6.07057965e-02 2.91794694e+00] [-8.66585246e-01 4.86363730e-01 -1.11715412e-01 -8.21690482e-01] [-1.27137050e-01 1.30287643e-03 9.91884304e-01 -2.61394559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010792138 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.83, Z:-26.17 [[ 4.80687632e-01 8.74804837e-01 6.04640183e-02 2.92042392e+00] [-8.67626442e-01 4.84473734e-01 -1.11846136e-01 -8.25011709e-01] [-1.27136769e-01 1.30287298e-03 9.91884340e-01 -2.61727232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040792138 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.83, Z:-26.20 [[ 4.79138337e-01 8.75671797e-01 6.02109410e-02 2.92296552e+00] [-8.68481707e-01 4.82904786e-01 -1.11993271e-01 -8.28656762e-01] [-1.27145501e-01 1.36816901e-03 9.91883133e-01 -2.62043998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070792138 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.83, Z:-26.24 [[ 4.77387013e-01 8.76642504e-01 5.99963351e-02 2.92536624e+00] [-8.69445618e-01 4.81140399e-01 -1.12108137e-01 -8.32021146e-01] [-1.27145418e-01 1.35541786e-03 9.91883161e-01 -2.62376669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100792138 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.84, Z:-26.27 [[ 4.74778873e-01 8.78066706e-01 5.98655373e-02 2.92824635e+00] [-8.70841510e-01 4.78536647e-01 -1.12417710e-01 -8.35689005e-01] [-1.27358102e-01 1.24015878e-03 9.91856026e-01 -2.62706774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130792138 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.84, Z:-26.30 [[ 4.73002375e-01 8.79043090e-01 5.95986533e-02 2.93094898e+00] [-8.71809183e-01 4.76740617e-01 -1.12548361e-01 -8.38716346e-01] [-1.27347957e-01 1.27698862e-03 9.91857282e-01 -2.63019853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160792138 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.84, Z:-26.33 [[ 4.71497555e-01 8.79857725e-01 5.95015868e-02 2.93333030e+00] [-8.72586354e-01 4.75235388e-01 -1.12891013e-01 -8.41908045e-01] [-1.27605290e-01 1.30756400e-03 9.91824168e-01 -2.63346110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.84, Z:-26.37 [[ 4.67621341e-01 8.81930119e-01 5.94099785e-02 2.93647254e+00] [-8.74616226e-01 4.71379013e-01 -1.13350269e-01 -8.44388867e-01] [-1.27971633e-01 1.04407347e-03 9.91777279e-01 -2.63665137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.85, Z:-26.40 [[ 4.67849124e-01 8.81808637e-01 5.94199053e-02 2.93778373e+00] [-8.74424071e-01 4.71605527e-01 -1.13889292e-01 -8.47961290e-01] [-1.28451317e-01 1.32480998e-03 9.91714931e-01 -2.63994364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.85, Z:-26.43 [[ 4.65728199e-01 8.82937717e-01 5.93146830e-02 2.94036381e+00] [-8.75510328e-01 4.69488342e-01 -1.14290697e-01 -8.51081342e-01] [-1.28759120e-01 1.29778319e-03 9.91675050e-01 -2.64323121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.85, Z:-26.46 [[ 4.65514432e-01 8.83057347e-01 5.92117912e-02 2.94165859e+00] [-8.75572592e-01 4.69262464e-01 -1.14740473e-01 -8.54789019e-01] [-1.29108288e-01 1.56912438e-03 9.91629259e-01 -2.64640994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.86, Z:-26.50 [[ 4.63205105e-01 8.84271429e-01 5.92036394e-02 2.94440072e+00] [-8.76728028e-01 4.66970911e-01 -1.15265491e-01 -8.57883536e-01] [-1.29572358e-01 1.48607383e-03 9.91568856e-01 -2.64969304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.86, Z:-26.53 [[ 4.60606609e-01 8.85657676e-01 5.87540080e-02 2.94738589e+00] [-8.78161704e-01 4.64336733e-01 -1.14993130e-01 -8.60717621e-01] [-1.29126193e-01 1.37107609e-03 9.91627222e-01 -2.65300178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370792138 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.86, Z:-26.56 [[ 4.57491247e-01 8.87271689e-01 5.87427286e-02 2.95048443e+00] [-8.79712724e-01 4.61245610e-01 -1.15576857e-01 -8.64156620e-01] [-1.29642899e-01 1.19867447e-03 9.91560024e-01 -2.65623872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.86, Z:-26.59 [[ 4.54860080e-01 8.88419917e-01 6.17443047e-02 2.94957192e+00] [-8.80349172e-01 4.59031646e-01 -1.19479221e-01 -8.62525944e-01] [-1.34490310e-01 -1.02192122e-05 9.90914909e-01 -2.65948844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.87, Z:-26.63 [[ 4.55317409e-01 8.88151095e-01 6.22389629e-02 2.95045176e+00] [-8.80081647e-01 4.59551392e-01 -1.19452136e-01 -8.66072370e-01] [-1.34693548e-01 -3.86731846e-04 9.90887228e-01 -2.66271156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.87, Z:-26.66 [[ 4.53341533e-01 8.89171762e-01 6.20889071e-02 2.95249716e+00] [-8.81070685e-01 4.57573388e-01 -1.19754094e-01 -8.69032219e-01] [-1.34892191e-01 -4.15211145e-04 9.90860194e-01 -2.66593488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.88, Z:-26.69 [[ 4.48525107e-01 8.91851909e-01 5.85269195e-02 2.96023993e+00] [-8.84227595e-01 4.52327288e-01 -1.16368318e-01 -8.75462982e-01] [-1.30256630e-01 4.42995117e-04 9.91480214e-01 -2.66908914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.88, Z:-26.72 [[ 4.46385228e-01 8.92964775e-01 5.79149205e-02 2.96257623e+00] [-8.85284753e-01 4.50125657e-01 -1.16866586e-01 -8.78463130e-01] [-1.30426736e-01 8.96321557e-04 9.91457545e-01 -2.67234814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.88, Z:-26.76 [[ 4.48060281e-01 8.91788805e-01 6.28864977e-02 2.95832767e+00] [-8.83408215e-01 4.52451007e-01 -1.21975459e-01 -8.76227942e-01] [-1.37229408e-01 -9.02090378e-04 9.90538882e-01 -2.67554159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580792138 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.88, Z:-26.79 [[ 4.44573031e-01 8.93865827e-01 5.79543298e-02 2.96597849e+00] [-8.86014143e-01 4.48332934e-01 -1.18222329e-01 -8.84532297e-01] [-1.31657734e-01 1.21010310e-03 9.91294495e-01 -2.67871548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610792138 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.89, Z:-26.82 [[ 4.41838991e-01 8.95200459e-01 5.82618632e-02 2.96881976e+00] [-8.87213398e-01 4.45662517e-01 -1.19320186e-01 -8.88211946e-01] [-1.32780614e-01 1.02960506e-03 9.91144918e-01 -2.68188510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640792138000002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.89, Z:-26.85 [[ 4.46661065e-01 8.92566709e-01 6.17945210e-02 2.96343978e+00] [-8.84121252e-01 4.50915362e-01 -1.22494687e-01 -8.88495699e-01] [-1.37198778e-01 7.97579904e-05 9.90543532e-01 -2.68510554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.89, Z:-26.88 [[ 4.36793346e-01 8.97777809e-01 5.66266528e-02 2.97274383e+00] [-8.89798765e-01 4.40445024e-01 -1.19441779e-01 -8.94128726e-01] [-1.32173106e-01 1.78504867e-03 9.91225042e-01 -2.68838074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.90, Z:-26.92 [[ 4.36796810e-01 8.97719026e-01 5.75247505e-02 2.97348301e+00] [-8.89743461e-01 4.40567367e-01 -1.19402548e-01 -8.97927783e-01] [-1.32533467e-01 9.72381238e-04 9.91178054e-01 -2.69154734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.90, Z:-26.95 [[ 4.33965244e-01 8.99101641e-01 5.73620687e-02 2.97538042e+00] [-8.91106162e-01 4.37739183e-01 -1.19642029e-01 -9.01376527e-01] [-1.32679969e-01 8.04789370e-04 9.91158604e-01 -2.69484051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.90, Z:-26.98 [[ 4.29365747e-01 9.01306706e-01 5.73696482e-02 2.97927030e+00] [-8.93234291e-01 4.33181293e-01 -1.20359748e-01 -9.03957053e-01] [-1.33332506e-01 4.33815886e-04 9.91071266e-01 -2.69803645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.91, Z:-27.01 [[ 4.28197400e-01 9.01856500e-01 5.74616399e-02 2.98108695e+00] [-8.93686625e-01 4.32035408e-01 -1.21118215e-01 -9.07543066e-01] [-1.34056712e-01 5.09805654e-04 9.90973530e-01 -2.70133341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820792138 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.91, Z:-27.05 [[ 4.28462863e-01 9.01759548e-01 5.70025706e-02 2.98240632e+00] [-8.93596249e-01 4.32237023e-01 -1.21065684e-01 -9.10654325e-01] [-1.33810758e-01 9.34866390e-04 9.91006462e-01 -2.70456014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.91, Z:-27.08 [[ 4.26215040e-01 9.02833370e-01 5.68563700e-02 2.98452591e+00] [-8.94693422e-01 4.29990040e-01 -1.20963820e-01 -9.13699545e-01] [-1.33657846e-01 6.87579045e-04 9.91027299e-01 -2.70782663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880792138 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.92, Z:-27.11 [[ 4.24044897e-01 9.03867859e-01 5.66464341e-02 2.98689119e+00] [-8.95699517e-01 4.27811218e-01 -1.21243297e-01 -9.16763223e-01] [-1.33821899e-01 6.74417662e-04 9.91005169e-01 -2.71101146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910792138 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.92, Z:-27.14 [[ 4.24218623e-01 9.03785188e-01 5.66647504e-02 2.98722197e+00] [-8.95522600e-01 4.27985245e-01 -1.21934012e-01 -9.20705567e-01] [-1.34453831e-01 9.82113871e-04 9.90919373e-01 -2.71422662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.92, Z:-27.18 [[ 4.23174630e-01 9.04283764e-01 5.65164300e-02 2.98907343e+00] [-8.95987659e-01 4.26930566e-01 -1.22214596e-01 -9.24403295e-01] [-1.34645266e-01 1.08009265e-03 9.90893277e-01 -2.71752366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970792138 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.93, Z:-27.21 [[ 4.19510284e-01 9.06012576e-01 5.61456557e-02 2.99271690e+00] [-8.97748375e-01 4.23249982e-01 -1.22095488e-01 -9.26542987e-01] [-1.34383695e-01 8.15641586e-04 9.90929037e-01 -2.72083899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.93, Z:-27.24 [[ 4.17622089e-01 9.06892487e-01 5.60161400e-02 2.99498261e+00] [-8.98580871e-01 4.21361289e-01 -1.22503394e-01 -9.30035077e-01] [-1.34700441e-01 8.25091528e-04 9.90886023e-01 -2.72411695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030792138 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.93, Z:-27.27 [[ 4.15866492e-01 9.07715947e-01 5.57388591e-02 2.99760570e+00] [-8.99400521e-01 4.19584366e-01 -1.22587365e-01 -9.33156622e-01] [-1.34661660e-01 8.48418646e-04 9.90891274e-01 -2.72742278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060792138 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.94, Z:-27.31 [[ 4.11814259e-01 9.09561106e-01 5.57459499e-02 3.00103594e+00] [-9.01165113e-01 4.15569853e-01 -1.23301003e-01 -9.35618627e-01] [-1.35316132e-01 5.40805799e-04 9.90802327e-01 -2.73065726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.94, Z:-27.34 [[ 4.09221557e-01 9.10727167e-01 5.58009295e-02 3.00339046e+00] [-9.02228496e-01 4.13008261e-01 -1.24128633e-01 -9.39099009e-01] [-1.36093563e-01 4.50923931e-04 9.90695886e-01 -2.73395791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.94, Z:-27.37 [[ 4.06948346e-01 9.11751283e-01 5.57013679e-02 3.00586384e+00] [-9.03187245e-01 4.10742518e-01 -1.24673107e-01 -9.42475896e-01] [-1.36549785e-01 4.26749608e-04 9.90633118e-01 -2.73718148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150792138 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.95, Z:-27.40 [[ 4.04765254e-01 9.12736714e-01 5.54687277e-02 3.00812896e+00] [-9.04166154e-01 4.08548116e-01 -1.24787828e-01 -9.45889427e-01] [-1.36560077e-01 3.56830767e-04 9.90631727e-01 -2.74046422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.95, Z:-27.44 [[ 4.02735597e-01 9.13646833e-01 5.52585120e-02 3.01034423e+00] [-9.05044282e-01 4.06508711e-01 -1.25082035e-01 -9.49229478e-01] [-1.36743872e-01 3.63587926e-04 9.90606370e-01 -2.74366846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210792138 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.95, Z:-27.47 [[ 4.00517197e-01 9.14652259e-01 5.47468708e-02 3.01271363e+00] [-9.06128255e-01 4.04241464e-01 -1.24580992e-01 -9.52664205e-01] [-1.36079241e-01 2.89142948e-04 9.90697914e-01 -2.74690176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.96, Z:-27.50 [[ 3.97693900e-01 9.15904501e-01 5.43921644e-02 3.01549542e+00] [-9.07410082e-01 4.01396222e-01 -1.24450862e-01 -9.55315254e-01] [-1.35817914e-01 1.37350310e-04 9.90733807e-01 -2.75018989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.96, Z:-27.53 [[ 3.96599614e-01 9.16396672e-01 5.40914566e-02 3.01742600e+00] [-9.07906616e-01 4.00271256e-01 -1.24452797e-01 -9.58679323e-01] [-1.35699384e-01 2.47940041e-04 9.90750027e-01 -2.75346992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300792138 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.96, Z:-27.57 [[ 3.93550696e-01 9.17737587e-01 5.36243488e-02 3.02042156e+00] [-9.09273904e-01 3.97187222e-01 -1.24351427e-01 -9.61598275e-01] [-1.35420885e-01 1.79369730e-04 9.90788147e-01 -2.75666745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330792138 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.97, Z:-27.60 [[ 3.93557310e-01 9.17726200e-01 5.37704927e-02 3.02120803e+00] [-9.09181997e-01 3.97213471e-01 -1.24938201e-01 -9.66101148e-01] [-1.36017424e-01 2.83178260e-04 9.90706405e-01 -2.75990614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.97, Z:-27.63 [[ 3.92072106e-01 9.18383516e-01 5.33964544e-02 3.02236209e+00] [-9.09835283e-01 3.95691207e-01 -1.25012909e-01 -9.70176722e-01] [-1.35938302e-01 4.32096328e-04 9.90717211e-01 -2.76312546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390792138000002 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.97, Z:-27.66 [[ 3.90914364e-01 9.18898946e-01 5.30159130e-02 3.02361436e+00] [-9.10448395e-01 3.94492857e-01 -1.24334655e-01 -9.73359537e-01] [-1.35165383e-01 3.35949670e-04 9.90822995e-01 -2.76640993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420792138 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.98, Z:-27.70 [[ 3.84597588e-01 9.21495797e-01 5.41312428e-02 3.02714120e+00] [-9.12573024e-01 3.88388281e-01 -1.27925832e-01 -9.77278619e-01] [-1.38907057e-01 -1.98745428e-04 9.90305402e-01 -2.76959627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.98, Z:-27.73 [[ 3.69971936e-01 9.27407001e-01 5.51091754e-02 3.03404673e+00] [-9.18187923e-01 3.74046533e-01 -1.30461221e-01 -9.78384661e-01] [-1.41604046e-01 -2.33358879e-03 9.89920627e-01 -2.77283496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.98, Z:-27.76 [[ 3.75224441e-01 9.25296085e-01 5.50797041e-02 3.03268196e+00] [-9.15919053e-01 3.79243784e-01 -1.31401828e-01 -9.83557275e-01] [-1.42474232e-01 -1.14337302e-03 9.89797851e-01 -2.77602774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.99, Z:-27.79 [[ 3.67809250e-01 9.28240632e-01 5.55489384e-02 3.03792333e+00] [-9.18701836e-01 3.71973737e-01 -1.32749669e-01 -9.85780917e-01] [-1.43886383e-01 -2.20635553e-03 9.89591755e-01 -2.77926643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540792138 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.99, Z:-27.82 [[ 3.71170032e-01 9.26897791e-01 5.56173804e-02 3.03722421e+00] [-9.17194356e-01 3.75311391e-01 -1.33775462e-01 -9.90194364e-01] [-1.44870016e-01 -1.35850496e-03 9.89449763e-01 -2.78240390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.99, Z:-27.86 [[ 3.66838233e-01 9.28647557e-01 5.51672505e-02 3.04102435e+00] [-9.19009916e-01 3.70959131e-01 -1.33454476e-01 -9.92581113e-01] [-1.44396968e-01 -1.74304630e-03 9.89518306e-01 -2.78554266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:3.04, Y:-1.00, Z:-27.89 [[ 3.65038613e-01 9.29378970e-01 5.47863312e-02 3.04320933e+00] [-9.19726051e-01 3.69123451e-01 -1.33610887e-01 -9.96100157e-01] [-1.44398068e-01 -1.61528332e-03 9.89518362e-01 -2.78886851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:3.05, Y:-1.00, Z:-27.92 [[ 3.63105361e-01 9.30159786e-01 5.43807751e-02 3.04529441e+00] [-9.20661956e-01 3.67149955e-01 -1.32598918e-01 -9.99832931e-01] [-1.43304081e-01 -1.91893264e-03 9.89676845e-01 -2.79218170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660792138 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:3.05, Y:-1.00, Z:-27.95 [[ 3.62614952e-01 9.30383323e-01 5.38262863e-02 3.04650176e+00] [-9.20967671e-01 3.66584243e-01 -1.32039925e-01 -1.00377831e+00] [-1.42579612e-01 -1.69261859e-03 9.89781890e-01 -2.79544438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.05, Y:-1.01, Z:-27.99 [[ 3.58590536e-01 9.31955078e-01 5.35962661e-02 3.04985035e+00] [-9.22519419e-01 3.62568225e-01 -1.32295898e-01 -1.00693810e+00] [-1.42726137e-01 -2.00353932e-03 9.89760191e-01 -2.79867818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:3.05, Y:-1.01, Z:-28.02 [[ 3.52529612e-01 9.34279113e-01 5.33424008e-02 3.05401982e+00] [-9.24842134e-01 3.56532782e-01 -1.32481705e-01 -1.00936240e+00] [-1.42793204e-01 -2.62957584e-03 9.89749052e-01 -2.80200122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750792138 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.01, Z:-28.05 [[ 3.53407070e-01 9.33984122e-01 5.26982263e-02 3.05505760e+00] [-9.24648550e-01 3.57307931e-01 -1.31742556e-01 -1.01324891e+00] [-1.41874950e-01 -2.16858789e-03 9.89882213e-01 -2.80518597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780792138 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.02, Z:-28.09 [[ 3.51584104e-01 9.34693313e-01 5.23166128e-02 3.05720870e+00] [-9.25343008e-01 3.55449368e-01 -1.31894140e-01 -1.01679483e+00] [-1.41876477e-01 -2.03892888e-03 9.89882270e-01 -2.80851180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.02, Z:-28.12 [[ 3.50742036e-01 9.35005659e-01 5.23874219e-02 3.05878017e+00] [-9.25636192e-01 3.54626122e-01 -1.32052843e-01 -1.02030121e+00] [-1.42048103e-01 -2.17521075e-03 9.89857366e-01 -2.81176308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.02, Z:-28.15 [[ 3.49739426e-01 9.35391623e-01 5.22000500e-02 3.06059773e+00] [-9.25978089e-01 3.53607648e-01 -1.32386591e-01 -1.02399460e+00] [-1.42291645e-01 -2.03529211e-03 9.89822684e-01 -2.81506575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.03, Z:-28.18 [[ 3.47094042e-01 9.36388047e-01 5.19918449e-02 3.06296187e+00] [-9.26940615e-01 3.50959921e-01 -1.32696010e-01 -1.02722386e+00] [-1.42502012e-01 -2.13535818e-03 9.89792209e-01 -2.81833611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900792138 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.03, Z:-28.21 [[ 3.39998673e-01 9.38995525e-01 5.18488877e-02 3.06755304e+00] [-9.29500571e-01 3.43917165e-01 -1.33227894e-01 -1.02927739e+00] [-1.42932119e-01 -2.89626351e-03 9.89728256e-01 -2.82148028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.03, Z:-28.25 [[ 3.38592546e-01 9.39520511e-01 5.15392686e-02 3.06916361e+00] [-9.30037947e-01 3.42480861e-01 -1.33177617e-01 -1.03340699e+00] [-1.42774316e-01 -2.84052703e-03 9.89751194e-01 -2.82470810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960792138 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.04, Z:-28.28 [[ 3.35603072e-01 9.40603092e-01 5.13458887e-02 3.07184102e+00] [-9.31080915e-01 3.39495017e-01 -1.33534499e-01 -1.03685321e+00] [-1.43034636e-01 -2.99258895e-03 9.89713159e-01 -2.82800274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990792138 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.04, Z:-28.31 [[ 3.36316166e-01 9.40313615e-01 5.19782759e-02 3.07251012e+00] [-9.30602585e-01 3.40295665e-01 -1.34824664e-01 -1.04062445e+00] [-1.44465449e-01 -3.02740396e-03 9.89505214e-01 -2.83119724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.05, Z:-28.34 [[ 3.38793718e-01 9.39451151e-01 5.14815598e-02 3.07258151e+00] [-9.29918645e-01 3.42672686e-01 -1.33516826e-01 -1.04501881e+00] [-1.43073860e-01 -2.63900041e-03 9.89708496e-01 -2.83442616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.05, Z:-28.38 [[ 3.29854332e-01 9.42637804e-01 5.12844103e-02 3.07698851e+00] [-9.32921135e-01 3.33800944e-01 -1.35037350e-01 -1.04651778e+00] [-1.44410095e-01 -3.30165553e-03 9.89512417e-01 -2.83765637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080792138 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.05, Z:-28.41 [[ 3.33546440e-01 9.41342546e-01 5.11955473e-02 3.07728836e+00] [-9.31912037e-01 3.37435774e-01 -1.32955085e-01 -1.05190449e+00] [-1.42431487e-01 -3.36305150e-03 9.89798950e-01 -2.84097879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.05, Z:-28.44 [[ 3.29880298e-01 9.42701665e-01 4.99255418e-02 3.08046454e+00] [-9.33245865e-01 3.33626372e-01 -1.33212610e-01 -1.05412310e+00] [-1.42236227e-01 -2.64858980e-03 9.89829198e-01 -2.84418836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140792138000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.06, Z:-28.47 [[ 3.34337988e-01 9.41111907e-01 5.02641859e-02 3.07902988e+00] [-9.31469771e-01 3.38089941e-01 -1.34384734e-01 -1.06005437e+00] [-1.43464889e-01 -1.88964799e-03 9.89653603e-01 -2.84746365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170792138 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.06, Z:-28.51 [[ 3.30015975e-01 9.42691006e-01 4.92252399e-02 3.07945813e+00] [-9.33299693e-01 3.33660189e-01 -1.32749998e-01 -1.06152998e+00] [-1.41566732e-01 -2.13228127e-03 9.89926418e-01 -2.85064712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200792138 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.07, Z:-28.54 [[ 3.49461120e-01 9.35734329e-01 4.77303919e-02 3.06591490e+00] [-9.26805665e-01 3.52704659e-01 -1.28960007e-01 -1.06623478e+00] [-1.37507037e-01 8.29710944e-04 9.90500442e-01 -2.85397710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230792138 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.07, Z:-28.57 [[ 3.39490875e-01 9.39439671e-01 4.68940277e-02 3.07273861e+00] [-9.30734683e-01 3.42714160e-01 -1.27592926e-01 -1.06770955e+00] [-1.35937104e-01 -3.29264006e-04 9.90717415e-01 -2.85719988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:3.07, Y:-1.07, Z:-28.61 [[ 3.38152262e-01 9.39958201e-01 4.61695613e-02 3.07326304e+00] [-9.31425972e-01 3.41289475e-01 -1.26361198e-01 -1.07042478e+00] [-1.34531430e-01 -2.74203600e-04 9.90909289e-01 -2.86051403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.07, Z:-28.64 [[ 3.38326071e-01 9.39924360e-01 4.55814281e-02 3.07549564e+00] [-9.31489546e-01 3.41382769e-01 -1.25638491e-01 -1.07370837e+00] [-1.33651392e-01 4.81532868e-05 9.91028407e-01 -2.86369171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.08, Z:-28.67 [[ 3.37263381e-01 9.40312208e-01 4.54572675e-02 3.07814758e+00] [-9.31826933e-01 3.40312986e-01 -1.26038243e-01 -1.07762723e+00] [-1.33984997e-01 1.49777869e-04 9.90983349e-01 -2.86693954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.08, Z:-28.70 [[ 3.35253746e-01 9.41043681e-01 4.51853515e-02 3.08009998e+00] [-9.32551886e-01 3.38285039e-01 -1.26135688e-01 -1.08124938e+00] [-1.33984720e-01 1.49777032e-04 9.90983386e-01 -2.87026666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380792138 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.08, Z:-28.73 [[ 3.32471722e-01 9.42050143e-01 4.47669777e-02 3.08252542e+00] [-9.33603167e-01 3.35472094e-01 -1.25871365e-01 -1.08472266e+00] [-1.33595209e-01 5.40774554e-05 9.91035982e-01 -2.87347235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410792138 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.09, Z:-28.77 [[ 3.30787308e-01 9.42663133e-01 4.43393100e-02 3.08428140e+00] [-9.34284080e-01 3.33745733e-01 -1.25407508e-01 -1.08906413e+00] [-1.33015090e-01 5.77005892e-05 9.91114011e-01 -2.87674568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440792138 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.09, Z:-28.80 [[ 3.28765267e-01 9.43382965e-01 4.40679149e-02 3.08621225e+00] [-9.34997572e-01 3.31705560e-01 -1.25502837e-01 -1.09269845e+00] [-1.33014811e-01 5.75804274e-05 9.91114048e-01 -2.88007278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470792138 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.10, Z:-28.83 [[ 3.29635963e-01 9.43087905e-01 4.38786515e-02 3.08644420e+00] [-9.34647978e-01 3.32543181e-01 -1.25889595e-01 -1.09682680e+00] [-1.33316501e-01 4.86645017e-04 9.91073395e-01 -2.88328082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500792138 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.10, Z:-28.87 [[ 3.27748835e-01 9.43756551e-01 4.36379757e-02 3.08829319e+00] [-9.35311422e-01 3.30640815e-01 -1.25972996e-01 -1.10048811e+00] [-1.33316336e-01 4.72405464e-04 9.91073424e-01 -2.88660797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.10, Z:-28.90 [[ 3.27302327e-01 9.43918221e-01 4.34922898e-02 3.09016767e+00] [-9.35413678e-01 3.30178600e-01 -1.26425250e-01 -1.10451200e+00] [-1.33695320e-01 6.95995566e-04 9.91022238e-01 -2.88991998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560792138 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.10, Z:-28.93 [[ 3.07132963e-01 9.50753499e-01 4.16788708e-02 3.09988426e+00] [-9.42087903e-01 3.09948028e-01 -1.28072644e-01 -1.10475332e+00] [-1.34683798e-01 7.01705531e-05 9.90888626e-01 -2.89297492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.11, Z:-28.96 [[ 3.26411425e-01 9.44094201e-01 4.62787246e-02 3.09238502e+00] [-9.35582097e-01 3.29669716e-01 -1.26506989e-01 -1.11179247e+00] [-1.34691209e-01 -2.00421966e-03 9.90885595e-01 -2.89620142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.11, Z:-28.99 [[ 3.21111130e-01 9.45969406e-01 4.50502479e-02 3.09566309e+00] [-9.37323957e-01 3.24253479e-01 -1.27606747e-01 -1.11467920e+00] [-1.35319779e-01 -1.25072978e-03 9.90801188e-01 -2.89930910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.12, Z:-29.03 [[ 3.22542766e-01 9.45447006e-01 4.57834405e-02 3.09589018e+00] [-9.36748820e-01 3.25771935e-01 -1.27962083e-01 -1.11862537e+00] [-1.35896328e-01 -1.61433967e-03 9.90721748e-01 -2.90256509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.12, Z:-29.06 [[ 3.21227931e-01 9.45910370e-01 4.54553405e-02 3.09751591e+00] [-9.37221662e-01 3.24424557e-01 -1.27922883e-01 -1.12238980e+00] [-1.35750410e-01 -1.50932690e-03 9.90741918e-01 -2.90577050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710792138 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.12, Z:-29.09 [[ 3.10699734e-01 9.49490732e-01 4.39661684e-02 3.10404587e+00] [-9.40840549e-01 3.13790833e-01 -1.27884226e-01 -1.12452658e+00] [-1.35221068e-01 -1.63155887e-03 9.90814110e-01 -2.90898479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740792138 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.13, Z:-29.12 [[ 3.13741734e-01 9.48454047e-01 4.47330443e-02 3.10363978e+00] [-9.39875298e-01 3.16907693e-01 -1.27294691e-01 -1.12915145e+00] [-1.34909411e-01 -2.10582627e-03 9.90855699e-01 -2.91225943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.14, Z:-29.16 [[ 3.26427892e-01 9.44082016e-01 4.64109803e-02 3.09999878e+00] [-9.35625982e-01 3.29702941e-01 -1.26095173e-01 -1.13510752e+00] [-1.34346021e-01 -2.26233765e-03 9.90931899e-01 -2.91551823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.14, Z:-29.19 [[ 3.07076476e-01 9.50788621e-01 4.12920860e-02 3.11023627e+00] [-9.42203530e-01 3.09840185e-01 -1.27481636e-01 -1.13648914e+00] [-1.34002036e-01 2.41062386e-04 9.90981027e-01 -2.91870332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.14, Z:-29.22 [[ 3.04055039e-01 9.51762729e-01 4.12097199e-02 3.11293980e+00] [-9.43098843e-01 3.06834970e-01 -1.28128351e-01 -1.13977066e+00] [-1.34592372e-01 9.32314252e-05 9.90901047e-01 -2.92183085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.14, Z:-29.25 [[ 3.03973919e-01 9.51802170e-01 4.08960338e-02 3.11411818e+00] [-9.43158055e-01 3.06712436e-01 -1.27985802e-01 -1.14415835e+00] [-1.34360486e-01 3.32922263e-04 9.90932464e-01 -2.92512075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890792138000002 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.15, Z:-29.28 [[ 3.02691186e-01 9.52227403e-01 4.05094812e-02 3.11603209e+00] [-9.43624864e-01 3.05389566e-01 -1.27707986e-01 -1.14728541e+00] [-1.33978217e-01 4.30328164e-04 9.90984184e-01 -2.92838005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920792138 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.15, Z:-29.32 [[ 3.02255886e-01 9.52373051e-01 4.03354850e-02 3.11746767e+00] [-9.43717407e-01 3.04934650e-01 -1.28110555e-01 -1.15097974e+00] [-1.34308728e-01 6.56870138e-04 9.90939319e-01 -2.93170032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950792138 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.15, Z:-29.35 [[ 3.00200748e-01 9.53020048e-01 4.04017168e-02 3.11828849e+00] [-9.44162580e-01 3.02906247e-01 -1.29633436e-01 -1.15493267e+00] [-1.35781195e-01 7.70265048e-04 9.90738550e-01 -2.93487203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980792138 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.16, Z:-29.38 [[ 3.00307524e-01 9.52980653e-01 4.05372164e-02 3.11908350e+00] [-9.44021847e-01 3.03029861e-01 -1.30367388e-01 -1.15844339e+00] [-1.36521586e-01 8.82289726e-04 9.90636703e-01 -2.93814799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.16, Z:-29.41 [[ 2.99543777e-01 9.53227440e-01 4.03853015e-02 3.12042680e+00] [-9.44191350e-01 3.02251972e-01 -1.30944417e-01 -1.16247555e+00] [-1.37026349e-01 1.09213308e-03 9.90566801e-01 -2.94136625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040792138 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.17, Z:-29.45 [[ 3.01917975e-01 9.52483845e-01 4.02499938e-02 3.11956400e+00] [-9.43370054e-01 3.04584258e-01 -1.31458627e-01 -1.16676125e+00] [-1.37471733e-01 1.71908366e-03 9.90504199e-01 -2.94450071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070792138 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.17, Z:-29.48 [[ 3.00628355e-01 9.52908471e-01 3.98502095e-02 3.12074295e+00] [-9.43859341e-01 3.03252850e-01 -1.31023865e-01 -1.17023717e+00] [-1.36938440e-01 1.77649651e-03 9.90577966e-01 -2.94774228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.17, Z:-29.51 [[ 2.98261976e-01 9.53664807e-01 3.95376944e-02 3.12355325e+00] [-9.44615916e-01 3.00866059e-01 -1.31073971e-01 -1.17359282e+00] [-1.36896183e-01 1.74644611e-03 9.90583861e-01 -2.95093836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.18, Z:-29.54 [[ 2.98759673e-01 9.53503404e-01 3.96726022e-02 3.12365358e+00] [-9.44254165e-01 3.01374747e-01 -1.32504092e-01 -1.17745939e+00] [-1.38299423e-01 2.12585933e-03 9.90388182e-01 -2.95410626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.18, Z:-29.57 [[ 2.98112377e-01 9.53715589e-01 3.94409285e-02 3.12453612e+00] [-9.44452855e-01 3.00701439e-01 -1.32617683e-01 -1.18159550e+00] [-1.38339496e-01 2.28487520e-03 9.90382231e-01 -2.95742911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.18, Z:-29.61 [[ 2.93149268e-01 9.55268893e-01 3.90493230e-02 3.12785702e+00] [-9.46049274e-01 2.95732702e-01 -1.32412009e-01 -1.18473678e+00] [-1.38037235e-01 1.87389994e-03 9.90425267e-01 -2.96063300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.19, Z:-29.64 [[ 2.95800210e-01 9.54454659e-01 3.89684512e-02 3.12744522e+00] [-9.45125405e-01 2.98345064e-01 -1.33147258e-01 -1.18914537e+00] [-1.38709066e-01 2.55491367e-03 9.90329878e-01 -2.96385388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.19, Z:-29.67 [[ 2.94766908e-01 9.54775268e-01 3.89442860e-02 3.12775998e+00] [-9.45330071e-01 2.97316326e-01 -1.33992760e-01 -1.19341104e+00] [-1.39511745e-01 2.68142685e-03 9.90216786e-01 -2.96716686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.20, Z:-29.70 [[ 2.95345454e-01 9.54611849e-01 3.85652839e-02 3.12800030e+00] [-9.45200594e-01 2.97837059e-01 -1.33749480e-01 -1.19719186e+00] [-1.39165009e-01 3.05037162e-03 9.90264508e-01 -2.97043184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310792138000004 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.20, Z:-29.74 [[ 2.93336024e-01 9.55248329e-01 3.81393141e-02 3.12984938e+00] [-9.45826685e-01 2.95787788e-01 -1.33871085e-01 -1.20086639e+00] [-1.39161273e-01 3.19603064e-03 9.90264573e-01 -2.97375803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.20, Z:-29.77 [[ 2.89539733e-01 9.56405553e-01 3.81465743e-02 3.13196945e+00] [-9.46986058e-01 2.92029763e-01 -1.33925440e-01 -1.20395857e+00] [-1.39226969e-01 2.65246207e-03 9.90256944e-01 -2.97693724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.21, Z:-29.80 [[ 2.88804726e-01 9.56641767e-01 3.77936411e-02 3.13359885e+00] [-9.47263273e-01 2.91253654e-01 -1.33654779e-01 -1.20707219e+00] [-1.38867280e-01 2.79960348e-03 9.90307044e-01 -2.98022279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.13, Y:-1.21, Z:-29.84 [[ 2.88801481e-01 9.56651344e-01 3.75754068e-02 3.13406993e+00] [-9.47228452e-01 2.91219155e-01 -1.33976354e-01 -1.21084559e+00] [-1.39111337e-01 3.10007504e-03 9.90271895e-01 -2.98352762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.21, Z:-29.87 [[ 2.85393611e-01 9.57676398e-01 3.75020501e-02 3.13676251e+00] [-9.48146285e-01 2.87832289e-01 -1.34800579e-01 -1.21465611e+00] [-1.39889634e-01 2.91379441e-03 9.90162815e-01 -2.98676595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460792138 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.22, Z:-29.90 [[ 2.78872242e-01 9.59613934e-01 3.70320203e-02 3.14115314e+00] [-9.50128718e-01 2.81310429e-01 -1.34610038e-01 -1.21762078e+00] [-1.39591161e-01 2.35381711e-03 9.90206427e-01 -2.98995134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490792138 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.22, Z:-29.93 [[ 2.76061128e-01 9.60431083e-01 3.69105529e-02 3.14305108e+00] [-9.50964124e-01 2.78510284e-01 -1.34533479e-01 -1.22168975e+00] [-1.39490104e-01 2.03885247e-03 9.90221366e-01 -2.99321457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520792138 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.23, Z:-29.96 [[ 2.74129620e-01 9.60987430e-01 3.68254010e-02 3.14436353e+00] [-9.51409782e-01 2.76584310e-01 -1.35353411e-01 -1.22515096e+00] [-1.40258255e-01 2.06833235e-03 9.90112794e-01 -2.99645146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550792138 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.23, Z:-30.00 [[ 2.72110455e-01 9.61569083e-01 3.66169252e-02 3.14615322e+00] [-9.51886985e-01 2.74554396e-01 -1.36128802e-01 -1.22915297e+00] [-1.40950585e-01 2.18689574e-03 9.90014217e-01 -2.99958964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580792138 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.23, Z:-30.03 [[ 2.65624581e-01 9.63380792e-01 3.66200910e-02 3.15056380e+00] [-9.53650493e-01 2.68133562e-01 -1.36583786e-01 -1.23221983e+00] [-1.41401271e-01 1.35724305e-03 9.89951432e-01 -3.00278270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610792138 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.24, Z:-30.06 [[ 2.67231894e-01 9.62946048e-01 3.63596369e-02 3.15016011e+00] [-9.53201584e-01 2.69687679e-01 -1.36657588e-01 -1.23661372e+00] [-1.41399630e-01 1.86120258e-03 9.89950848e-01 -3.00608334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640792138 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.24, Z:-30.09 [[ 2.60955300e-01 9.64682688e-01 3.59115995e-02 3.15477613e+00] [-9.55032328e-01 2.63411874e-01 -1.36115531e-01 -1.23909410e+00] [-1.40767838e-01 1.22333082e-03 9.90041878e-01 -3.00938855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.24, Z:-30.13 [[ 2.59530542e-01 9.65069482e-01 3.58439884e-02 3.15615778e+00] [-9.55285995e-01 2.61990677e-01 -1.37074990e-01 -1.24284334e+00] [-1.41677681e-01 1.33388642e-03 9.89911943e-01 -3.01261619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700792138 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.24, Z:-30.16 [[ 2.51772834e-01 9.67146035e-01 3.51992431e-02 3.15955650e+00] [-9.57510467e-01 2.54220782e-01 -1.36181860e-01 -1.24486561e+00] [-1.40656125e-01 5.83249098e-04 9.90058339e-01 -3.01583120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730792138 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.25, Z:-30.19 [[ 2.46723406e-01 9.68469215e-01 3.45679259e-02 3.16349992e+00] [-9.59139941e-01 2.49133249e-01 -1.34101447e-01 -1.24744828e+00] [-1.38485142e-01 -6.95127692e-05 9.90364509e-01 -3.01911685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.25, Z:-30.22 [[ 2.57531185e-01 9.65738972e-01 3.20300846e-02 3.16089463e+00] [-9.57581480e-01 2.59510526e-01 -1.25267696e-01 -1.25283099e+00] [-1.29288040e-01 1.58892235e-03 9.91605808e-01 -3.02238850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790792138 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.26, Z:-30.26 [[ 2.59080294e-01 9.65358619e-01 3.09860897e-02 3.15967085e+00] [-9.57534540e-01 2.60918136e-01 -1.22675714e-01 -1.25668356e+00] [-1.26510890e-01 2.11260879e-03 9.91962969e-01 -3.02554679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820792138 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.26, Z:-30.29 [[ 2.49940043e-01 9.67760807e-01 3.11287075e-02 3.16503209e+00] [-9.59839655e-01 2.51869029e-01 -1.23571151e-01 -1.25928922e+00] [-1.27427674e-01 1.00681094e-03 9.91847354e-01 -3.02884890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850792138 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.26, Z:-30.32 [[ 2.57889200e-01 9.65669470e-01 3.12351617e-02 3.16135383e+00] [-9.57528524e-01 2.59763117e-01 -1.25148905e-01 -1.26411682e+00] [-1.28966220e-01 2.36599281e-03 9.91646165e-01 -3.03209207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880792138 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.27, Z:-30.35 [[ 2.55550568e-01 9.66304729e-01 3.08071073e-02 3.16339838e+00] [-9.58232242e-01 2.57390182e-01 -1.24664608e-01 -1.26679514e+00] [-1.28393447e-01 2.33774782e-03 9.91720554e-01 -3.03528271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910792138 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.27, Z:-30.39 [[ 2.46344324e-01 9.68701560e-01 3.05247756e-02 3.16907893e+00] [-9.60657265e-01 2.48224530e-01 -1.24588126e-01 -1.26971268e+00] [-1.28265710e-01 1.36773029e-03 9.91738896e-01 -3.03853507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.27, Z:-30.42 [[ 2.45714236e-01 9.68869482e-01 3.02727890e-02 3.16916425e+00] [-9.60821799e-01 2.47567301e-01 -1.24627053e-01 -1.27381802e+00] [-1.28241901e-01 1.53588553e-03 9.91741728e-01 -3.04186079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970792138 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.28, Z:-30.45 [[ 2.43028198e-01 9.69555849e-01 2.99791647e-02 3.17072441e+00] [-9.61515755e-01 2.44865937e-01 -1.24611901e-01 -1.27776815e+00] [-1.28159073e-01 1.45876640e-03 9.91752552e-01 -3.04514583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000792138 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.28, Z:-30.48 [[ 2.39858786e-01 9.70358882e-01 2.95195499e-02 3.17325371e+00] [-9.62363766e-01 2.41664342e-01 -1.24315434e-01 -1.28096027e+00] [-1.27764408e-01 1.40960387e-03 9.91803544e-01 -3.04828242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.28, Z:-30.51 [[ 2.37604007e-01 9.70923051e-01 2.92021197e-02 3.17525298e+00] [-9.63006964e-01 2.39388374e-01 -1.23736789e-01 -1.28442600e+00] [-1.27129549e-01 1.27851230e-03 9.91885297e-01 -3.05144335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060792138000004 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.29, Z:-30.55 [[ 2.35460549e-01 9.71450065e-01 2.90361891e-02 3.17681894e+00] [-9.63585453e-01 2.37241706e-01 -1.23367123e-01 -1.28862411e+00] [-1.26733595e-01 1.06924109e-03 9.91936214e-01 -3.05468785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090792138 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.29, Z:-30.58 [[ 2.33396380e-01 9.71955918e-01 2.87719124e-02 3.17832959e+00] [-9.64087545e-01 2.35160689e-01 -1.23428745e-01 -1.29244586e+00] [-1.26733322e-01 1.06917997e-03 9.91936249e-01 -3.05801508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120792138 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.30, Z:-30.61 [[ 2.30201687e-01 9.72725038e-01 2.85163878e-02 3.17982429e+00] [-9.64849690e-01 2.31959369e-01 -1.23531073e-01 -1.29584274e+00] [-1.26776411e-01 9.23033347e-04 9.91930890e-01 -3.06130238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150792138 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.30, Z:-30.65 [[ 2.29894453e-01 9.72808742e-01 2.81370311e-02 3.18044161e+00] [-9.64991881e-01 2.31607091e-01 -1.23080565e-01 -1.29983124e+00] [-1.26250586e-01 1.14353273e-03 9.91997723e-01 -3.06461974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180792138 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.30, Z:-30.68 [[ 2.26981034e-01 9.73503962e-01 2.77424870e-02 3.18189180e+00] [-9.65758800e-01 2.28667842e-01 -1.22560018e-01 -1.30324217e+00] [-1.25656478e-01 1.02624872e-03 9.92073282e-01 -3.06785843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210792138 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.31, Z:-30.71 [[ 2.26122857e-01 9.73715812e-01 2.73124514e-02 3.18240520e+00] [-9.66062420e-01 2.27763372e-01 -1.21849276e-01 -1.30694407e+00] [-1.24867343e-01 1.16737360e-03 9.92172759e-01 -3.07118268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240792138 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.31, Z:-30.74 [[ 2.25604486e-01 9.73841522e-01 2.71165135e-02 3.18296709e+00] [-9.66132489e-01 2.27224004e-01 -1.22299900e-01 -1.31029895e+00] [-1.25262244e-01 1.39326138e-03 9.92122689e-01 -3.07436114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270792138 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.31, Z:-30.78 [[ 2.23652537e-01 9.74298124e-01 2.68832366e-02 3.18437355e+00] [-9.66586224e-01 2.25258215e-01 -1.22351169e-01 -1.31414609e+00] [-1.25262184e-01 1.37918327e-03 9.92122716e-01 -3.07768838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300792138 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.32, Z:-30.81 [[ 2.19555001e-01 9.75236235e-01 2.66437193e-02 3.18671649e+00] [-9.67515125e-01 2.21162944e-01 -1.22480350e-01 -1.31790950e+00] [-1.25339879e-01 1.11297209e-03 9.92113237e-01 -3.08096092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330792138 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.32, Z:-30.84 [[ 2.15348140e-01 9.76180879e-01 2.63831337e-02 3.18927164e+00] [-9.68444821e-01 2.16956554e-01 -1.22655951e-01 -1.32166779e+00] [-1.25458388e-01 8.63121806e-04 9.92098507e-01 -3.08414827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.33, Z:-30.87 [[ 2.15333285e-01 9.76191564e-01 2.61076091e-02 3.18955499e+00] [-9.68473921e-01 2.16907418e-01 -1.22513001e-01 -1.32551245e+00] [-1.25259092e-01 1.09658838e-03 9.92123459e-01 -3.08738651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390792138 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.33, Z:-30.91 [[ 2.11327026e-01 9.77074459e-01 2.58145395e-02 3.19203728e+00] [-9.69377214e-01 2.12896197e-01 -1.22405174e-01 -1.32898279e+00] [-1.25094787e-01 8.43495056e-04 9.92144437e-01 -3.09070985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.33, Z:-30.94 [[ 2.08555377e-01 9.77683473e-01 2.52919259e-02 3.19396859e+00] [-9.70125923e-01 2.10081977e-01 -1.21331187e-01 -1.33197052e+00] [-1.23936874e-01 7.67918517e-04 9.92289807e-01 -3.09393264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.34, Z:-30.97 [[ 2.08556959e-01 9.77691446e-01 2.49686021e-02 3.19354972e+00] [-9.70179416e-01 2.10043868e-01 -1.20968897e-01 -1.33684124e+00] [-1.23514757e-01 1.00488149e-03 9.92342227e-01 -3.09722720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480792138 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.34, Z:-31.01 [[ 2.07908205e-01 9.77835557e-01 2.47346146e-02 3.19309613e+00] [-9.70304471e-01 2.09371011e-01 -1.21132213e-01 -1.34140858e+00] [-1.23626096e-01 1.18427380e-03 9.92328164e-01 -3.10051131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510792138 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.35, Z:-31.04 [[ 2.05037805e-01 9.78444745e-01 2.46044737e-02 3.19428987e+00] [-9.70825748e-01 2.06505855e-01 -1.21871646e-01 -1.34503034e+00] [-1.24325639e-01 1.10163817e-03 9.92240859e-01 -3.10381329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.35, Z:-31.07 [[ 1.76273135e-01 9.84009661e-01 2.55493523e-02 3.21434115e+00] [-9.75632946e-01 1.78099745e-01 -1.28143809e-01 -1.35026095e+00] [-1.30645079e-01 -2.33847887e-03 9.91426444e-01 -3.10689849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.36, Z:-31.10 [[ 1.80749672e-01 9.83179511e-01 2.62222350e-02 3.21349342e+00] [-9.74161057e-01 1.82635466e-01 -1.32870316e-01 -1.35973713e+00] [-1.35424482e-01 -1.52841422e-03 9.90786492e-01 -3.11012222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.36, Z:-31.13 [[ 1.76097196e-01 9.84026438e-01 2.61102818e-02 3.21451037e+00] [-9.74871241e-01 1.78012571e-01 -1.33931278e-01 -1.36475208e+00] [-1.36439877e-01 -1.86924025e-03 9.90646590e-01 -3.11324944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.37, Z:-31.17 [[ 1.75924685e-01 9.84073739e-01 2.54829696e-02 3.21472642e+00] [-9.75177840e-01 1.77753318e-01 -1.32030062e-01 -1.36795079e+00] [-1.34456999e-01 -1.62308015e-03 9.90918100e-01 -3.11651720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.37, Z:-31.20 [[ 1.76326756e-01 9.84014535e-01 2.49853966e-02 3.21442886e+00] [-9.75241878e-01 1.78083787e-01 -1.31108518e-01 -1.37156620e+00] [-1.33462182e-01 -1.24886543e-03 9.91053120e-01 -3.11965171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.38, Z:-31.23 [[ 1.74389359e-01 9.84369673e-01 2.45906278e-02 3.21585747e+00] [-9.75590072e-01 1.76111066e-01 -1.31182712e-01 -1.37544741e+00] [-1.33462965e-01 -1.11350323e-03 9.91053176e-01 -3.12297766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.38, Z:-31.26 [[ 1.71116759e-01 9.84944561e-01 2.45614872e-02 3.21780285e+00] [-9.76111859e-01 1.72864403e-01 -1.31618910e-01 -1.37872984e+00] [-1.33883137e-01 -1.45255764e-03 9.90996062e-01 -3.12625136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.38, Z:-31.30 [[ 1.70114848e-01 9.85117666e-01 2.45788850e-02 3.21857072e+00] [-9.76287187e-01 1.71873800e-01 -1.31615824e-01 -1.38272444e+00] [-1.33881540e-01 -1.60624461e-03 9.90996041e-01 -3.12957882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.39, Z:-31.33 [[ 1.70531859e-01 9.85057687e-01 2.40881560e-02 3.21810764e+00] [-9.76346587e-01 1.72220352e-01 -1.30719137e-01 -1.38674921e+00] [-1.32914362e-01 -1.22661141e-03 9.91126767e-01 -3.13273970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810792138000004 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.39, Z:-31.36 [[ 1.64259117e-01 9.86131479e-01 2.37412983e-02 3.22167887e+00] [-9.77430349e-01 1.65956931e-01 -1.30721881e-01 -1.38978791e+00] [-1.32848995e-01 -1.73320469e-03 9.91134774e-01 -3.13605345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840792138 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.39, Z:-31.39 [[ 1.62523290e-01 9.86428652e-01 2.33386856e-02 3.22237021e+00] [-9.77935066e-01 1.64180296e-01 -1.29181413e-01 -1.39429219e+00] [-1.31260000e-01 -1.82873081e-03 9.91346291e-01 -3.13931459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.40, Z:-31.42 [[ 1.58165185e-01 9.87141203e-01 2.31521060e-02 3.22432630e+00] [-9.78536735e-01 1.59837128e-01 -1.30069025e-01 -1.39806224e+00] [-1.32097060e-01 -2.08279479e-03 9.91234598e-01 -3.14244131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.40, Z:-31.46 [[ 1.54681065e-01 9.87700943e-01 2.28170147e-02 3.22556203e+00] [-9.79162680e-01 1.56338059e-01 -1.29610403e-01 -1.40187816e+00] [-1.31583485e-01 -2.29329406e-03 9.91302440e-01 -3.14576365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.41, Z:-31.49 [[ 1.51389809e-01 9.88213382e-01 2.27032296e-02 3.22684661e+00] [-9.79549145e-01 1.53062796e-01 -1.30595762e-01 -1.40639786e+00] [-1.32531499e-01 -2.46806181e-03 9.91175721e-01 -3.14905445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960792138 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.41, Z:-31.52 [[ 1.48306310e-01 9.88687603e-01 2.24067462e-02 3.22820632e+00] [-9.80031473e-01 1.49966960e-01 -1.30568840e-01 -1.41058093e+00] [-1.32452065e-01 -2.59513353e-03 9.91186015e-01 -3.15236590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990792138 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.41, Z:-31.56 [[ 1.47403365e-01 9.88826771e-01 2.22230944e-02 3.22865440e+00] [-9.80089176e-01 1.49049144e-01 -1.31185211e-01 -1.41450410e+00] [-1.33031782e-01 -2.44347278e-03 9.91108760e-01 -3.15566684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020792138 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.42, Z:-31.59 [[ 1.44653286e-01 9.89238142e-01 2.19846794e-02 3.23024565e+00] [-9.80442846e-01 1.46292821e-01 -1.31644355e-01 -1.41837213e+00] [-1.33443818e-01 -2.51193310e-03 9.91053196e-01 -3.15885435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050792138 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.42, Z:-31.62 [[ 1.42681783e-01 9.89533136e-01 2.15889336e-02 3.23159646e+00] [-9.80731423e-01 1.44286197e-01 -1.31709409e-01 -1.42228630e+00] [-1.33445809e-01 -2.38041233e-03 9.91053253e-01 -3.16218030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080792138 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.43, Z:-31.65 [[ 1.40977723e-01 9.89776543e-01 2.16258081e-02 3.23245791e+00] [-9.80945300e-01 1.42602850e-01 -1.31949784e-01 -1.42583244e+00] [-1.33684703e-01 -2.61175458e-03 9.91020473e-01 -3.16531212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110792138 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.42, Z:-31.69 [[ 1.66760607e-01 9.85513838e-01 3.08767735e-02 3.21753497e+00] [-9.75375253e-01 1.69467423e-01 -1.41152073e-01 -1.41909393e+00] [-1.44339928e-01 -6.57783544e-03 9.89506300e-01 -3.16872138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.43, Z:-31.72 [[ 1.09860217e-01 9.93839892e-01 1.45946024e-02 3.24715029e+00] [-9.84697591e-01 1.10824665e-01 -1.34493671e-01 -1.43109818e+00] [-1.35282617e-01 4.04233991e-04 9.90806969e-01 -3.17184228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.44, Z:-31.75 [[ 1.30923046e-01 9.91165114e-01 2.12337750e-02 3.23763125e+00] [-9.82001111e-01 1.32594160e-01 -1.34508761e-01 -1.43550997e+00] [-1.36135866e-01 -3.24129400e-03 9.90684874e-01 -3.17513561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.44, Z:-31.78 [[ 1.32201647e-01 9.91001603e-01 2.09415219e-02 3.23720763e+00] [-9.81825108e-01 1.33821347e-01 -1.34578247e-01 -1.43937715e+00] [-1.36169681e-01 -2.76944602e-03 9.90681658e-01 -3.17844306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.44, Z:-31.82 [[ 1.33048349e-01 9.90892301e-01 2.07505511e-02 3.23596494e+00] [-9.81614097e-01 1.34635972e-01 -1.35303064e-01 -1.44274237e+00] [-1.36864535e-01 -2.36718426e-03 9.90586945e-01 -3.18171362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.45, Z:-31.85 [[ 1.27268889e-01 9.91655110e-01 2.05614164e-02 3.23866915e+00] [-9.82286138e-01 1.28886827e-01 -1.36022533e-01 -1.44685359e+00] [-1.37537535e-01 -2.88575777e-03 9.90492352e-01 -3.18500570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.45, Z:-31.88 [[ 1.22230470e-01 9.92294197e-01 2.02962873e-02 3.24094772e+00] [-9.82896656e-01 1.23860381e-01 -1.36281950e-01 -1.45057134e+00] [-1.37745694e-01 -3.29134622e-03 9.90462160e-01 -3.18824416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320792138 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.45, Z:-31.91 [[ 1.21110488e-01 9.92438038e-01 1.99747257e-02 3.24117435e+00] [-9.83043545e-01 1.22706666e-01 -1.36266150e-01 -1.45442726e+00] [-1.37686743e-01 -3.13276514e-03 9.90470871e-01 -3.19145462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350792138 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.46, Z:-31.95 [[ 1.18054346e-01 9.92810215e-01 1.97749582e-02 3.24324749e+00] [-9.83355443e-01 1.19653498e-01 -1.36730074e-01 -1.45818264e+00] [-1.38113157e-01 -3.30423336e-03 9.90410944e-01 -3.19471239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.46, Z:-31.98 [[ 1.17473667e-01 9.92883588e-01 1.95478305e-02 3.24439968e+00] [-9.83358677e-01 1.19048574e-01 -1.37233925e-01 -1.46193618e+00] [-1.38584453e-01 -3.10115640e-03 9.90345764e-01 -3.19797636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.47, Z:-32.01 [[ 1.14539238e-01 9.93229789e-01 1.93739175e-02 3.24566111e+00] [-9.83586819e-01 1.16121075e-01 -1.38104544e-01 -1.46641467e+00] [-1.39419268e-01 -3.23754061e-03 9.90228149e-01 -3.20126080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.47, Z:-32.04 [[ 1.15263745e-01 9.93150769e-01 1.91264158e-02 3.24389511e+00] [-9.83421993e-01 1.16805759e-01 -1.38699666e-01 -1.47040677e+00] [-1.39983756e-01 -2.82229498e-03 9.90149778e-01 -3.20445221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.47, Z:-32.08 [[ 1.14013462e-01 9.93297609e-01 1.89944809e-02 3.24437531e+00] [-9.83397142e-01 1.15552702e-01 -1.39920100e-01 -1.47371063e+00] [-1.41177165e-01 -2.72634318e-03 9.89980593e-01 -3.20765762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500792138 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.48, Z:-32.11 [[ 9.74305556e-02 9.95108889e-01 1.62968197e-02 3.25275467e+00] [-9.85219801e-01 9.87544752e-02 -1.39962487e-01 -1.47578368e+00] [-1.40887298e-01 -2.41932662e-03 9.90022685e-01 -3.21077459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530792138 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.48, Z:-32.14 [[ 1.34547550e-01 9.90592433e-01 2.49717601e-02 3.23562336e+00] [-9.80930856e-01 1.36717648e-01 -1.38141019e-01 -1.48286974e+00] [-1.40255528e-01 -5.90903444e-03 9.90097707e-01 -3.21407630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560792138000004 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.48, Z:-32.17 [[ 9.33357886e-02 9.95515236e-01 1.54222481e-02 3.25415677e+00] [-9.85490590e-01 9.45792627e-02 -1.40936366e-01 -1.48305211e+00] [-1.41762924e-01 -2.04407351e-03 9.89898528e-01 -3.21715000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.49, Z:-32.20 [[ 1.23288111e-01 9.92093471e-01 2.34645597e-02 3.24019251e+00] [-9.82328582e-01 1.25361679e-01 -1.38978439e-01 -1.48881006e+00] [-1.40821159e-01 -5.91551837e-03 9.90017378e-01 -3.22038069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.49, Z:-32.24 [[ 1.17863625e-01 9.92777533e-01 2.23815740e-02 3.24272866e+00] [-9.82983267e-01 1.19839486e-01 -1.39220667e-01 -1.49233520e+00] [-1.40897347e-01 -5.59166024e-03 9.90008420e-01 -3.22360681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.50, Z:-32.27 [[ 1.37334453e-01 9.90154747e-01 2.70707382e-02 3.23282717e+00] [-9.79999932e-01 1.39797902e-01 -1.41621609e-01 -1.49589229e+00] [-1.44011740e-01 -7.07979545e-03 9.89550653e-01 -3.22691206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680792138 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.50, Z:-32.30 [[ 1.11578837e-01 9.93600202e-01 1.75727637e-02 3.24751373e+00] [-9.83878869e-01 1.12939518e-01 -1.38661587e-01 -1.50287928e+00] [-1.39758840e-01 -1.81777225e-03 9.90183903e-01 -3.23017594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710792138 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.51, Z:-32.33 [[ 1.08670426e-01 9.93932794e-01 1.69805820e-02 3.24852707e+00] [-9.84162059e-01 1.09977417e-01 -1.39032405e-01 -1.50686774e+00] [-1.40056347e-01 -1.60293391e-03 9.90142237e-01 -3.23341794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740792138 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.50, Z:-32.37 [[ 1.09868295e-01 9.93732433e-01 2.06108960e-02 3.24386201e+00] [-9.83107707e-01 1.11700839e-01 -1.44990207e-01 -1.50214749e+00] [-1.46383725e-01 -4.33290387e-03 9.89218394e-01 -3.23657560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770792138 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.51, Z:-32.40 [[ 9.86970936e-02 9.95011607e-01 1.45184634e-02 3.25262819e+00] [-9.85255590e-01 9.97574999e-02 -1.38995915e-01 -1.51334204e+00] [-1.39750875e-01 -5.85904328e-04 9.90186523e-01 -3.23971817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800792138 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.51, Z:-32.43 [[ 1.04180623e-01 9.94394054e-01 1.80793465e-02 3.24793903e+00] [-9.83768793e-01 1.05703762e-01 -1.45002333e-01 -1.51164334e+00] [-1.46100513e-01 -2.67946353e-03 9.89266122e-01 -3.24283565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.52, Z:-32.46 [[ 1.15211775e-01 9.93156147e-01 1.91602262e-02 3.24477973e+00] [-9.83400925e-01 1.16759574e-01 -1.38887803e-01 -1.52172902e+00] [-1.40174415e-01 -2.84067382e-03 9.90122752e-01 -3.24604698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.52, Z:-32.49 [[ 1.01683474e-01 9.94647944e-01 1.83286046e-02 3.24893463e+00] [-9.83710955e-01 1.03276544e-01 -1.47128215e-01 -1.51777072e+00] [-1.48233691e-01 -3.06954121e-03 9.88947598e-01 -3.24919662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.53, Z:-32.52 [[ 1.11379038e-01 9.93603705e-01 1.86115057e-02 3.24647462e+00] [-9.83594475e-01 1.12892584e-01 -1.40702428e-01 -1.52750935e+00] [-1.41903555e-01 -2.63487308e-03 9.89876981e-01 -3.25243122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.53, Z:-32.56 [[ 9.94733342e-02 9.94916760e-01 1.56747136e-02 3.25209751e+00] [-9.84788786e-01 1.00691696e-01 -1.41605892e-01 -1.53028371e+00] [-1.42464389e-01 -1.35027195e-03 9.89799007e-01 -3.25565665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950792138 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.53, Z:-32.59 [[ 9.87319177e-02 9.94995210e-01 1.53798807e-02 3.25263843e+00] [-9.84764898e-01 9.99166413e-02 -1.42319222e-01 -1.53386369e+00] [-1.43143650e-01 -1.09411699e-03 9.89701318e-01 -3.25884317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980792138 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.53, Z:-32.62 [[ 8.38940129e-02 9.96372073e-01 1.42999072e-02 3.25759457e+00] [-9.85297971e-01 8.50878027e-02 -1.48148487e-01 -1.53254383e+00] [-1.48827762e-01 -1.66089855e-03 9.88861739e-01 -3.26181233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010792138 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.54, Z:-32.65 [[ 1.07185408e-01 9.94019902e-01 2.08739964e-02 3.24899282e+00] [-9.83776783e-01 1.09071879e-01 -1.42430920e-01 -1.54007933e+00] [-1.43855935e-01 -5.26883685e-03 9.89584615e-01 -3.26499015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.54, Z:-32.68 [[ 1.06701540e-01 9.94101129e-01 1.94351940e-02 3.24830021e+00] [-9.83910395e-01 1.08384523e-01 -1.42032144e-01 -1.54411425e+00] [-1.43300789e-01 -3.96744085e-03 9.89671230e-01 -3.26809797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070792138 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.55, Z:-32.71 [[ 1.28189488e-01 9.91474849e-01 2.33469141e-02 3.23945644e+00] [-9.81468726e-01 1.30206337e-01 -1.40589651e-01 -1.55005740e+00] [-1.42431019e-01 -4.89215059e-03 9.89792641e-01 -3.27135750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.55, Z:-32.75 [[ 9.53797952e-02 9.95334473e-01 1.45596058e-02 3.25446765e+00] [-9.85224623e-01 9.64809249e-02 -1.41505739e-01 -1.55221701e+00] [-1.42250264e-01 -8.47693721e-04 9.89830361e-01 -3.27461053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130792138 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.56, Z:-32.78 [[ 9.46289435e-02 9.95409724e-01 1.43123955e-02 3.25464434e+00] [-9.85211057e-01 9.57029640e-02 -1.42127110e-01 -1.55654024e+00] [-1.42844446e-01 -6.51391993e-04 9.89744937e-01 -3.27783987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160792138 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.56, Z:-32.81 [[ 9.25376823e-02 9.95612645e-01 1.38649991e-02 3.25579372e+00] [-9.85409663e-01 9.35692486e-02 -1.42170993e-01 -1.56048643e+00] [-1.42844576e-01 -5.06529951e-04 9.89745003e-01 -3.28116621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.56, Z:-32.84 [[ 9.05764189e-02 9.95792760e-01 1.38813392e-02 3.25663044e+00] [-9.85575183e-01 9.16305074e-02 -1.42286359e-01 -1.56413262e+00] [-1.42959680e-01 -7.93314575e-04 9.89728195e-01 -3.28440031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.57, Z:-32.88 [[ 8.71884892e-02 9.96099251e-01 1.35812196e-02 3.25853965e+00] [-9.85842642e-01 8.82347158e-02 -1.42579523e-01 -1.56734148e+00] [-1.43221691e-01 -9.57652166e-04 9.89690169e-01 -3.28755755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250792138 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.57, Z:-32.91 [[ 8.44124500e-02 9.96341884e-01 1.33187297e-02 3.26099787e+00] [-9.86070884e-01 8.54497924e-02 -1.42697390e-01 -1.57141462e+00] [-1.43313469e-01 -1.08777528e-03 9.89676748e-01 -3.29079236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280792138 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.58, Z:-32.94 [[ 8.42471183e-02 9.96358785e-01 1.30994096e-02 3.26134657e+00] [-9.85948163e-01 8.52555643e-02 -1.43658307e-01 -1.57544931e+00] [-1.44252014e-01 -8.12540395e-04 9.89540649e-01 -3.29404195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.310792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.58, Z:-32.97 [[ 8.15002475e-02 9.96591732e-01 1.27526462e-02 3.26192765e+00] [-9.86206390e-01 8.24872333e-02 -1.43501962e-01 -1.57914670e+00] [-1.44064799e-01 -8.81295768e-04 9.89567864e-01 -3.29720533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.58, Z:-33.00 [[ 8.16391634e-02 9.96583977e-01 1.24668900e-02 3.26088908e+00] [-9.86214698e-01 8.25834707e-02 -1.43389469e-01 -1.58332308e+00] [-1.43929206e-01 -5.88833809e-04 9.89587812e-01 -3.30044268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.59, Z:-33.04 [[ 7.41807375e-02 9.97171451e-01 1.20961156e-02 3.26444535e+00] [-9.86740035e-01 7.51498538e-02 -1.43863142e-01 -1.58629467e+00] [-1.44365240e-01 -1.26384757e-03 9.89523663e-01 -3.30367290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.59, Z:-33.07 [[ 7.70741500e-02 9.96953135e-01 1.20009261e-02 3.26306667e+00] [-9.86508013e-01 7.79993051e-02 -1.43937657e-01 -1.59083612e+00] [-1.44435162e-01 -7.45137230e-04 9.89513986e-01 -3.30696476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430792138 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.60, Z:-33.10 [[ 7.76164834e-02 9.96914073e-01 1.17478433e-02 3.26261298e+00] [-9.86323820e-01 7.84997811e-02 -1.44924488e-01 -1.59511987e+00] [-1.45399465e-01 -3.38648519e-04 9.89372974e-01 -3.31018702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460792138 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.60, Z:-33.13 [[ 7.42220835e-02 9.97173340e-01 1.16795631e-02 3.26417349e+00] [-9.86184401e-01 7.51333187e-02 -1.47632355e-01 -1.59911670e+00] [-1.48092573e-01 -5.60621997e-04 9.88973344e-01 -3.31347998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.60, Z:-33.17 [[ 7.04444038e-02 9.97451435e-01 1.13234294e-02 3.26626493e+00] [-9.86536148e-01 7.13441463e-02 -1.47161275e-01 -1.60324893e+00] [-1.47594085e-01 -8.04284145e-04 9.89047693e-01 -3.31675847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.61, Z:-33.20 [[ 7.87850279e-02 9.96829212e-01 1.11553198e-02 3.26258703e+00] [-9.85616573e-01 7.95673113e-02 -1.49093976e-01 -1.60732512e+00] [-1.49508829e-01 7.51505005e-04 9.88760105e-01 -3.32000614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550792138 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.61, Z:-33.23 [[ 7.62887169e-02 9.97027553e-01 1.07745098e-02 3.26357649e+00] [-9.85879409e-01 7.70424523e-02 -1.48681709e-01 -1.61109397e+00] [-1.49069855e-01 7.20369412e-04 9.88826405e-01 -3.32322545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.61, Z:-33.26 [[ 7.31707079e-02 9.97264334e-01 1.04831115e-02 3.26577305e+00] [-9.86110539e-01 7.39158334e-02 -1.48736188e-01 -1.61497169e+00] [-1.49104163e-01 5.45625432e-04 9.88821344e-01 -3.32648470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610792138 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.62, Z:-33.30 [[ 7.38247867e-02 9.97220193e-01 1.00889526e-02 3.26418532e+00] [-9.86177645e-01 7.45045840e-02 -1.47995677e-01 -1.61860447e+00] [-1.48335951e-01 9.76249782e-04 9.88936546e-01 -3.32964786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640792138 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.62, Z:-33.33 [[ 7.47406168e-02 9.97155684e-01 9.71506400e-03 3.26282553e+00] [-9.86331638e-01 7.53569286e-02 -1.46530655e-01 -1.62177919e+00] [-1.46845973e-01 1.36951658e-03 9.89158422e-01 -3.33289499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670792138 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.63, Z:-33.36 [[ 7.31221000e-02 9.97278707e-01 9.39887441e-03 3.26355026e+00] [-9.86430437e-01 7.37092979e-02 -1.46703555e-01 -1.62594230e+00] [-1.46997116e-01 1.45593626e-03 9.89135849e-01 -3.33615205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700792138 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.63, Z:-33.39 [[ 6.90865509e-02 9.97570104e-01 8.99645814e-03 3.26555926e+00] [-9.86849346e-01 6.96595304e-02 -1.45862668e-01 -1.62887289e+00] [-1.46134926e-01 1.19899983e-03 9.89263941e-01 -3.33936576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.63, Z:-33.43 [[ 6.89186623e-02 9.97584354e-01 8.69916279e-03 3.26519755e+00] [-9.86855162e-01 6.94499143e-02 -1.45923266e-01 -1.63236666e+00] [-1.46174923e-01 1.47202259e-03 9.89257664e-01 -3.34266292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760792138 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.64, Z:-33.46 [[ 6.85575826e-02 9.97611796e-01 8.40017841e-03 3.26519404e+00] [-9.86831841e-01 6.90484104e-02 -1.46271102e-01 -1.63622428e+00] [-1.46501796e-01 1.73842962e-03 9.89208877e-01 -3.34592332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790792138 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.64, Z:-33.49 [[ 6.51990036e-02 9.97839619e-01 8.07371061e-03 3.26704760e+00] [-9.87081200e-01 6.56784973e-02 -1.46140478e-01 -1.64024342e+00] [-1.46355028e-01 1.55880563e-03 9.89230901e-01 -3.34918568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820792138 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.64, Z:-33.52 [[ 6.39479543e-02 9.97923394e-01 7.71748031e-03 3.26752781e+00] [-9.87219684e-01 6.43894315e-02 -1.45778243e-01 -1.64380572e+00] [-1.45972443e-01 1.70337196e-03 9.89287190e-01 -3.35239271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850792138 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.65, Z:-33.56 [[ 6.05620032e-02 9.98136978e-01 7.40391161e-03 3.26927182e+00] [-9.87537805e-01 6.09950746e-02 -1.45081648e-01 -1.64710691e+00] [-1.45262960e-01 1.47479261e-03 9.89391984e-01 -3.35562923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.65, Z:-33.59 [[ 6.08642505e-02 9.98120744e-01 7.10800111e-03 3.26834403e+00] [-9.87460991e-01 6.12503663e-02 -1.45496340e-01 -1.65120425e+00] [-1.45658282e-01 1.83665184e-03 9.89333256e-01 -3.35891963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910792138 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.65, Z:-33.62 [[ 5.75835881e-02 9.98317754e-01 6.76697429e-03 3.27008618e+00] [-9.87719495e-01 5.79557539e-02 -1.45090764e-01 -1.65472903e+00] [-1.45238871e-01 1.67097440e-03 9.89395208e-01 -3.36216521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940792138 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.66, Z:-33.65 [[ 5.55938974e-02 9.98432706e-01 6.43819677e-03 3.27029042e+00] [-9.87864085e-01 5.59397674e-02 -1.44897525e-01 -1.65887277e+00] [-1.45030579e-01 1.69535476e-03 9.89425721e-01 -3.36546285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970792138 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.66, Z:-33.69 [[ 5.46060933e-02 9.98489394e-01 6.09139218e-03 3.27037691e+00] [-9.87955825e-01 5.49125691e-02 -1.44664776e-01 -1.66237294e+00] [-1.44780738e-01 1.88155185e-03 9.89461974e-01 -3.36864587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.67, Z:-33.72 [[ 5.40968199e-02 9.98518784e-01 5.81140022e-03 3.27002481e+00] [-9.87974273e-01 5.43679650e-02 -1.44744465e-01 -1.66622259e+00] [-1.44846021e-01 2.08870131e-03 9.89452004e-01 -3.37197384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.67, Z:-33.75 [[ 5.12269499e-02 9.98672066e-01 5.46848086e-03 3.27203525e+00] [-9.88170705e-01 5.14793062e-02 -1.44459473e-01 -1.66914826e+00] [-1.44549154e-01 1.99642563e-03 9.89495607e-01 -3.37511451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.67, Z:-33.78 [[ 5.03181419e-02 9.98719764e-01 5.18816198e-03 3.27288565e+00] [-9.88243689e-01 5.05398985e-02 -1.44291823e-01 -1.67287870e+00] [-1.44369304e-01 2.13332808e-03 9.89521578e-01 -3.37842117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.68, Z:-33.82 [[ 5.09071376e-02 9.98691476e-01 4.87853483e-03 3.27205587e+00] [-9.88198194e-01 5.10777065e-02 -1.44413977e-01 -1.67670705e+00] [-1.44474192e-01 2.53074288e-03 9.89505333e-01 -3.38170873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120792138 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.68, Z:-33.85 [[ 3.78221357e-02 9.99280434e-01 2.84611266e-03 3.27593448e+00] [-9.88856064e-01 3.78376756e-02 -1.43986091e-01 -1.68159438e+00] [-1.43990174e-01 2.63146573e-03 9.89575619e-01 -3.38478079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.68, Z:-33.88 [[ 5.04703953e-02 9.98710633e-01 5.46000416e-03 3.26946751e+00] [-9.88395063e-01 5.07318833e-02 -1.43183360e-01 -1.68347601e+00] [-1.43275740e-01 1.82987962e-03 9.89681117e-01 -3.38798957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.69, Z:-33.91 [[ 6.98031395e-02 9.97514292e-01 9.63118541e-03 3.26091195e+00] [-9.87431527e-01 7.04635000e-02 -1.41470404e-01 -1.68764711e+00] [-1.41797397e-01 3.64942222e-04 9.89895633e-01 -3.39129041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.69, Z:-33.95 [[ 4.73096338e-02 9.98872852e-01 3.85012209e-03 3.27172765e+00] [-9.88977074e-01 4.73816561e-02 -1.40283018e-01 -1.68985249e+00] [-1.40307323e-01 2.82905572e-03 9.90103960e-01 -3.39462193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.69, Z:-33.98 [[ 4.66417270e-02 9.98905623e-01 3.47941206e-03 3.27116861e+00] [-9.89304414e-01 4.66747884e-02 -1.38196386e-01 -1.69291211e+00] [-1.38207548e-01 3.00352040e-03 9.90398734e-01 -3.39784785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.70, Z:-34.01 [[ 3.05830390e-02 9.99531935e-01 7.66880378e-04 3.27706906e+00] [-9.89918162e-01 3.03950234e-02 -1.38340795e-01 -1.69605147e+00] [-1.38299352e-01 3.47173313e-03 9.90384388e-01 -3.40099303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300792138 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.70, Z:-34.04 [[ 5.24158098e-02 9.98604680e-01 6.42464790e-03 3.26696569e+00] [-9.89184013e-01 5.28017470e-02 -1.36846494e-01 -1.70012043e+00] [-1.36994782e-01 8.17760820e-04 9.90571431e-01 -3.40413809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.70, Z:-34.07 [[ 6.09062254e-02 9.98122174e-01 6.52358338e-03 3.26476845e+00] [-9.88823219e-01 6.12272842e-02 -1.35940650e-01 -1.70337397e+00] [-1.36084798e-01 1.82896115e-03 9.90695504e-01 -3.40733432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.71, Z:-34.11 [[ 4.44942277e-02 9.99006448e-01 2.52599953e-03 3.27286320e+00] [-9.89776193e-01 4.44258252e-02 -1.35533881e-01 -1.70694852e+00] [-1.35511440e-01 3.53030115e-03 9.90769492e-01 -3.41053595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390792138 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.71, Z:-34.14 [[ 3.08984936e-02 9.99522105e-01 9.18703267e-04 3.27784167e+00] [-9.90193084e-01 3.07353663e-02 -1.36282774e-01 -1.71280832e+00] [-1.36245882e-01 3.30123879e-03 9.90669552e-01 -3.41364610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420792138 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.72, Z:-34.17 [[ 4.94082000e-02 9.98764803e-01 5.26298920e-03 3.26967620e+00] [-9.89708432e-01 4.96673686e-02 -1.34202729e-01 -1.71712875e+00] [-1.34298361e-01 1.42189048e-03 9.90939922e-01 -3.41687192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450792138 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.72, Z:-34.20 [[ 3.48955115e-02 9.99389513e-01 1.70445381e-03 3.27628497e+00] [-9.90388894e-01 3.48095337e-02 -1.33858636e-01 -1.72149852e+00] [-1.33836248e-01 2.98299344e-03 9.90998971e-01 -3.42012379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480792138 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.73, Z:-34.23 [[ 3.27097579e-02 9.99464017e-01 1.32278017e-03 3.27701594e+00] [-9.90372726e-01 3.25902805e-02 -1.34535267e-01 -1.72588136e+00] [-1.34506269e-01 3.09057063e-03 9.90907923e-01 -3.42330318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510792138 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.73, Z:-34.26 [[ 3.19698200e-02 9.99488102e-01 1.20981409e-03 3.27657709e+00] [-9.90401936e-01 3.18419908e-02 -1.34499416e-01 -1.72997599e+00] [-1.34469089e-01 3.10171989e-03 9.90912934e-01 -3.42646753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.73, Z:-34.30 [[ 3.04891361e-02 9.99534624e-01 9.73378854e-04 3.27682488e+00] [-9.90406105e-01 3.03419731e-02 -1.34815101e-01 -1.73427360e+00] [-1.34781895e-01 3.14635559e-03 9.90870295e-01 -3.42969475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.74, Z:-34.33 [[ 2.46976049e-02 9.99694968e-01 1.15083246e-05 3.27898503e+00] [-9.90346310e-01 2.44682156e-02 -1.36438602e-01 -1.73934368e+00] [-1.36397266e-01 3.35830946e-03 9.90648529e-01 -3.43283564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.74, Z:-34.36 [[ 3.09275048e-02 9.99520464e-01 1.52668223e-03 3.27575593e+00] [-9.90139701e-01 3.08459558e-02 -1.36645162e-01 -1.74290759e+00] [-1.36626728e-01 2.71446521e-03 9.90618882e-01 -3.43596861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630792138 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.75, Z:-34.39 [[ 2.89251509e-02 9.99580660e-01 1.35631538e-03 3.27644092e+00] [-9.90152387e-01 2.88382036e-02 -1.36991272e-01 -1.74708566e+00] [-1.36972940e-01 2.61953432e-03 9.90571326e-01 -3.43928468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660792138 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.75, Z:-34.40 [[ 2.37774490e-02 9.99717276e-01 -3.33302359e-06 3.27874014e+00] [-9.90321094e-01 2.35535125e-02 -1.36782176e-01 -1.74782574e+00] [-1.36743426e-01 3.25563197e-03 9.90601149e-01 -3.43955860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.75, Z:-34.40 [[ 1.40890899e-02 9.99900093e-01 -1.14120124e-03 3.28369212e+00] [-9.90477548e-01 1.37999831e-02 -1.36980972e-01 -1.74814235e+00] [-1.36951538e-01 3.06027144e-03 9.90573021e-01 -3.43976820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720792138 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.75, Z:-34.40 [[ 7.93447629e-03 9.99966841e-01 -1.83332575e-03 3.28643566e+00] [-9.90566263e-01 7.60903538e-03 -1.36823174e-01 -1.74788322e+00] [-1.36804688e-01 2.90165087e-03 9.90593791e-01 -3.43982600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750792138 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.75, Z:-34.40 [[-2.90029035e-03 9.99988796e-01 -3.74104164e-03 3.29110890e+00] [-9.90673404e-01 -3.38286765e-03 -1.36215868e-01 -1.74813484e+00] [-1.36226998e-01 3.31108489e-03 9.90672116e-01 -3.44007662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780792138 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.75, Z:-34.40 [[-1.66313872e-02 9.99846717e-01 -5.47177740e-03 3.29778076e+00] [-9.90451871e-01 -1.72236518e-02 -1.36778789e-01 -1.74838040e+00] [-1.36852067e-01 3.14471116e-03 9.90586504e-01 -3.44012115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810792138 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.75, Z:-34.40 [[-3.14715809e-02 9.99478573e-01 -7.21960251e-03 3.30492535e+00] [-9.90279912e-01 -3.21593989e-02 -1.35319875e-01 -1.74826487e+00] [-1.35481493e-01 2.89069695e-03 9.90775660e-01 -3.43995517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840792138 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.75, Z:-34.40 [[-4.11915887e-02 9.99103057e-01 -9.81499923e-03 3.30923277e+00] [-9.89684176e-01 -4.21483974e-02 -1.36926057e-01 -1.74950691e+00] [-1.37216928e-01 4.07354762e-03 9.90532645e-01 -3.44039586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870792138 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.75, Z:-34.40 [[-5.80710756e-02 9.98255546e-01 -1.06590314e-02 3.31807807e+00] [-9.88903592e-01 -5.89829229e-02 -1.36347717e-01 -1.74969244e+00] [-1.36738566e-01 2.62289588e-03 9.90603697e-01 -3.44025491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900792138 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.75, Z:-34.40 [[-7.57517696e-02 9.97037965e-01 -1.33028635e-02 3.32624938e+00] [-9.87540277e-01 -7.68623224e-02 -1.37318551e-01 -1.75088951e+00] [-1.37934297e-01 2.73499025e-03 9.90437605e-01 -3.44037748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.75, Z:-34.41 [[-8.61992222e-02 9.96163959e-01 -1.50685487e-02 3.33088394e+00] [-9.86683444e-01 -8.74533381e-02 -1.37141148e-01 -1.75174234e+00] [-1.37932864e-01 3.04642724e-03 9.90436896e-01 -3.44064889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.75, Z:-34.41 [[-9.54594067e-02 9.95289687e-01 -1.69097563e-02 3.33445206e+00] [-9.85748859e-01 -9.68808644e-02 -1.37525577e-01 -1.75202680e+00] [-1.38516020e-01 3.54066307e-03 9.90353864e-01 -3.44070674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990792138 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:3.34, Y:-1.75, Z:-34.41 [[-1.09636859e-01 9.93786989e-01 -1.91619326e-02 3.34142809e+00] [-9.84261929e-01 -1.11233711e-01 -1.37315389e-01 -1.75341364e+00] [-1.38593700e-01 3.80553279e-03 9.90342014e-01 -3.44103669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.75, Z:-34.41 [[-1.21738813e-01 9.92363997e-01 -1.98332671e-02 3.34657629e+00] [-9.82857969e-01 -1.23311844e-01 -1.37056199e-01 -1.75411186e+00] [-1.38455314e-01 2.80822559e-03 9.90364700e-01 -3.44133016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050792138 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.76, Z:-34.42 [[-1.34302191e-01 9.90705346e-01 -2.15833240e-02 3.35236983e+00] [-9.81221538e-01 -1.35996448e-01 -1.36781797e-01 -1.75520401e+00] [-1.38445713e-01 2.80792740e-03 9.90366044e-01 -3.44158141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.76, Z:-34.42 [[-1.43253782e-01 9.89415430e-01 -2.31400456e-02 3.35627579e+00] [-9.80032686e-01 -1.45075405e-01 -1.35974484e-01 -1.75555488e+00] [-1.37892304e-01 3.19914205e-03 9.90442062e-01 -3.44187411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110792138 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.76, Z:-34.42 [[-1.54979415e-01 9.87598449e-01 -2.51134492e-02 3.36082706e+00] [-9.78223491e-01 -1.56961499e-01 -1.35800916e-01 -1.75686104e+00] [-1.38058619e-01 3.52021948e-03 9.90417804e-01 -3.44209866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140792138 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.76, Z:-34.42 [[-1.69080531e-01 9.85236952e-01 -2.68313862e-02 3.36771932e+00] [-9.75835850e-01 -1.71165968e-01 -1.35818277e-01 -1.75845707e+00] [-1.38405806e-01 3.21880217e-03 9.90370371e-01 -3.44233445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170792138 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.76, Z:-34.43 [[-1.85696427e-01 9.82189845e-01 -2.86347023e-02 3.37593605e+00] [-9.72833811e-01 -1.87871279e-01 -1.35272906e-01 -1.75975094e+00] [-1.38243312e-01 2.73711127e-03 9.90394515e-01 -3.44269395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200792138 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.76, Z:-34.43 [[-1.92925692e-01 9.80733611e-01 -3.06799754e-02 3.38006967e+00] [-9.71302564e-01 -1.95316475e-01 -1.35730633e-01 -1.76064306e+00] [-1.39107898e-01 3.61361251e-03 9.90270637e-01 -3.44268921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230792138 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.76, Z:-34.43 [[-2.04415634e-01 9.78340383e-01 -3.26242863e-02 3.38513265e+00] [-9.68895811e-01 -2.06966339e-01 -1.35668128e-01 -1.76178325e+00] [-1.39481738e-01 3.87684787e-03 9.90217054e-01 -3.44280064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260792138 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.76, Z:-34.43 [[-2.18939614e-01 9.75128676e-01 -3.44892890e-02 3.39206223e+00] [-9.65697475e-01 -2.21609038e-01 -1.35343342e-01 -1.76353778e+00] [-1.39620312e-01 3.67420027e-03 9.90198298e-01 -3.44314832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290792138 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:3.40, Y:-1.77, Z:-34.43 [[-2.31922627e-01 9.72050276e-01 -3.64713043e-02 3.39828559e+00] [-9.62574756e-01 -2.34743727e-01 -1.35444533e-01 -1.76523971e+00] [-1.40220306e-01 3.69370488e-03 9.90113439e-01 -3.44334831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320792138 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:3.40, Y:-1.77, Z:-34.44 [[-2.45867025e-01 9.68542161e-01 -3.84120891e-02 3.40479307e+00] [-9.59048585e-01 -2.48823945e-01 -1.35323521e-01 -1.76689088e+00] [-1.40624383e-01 3.56746829e-03 9.90056592e-01 -3.44355006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.77, Z:-34.44 [[-2.59561072e-01 9.64897567e-01 -4.00091844e-02 3.41100773e+00] [-9.55586845e-01 -2.62603033e-01 -1.33766322e-01 -1.76898642e+00] [-1.39577332e-01 3.51172018e-03 9.90204947e-01 -3.44387578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.77, Z:-34.44 [[-2.71438388e-01 9.61554638e-01 -4.16398796e-02 3.41637419e+00] [-9.52268961e-01 -2.74591951e-01 -1.33353236e-01 -1.77025042e+00] [-1.39660398e-01 3.45517756e-03 9.90193433e-01 -3.44411790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410792138 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.77, Z:-34.44 [[-2.83787905e-01 9.57906977e-01 -4.33433723e-02 3.42201807e+00] [-9.48703127e-01 -2.87057273e-01 -1.32516031e-01 -1.77235782e+00] [-1.39380061e-01 3.51354586e-03 9.90232727e-01 -3.44432727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440792138 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.77, Z:-34.45 [[-2.99536795e-01 9.53012923e-01 -4.52114797e-02 3.42934016e+00] [-9.43809271e-01 -3.02913953e-01 -1.32163522e-01 -1.77466725e+00] [-1.39648733e-01 3.08317580e-03 9.90196307e-01 -3.44466986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470792138 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.78, Z:-34.45 [[-3.13708506e-01 9.48351502e-01 -4.70786882e-02 3.43656942e+00] [-9.39153504e-01 -3.17208442e-01 -1.31793400e-01 -1.77667764e+00] [-1.39920226e-01 2.86940452e-03 9.90158622e-01 -3.44490255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.78, Z:-34.45 [[-3.27301387e-01 9.43662429e-01 -4.87341980e-02 3.44331234e+00] [-9.34586329e-01 -3.30897819e-01 -1.30594898e-01 -1.77974963e+00] [-1.39363539e-01 2.80242382e-03 9.90237320e-01 -3.44534064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530792138 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.78, Z:-34.45 [[-3.37795835e-01 9.39859354e-01 -5.05803117e-02 3.44879285e+00] [-9.30735093e-01 -3.41549090e-01 -1.30676721e-01 -1.78133667e+00] [-1.40093398e-01 2.93481892e-03 9.90133944e-01 -3.44531328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560792138 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.78, Z:-34.46 [[-3.49908934e-01 9.35321623e-01 -5.23182458e-02 3.45461727e+00] [-9.26259849e-01 -3.53785885e-01 -1.29916280e-01 -1.78447948e+00] [-1.40022963e-01 3.00142346e-03 9.90143707e-01 -3.44568536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.79, Z:-34.46 [[-3.62264514e-01 9.30496143e-01 -5.42342141e-02 3.46050657e+00] [-9.21464986e-01 -3.66288480e-01 -1.29363945e-01 -1.78642428e+00] [-1.40238019e-01 3.11096267e-03 9.90112933e-01 -3.44585174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620792138 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.79, Z:-34.46 [[-3.77732371e-01 9.24205157e-01 -5.62412955e-02 3.46866939e+00] [-9.15061004e-01 -3.81888378e-01 -1.29709778e-01 -1.78955907e+00] [-1.41356343e-01 2.46863427e-03 9.89955701e-01 -3.44598541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650792138 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.79, Z:-34.46 [[-3.86334953e-01 9.20546343e-01 -5.77904350e-02 3.47214664e+00] [-9.11533397e-01 -3.90621697e-01 -1.28536203e-01 -1.79175312e+00] [-1.40897730e-01 3.01988358e-03 9.90019550e-01 -3.44623464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680792138 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:3.48, Y:-1.80, Z:-34.46 [[-4.00898331e-01 9.14161803e-01 -5.99059855e-02 3.47874864e+00] [-9.05077841e-01 -4.05340672e-01 -1.28580877e-01 -1.79509827e+00] [-1.41826058e-01 2.67172120e-03 9.89887989e-01 -3.44648491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710792138 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.80, Z:-34.47 [[-4.13711045e-01 9.08280114e-01 -6.22125850e-02 3.48555510e+00] [-8.99084438e-01 -4.18354554e-01 -1.28944332e-01 -1.79766334e+00] [-1.43144490e-01 2.58867289e-03 9.89698415e-01 -3.44651559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.80, Z:-34.47 [[-4.30273132e-01 9.00428196e-01 -6.39851177e-02 3.49367677e+00] [-8.91257394e-01 -4.35000664e-01 -1.28197816e-01 -1.80242578e+00] [-1.43266497e-01 1.86713336e-03 9.89682386e-01 -3.44679740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770792138 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.80, Z:-34.47 [[-4.38053606e-01 8.96525399e-01 -6.59639889e-02 3.49609854e+00] [-8.87365414e-01 -4.42985128e-01 -1.27854602e-01 -1.80391543e+00] [-1.43845964e-01 2.52699285e-03 9.89596864e-01 -3.44698061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800792138 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.81, Z:-34.47 [[-4.50276909e-01 8.90341742e-01 -6.73964977e-02 3.50121289e+00] [-8.81341112e-01 -4.55285838e-01 -1.26303798e-01 -1.80668496e+00] [-1.43138214e-01 2.52762063e-03 9.89699481e-01 -3.44734875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.81, Z:-34.48 [[-4.63039987e-01 8.83689015e-01 -6.84667474e-02 3.50688738e+00] [-8.74842041e-01 -4.68069622e-01 -1.24748672e-01 -1.80915064e+00] [-1.42286236e-01 2.13396552e-03 9.89823254e-01 -3.44772493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860792138 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.81, Z:-34.48 [[-4.74717285e-01 8.77377857e-01 -6.96533911e-02 3.51140316e+00] [-8.68713461e-01 -4.79795417e-01 -1.23017399e-01 -1.81240349e+00] [-1.41352120e-01 2.11035271e-03 9.89957133e-01 -3.44803911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890792138 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.82, Z:-34.48 [[-4.87016562e-01 8.70446630e-01 -7.16765796e-02 3.51645849e+00] [-8.61913565e-01 -4.92256178e-01 -1.21609464e-01 -1.81558757e+00] [-1.41137788e-01 2.55319307e-03 9.89986670e-01 -3.44845919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.82, Z:-34.49 [[-4.96326496e-01 8.65200346e-01 -7.13328155e-02 3.52138587e+00] [-8.57013461e-01 -5.01421551e-01 -1.18761761e-01 -1.81881393e+00] [-1.38520528e-01 2.18857437e-03 9.90357144e-01 -3.44899911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950792138 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.82, Z:-34.50 [[-4.94237941e-01 8.66540410e-01 -6.95454966e-02 3.52018855e+00] [-8.58911981e-01 -4.99097838e-01 -1.14767404e-01 -1.81912006e+00] [-1.34160600e-01 3.01105471e-03 9.90955028e-01 -3.44952334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.82, Z:-34.50 [[-5.09162234e-01 8.57770870e-01 -7.05900436e-02 3.52717078e+00] [-8.50296493e-01 -5.14026256e-01 -1.13017172e-01 -1.82347257e+00] [-1.33227974e-01 2.47839073e-03 9.91082320e-01 -3.44995422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.83, Z:-34.50 [[-5.21399444e-01 8.50226401e-01 -7.25099137e-02 3.53268065e+00] [-8.42739129e-01 -5.26411768e-01 -1.12611770e-01 -1.82732288e+00] [-1.33915572e-01 2.39122728e-03 9.90989860e-01 -3.45019622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.83, Z:-34.50 [[-5.33075773e-01 8.42829785e-01 -7.39471031e-02 3.53773497e+00] [-8.35433080e-01 -5.38175002e-01 -1.11441627e-01 -1.83108077e+00] [-1.33722805e-01 2.37102475e-03 9.91015938e-01 -3.45046958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.83, Z:-34.51 [[-5.44975100e-01 8.35027498e-01 -7.57048035e-02 3.54329122e+00] [-8.27656062e-01 -5.50203359e-01 -1.10732594e-01 -1.83498172e+00] [-1.34117798e-01 2.31103311e-03 9.90962701e-01 -3.45064111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.84, Z:-34.51 [[-5.56418673e-01 8.27299327e-01 -7.72921991e-02 3.54835563e+00] [-8.19986887e-01 -5.61756663e-01 -1.09776852e-01 -1.83895065e+00] [-1.34237724e-01 2.29669922e-03 9.90946496e-01 -3.45091911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130792138 meters Centerline goodness : 0.999981 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.84, Z:-34.51 [[-5.67627389e-01 8.19496426e-01 -7.88971119e-02 3.55353867e+00] [-8.12240063e-01 -5.73079663e-01 -1.08838319e-01 -1.84275246e+00] [-1.34406944e-01 2.30378438e-03 9.90923542e-01 -3.45117118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.85, Z:-34.51 [[-5.79145692e-01 8.11257012e-01 -8.03263835e-02 3.55861502e+00] [-8.04084494e-01 -5.84685432e-01 -1.07661838e-01 -1.84692791e+00] [-1.34307087e-01 2.23730969e-03 9.90937234e-01 -3.45139844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.85, Z:-34.52 [[-5.90068157e-01 8.03202279e-01 -8.17659431e-02 3.56359185e+00] [-7.96113225e-01 -5.95702132e-01 -1.06502121e-01 -1.85115733e+00] [-1.34250893e-01 2.25143825e-03 9.90944816e-01 -3.45167255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.85, Z:-34.52 [[-5.99751701e-01 7.95880899e-01 -8.28944600e-02 3.56805666e+00] [-7.88953469e-01 -6.05447888e-01 -1.04810679e-01 -1.85468838e+00] [-1.33605093e-01 2.53948874e-03 9.91031397e-01 -3.45189141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.86, Z:-34.52 [[-6.08644774e-01 7.89081178e-01 -8.30808867e-02 3.57167307e+00] [-7.82401736e-01 -6.14283327e-01 -1.02486672e-01 -1.85827363e+00] [-1.31905507e-01 2.62465255e-03 9.91258820e-01 -3.45247788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280792138 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.86, Z:-34.53 [[-6.23475065e-01 7.77667471e-01 -8.06978829e-02 3.57855221e+00] [-7.71623296e-01 -6.28672891e-01 -9.67878352e-02 -1.86393478e+00] [-1.26001322e-01 1.92356455e-03 9.92028209e-01 -3.45342342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:3.59, Y:-1.87, Z:-34.54 [[-6.38855270e-01 7.65049191e-01 -8.10165412e-02 3.58596872e+00] [-7.59151662e-01 -6.43971171e-01 -9.48150019e-02 -1.87029996e+00] [-1.24710457e-01 9.30778323e-04 9.92192741e-01 -3.45400776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340792138 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:3.59, Y:-1.87, Z:-34.54 [[-6.48444948e-01 7.56714730e-01 -8.30780769e-02 3.59070872e+00] [-7.50798481e-01 -6.53744244e-01 -9.44463008e-02 -1.87453293e+00] [-1.25780722e-01 1.13166733e-03 9.92057422e-01 -3.45402597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370792138 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.88, Z:-34.54 [[-6.60086177e-01 7.46441191e-01 -8.43314139e-02 3.59574399e+00] [-7.40606546e-01 -6.65450683e-01 -9.31521978e-02 -1.87946256e+00] [-1.25651035e-01 9.67919084e-04 9.92074030e-01 -3.45435392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.88, Z:-34.55 [[-6.68094470e-01 7.39040969e-01 -8.64189006e-02 3.59865498e+00] [-7.33218687e-01 -6.73658812e-01 -9.25967709e-02 -1.88269444e+00] [-1.26649661e-01 1.50056233e-03 9.91946375e-01 -3.45450618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.89, Z:-34.55 [[-6.75925500e-01 7.31827104e-01 -8.69126473e-02 3.60342920e+00] [-7.26173098e-01 -6.81488143e-01 -9.08104807e-02 -1.88671054e+00] [-1.25687510e-01 1.73250676e-03 9.92068369e-01 -3.45465081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460792138 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.89, Z:-34.55 [[-6.86479075e-01 7.21894591e-01 -8.72621340e-02 3.60777337e+00] [-7.16432607e-01 -6.92001041e-01 -8.86503177e-02 -1.89240341e+00] [-1.24381672e-01 1.66085003e-03 9.92233058e-01 -3.45511476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490792138 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.90, Z:-34.55 [[-6.96407292e-01 7.12183885e-01 -8.83798488e-02 3.61269965e+00] [-7.06817622e-01 -7.01990932e-01 -8.72787570e-02 -1.89623050e+00] [-1.24200377e-01 1.68687176e-03 9.92255724e-01 -3.45535409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.90, Z:-34.56 [[-7.07285086e-01 7.01271785e-01 -8.92507156e-02 3.61761688e+00] [-6.96020573e-01 -7.12892388e-01 -8.56726643e-02 -1.90202797e+00] [-1.23705978e-01 1.52533638e-03 9.92317744e-01 -3.45570131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550792138 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.91, Z:-34.56 [[-7.18401848e-01 6.89854348e-01 -8.94413964e-02 3.62229842e+00] [-6.84786374e-01 -7.23947058e-01 -8.34762177e-02 -1.90631429e+00] [-1.22337268e-01 1.27878045e-03 9.92487762e-01 -3.45621303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580792138 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.91, Z:-34.57 [[-7.31306328e-01 6.76028545e-01 -9.04237864e-02 3.62843709e+00] [-6.71035637e-01 -7.36875102e-01 -8.20137656e-02 -1.91318932e+00] [-1.22074683e-01 7.00397394e-04 9.92520670e-01 -3.45661495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.92, Z:-34.57 [[-7.40873880e-01 6.65318638e-01 -9.19619714e-02 3.63342801e+00] [-6.60369176e-01 -7.46559174e-01 -8.10058713e-02 -1.91877478e+00] [-1.22549769e-01 7.13717121e-04 9.92462112e-01 -3.45681431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.92, Z:-34.57 [[-7.50351312e-01 6.54448276e-01 -9.31147784e-02 3.63761751e+00] [-6.49582553e-01 -7.56106437e-01 -7.96590354e-02 -1.92414225e+00] [-1.22537402e-01 7.13473774e-04 9.92463640e-01 -3.45706538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.93, Z:-34.57 [[-7.60624156e-01 6.42307679e-01 -9.42960212e-02 3.64247457e+00] [-6.37529296e-01 -7.66446636e-01 -7.82045483e-02 -1.92955754e+00] [-1.22504250e-01 6.32207466e-04 9.92467787e-01 -3.45723015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.93, Z:-34.57 [[-7.68652576e-01 6.32466352e-01 -9.57054391e-02 3.64562770e+00] [-6.27723659e-01 -7.74587561e-01 -7.73118267e-02 -1.93415163e+00] [-1.23029372e-01 6.50633620e-04 9.92402817e-01 -3.45738049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730792138 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.94, Z:-34.57 [[-7.75891606e-01 6.23308137e-01 -9.73610926e-02 3.64852497e+00] [-6.18616492e-01 -7.81975684e-01 -7.63391519e-02 -1.93784809e+00] [-1.23716822e-01 9.98270463e-04 9.92317062e-01 -3.45746467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.94, Z:-34.58 [[-7.84443368e-01 6.12300449e-01 -9.86750342e-02 3.65175732e+00] [-6.07677379e-01 -7.90624480e-01 -7.51074890e-02 -1.94316213e+00] [-1.24003247e-01 1.04501448e-03 9.92281262e-01 -3.45782894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790792138 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.95, Z:-34.58 [[-7.92603207e-01 6.01531646e-01 -9.96987260e-02 3.65517139e+00] [-5.97005735e-01 -7.98848161e-01 -7.36598123e-02 -1.94831897e+00] [-1.23952852e-01 1.13770775e-03 9.92287456e-01 -3.45811038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.95, Z:-34.58 [[-7.99894471e-01 5.91667913e-01 -1.00488388e-01 3.65833418e+00] [-5.87266962e-01 -8.06180600e-01 -7.20441204e-02 -1.95290751e+00] [-1.23637984e-01 1.38581699e-03 9.92326422e-01 -3.45830424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.96, Z:-34.58 [[-8.08285144e-01 5.79942043e-01 -1.01697363e-01 3.66174260e+00] [-5.75630571e-01 -8.14656401e-01 -7.06002422e-02 -1.95851315e+00] [-1.23792456e-01 1.47498408e-03 9.92307035e-01 -3.45847567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.96, Z:-34.58 [[-8.15015708e-01 5.69860277e-01 -1.04922160e-01 3.66266229e+00] [-5.65444301e-01 -8.21740037e-01 -7.08241013e-02 -1.96365438e+00] [-1.26578582e-01 1.60488259e-03 9.91955285e-01 -3.45844579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910792138 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.97, Z:-34.59 [[-8.23297377e-01 5.57688026e-01 -1.05666904e-01 3.66599274e+00] [-5.53384918e-01 -8.30049224e-01 -6.91622620e-02 -1.96973980e+00] [-1.26279697e-01 1.53336204e-03 9.91993491e-01 -3.45877698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.98, Z:-34.59 [[-8.30704375e-01 5.46256094e-01 -1.07398885e-01 3.66899588e+00] [-5.41994029e-01 -8.37616653e-01 -6.81235222e-02 -1.97547337e+00] [-1.27171984e-01 1.61904660e-03 9.91879360e-01 -3.45896752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.98, Z:-34.59 [[-8.38315430e-01 5.34311110e-01 -1.08346103e-01 3.67228912e+00] [-5.30148632e-01 -8.45286347e-01 -6.65839205e-02 -1.98123560e+00] [-1.27160010e-01 1.62121020e-03 9.91880892e-01 -3.45921869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000792138 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.99, Z:-34.59 [[-8.45486199e-01 5.22423716e-01 -1.10573727e-01 3.67486920e+00] [-5.18268404e-01 -8.52684354e-01 -6.57818634e-02 -1.98734109e+00] [-1.28650493e-01 1.68921162e-03 9.91688559e-01 -3.45919581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030792138 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.99, Z:-34.59 [[-8.52523319e-01 5.09861605e-01 -1.15087505e-01 3.67545044e+00] [-5.05548398e-01 -8.60254674e-01 -6.62020650e-02 -1.99479171e+00] [-1.32758455e-01 1.74349969e-03 9.91146888e-01 -3.45900650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:3.67, Y:-2.00, Z:-34.58 [[-8.58219059e-01 4.98748209e-01 -1.21285905e-01 3.67370422e+00] [-4.94176281e-01 -8.66744412e-01 -6.74086565e-02 -2.00179721e+00] [-1.38743827e-01 2.08522363e-03 9.90326109e-01 -3.45835982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090792138 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:3.68, Y:-2.01, Z:-34.59 [[-8.65226232e-01 4.86075536e-01 -1.22939585e-01 3.67676164e+00] [-4.81563256e-01 -8.73914501e-01 -6.61080606e-02 -2.00908489e+00] [-1.39572197e-01 2.00475889e-03 9.90209868e-01 -3.45866160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120792138 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:3.68, Y:-2.02, Z:-34.59 [[-8.74040251e-01 4.69923880e-01 -1.23390385e-01 3.68018804e+00] [-4.65516139e-01 -8.82705979e-01 -6.42252216e-02 -2.01718053e+00] [-1.39098396e-01 1.30478667e-03 9.90277705e-01 -3.45905174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:3.68, Y:-2.02, Z:-34.59 [[-8.81102168e-01 4.56518925e-01 -1.23488629e-01 3.68265514e+00] [-4.52265454e-01 -8.89713069e-01 -6.21820986e-02 -2.02363424e+00] [-1.38256752e-01 1.06085897e-03 9.90395853e-01 -3.45948889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:3.69, Y:-2.03, Z:-34.60 [[-8.91172449e-01 4.35766812e-01 -1.26170331e-01 3.68714117e+00] [-4.31439287e-01 -9.00059587e-01 -6.12607667e-02 -2.03373667e+00] [-1.40256225e-01 -1.59069785e-04 9.90115229e-01 -3.45957066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:3.69, Y:-2.04, Z:-34.60 [[-8.96633749e-01 4.24187162e-01 -1.26937669e-01 3.68933406e+00] [-4.19974812e-01 -9.05574528e-01 -5.96316252e-02 -2.03916112e+00] [-1.40246490e-01 -1.57103948e-04 9.90116608e-01 -3.45982190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.69, Y:-2.04, Z:-34.60 [[-9.01665926e-01 4.12888739e-01 -1.28535783e-01 3.69232636e+00] [-4.08728250e-01 -9.10781454e-01 -5.84667528e-02 -2.04478182e+00] [-1.41208271e-01 -1.81273283e-04 9.89979894e-01 -3.45975220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:3.70, Y:-2.05, Z:-34.60 [[-9.07511859e-01 3.99408751e-01 -1.29980286e-01 3.69528019e+00] [-3.95336499e-01 -9.16772922e-01 -5.68899104e-02 -2.05064893e+00] [-1.41884734e-01 -2.42317359e-04 9.89883156e-01 -3.45990653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.70, Y:-2.06, Z:-34.60 [[-9.11500181e-01 3.89705218e-01 -1.31519064e-01 3.69738033e+00] [-3.85706681e-01 -9.20939652e-01 -5.56822567e-02 -2.05541844e+00] [-1.42820787e-01 -2.66054513e-05 9.89748565e-01 -3.46019539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.70, Y:-2.06, Z:-34.60 [[-9.16601104e-01 3.77297743e-01 -1.32245340e-01 3.69939767e+00] [-3.73426946e-01 -9.26092011e-01 -5.39064312e-02 -2.06123265e+00] [-1.42810127e-01 -2.67210503e-05 9.89750103e-01 -3.46044632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:3.70, Y:-2.07, Z:-34.61 [[-9.21910325e-01 3.63638413e-01 -1.33598122e-01 3.70218820e+00] [-3.59848614e-01 -9.31540158e-01 -5.23632513e-02 -2.06708506e+00] [-1.43493306e-01 -1.99122825e-04 9.89651268e-01 -3.46053590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:3.70, Y:-2.07, Z:-34.61 [[-9.25482142e-01 3.53830722e-01 -1.35228046e-01 3.70423156e+00] [-3.50149803e-01 -9.35309448e-01 -5.09053198e-02 -2.07057539e+00] [-1.44491935e-01 2.38109203e-04 9.89505949e-01 -3.46077510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420792138 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:3.71, Y:-2.08, Z:-34.61 [[-9.30329012e-01 3.40657118e-01 -1.35796385e-01 3.70680532e+00] [-3.37106050e-01 -9.40187593e-01 -4.90591664e-02 -2.07630661e+00] [-1.44386431e-01 1.36617194e-04 9.89521369e-01 -3.46096881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450792138 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:3.71, Y:-2.08, Z:-34.61 [[-9.35022269e-01 3.26858033e-01 -1.37467025e-01 3.70952444e+00] [-3.23389946e-01 -9.45073449e-01 -4.74880997e-02 -2.08249947e+00] [-1.45438302e-01 5.30229435e-05 9.89367322e-01 -3.46108293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:3.71, Y:-2.09, Z:-34.61 [[-9.39344845e-01 3.13935558e-01 -1.38114911e-01 3.71198901e+00] [-3.10561845e-01 -9.49444267e-01 -4.59012517e-02 -2.08855168e+00] [-1.45542446e-01 -2.23882437e-04 9.89351983e-01 -3.46132599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510792138 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:3.71, Y:-2.09, Z:-34.61 [[-9.42628567e-01 3.03055511e-01 -1.40031217e-01 3.71377843e+00] [-2.99780146e-01 -9.52972900e-01 -4.44355256e-02 -2.09356041e+00] [-1.46912386e-01 9.23829425e-05 9.89149504e-01 -3.46140317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.10, Z:-34.62 [[-9.46006117e-01 2.91987570e-01 -1.40768194e-01 3.71574140e+00] [-2.88848938e-01 -9.56422076e-01 -4.26978225e-02 -2.09772144e+00] [-1.47101042e-01 2.68342197e-04 9.89121434e-01 -3.46182428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570792138 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.10, Z:-34.62 [[-9.50419855e-01 2.76837567e-01 -1.41644133e-01 3.71769803e+00] [-2.73751799e-01 -9.60916646e-01 -4.12207781e-02 -2.10438981e+00] [-1.47519665e-01 -4.01709822e-04 9.89059041e-01 -3.46217505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600792138 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.11, Z:-34.63 [[-9.55351561e-01 2.58724386e-01 -1.42706299e-01 3.71990702e+00] [-2.55919885e-01 -9.65951159e-01 -3.79917248e-02 -2.11281619e+00] [-1.47676701e-01 2.25926134e-04 9.89035662e-01 -3.46264057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630792138 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.12, Z:-34.63 [[-9.58210287e-01 2.47686421e-01 -1.43124010e-01 3.72100902e+00] [-2.44847030e-01 -9.68839925e-01 -3.74049795e-02 -2.11760396e+00] [-1.47928961e-01 -7.98347382e-04 9.88997667e-01 -3.46306689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660792138 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.13, Z:-34.63 [[-9.62704155e-01 2.29088033e-01 -1.43942293e-01 3.72302622e+00] [-2.26587374e-01 -9.73405701e-01 -3.37565177e-02 -2.12624959e+00] [-1.47847463e-01 1.17966371e-04 9.89010169e-01 -3.46310137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690792138 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.13, Z:-34.64 [[-9.65189811e-01 2.17171295e-01 -1.45757532e-01 3.72385957e+00] [-2.14817941e-01 -9.76133364e-01 -3.18889793e-02 -2.13164455e+00] [-1.49204161e-01 5.32414950e-04 9.88806268e-01 -3.46361527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:3.73, Y:-2.14, Z:-34.64 [[-9.68119536e-01 2.03170688e-01 -1.46513601e-01 3.72557348e+00] [-2.00990407e-01 -9.79143084e-01 -2.96930442e-02 -2.13829908e+00] [-1.49490536e-01 7.01412094e-04 9.88762908e-01 -3.46378016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.14, Z:-34.65 [[-9.69954205e-01 1.98682738e-01 -1.40406589e-01 3.72312735e+00] [-1.96965200e-01 -9.80061221e-01 -2.61670243e-02 -2.14151461e+00] [-1.42805990e-01 2.27439675e-03 9.89748087e-01 -3.46496536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.15, Z:-34.66 [[-9.72640639e-01 1.84097440e-01 -1.41697987e-01 3.72361994e+00] [-1.81757480e-01 -9.82903903e-01 -2.93961900e-02 -2.14660158e+00] [-1.44687267e-01 -2.83726015e-03 9.89473367e-01 -3.46600306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810792138 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:3.73, Y:-2.17, Z:-34.66 [[-9.80383316e-01 1.31361268e-01 -1.46944787e-01 3.72870623e+00] [-1.29554130e-01 -9.91331711e-01 -2.18441395e-02 -2.17049957e+00] [-1.48540501e-01 -2.37832573e-03 9.88903465e-01 -3.46576936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840792138 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:3.73, Y:-2.19, Z:-34.67 [[-9.84365792e-01 9.63784869e-02 -1.47428543e-01 3.72957729e+00] [-9.53082296e-02 -9.95344757e-01 -1.43232833e-02 -2.18732782e+00] [-1.48122684e-01 -4.81966503e-05 9.88968993e-01 -3.46656779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870792138 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:3.73, Y:-2.19, Z:-34.67 [[-9.85628275e-01 8.22176465e-02 -1.47570874e-01 3.72982477e+00] [-8.13694978e-02 -9.96614321e-01 -1.17855656e-02 -2.19399200e+00] [-1.48040228e-01 3.91581292e-04 9.88981262e-01 -3.46690767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.20, Z:-34.69 [[-9.87448483e-01 7.43027068e-02 -1.39372169e-01 3.72297385e+00] [-7.37665595e-02 -9.97234781e-01 -9.01590522e-03 -2.19965133e+00] [-1.39656680e-01 1.37826344e-03 9.90199026e-01 -3.46943851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:3.72, Y:-2.21, Z:-34.71 [[-9.88664258e-01 5.45994273e-02 -1.39863816e-01 3.72189858e+00] [-5.23361415e-02 -9.98432977e-01 -1.98121016e-02 -2.20793210e+00] [-1.40726376e-01 -1.22675842e-02 9.89972522e-01 -3.47109025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960792138 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.68, Z:-34.73 [[-2.37103894e-01 -9.71481007e-01 -2.52927865e-03 3.35718689e+00] [ 9.45600640e-01 -2.31382833e-01 2.28695027e-01 -2.68052240e+00] [-2.22758106e-01 5.18327939e-02 9.73494832e-01 -3.47253912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:3.67, Y:-2.43, Z:-34.70 [[-8.84718693e-01 -4.27114111e-01 -1.86671824e-01 3.67340553e+00] [ 4.17101027e-01 -9.04190795e-01 9.20094514e-02 -2.43285304e+00] [-2.08085480e-01 3.54147219e-03 9.78104233e-01 -3.47043398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:3.68, Y:-2.43, Z:-34.71 [[-8.89687938e-01 -4.15647183e-01 -1.88925361e-01 3.67561036e+00] [ 4.06540620e-01 -9.09525914e-01 8.65293999e-02 -2.42734999e+00] [-2.07798213e-01 1.78330194e-04 9.78171698e-01 -3.47138477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:3.67, Y:-2.45, Z:-34.72 [[-8.70808850e-01 -4.55642150e-01 -1.84613588e-01 3.66624806e+00] [ 4.45576699e-01 -8.90162776e-01 9.52451487e-02 -2.44572260e+00] [-2.07733848e-01 6.80805572e-04 9.78185149e-01 -3.47189180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:3.66, Y:-2.46, Z:-34.72 [[-8.58833078e-01 -4.80399689e-01 -1.77825430e-01 3.65835760e+00] [ 4.69755040e-01 -8.77044975e-01 1.00609717e-01 -2.45725534e+00] [-2.04293776e-01 2.87256067e-03 9.78905410e-01 -3.47240408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110792138 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:3.65, Y:-2.47, Z:-34.73 [[-8.43670458e-01 -5.05991083e-01 -1.79424586e-01 3.65246500e+00] [ 4.94898618e-01 -8.62538703e-01 1.05367663e-01 -2.46897831e+00] [-2.08075748e-01 9.86044500e-05 9.78112710e-01 -3.47269294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:3.64, Y:-2.48, Z:-34.74 [[-8.24748143e-01 -5.39581822e-01 -1.69239351e-01 3.63990105e+00] [ 5.28020750e-01 -8.41930066e-01 1.11120884e-01 -2.48346583e+00] [-2.02446507e-01 2.28485391e-03 9.79290657e-01 -3.47441685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:3.63, Y:-2.50, Z:-34.74 [[-8.00312373e-01 -5.74346572e-01 -1.72122399e-01 3.63068407e+00] [ 5.62192880e-01 -8.18607858e-01 1.17559941e-01 -2.50021982e+00] [-2.08420897e-01 -2.68131225e-03 9.78035552e-01 -3.47422530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:3.61, Y:-2.53, Z:-34.75 [[-7.50905125e-01 -6.40979552e-01 -1.59017946e-01 3.60614709e+00] [ 6.26837430e-01 -7.67557460e-01 1.33904372e-01 -2.53023375e+00] [-2.07885376e-01 8.71078593e-04 9.78152806e-01 -3.47472607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:3.60, Y:-2.54, Z:-34.76 [[-7.33584489e-01 -6.62585424e-01 -1.51110400e-01 3.59603215e+00] [ 6.48662290e-01 -7.48985539e-01 1.35121782e-01 -2.53960493e+00] [-2.02709228e-01 1.10362529e-03 9.79238352e-01 -3.47574791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:3.58, Y:-2.56, Z:-34.76 [[-6.95578394e-01 -7.03090006e-01 -1.47767184e-01 3.57984246e+00] [ 6.87755200e-01 -7.11100865e-01 1.46042266e-01 -2.55782121e+00] [-2.07758231e-01 -4.38043657e-05 9.78180206e-01 -3.47591579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290792138 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:3.56, Y:-2.57, Z:-34.78 [[-6.64599739e-01 -7.34820646e-01 -1.35446692e-01 3.56286678e+00] [ 7.19125250e-01 -6.78254772e-01 1.51093808e-01 -2.57160669e+00] [-2.02894215e-01 3.01376883e-03 9.79196025e-01 -3.47800102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:3.55, Y:-2.58, Z:-34.77 [[-6.39122363e-01 -7.56731530e-01 -1.37404498e-01 3.55254130e+00] [ 7.40452175e-01 -6.53722855e-01 1.56131369e-01 -2.58258588e+00] [-2.07973991e-01 -1.95440919e-03 9.78132404e-01 -3.47738982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:3.52, Y:-2.60, Z:-34.79 [[-5.84922862e-01 -8.02334821e-01 -1.18844775e-01 3.52459621e+00] [ 7.85201948e-01 -5.96865818e-01 1.64951800e-01 -2.60271680e+00] [-2.03280957e-01 3.16693002e-03 9.79115327e-01 -3.47862833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:3.52, Y:-2.61, Z:-34.78 [[-5.64282969e-01 -8.16886025e-01 -1.19507126e-01 3.51760872e+00] [ 7.99097723e-01 -5.76799091e-01 1.69545385e-01 -2.60932170e+00] [-2.07430857e-01 1.73701149e-04 9.78249666e-01 -3.47827844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410792138 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.50, Y:-2.62, Z:-34.79 [[-5.30805084e-01 -8.40684091e-01 -1.07220435e-01 3.49950291e+00] [ 8.22883668e-01 -5.41516833e-01 1.72110398e-01 -2.61944043e+00] [-2.02752144e-01 3.12712962e-03 9.79225096e-01 -3.47929215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:3.49, Y:-2.63, Z:-34.79 [[-5.09840781e-01 -8.53626111e-01 -1.06699772e-01 3.49165488e+00] [ 8.35103274e-01 -5.20885135e-01 1.76864915e-01 -2.62671047e+00] [-2.06554835e-01 1.06761772e-03 9.78434444e-01 -3.47898677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470792138 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:3.47, Y:-2.64, Z:-34.79 [[-4.75084028e-01 -8.74454425e-01 -9.81051712e-02 3.47482736e+00] [ 8.55444917e-01 -4.85102528e-01 1.81354710e-01 -2.63551010e+00] [-2.06177495e-01 2.23515621e-03 9.78512056e-01 -3.47933836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.46, Y:-2.64, Z:-34.80 [[-4.44412264e-01 -8.91087146e-01 -9.19860758e-02 3.46022521e+00] [ 8.71890657e-01 -4.53829564e-01 1.83971220e-01 -2.64339359e+00] [-2.05680390e-01 1.55726609e-03 9.78617981e-01 -3.47994930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530792138 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:3.45, Y:-2.65, Z:-34.80 [[-4.20907749e-01 -9.02992464e-01 -8.62628374e-02 3.44901630e+00] [ 8.83568063e-01 -4.29650774e-01 1.86300003e-01 -2.64871270e+00] [-2.05290394e-01 2.19602692e-03 9.78698642e-01 -3.47985735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:3.44, Y:-2.65, Z:-34.81 [[-3.93883251e-01 -9.15578035e-01 -8.10730891e-02 3.43592122e+00] [ 8.96068874e-01 -4.02137896e-01 1.88004481e-01 -2.65393408e+00] [-2.04735334e-01 1.40474432e-03 9.78816361e-01 -3.48066320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:3.42, Y:-2.66, Z:-34.81 [[-3.64046760e-01 -9.28388255e-01 -7.46002985e-02 3.42162362e+00] [ 9.08607814e-01 -3.71608179e-01 1.90628439e-01 -2.65965609e+00] [-2.04699285e-01 1.61525131e-03 9.78823576e-01 -3.48100058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:3.41, Y:-2.66, Z:-34.81 [[-3.38111655e-01 -9.38550674e-01 -6.93046957e-02 3.40918591e+00] [ 9.18534200e-01 -3.45138068e-01 1.92807255e-01 -2.66393538e+00] [-2.04879068e-01 1.53164678e-03 9.78786096e-01 -3.48143488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650792138 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:3.39, Y:-2.67, Z:-34.82 [[-3.05075878e-01 -9.50306652e-01 -6.20159315e-02 3.39329707e+00] [ 9.30076351e-01 -3.11310032e-01 1.95048827e-01 -2.66925773e+00] [-2.04662379e-01 1.82514091e-03 9.78830925e-01 -3.48177828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:3.38, Y:-2.67, Z:-34.82 [[-2.78544760e-01 -9.58789572e-01 -5.59943966e-02 3.37924712e+00] [ 9.38724682e-01 -2.84111515e-01 1.95132311e-01 -2.67306921e+00] [-2.02999477e-01 1.78976059e-03 9.79177210e-01 -3.48244373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.68, Z:-34.83 [[-2.57471436e-01 -9.65064445e-01 -4.85703276e-02 3.36870515e+00] [ 9.45195126e-01 -2.61977919e-01 1.94868529e-01 -2.67617815e+00] [-2.00785042e-01 4.26464300e-03 9.79626041e-01 -3.48273433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.68, Z:-34.83 [[-2.30077721e-01 -9.72204470e-01 -4.33902054e-02 3.35581387e+00] [ 9.52224004e-01 -2.34102486e-01 1.96126162e-01 -2.67971262e+00] [-2.00832486e-01 3.80706518e-03 9.79618200e-01 -3.48313043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:3.34, Y:-2.68, Z:-34.83 [[-2.04348077e-01 -9.78147577e-01 -3.83299039e-02 3.34356284e+00] [ 9.58088782e-01 -2.07881408e-01 1.97107092e-01 -2.68216722e+00] [-2.00767899e-01 3.55500416e-03 9.79632387e-01 -3.48343298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.87, Z:-34.82 [[ -0.62751197 0.77055544 -0.1116828 3.55217642] [ -0.71876792 -0.62844002 -0.29738161 -1.87240119] [ -0.29933495 -0.10633651 0.94820416 -34.82237426] [ 0. 0. 0. 1. ]] SLAMing on 40.830792138 meters Centerline goodness : 0.999941 Centerline is valid? [True, True] Translation: X:3.49, Y:-2.62, Z:-34.90 [[-5.19378014e-01 -8.51362937e-01 -7.36724429e-02 3.49383939e+00] [ 8.42793836e-01 -5.24576888e-01 1.20489167e-01 -2.62351526e+00] [-1.41226872e-01 4.88743697e-04 9.89977137e-01 -3.49021086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860792138 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:3.48, Y:-2.63, Z:-34.91 [[-4.95887999e-01 -8.65656418e-01 -6.88044973e-02 3.48222417e+00] [ 8.56824557e-01 -5.00633639e-01 1.23359787e-01 -2.62950306e+00] [-1.41233037e-01 2.21925485e-03 9.89973891e-01 -3.49086282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890792138 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:3.48, Y:-2.63, Z:-34.91 [[-4.84348624e-01 -8.72280999e-01 -6.73221281e-02 3.47661114e+00] [ 8.63400887e-01 -4.89000823e-01 1.24165629e-01 -2.63218089e+00] [-1.41227895e-01 2.01346648e-03 9.89975064e-01 -3.49119684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:3.47, Y:-2.64, Z:-34.91 [[-4.70947711e-01 -8.79732257e-01 -6.54171864e-02 3.47036138e+00] [ 8.70732130e-01 -4.75464500e-01 1.25535123e-01 -2.63562336e+00] [-1.41540847e-01 2.15963288e-03 9.89930060e-01 -3.49137619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:3.46, Y:-2.64, Z:-34.92 [[-4.58385591e-01 -8.86466540e-01 -6.37159602e-02 3.46402573e+00] [ 8.77412774e-01 -4.62788241e-01 1.26387765e-01 -2.63825435e+00] [-1.41525522e-01 2.02913316e-03 9.89932528e-01 -3.49170558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980792138 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:3.46, Y:-2.64, Z:-34.92 [[-4.48569902e-01 -8.91610603e-01 -6.17703432e-02 3.45884752e+00] [ 8.82597042e-01 -4.52797549e-01 1.26478621e-01 -2.64024975e+00] [-1.40739139e-01 2.21618031e-03 9.90044233e-01 -3.49215553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010792138 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:3.46, Y:-2.64, Z:-34.93 [[-4.41503683e-01 -8.95347232e-01 -5.85476874e-02 3.45533524e+00] [ 8.86653952e-01 -4.45358272e-01 1.24502126e-01 -2.64167069e+00] [-1.37547331e-01 3.05660859e-03 9.90490479e-01 -3.49258424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:3.45, Y:-2.64, Z:-34.93 [[-4.29262189e-01 -9.01449011e-01 -5.58896549e-02 3.44939439e+00] [ 8.93017723e-01 -4.32875552e-01 1.23036996e-01 -2.64380502e+00] [-1.35104844e-01 2.90467791e-03 9.90827051e-01 -3.49326812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:3.45, Y:-2.64, Z:-34.94 [[-4.19281021e-01 -9.06272113e-01 -5.36123362e-02 3.44537796e+00] [ 8.98045569e-01 -4.22684455e-01 1.21868813e-01 -2.64466996e+00] [-1.33107408e-01 2.95095926e-03 9.91097225e-01 -3.49360236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100792138 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:3.44, Y:-2.65, Z:-34.94 [[-4.02572368e-01 -9.13944152e-01 -5.13962657e-02 3.43762920e+00] [ 9.05707178e-01 -4.05830672e-01 1.22458048e-01 -2.64862454e+00] [-1.32777998e-01 2.74825973e-03 9.91141993e-01 -3.49367356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.43, Y:-2.65, Z:-34.94 [[-3.92742484e-01 -9.18313324e-01 -4.95376708e-02 3.43279015e+00] [ 9.10099782e-01 -3.95842488e-01 1.22585118e-01 -2.64961869e+00] [-1.32180662e-01 3.06016060e-03 9.91220918e-01 -3.49390063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:3.43, Y:-2.65, Z:-34.94 [[-3.79864707e-01 -9.23828876e-01 -4.73604546e-02 3.42614855e+00] [ 9.15533296e-01 -3.82788941e-01 1.23577551e-01 -2.65246505e+00] [-1.32293568e-01 3.58267696e-03 9.91204104e-01 -3.49417059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.42, Y:-2.65, Z:-34.95 [[-3.71389138e-01 -9.27277498e-01 -4.71863340e-02 3.42118063e+00] [ 9.18844006e-01 -3.74362737e-01 1.24812792e-01 -2.65344330e+00] [-1.33400899e-01 2.99723519e-03 9.91057625e-01 -3.49477778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:3.42, Y:-2.65, Z:-34.98 [[-3.69059094e-01 -9.28346517e-01 -4.43635977e-02 3.41675482e+00] [ 9.20028062e-01 -3.71682531e-01 1.24098595e-01 -2.65059364e+00] [-1.31695673e-01 4.98396025e-03 9.91277665e-01 -3.49758342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250792138 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:3.41, Y:-2.66, Z:-34.95 [[-3.49768313e-01 -9.35750419e-01 -4.50919128e-02 3.41002227e+00] [ 9.27368196e-01 -3.52657837e-01 1.24982710e-01 -2.65684680e+00] [-1.32854640e-01 1.89818580e-03 9.91133715e-01 -3.49524966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280792138 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:3.40, Y:-2.66, Z:-34.95 [[-3.30487177e-01 -9.42888230e-01 -4.17134469e-02 3.40120366e+00] [ 9.34428972e-01 -3.33098499e-01 1.26047158e-01 -2.65977006e+00] [-1.32743068e-01 2.67871602e-03 9.91146862e-01 -3.49549631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:3.40, Y:-2.66, Z:-34.98 [[-3.31654523e-01 -9.42625612e-01 -3.82391491e-02 3.39883702e+00] [ 9.34653955e-01 -3.33816269e-01 1.22428280e-01 -2.65577007e+00] [-1.28168882e-01 4.86352084e-03 9.91740432e-01 -3.49809455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:3.39, Y:-2.66, Z:-34.96 [[-3.08642363e-01 -9.50341537e-01 -3.98855172e-02 3.39083511e+00] [ 9.41988147e-01 -3.11206423e-01 1.25733421e-01 -2.66287130e+00] [-1.31902322e-01 1.23497574e-03 9.91261949e-01 -3.49614152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370792138 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:3.39, Y:-2.66, Z:-34.97 [[-3.02707250e-01 -9.52466418e-01 -3.42934896e-02 3.38713304e+00] [ 9.44391632e-01 -3.04600761e-01 1.23866140e-01 -2.66210866e+00] [-1.28424162e-01 5.10869403e-03 9.91706174e-01 -3.49703017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400792138 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:3.38, Y:-2.67, Z:-34.97 [[-2.82196718e-01 -9.58702377e-01 -3.54226713e-02 3.37886707e+00] [ 9.50188898e-01 -2.84401758e-01 1.27501761e-01 -2.66555897e+00] [-1.32310511e-01 2.32234940e-03 9.91205597e-01 -3.49679501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.67, Z:-34.97 [[-2.66211360e-01 -9.63386516e-01 -3.19050457e-02 3.37157439e+00] [ 9.55002060e-01 -2.68096067e-01 1.26868292e-01 -2.66887207e+00] [-1.30776819e-01 3.30439616e-03 9.91406327e-01 -3.49711754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:3.35, Y:-2.67, Z:-34.97 [[-2.37229328e-01 -9.70949037e-01 -3.13083449e-02 3.35275489e+00] [ 9.61890560e-01 -2.39282965e-01 1.32326164e-01 -2.66988025e+00] [-1.35973515e-01 1.27644555e-03 9.90711650e-01 -3.49693043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490792138 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.34, Y:-2.67, Z:-34.97 [[-2.21612841e-01 -9.74682852e-01 -2.96831182e-02 3.34471821e+00] [ 9.65380254e-01 -2.23589111e-01 1.34346097e-01 -2.67063519e+00] [-1.37581659e-01 1.11732414e-03 9.90489797e-01 -3.49706445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520792138 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:3.34, Y:-2.67, Z:-34.98 [[-2.09396742e-01 -9.77447870e-01 -2.73617448e-02 3.33927267e+00] [ 9.68194535e-01 -2.11170733e-01 1.34187421e-01 -2.67066688e+00] [-1.36939209e-01 1.60691704e-03 9.90578150e-01 -3.49786619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550792138 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:3.33, Y:-2.67, Z:-34.98 [[-2.00890872e-01 -9.79179726e-01 -2.91534266e-02 3.33478629e+00] [ 9.69888794e-01 -2.02991441e-01 1.34574152e-01 -2.67130153e+00] [-1.37690177e-01 -1.24086301e-03 9.90474571e-01 -3.49791008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580792138 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:3.32, Y:-2.67, Z:-34.98 [[-1.68871040e-01 -9.85376573e-01 -2.27064179e-02 3.31906184e+00] [ 9.75874902e-01 -1.70388407e-01 1.36513611e-01 -2.67265913e+00] [-1.38386225e-01 8.94572149e-04 9.90377934e-01 -3.49809734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610792138 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:3.31, Y:-2.67, Z:-34.98 [[-1.58981231e-01 -9.87050186e-01 -2.13751805e-02 3.31399178e+00] [ 9.76906984e-01 -1.60404180e-01 1.41149718e-01 -2.66973504e+00] [-1.42750524e-01 1.55859294e-03 9.89757475e-01 -3.49762928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.31, Y:-2.67, Z:-34.98 [[-1.49520681e-01 -9.88560245e-01 -1.98042423e-02 3.31002311e+00] [ 9.78260310e-01 -1.50814440e-01 1.42343844e-01 -2.66909462e+00] [-1.43702231e-01 1.90964421e-03 9.89619130e-01 -3.49774500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670792138 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:3.30, Y:-2.67, Z:-34.98 [[-1.36092472e-01 -9.90534373e-01 -1.79023926e-02 3.30364044e+00] [ 9.80266516e-01 -1.37252954e-01 1.42264485e-01 -2.66961401e+00] [-1.43375019e-01 1.81200947e-03 9.89666773e-01 -3.49818131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700792138 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:3.30, Y:-2.67, Z:-34.99 [[-1.18399353e-01 -9.92837738e-01 -1.59630781e-02 3.29698264e+00] [ 9.82542690e-01 -1.19464577e-01 1.42611631e-01 -2.66945536e+00] [-1.43497232e-01 1.20071926e-03 9.89649990e-01 -3.49856489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730792138 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.67, Z:-34.99 [[-1.05567176e-01 -9.94309377e-01 -1.42980699e-02 3.29103677e+00] [ 9.83984153e-01 -1.06526171e-01 1.42924320e-01 -2.66943004e+00] [-1.43634110e-01 1.01904263e-03 9.89630337e-01 -3.49878446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760792138 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.67, Z:-34.99 [[-9.14269765e-02 -9.95735076e-01 -1.23598430e-02 3.28518177e+00] [ 9.85488143e-01 -9.22547619e-02 1.42485717e-01 -2.67009490e+00] [-1.43018280e-01 8.46559581e-04 9.89719685e-01 -3.49891847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790792138 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:3.28, Y:-2.67, Z:-34.99 [[-7.30818549e-02 -9.97271588e-01 -1.04125678e-02 3.27675676e+00] [ 9.87182705e-01 -7.38198841e-02 1.41495343e-01 -2.67093040e+00] [-1.41877940e-01 6.16352761e-05 9.89884158e-01 -3.49927737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:3.27, Y:-2.67, Z:-34.99 [[-6.24923444e-02 -9.98008876e-01 -8.54339099e-03 3.27157191e+00] [ 9.87934218e-01 -6.30723656e-02 1.41449137e-01 -2.67174186e+00] [-1.41706346e-01 3.99179917e-04 9.89908658e-01 -3.49947128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850792138 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:3.27, Y:-2.67, Z:-35.00 [[-5.11509427e-02 -9.98672085e-01 -6.13582734e-03 3.26640532e+00] [ 9.88475575e-01 -5.15032830e-02 1.42349745e-01 -2.67196263e+00] [-1.42476732e-01 1.21620821e-03 9.89797404e-01 -3.49968095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880792138 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:3.26, Y:-2.67, Z:-35.00 [[-4.09982961e-02 -9.99143977e-01 -5.51841756e-03 3.26140201e+00] [ 9.88969641e-01 -4.13663362e-02 1.42224736e-01 -2.67198446e+00] [-1.42331265e-01 3.73424408e-04 9.89819009e-01 -3.50004937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910792138 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.67, Z:-35.00 [[-2.44393144e-02 -9.99694594e-01 -3.66594116e-03 3.25372980e+00] [ 9.89290498e-01 -2.47124845e-02 1.43852717e-01 -2.67164720e+00] [-1.43899378e-01 -1.11018965e-04 9.89592318e-01 -3.50002371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940792138 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.67, Z:-35.00 [[-1.04097922e-02 -9.99944254e-01 -1.76759090e-03 3.24736235e+00] [ 9.89294844e-01 -1.05562118e-02 1.45548197e-01 -2.67155641e+00] [-1.45558743e-01 -2.33542080e-04 9.89349583e-01 -3.50008091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970792138 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.67, Z:-35.03 [[ 1.63563155e-03 -9.99997522e-01 1.51045355e-03 3.24280978e+00] [ 9.89284884e-01 1.83861585e-03 1.45986431e-01 -2.66816418e+00] [-1.45988846e-01 1.25548885e-03 9.89285439e-01 -3.50322582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.67, Z:-35.07 [[ 6.96776011e-03 -9.99974420e-01 1.61559067e-03 3.24094024e+00] [ 9.88968084e-01 7.13011279e-03 1.47957054e-01 -2.66510898e+00] [-1.47964788e-01 5.66838353e-04 9.88992467e-01 -3.50655796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.66, Z:-35.10 [[ 8.02317911e-03 -9.99965854e-01 1.97968630e-03 3.24074418e+00] [ 9.88728177e-01 8.22897824e-03 1.49495406e-01 -2.66168170e+00] [-1.49506592e-01 7.57943208e-04 9.88760438e-01 -3.50975157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.66, Z:-35.13 [[ 1.05997789e-02 -9.99941170e-01 2.30237912e-03 3.24091498e+00] [ 9.88570364e-01 1.08254753e-02 1.50371021e-01 -2.65917424e+00] [-1.50387099e-01 6.82164180e-04 9.88626954e-01 -3.51292531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.66, Z:-35.16 [[ 1.47141185e-02 -9.99888335e-01 2.60986081e-03 3.23974548e+00] [ 9.88339490e-01 1.49396892e-02 1.51531707e-01 -2.65625307e+00] [-1.51553777e-01 3.49773021e-04 9.88448952e-01 -3.51619983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.65, Z:-35.20 [[ 1.50077649e-02 -9.99882995e-01 2.96022221e-03 3.23995674e+00] [ 9.88059873e-01 1.52841915e-02 1.53310410e-01 -2.65200736e+00] [-1.53337716e-01 6.24030194e-04 9.88173646e-01 -3.51952397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.65, Z:-35.23 [[ 1.85586221e-02 -9.99822240e-01 3.32652676e-03 3.23837654e+00] [ 9.87927378e-01 1.88494305e-02 1.53766690e-01 -2.64778292e+00] [-1.53802060e-01 4.32668967e-04 9.88101583e-01 -3.52273591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.64, Z:-35.26 [[ 2.16277792e-02 -9.99759288e-01 3.68866232e-03 3.23621392e+00] [ 9.87592144e-01 2.19382952e-02 1.55500703e-01 -2.64384015e+00] [-1.55544195e-01 2.79759069e-04 9.87828895e-01 -3.52595269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.64, Z:-35.29 [[ 4.27081103e-02 -9.99064007e-01 6.86486375e-03 3.22755281e+00] [ 9.86476821e-01 4.32563132e-02 1.58089760e-01 -2.64134585e+00] [-1.58238738e-01 2.03140586e-05 9.87400882e-01 -3.52896695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240792137999996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.64, Z:-35.32 [[ 1.56717005e-02 -9.99874048e-01 -2.50700964e-03 3.24126156e+00] [ 9.87230220e-01 1.50759010e-02 1.58585023e-01 -2.63848429e+00] [-1.58527254e-01 -4.96029266e-03 9.87342142e-01 -3.53217805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.63, Z:-35.35 [[ 1.11259872e-02 -9.99932385e-01 -3.38210957e-03 3.24306774e+00] [ 9.87172284e-01 1.04451463e-02 1.59316605e-01 -2.63461488e+00] [-1.59270506e-01 -5.11127934e-03 9.87221748e-01 -3.53536863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300792138 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.63, Z:-35.39 [[ 4.34354773e-03 -9.99978085e-01 -4.99622160e-03 3.24507303e+00] [ 9.87501116e-01 3.50206485e-03 1.57573100e-01 -2.63020344e+00] [-1.57552149e-01 -5.61820069e-03 9.87494687e-01 -3.53865247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.63, Z:-35.42 [[ 5.14204985e-02 -9.98651250e-01 7.18422793e-03 3.22372372e+00] [ 9.85875376e-01 5.19081837e-02 1.59233426e-01 -2.62701100e+00] [-1.59391580e-01 -1.10510873e-03 9.87214821e-01 -3.54169808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.62, Z:-35.45 [[ 1.34904809e-02 -9.99906792e-01 -2.10091863e-03 3.24112766e+00] [ 9.87355059e-01 1.29891783e-02 1.57991358e-01 -2.62239865e+00] [-1.57949343e-01 -4.20573205e-03 9.87438260e-01 -3.54496572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.62, Z:-35.48 [[ 4.42091207e-02 -9.99006063e-01 5.69566838e-03 3.22689703e+00] [ 9.86469375e-01 4.45538646e-02 1.57775554e-01 -2.61802539e+00] [-1.57872499e-01 -1.35651606e-03 9.87458573e-01 -3.54822775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.62, Z:-35.51 [[ 6.09031637e-02 -9.98106746e-01 8.58646987e-03 3.22015906e+00] [ 9.85493180e-01 6.14943044e-02 1.58182310e-01 -2.61532284e+00] [-1.58410850e-01 -1.17189561e-03 9.87372589e-01 -3.55124610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450792138 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.61, Z:-35.55 [[ 1.65090994e-02 -9.99858669e-01 -3.17668619e-03 3.24079778e+00] [ 9.87452750e-01 1.58050626e-02 1.57121820e-01 -2.61180622e+00] [-1.57049406e-01 -5.73076725e-03 9.87574120e-01 -3.55455248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480792138 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.61, Z:-35.58 [[ 6.36386854e-02 -9.97933770e-01 8.84921717e-03 3.21955847e+00] [ 9.85315503e-01 6.42368505e-02 1.58199199e-01 -2.60829149e+00] [-1.58440769e-01 -1.34831818e-03 9.87367563e-01 -3.55754833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510792138 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.60, Z:-35.61 [[ 2.40146952e-02 -9.99710344e-01 -1.58798197e-03 3.23808861e+00] [ 9.87354099e-01 2.34688360e-02 1.56783602e-01 -2.60431404e+00] [-1.56700921e-01 -5.33301092e-03 9.87631703e-01 -3.56087019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540792138 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.60, Z:-35.64 [[ 5.54823492e-02 -9.98436240e-01 6.83985276e-03 3.22388405e+00] [ 9.86080009e-01 5.58685511e-02 1.56604344e-01 -2.59975840e+00] [-1.56741585e-01 -1.94413484e-03 9.87637735e-01 -3.56418660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.60, Z:-35.67 [[ 5.75791990e-02 -9.98315153e-01 7.17566532e-03 3.22362316e+00] [ 9.85968312e-01 5.79922206e-02 1.56535585e-01 -2.59623404e+00] [-1.56687980e-01 -1.93821499e-03 9.87646253e-01 -3.56746590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.59, Z:-35.70 [[ 7.63645911e-02 -9.97026383e-01 1.03363367e-02 3.21654700e+00] [ 9.84394672e-01 7.70373524e-02 1.58216232e-01 -2.59295796e+00] [-1.58542042e-01 -1.90708310e-03 9.87350386e-01 -3.57040773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.59, Z:-35.74 [[ 4.42541791e-02 -9.99019947e-01 8.43911014e-04 3.23265597e+00] [ 9.86335929e-01 4.38264607e-02 1.58810191e-01 -2.59051693e+00] [-1.58691534e-01 -6.19563488e-03 9.87308772e-01 -3.57364831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.59, Z:-35.77 [[ 2.86419638e-02 -9.99585952e-01 -2.74993469e-03 3.23911770e+00] [ 9.87399548e-01 2.78642293e-02 1.55774573e-01 -2.58649171e+00] [-1.55633450e-01 -7.17697396e-03 9.87788803e-01 -3.57709670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690792138 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.58, Z:-35.80 [[ 8.21906963e-02 -9.96557637e-01 1.08428031e-02 3.21449399e+00] [ 9.83986739e-01 8.28708788e-02 1.57805307e-01 -2.58230448e+00] [-1.58160637e-01 -2.30095363e-03 9.87410714e-01 -3.58010153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.58, Z:-35.83 [[ 5.88612308e-02 -9.98262090e-01 2.85555475e-03 3.22717998e+00] [ 9.85772503e-01 5.85754697e-02 1.57548362e-01 -2.58018933e+00] [-1.57441822e-01 -6.45856312e-03 9.87507144e-01 -3.58328753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.58, Z:-35.87 [[ 3.42670421e-02 -9.99412465e-01 -7.03536218e-04 3.23931559e+00] [ 9.87421231e-01 3.37471585e-02 1.54468255e-01 -2.57677833e+00] [-1.54353758e-01 -5.98785681e-03 9.87997502e-01 -3.58658683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780792138 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.57, Z:-35.90 [[ 8.11292682e-02 -9.96634827e-01 1.17074358e-02 3.21752402e+00] [ 9.84547253e-01 8.19631888e-02 1.54753813e-01 -2.57316331e+00] [-1.55192619e-01 -1.02853987e-03 9.87883694e-01 -3.58953492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810792138 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.57, Z:-35.93 [[ 5.21293248e-02 -9.98635000e-01 3.26656829e-03 3.23219129e+00] [ 9.86487500e-01 5.20034200e-02 1.55364274e-01 -2.57065764e+00] [-1.55322074e-01 -4.87660592e-03 9.87851847e-01 -3.59277603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840792138 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.57, Z:-35.96 [[ 5.27070597e-02 -9.98605540e-01 2.99006728e-03 3.23221832e+00] [ 9.86599899e-01 5.25359112e-02 1.54468821e-01 -2.56750461e+00] [-1.54410506e-01 -5.19159728e-03 9.87993139e-01 -3.59607801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.56, Z:-35.99 [[ 5.74385781e-02 -9.98342146e-01 3.71081761e-03 3.23131188e+00] [ 9.86161835e-01 5.73160195e-02 1.55562560e-01 -2.56330364e+00] [-1.55517349e-01 -5.27582553e-03 9.87819072e-01 -3.59923353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900792138 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.56, Z:-36.02 [[ 4.60017255e-02 -9.98940105e-01 1.58371936e-03 3.23664897e+00] [ 9.87081785e-01 4.56990999e-02 1.53561526e-01 -2.55867203e+00] [-1.53471141e-01 -5.50083463e-03 9.88137819e-01 -3.60249232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.55, Z:-36.06 [[ 9.30973120e-02 -9.95576441e-01 1.26664808e-02 3.21468934e+00] [ 9.83637923e-01 9.39367751e-02 1.53728070e-01 -2.55354396e+00] [-1.54237893e-01 -1.85243919e-03 9.88032004e-01 -3.60553802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960792138 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.55, Z:-36.09 [[ 6.61069978e-02 -9.97796171e-01 5.71547028e-03 3.22827517e+00] [ 9.85724345e-01 6.61939645e-02 1.54809157e-01 -2.55173385e+00] [-1.54846314e-01 -4.60009043e-03 9.87927861e-01 -3.60876292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990792137999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.55, Z:-36.12 [[ 7.23692787e-02 -9.97370064e-01 3.95509737e-03 3.22686777e+00] [ 9.86899216e-01 7.21817005e-02 1.44290472e-01 -2.54862687e+00] [-1.44196483e-01 -6.53891489e-03 9.89527472e-01 -3.61198245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020792138 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.55, Z:-36.15 [[ 7.06385004e-02 -9.97496680e-01 3.25211667e-03 3.22869212e+00] [ 9.87492349e-01 7.03900023e-02 1.41081921e-01 -2.54517094e+00] [-1.40957664e-01 -6.75437501e-03 9.89992583e-01 -3.61524469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.54, Z:-36.18 [[ 9.04495220e-02 -9.95877895e-01 6.78978943e-03 3.22022087e+00] [ 9.85942533e-01 9.05047270e-02 1.40450049e-01 -2.54129719e+00] [-1.40485607e-01 -6.00929756e-03 9.90064484e-01 -3.61838631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080792138 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.54, Z:-36.22 [[ 6.79268870e-02 -9.97687157e-01 2.50503622e-03 3.23063717e+00] [ 9.88067145e-01 6.76193825e-02 1.38386906e-01 -2.53786771e+00] [-1.38236227e-01 -6.92504771e-03 9.90375075e-01 -3.62171092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110792138 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.53, Z:-36.25 [[ 1.10927886e-01 -9.93736882e-01 1.34912671e-02 3.21218972e+00] [ 9.83867022e-01 1.11723117e-01 1.39726974e-01 -2.53257766e+00] [-1.40359134e-01 -2.22600498e-03 9.90098156e-01 -3.62475594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140792138 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.53, Z:-36.28 [[ 8.57465147e-02 -9.96295427e-01 6.55419606e-03 3.22506321e+00] [ 9.86370703e-01 8.58158842e-02 1.40386862e-01 -2.53025622e+00] [-1.40429243e-01 -5.57281716e-03 9.90075033e-01 -3.62799925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.53, Z:-36.31 [[ 8.29402602e-02 -9.96536165e-01 6.04858496e-03 3.22658539e+00] [ 9.86710026e-01 8.29704376e-02 1.39711244e-01 -2.52687846e+00] [-1.39729161e-01 -5.61948754e-03 9.90173814e-01 -3.63116959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.52, Z:-36.34 [[ 8.31318040e-02 -9.96519084e-01 6.23039263e-03 3.22622199e+00] [ 9.86600574e-01 8.31819138e-02 1.40356962e-01 -2.52271380e+00] [-1.40386648e-01 -5.52121854e-03 9.90081363e-01 -3.63439321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.52, Z:-36.38 [[ 8.80987203e-02 -9.96084430e-01 7.37720284e-03 3.22451275e+00] [ 9.86154286e-01 8.82602184e-02 1.40391804e-01 -2.51871750e+00] [-1.40493203e-01 -5.09327804e-03 9.90068542e-01 -3.63771720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260792138 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.51, Z:-36.41 [[ 7.93360985e-02 -9.96833895e-01 5.28857504e-03 3.22788555e+00] [ 9.87330279e-01 7.93088801e-02 1.37437340e-01 -2.51495257e+00] [-1.37421630e-01 -5.68217208e-03 9.90496345e-01 -3.64101028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290792138 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.51, Z:-36.44 [[ 1.19219734e-01 -9.92757227e-01 1.48237481e-02 3.21078257e+00] [ 9.82892268e-01 1.20119862e-01 1.39620948e-01 -2.50977284e+00] [-1.40390332e-01 -2.07542493e-03 9.90094060e-01 -3.64409428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320792138 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.51, Z:-36.47 [[ 8.33160396e-02 -9.96509163e-01 5.28449079e-03 3.22814280e+00] [ 9.86872692e-01 8.32442542e-02 1.38393222e-01 -2.50654452e+00] [-1.38350017e-01 -6.31525551e-03 9.90363262e-01 -3.64738344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350792138 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.50, Z:-36.51 [[ 1.11264525e-01 -9.93712569e-01 1.24713612e-02 3.21641099e+00] [ 9.84164140e-01 1.11920539e-01 1.37458131e-01 -2.50155993e+00] [-1.37989674e-01 -3.02034730e-03 9.90429062e-01 -3.65066229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.50, Z:-36.54 [[ 1.13324759e-01 -9.93477782e-01 1.26251904e-02 3.21640665e+00] [ 9.84147225e-01 1.13987105e-01 1.35871921e-01 -2.49704903e+00] [-1.36424843e-01 -2.97260664e-03 9.90645964e-01 -3.65398438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.49, Z:-36.57 [[ 1.16426327e-01 -9.93115110e-01 1.29340490e-02 3.21579442e+00] [ 9.83763173e-01 1.17101256e-01 1.36004833e-01 -2.49266215e+00] [-1.36583048e-01 -3.11050210e-03 9.90623741e-01 -3.65728538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440792138 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.49, Z:-36.60 [[ 1.36867350e-01 -9.90458478e-01 1.61037833e-02 3.20803691e+00] [ 9.80814211e-01 1.37777023e-01 1.37916555e-01 -2.48816110e+00] [-1.38819352e-01 -3.08145388e-03 9.90312926e-01 -3.66032604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.49, Z:-36.64 [[ 9.76334678e-02 -9.95200250e-01 6.64591249e-03 3.22588761e+00] [ 9.85670216e-01 9.76172080e-02 1.37568552e-01 -2.48568644e+00] [-1.37557013e-01 -6.88061679e-03 9.90469952e-01 -3.66366354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.48, Z:-36.67 [[ 1.27798452e-01 -9.91705603e-01 1.36949520e-02 3.21210651e+00] [ 9.82270987e-01 1.28468010e-01 1.36527206e-01 -2.47924353e+00] [-1.37154159e-01 -3.99581162e-03 9.90541655e-01 -3.66692091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.48, Z:-36.70 [[ 1.29308668e-01 -9.91507170e-01 1.38852703e-02 3.21155212e+00] [ 9.82210318e-01 1.29993994e-01 1.35515504e-01 -2.47629137e+00] [-1.36169596e-01 -3.88507363e-03 9.90677923e-01 -3.67022601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.47, Z:-36.73 [[ 1.27929541e-01 -9.91683504e-01 1.40662881e-02 3.21282079e+00] [ 9.82563219e-01 1.28656913e-01 1.34227115e-01 -2.47344920e+00] [-1.34920541e-01 -3.35059585e-03 9.90850756e-01 -3.67337907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590792138 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.47, Z:-36.77 [[ 1.24774994e-01 -9.92081662e-01 1.43239889e-02 3.21650192e+00] [ 9.82969190e-01 1.25566266e-01 1.34181535e-01 -2.47055131e+00] [-1.34917650e-01 -2.66246050e-03 9.90853238e-01 -3.67670266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.47, Z:-36.80 [[ 1.23828726e-01 -9.92195301e-01 1.46605178e-02 3.21825941e+00] [ 9.83028211e-01 1.24673200e-01 1.34581314e-01 -2.46612262e+00] [-1.35358721e-01 -2.25333012e-03 9.90794095e-01 -3.67998598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.46, Z:-36.83 [[ 1.29810755e-01 -9.91424948e-01 1.50246877e-02 3.21634653e+00] [ 9.82170998e-01 1.30647579e-01 1.35171522e-01 -2.46258274e+00] [-1.35975358e-01 -2.78990472e-03 9.90708291e-01 -3.68326104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.46, Z:-36.87 [[ 1.24710753e-01 -9.92074189e-01 1.53633181e-02 3.21947209e+00] [ 9.82779694e-01 1.25640630e-01 1.35493563e-01 -2.45897538e+00] [-1.36349923e-01 -1.79874722e-03 9.90659105e-01 -3.68653493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.45, Z:-36.90 [[ 1.19428108e-01 -9.92699150e-01 1.68915453e-02 3.22446377e+00] [ 9.82037918e-01 1.20614462e-01 1.45098858e-01 -2.44822613e+00] [-1.46076878e-01 -7.40744071e-04 9.89272964e-01 -3.68967271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740792137999996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.44, Z:-36.93 [[ 1.19724286e-01 -9.92652877e-01 1.75031936e-02 3.22641390e+00] [ 9.81355182e-01 1.20994928e-01 1.49339323e-01 -2.43995277e+00] [-1.50359906e-01 -7.02694024e-04 9.88631076e-01 -3.69289287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770792138 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.43, Z:-36.96 [[ 1.38168391e-01 -9.90182272e-01 2.11793152e-02 3.22026567e+00] [ 9.78606163e-01 1.39782152e-01 1.50966645e-01 -2.43398066e+00] [-1.52444986e-01 -1.32610029e-04 9.88311949e-01 -3.69600128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800792138 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.43, Z:-36.99 [[ 1.17876100e-01 -9.92920590e-01 1.46262577e-02 3.23137858e+00] [ 9.81355428e-01 1.18729572e-01 1.51145004e-01 -2.43120111e+00] [-1.51811556e-01 -3.46282626e-03 9.88403389e-01 -3.69929483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830792138 meters Centerline goodness : 0.999942 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.43, Z:-37.03 [[ 1.02920686e-01 -9.94626961e-01 1.11597627e-02 3.23812245e+00] [ 9.83357919e-01 1.03430464e-01 1.49363122e-01 -2.42958625e+00] [-1.49714848e-01 -4.39851394e-03 9.88719433e-01 -3.70254907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860792138 meters Centerline goodness : 0.999981 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.42, Z:-37.06 [[ 1.31253142e-01 -9.91175406e-01 1.85452872e-02 3.22573540e+00] [ 9.80046746e-01 1.32550795e-01 1.48117059e-01 -2.42423156e+00] [-1.49268179e-01 -1.26558106e-03 9.88795939e-01 -3.70584304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.42, Z:-37.09 [[ 1.34061079e-01 -9.90794385e-01 1.88178896e-02 3.22527785e+00] [ 9.79764272e-01 1.35368835e-01 1.47435582e-01 -2.42038041e+00] [-1.48625702e-01 -1.32827725e-03 9.88892631e-01 -3.70903618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920792138 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.42, Z:-37.12 [[ 1.37054043e-01 -9.90381724e-01 1.89797227e-02 3.22470304e+00] [ 9.79505724e-01 1.38354171e-01 1.46378482e-01 -2.41621698e+00] [-1.47596498e-01 -1.47101584e-03 9.89046566e-01 -3.71231651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950792138 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.41, Z:-37.16 [[ 1.40431866e-01 -9.89902777e-01 1.92712980e-02 3.22400286e+00] [ 9.79092059e-01 1.41738712e-01 1.45907084e-01 -2.41214775e+00] [-1.47165316e-01 -1.62162928e-03 9.89110580e-01 -3.71550650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.41, Z:-37.19 [[ 1.39564448e-01 -9.90020248e-01 1.95364501e-02 3.22540812e+00] [ 9.79252637e-01 1.40920140e-01 1.45622068e-01 -2.40830772e+00] [-1.46921876e-01 -1.19254338e-03 9.89147380e-01 -3.71873875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.40, Z:-37.22 [[ 1.41317658e-01 -9.89766091e-01 1.98092309e-02 3.22566634e+00] [ 9.79047266e-01 1.42694766e-01 1.45274411e-01 -2.40432671e+00] [-1.46614359e-01 -1.13566607e-03 9.89193075e-01 -3.72203256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.40, Z:-37.25 [[ 1.46222344e-01 -9.89051065e-01 1.99252772e-02 3.22329973e+00] [ 9.78547149e-01 1.47565803e-01 1.43769993e-01 -2.40057422e+00] [-1.45136154e-01 -1.52456208e-03 9.89410518e-01 -3.72534119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070792138 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.40, Z:-37.29 [[ 1.45016778e-01 -9.89223291e-01 2.01845266e-02 3.22475966e+00] [ 9.78806029e-01 1.46411288e-01 1.43186917e-01 -2.39693883e+00] [-1.44599075e-01 -1.00776895e-03 9.89489814e-01 -3.72850723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.39, Z:-37.32 [[ 1.57877079e-01 -9.87198251e-01 2.26813117e-02 3.22009742e+00] [ 9.76503846e-01 1.59496332e-01 1.44917769e-01 -2.39073984e+00] [-1.46680154e-01 -7.30805980e-04 9.89183703e-01 -3.73162477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130792138 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.39, Z:-37.35 [[ 1.30723357e-01 -9.91282844e-01 1.64233969e-02 3.23301502e+00] [ 9.80775873e-01 1.31723062e-01 1.43971252e-01 -2.39088256e+00] [-1.44879572e-01 -2.71273390e-03 9.89445577e-01 -3.73489527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160792138 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.39, Z:-37.38 [[ 1.47912274e-01 -9.88777622e-01 2.09946018e-02 3.22597231e+00] [ 9.78331274e-01 1.49393352e-01 1.43351126e-01 -2.38622636e+00] [-1.44878839e-01 -6.63715492e-04 9.89449181e-01 -3.73811779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190792138 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.38, Z:-37.41 [[ 1.47308211e-01 -9.88857587e-01 2.14700644e-02 3.22774801e+00] [ 9.78225801e-01 1.48864309e-01 1.44615699e-01 -2.38212964e+00] [-1.46200458e-01 -3.00509031e-04 9.89254940e-01 -3.74135589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220792138 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.38, Z:-37.45 [[ 1.47642788e-01 -9.88797295e-01 2.19435016e-02 3.22895170e+00] [ 9.78035856e-01 1.49264563e-01 1.45485241e-01 -2.37817448e+00] [-1.47130799e-01 -1.83152012e-05 9.89117044e-01 -3.74454734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250792138 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.37, Z:-37.48 [[ 1.50786752e-01 -9.88314893e-01 2.22941073e-02 3.22931900e+00] [ 9.77484994e-01 1.52425812e-01 1.45909076e-01 -2.37429886e+00] [-1.47602311e-01 -2.09000355e-04 9.89046770e-01 -3.74782257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280792138 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.37, Z:-37.51 [[ 1.51883580e-01 -9.88139136e-01 2.26368354e-02 3.22984122e+00] [ 9.77308412e-01 1.53561215e-01 1.45901411e-01 -2.37070819e+00] [-1.47647034e-01 -3.68588329e-05 9.89040117e-01 -3.75100587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.37, Z:-37.54 [[ 1.55132296e-01 -9.87626923e-01 2.29571943e-02 3.22928663e+00] [ 9.76761124e-01 1.56821567e-01 1.46098263e-01 -2.36681781e+00] [-1.47890761e-01 -2.40863973e-04 9.89003673e-01 -3.75430576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.36, Z:-37.58 [[ 1.53641291e-01 -9.87850624e-01 2.33559043e-02 3.23141758e+00] [ 9.76915595e-01 1.55406103e-01 1.46577158e-01 -2.36324541e+00] [-1.48425988e-01 2.96443291e-04 9.88923474e-01 -3.75760970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.36, Z:-37.61 [[ 1.81822648e-01 -9.82892840e-01 2.93630519e-02 3.22087480e+00] [ 9.71313710e-01 1.84174639e-01 1.50430643e-01 -2.36156639e+00] [-1.53265131e-01 1.16903711e-03 9.88184412e-01 -3.76065586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.36, Z:-37.64 [[ 1.08276086e-01 -9.94058052e-01 1.11748838e-02 3.25481548e+00] [ 9.83045351e-01 1.08736294e-01 1.47642327e-01 -2.36030697e+00] [-1.47980160e-01 -5.00071581e-03 9.88977687e-01 -3.76405649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.35, Z:-37.67 [[ 1.54526672e-01 -9.87697629e-01 2.39770929e-02 3.23345081e+00] [ 9.76761895e-01 1.56373909e-01 1.46572173e-01 -2.35461941e+00] [-1.48518380e-01 7.70600537e-04 9.88909347e-01 -3.76736056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.35, Z:-37.71 [[ 1.57262220e-01 -9.87256987e-01 2.43358974e-02 3.23346526e+00] [ 9.76286035e-01 1.59132597e-01 1.46773278e-01 -2.35094154e+00] [-1.48775579e-01 6.76905252e-04 9.88870754e-01 -3.77060640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490792137999996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.35, Z:-37.74 [[ 1.55058804e-01 -9.87597097e-01 2.46726886e-02 3.23459471e+00] [ 9.76626604e-01 1.57003810e-01 1.46800133e-01 -2.34873233e+00] [-1.48853092e-01 1.33335105e-03 9.88858422e-01 -3.77387933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.34, Z:-37.77 [[ 1.57154092e-01 -9.87254245e-01 2.51326094e-02 3.23449772e+00] [ 9.76291910e-01 1.59144178e-01 1.46721631e-01 -2.34466482e+00] [-1.48851262e-01 1.47885855e-03 9.88858491e-01 -3.77720612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.34, Z:-37.81 [[ 1.58977903e-01 -9.86965057e-01 2.50200302e-02 3.23452256e+00] [ 9.76093246e-01 1.60930248e-01 1.46093909e-01 -2.34182275e+00] [-1.48216063e-01 1.19617934e-03 9.88954280e-01 -3.78052397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.34, Z:-37.84 [[ 1.60907504e-01 -9.86642902e-01 2.53881595e-02 3.23435365e+00] [ 9.75755423e-01 1.62893266e-01 1.46175030e-01 -2.33859681e+00] [-1.48358116e-01 1.25197506e-03 9.88932911e-01 -3.78369513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.34, Z:-37.87 [[ 1.63058729e-01 -9.86282748e-01 2.56552527e-02 3.23423668e+00] [ 9.75432202e-01 1.65060041e-01 1.45901344e-01 -2.33555918e+00] [-1.48134635e-01 1.23447203e-03 9.88966433e-01 -3.78684129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.33, Z:-37.90 [[ 1.62991620e-01 -9.86281602e-01 2.61215093e-02 3.23440705e+00] [ 9.75287347e-01 1.65064331e-01 1.46861691e-01 -2.33173174e+00] [-1.49158714e-01 1.53875266e-03 9.88812070e-01 -3.79013533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.33, Z:-37.93 [[ 1.65902641e-01 -9.85783168e-01 2.66056403e-02 3.23449945e+00] [ 9.74657199e-01 1.68016386e-01 1.47695085e-01 -2.32805839e+00] [-1.50065512e-01 1.42837425e-03 9.88675023e-01 -3.79337499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.32, Z:-37.97 [[ 1.67991986e-01 -9.85418494e-01 2.70015652e-02 3.23451912e+00] [ 9.74299433e-01 1.70141463e-01 1.47622823e-01 -2.32400141e+00] [-1.50064345e-01 1.50815847e-03 9.88675082e-01 -3.79670214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.32, Z:-38.00 [[ 1.95167839e-01 -9.80212915e-01 3.30477688e-02 3.22531615e+00] [ 9.68829836e-01 1.97924194e-01 1.48979068e-01 -2.31668481e+00] [-1.52572159e-01 2.94174170e-03 9.88287955e-01 -3.79966879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760792138 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:3.26, Y:-2.32, Z:-38.03 [[ 1.21664304e-01 -9.92471389e-01 1.40832851e-02 3.25856917e+00] [ 9.80959210e-01 1.22392852e-01 1.50794625e-01 -2.31969506e+00] [-1.51383044e-01 -4.53119489e-03 9.88464791e-01 -3.80318444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790792138 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.31, Z:-38.06 [[ 1.70542095e-01 -9.84953867e-01 2.79512758e-02 3.23546202e+00] [ 9.73657527e-01 1.72807620e-01 1.48756671e-01 -2.31219291e+00] [-1.51348652e-01 1.84569562e-03 9.88478720e-01 -3.80649947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.31, Z:-38.10 [[ 1.76927640e-01 -9.83817361e-01 2.82844611e-02 3.23350745e+00] [ 9.72512045e-01 1.79170241e-01 1.48722382e-01 -2.30762466e+00] [-1.51383395e-01 1.19387900e-03 9.88474401e-01 -3.80976482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.30, Z:-38.13 [[ 1.79610263e-01 -9.83321928e-01 2.86031377e-02 3.23271717e+00] [ 9.72099959e-01 1.81869600e-01 1.48138845e-01 -2.30422648e+00] [-1.50870216e-01 1.19785204e-03 9.88552853e-01 -3.81292998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880792138 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.30, Z:-38.16 [[ 1.83178296e-01 -9.82658463e-01 2.87759957e-02 3.23139287e+00] [ 9.71378305e-01 1.85423229e-01 1.48466879e-01 -2.30018589e+00] [-1.51227973e-01 7.56468008e-04 9.88498623e-01 -3.81623437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910792138 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.30, Z:-38.19 [[ 1.87422430e-01 -9.81841942e-01 2.93126959e-02 3.23129952e+00] [ 9.70281914e-01 1.89700604e-01 1.50222126e-01 -2.29516611e+00] [-1.53055020e-01 2.86582754e-04 9.88217627e-01 -3.81925600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.29, Z:-38.23 [[ 1.77499865e-01 -9.83744898e-01 2.71987612e-02 3.23672056e+00] [ 9.72278606e-01 1.79571589e-01 1.49760998e-01 -2.29247729e+00] [-1.52210743e-01 -1.37783289e-04 9.88348051e-01 -3.82254234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.29, Z:-38.26 [[ 1.89280504e-01 -9.81477766e-01 2.95683078e-02 3.23212106e+00] [ 9.70197066e-01 1.91575134e-01 1.48379990e-01 -2.28845713e+00] [-1.51296213e-01 6.01646194e-04 9.88488287e-01 -3.82577414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.28, Z:-38.29 [[ 1.89563320e-01 -9.81416131e-01 2.98014252e-02 3.23333179e+00] [ 9.70182869e-01 1.91889716e-01 1.48065988e-01 -2.28448090e+00] [-1.51032936e-01 8.44951955e-04 9.88528370e-01 -3.82906361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030792138 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.28, Z:-38.32 [[ 1.91101548e-01 -9.81108671e-01 3.00994071e-02 3.23357952e+00] [ 9.69913490e-01 1.93455093e-01 1.47793600e-01 -2.28074947e+00] [-1.50824466e-01 9.50235119e-04 9.88560103e-01 -3.83222943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060792138 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.28, Z:-38.35 [[ 1.95986297e-01 -9.80130534e-01 3.05533672e-02 3.23258000e+00] [ 9.68804450e-01 1.98352980e-01 1.48573327e-01 -2.27613474e+00] [-1.51681606e-01 4.81901783e-04 9.88429288e-01 -3.83549544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090792138 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.27, Z:-38.39 [[ 1.94602282e-01 -9.80411847e-01 3.03737052e-02 3.23330996e+00] [ 9.69467494e-01 1.96955768e-01 1.46086290e-01 -2.27302720e+00] [-1.49207006e-01 1.01759443e-03 9.88805458e-01 -3.83874448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120792138 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.27, Z:-38.42 [[ 1.91295653e-01 -9.81064756e-01 3.02971646e-02 3.23540582e+00] [ 9.70432661e-01 1.93671227e-01 1.44055219e-01 -2.26963475e+00] [-1.47195187e-01 1.84422080e-03 9.89105745e-01 -3.84195838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150792138 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.27, Z:-38.45 [[ 1.88614603e-01 -9.81582278e-01 3.03440819e-02 3.23774473e+00] [ 9.71128835e-01 1.91023301e-01 1.42894659e-01 -2.26622362e+00] [-1.46059291e-01 2.51599364e-03 9.89272638e-01 -3.84521875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180792138 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.26, Z:-38.49 [[ 1.83306396e-01 -9.82587455e-01 3.03423562e-02 3.24135934e+00] [ 9.72367184e-01 1.85766093e-01 1.41396671e-01 -2.26271632e+00] [-1.44571177e-01 3.58499718e-03 9.89487909e-01 -3.84850916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210792138 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.26, Z:-38.52 [[ 1.80643144e-01 -9.83077377e-01 3.04454524e-02 3.24382394e+00] [ 9.73011135e-01 1.83141179e-01 1.40387464e-01 -2.25933916e+00] [-1.43587556e-01 4.26373134e-03 9.89628433e-01 -3.85174888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240792137999996 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.25, Z:-38.55 [[ 1.89028917e-01 -9.81478597e-01 3.11099989e-02 3.24335418e+00] [ 9.70783216e-01 1.91550159e-01 1.44528490e-01 -2.25448504e+00] [-1.47810744e-01 2.88100091e-03 9.89011468e-01 -3.85489131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.25, Z:-38.58 [[ 1.99836102e-01 -9.79360678e-01 3.03017175e-02 3.23934373e+00] [ 9.68581826e-01 2.02120032e-01 1.44902516e-01 -2.24986356e+00] [-1.48036411e-01 3.92938789e-04 9.88981833e-01 -3.85807809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.25, Z:-38.61 [[ 2.07272719e-01 -9.77754351e-01 3.21628477e-02 3.23693405e+00] [ 9.67019288e-01 2.09750091e-01 1.44494276e-01 -2.24526175e+00] [-1.48026067e-01 1.15237264e-03 9.88982788e-01 -3.86140563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.24, Z:-38.65 [[ 2.09595339e-01 -9.77245744e-01 3.25660903e-02 3.23728983e+00] [ 9.66397297e-01 2.12107716e-01 1.45212192e-01 -2.24130238e+00] [-1.48815516e-01 1.03598307e-03 9.88864434e-01 -3.86462903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.24, Z:-38.68 [[ 2.13397575e-01 -9.76413614e-01 3.28318461e-02 3.23714199e+00] [ 9.65451037e-01 2.15907710e-01 1.45904614e-01 -2.23701983e+00] [-1.49551900e-01 5.61849138e-04 9.88753717e-01 -3.86792225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.23, Z:-38.71 [[ 2.15260114e-01 -9.75996950e-01 3.30611046e-02 3.23824285e+00] [ 9.65105830e-01 2.17783340e-01 1.45399981e-01 -2.23293106e+00] [-1.49110095e-01 6.08648364e-04 9.88820413e-01 -3.87109520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.23, Z:-38.74 [[ 2.18223559e-01 -9.75342494e-01 3.29468918e-02 3.23863166e+00] [ 9.64716677e-01 2.20696205e-01 1.43578960e-01 -2.23001152e+00] [-1.47309915e-01 4.52104441e-04 9.89090281e-01 -3.87431295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.23, Z:-38.78 [[ 2.31062370e-01 -9.72386983e-01 3.27679072e-02 3.23354266e+00] [ 9.62032176e-01 2.33371300e-01 1.41534200e-01 -2.22537261e+00] [-1.45273103e-01 -1.17944655e-03 9.89390891e-01 -3.87752772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480792138 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.22, Z:-38.81 [[ 2.28920290e-01 -9.72889937e-01 3.28735657e-02 3.23505233e+00] [ 9.62646094e-01 2.31267861e-01 1.40810774e-01 -2.22185269e+00] [-1.44595984e-01 -5.88833454e-04 9.89490604e-01 -3.88082967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510792138 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.22, Z:-38.84 [[ 2.23944999e-01 -9.74031628e-01 3.33320540e-02 3.23820520e+00] [ 9.63716419e-01 2.26411519e-01 1.41380649e-01 -2.21845475e+00] [-1.45255984e-01 4.61158430e-04 9.89394000e-01 -3.88398949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540792138 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.21, Z:-38.87 [[ 2.25784508e-01 -9.73595506e-01 3.36622361e-02 3.23855095e+00] [ 9.63287185e-01 2.28279472e-01 1.41302092e-01 -2.21442925e+00] [-1.45255479e-01 5.22577399e-04 9.89394043e-01 -3.88731669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570792138 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.21, Z:-38.91 [[ 2.33476156e-01 -9.71788208e-01 3.34150157e-02 3.23600580e+00] [ 9.61692770e-01 2.35854710e-01 1.39712460e-01 -2.20996876e+00] [-1.43652010e-01 -4.84549244e-04 9.89628145e-01 -3.89064419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600792138 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.21, Z:-38.94 [[ 2.30730071e-01 -9.72431185e-01 3.37820027e-02 3.23889315e+00] [ 9.62357453e-01 2.33189838e-01 1.39608852e-01 -2.20634532e+00] [-1.43637621e-01 2.98401719e-04 9.89630307e-01 -3.89385652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.20, Z:-38.97 [[ 2.29805549e-01 -9.72626419e-01 3.44566130e-02 3.24066894e+00] [ 9.62194866e-01 2.32373821e-01 1.42068460e-01 -2.20248288e+00] [-1.46186352e-01 5.05855765e-04 9.89256941e-01 -3.89708210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.20, Z:-39.00 [[ 2.23323353e-01 -9.74088943e-01 3.57408791e-02 3.24363272e+00] [ 9.63111276e-01 2.26157682e-01 1.45840229e-01 -2.19920370e+00] [-1.50144429e-01 1.85291479e-03 9.88662337e-01 -3.90031034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.20, Z:-39.03 [[ 2.05430680e-01 -9.77915947e-01 3.84530495e-02 3.25267445e+00] [ 9.65513646e-01 2.08933481e-01 1.55338986e-01 -2.19620989e+00] [-1.59942601e-01 5.21555041e-03 9.87112538e-01 -3.90345651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.19, Z:-39.07 [[ 2.07184883e-01 -9.77530035e-01 3.88517104e-02 3.25302796e+00] [ 9.65139440e-01 2.10728685e-01 1.55239434e-01 -2.19220204e+00] [-1.59938379e-01 5.33405412e-03 9.87112589e-01 -3.90678344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.19, Z:-39.10 [[ 2.18810003e-01 -9.74986474e-01 3.90327886e-02 3.24847082e+00] [ 9.62419557e-01 2.22237959e-01 1.56073333e-01 -2.18686172e+00] [-1.60843955e-01 3.41551273e-03 9.86973939e-01 -3.91009612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.18, Z:-39.13 [[ 2.31654416e-01 -9.71971881e-01 4.00860735e-02 3.24460935e+00] [ 9.58937642e-01 2.35091077e-01 1.58653028e-01 -2.18186463e+00] [-1.63630160e-01 1.68737012e-03 9.86520311e-01 -3.91331346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810792138 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.18, Z:-39.17 [[ 2.44542770e-01 -9.68788973e-01 4.05802771e-02 3.24027418e+00] [ 9.55616766e-01 2.47886872e-01 1.59212735e-01 -2.17639653e+00] [-1.64302860e-01 -1.55130194e-04 9.86409928e-01 -3.91662444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840792138 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.17, Z:-39.20 [[ 2.50393982e-01 -9.67257523e-01 4.14214681e-02 3.24092120e+00] [ 9.53876099e-01 2.53796137e-01 1.60336858e-01 -2.17228830e+00] [-1.65599640e-01 -6.36435857e-04 9.86192858e-01 -3.91973625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870792138 meters Centerline goodness : 0.999941 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.17, Z:-39.23 [[ 2.46338096e-01 -9.68391068e-01 3.91954305e-02 3.24478451e+00] [ 9.54865843e-01 2.49426165e-01 1.61300369e-01 -2.16967726e+00] [-1.65978203e-01 -2.30804800e-03 9.86126721e-01 -3.92285275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900792138 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.16, Z:-39.26 [[ 2.70318287e-01 -9.61970569e-01 3.92510960e-02 3.23178139e+00] [ 9.47619653e-01 2.73047333e-01 1.65717071e-01 -2.15828430e+00] [-1.70132352e-01 -7.60124491e-03 9.85391904e-01 -3.92606160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930792138 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.15, Z:-39.29 [[ 2.88151358e-01 -9.56688858e-01 4.14152523e-02 3.22402749e+00] [ 9.41963131e-01 2.90965607e-01 1.67464851e-01 -2.15123526e+00] [-1.72262171e-01 -9.24358341e-03 9.85007767e-01 -3.92915062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960792138 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.15, Z:-39.33 [[ 2.82225951e-01 -9.58538165e-01 3.94093670e-02 3.22914460e+00] [ 9.44273571e-01 2.84810464e-01 1.65016435e-01 -2.14866430e+00] [-1.69398751e-01 -9.35869646e-03 9.85503160e-01 -3.93252347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990792137999996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.14, Z:-39.36 [[ 2.94427323e-01 -9.54686585e-01 4.34289682e-02 3.22675252e+00] [ 9.40867986e-01 2.97534588e-01 1.61989509e-01 -2.14495907e+00] [-1.67570831e-01 -6.83321163e-03 9.85836357e-01 -3.93567651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.15, Z:-39.39 [[ 2.91762493e-01 -9.55534275e-01 4.27655994e-02 3.23260231e+00] [ 9.42359192e-01 2.94821679e-01 1.58238211e-01 -2.14563576e+00] [-1.63810260e-01 -5.86741925e-03 9.86474415e-01 -3.93896541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.14, Z:-39.42 [[ 2.97837613e-01 -9.53660190e-01 4.27200111e-02 3.23130144e+00] [ 9.40712070e-01 3.00815567e-01 1.56750748e-01 -2.14137952e+00] [-1.62337792e-01 -6.49903843e-03 9.86713841e-01 -3.94222138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.14, Z:-39.45 [[ 3.06672807e-01 -9.50845403e-01 4.29512361e-02 3.22893565e+00] [ 9.37969307e-01 3.09572814e-01 1.56135366e-01 -2.13711389e+00] [-1.61757131e-01 -7.59552992e-03 9.86801367e-01 -3.94541193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110792138 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.13, Z:-39.49 [[ 3.10400311e-01 -9.49626250e-01 4.31466423e-02 3.22924569e+00] [ 9.36880630e-01 3.13288414e-01 1.55258025e-01 -2.13307256e+00] [-1.60954440e-01 -7.76888600e-03 9.86931260e-01 -3.94856001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140792138 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.13, Z:-39.52 [[ 3.22953894e-01 -9.45431108e-01 4.31370076e-02 3.22704626e+00] [ 9.32731933e-01 3.25676446e-01 1.54744932e-01 -2.12759740e+00] [-1.60349380e-01 -9.74021396e-03 9.87012262e-01 -3.95186710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170792138 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.12, Z:-39.55 [[ 3.26316908e-01 -9.44225217e-01 4.42268573e-02 3.23093927e+00] [ 9.31149026e-01 3.29147803e-01 1.56917859e-01 -2.12176349e+00] [-1.62722973e-01 -1.00231557e-02 9.86620885e-01 -3.95497309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.12, Z:-39.58 [[ 3.24432551e-01 -9.44845698e-01 4.48344273e-02 3.23679934e+00] [ 9.31496824e-01 3.27372778e-01 1.58558287e-01 -2.11758587e+00] [-1.64490686e-01 -9.67834271e-03 9.86331153e-01 -3.95822935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.11, Z:-39.62 [[ 3.32435362e-01 -9.42035354e-01 4.53444707e-02 3.23459903e+00] [ 9.28577201e-01 3.35340989e-01 1.59030824e-01 -2.11230330e+00] [-1.65018518e-01 -1.07616279e-02 9.86231756e-01 -3.96154028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.11, Z:-39.65 [[ 3.43034122e-01 -9.38196968e-01 4.59786851e-02 3.23075508e+00] [ 9.24563194e-01 3.45882455e-01 1.59838131e-01 -2.10608153e+00] [-1.65862871e-01 -1.23197333e-02 9.86071870e-01 -3.96472477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290792138 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.10, Z:-39.68 [[ 3.59275627e-01 -9.32084600e-01 4.62528195e-02 3.22357358e+00] [ 9.18436420e-01 3.61935500e-01 1.59615900e-01 -2.09963832e+00] [-1.65516059e-01 -1.48658284e-02 9.86095047e-01 -3.96798443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320792138 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:3.22, Y:-2.09, Z:-39.71 [[ 3.77156602e-01 -9.24971437e-01 4.66983812e-02 3.21588707e+00] [ 9.11242815e-01 3.79624249e-01 1.59755943e-01 -2.09197533e+00] [-1.65497522e-01 -1.76994444e-02 9.86051368e-01 -3.97111862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.09, Z:-39.74 [[ 3.87208575e-01 -9.20774649e-01 4.73662965e-02 3.21318043e+00] [ 9.06822506e-01 3.89615733e-01 1.60849382e-01 -2.08634922e+00] [-1.66560687e-01 -1.93294362e-02 9.85841727e-01 -3.97436200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.08, Z:-39.78 [[ 3.99054102e-01 -9.15682730e-01 4.77594128e-02 3.20926915e+00] [ 9.01697639e-01 4.01347123e-01 1.60816212e-01 -2.08111001e+00] [-1.66424731e-01 -2.11098192e-02 9.85828172e-01 -3.97755547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:3.20, Y:-2.08, Z:-39.81 [[ 4.14018147e-01 -9.09035061e-01 4.73733279e-02 3.20215715e+00] [ 8.95427575e-01 4.16075495e-01 1.58400253e-01 -2.07621263e+00] [-1.63702264e-01 -2.31611951e-02 9.86237866e-01 -3.98085727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440792138 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:3.20, Y:-2.08, Z:-39.84 [[ 4.17102764e-01 -9.07781668e-01 4.42462094e-02 3.20014147e+00] [ 8.94189892e-01 4.18595437e-01 1.58752313e-01 -2.07515055e+00] [-1.62633701e-01 -2.66515151e-02 9.86326506e-01 -3.98414760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470792138 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:3.18, Y:-2.06, Z:-39.87 [[ 4.48302851e-01 -8.92440854e-01 5.07333837e-02 3.18364446e+00] [ 8.79518104e-01 4.50521852e-01 1.53225209e-01 -2.06410293e+00] [-1.59600935e-01 -2.40703687e-02 9.86888119e-01 -3.98722740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500792138 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.18, Y:-2.07, Z:-39.90 [[ 4.48254995e-01 -8.92764386e-01 4.51576166e-02 3.18106524e+00] [ 8.79722720e-01 4.49542775e-01 1.54916848e-01 -2.06542495e+00] [-1.58604525e-01 -2.97160697e-02 9.86894908e-01 -3.99049087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530792138 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.06, Z:-39.94 [[ 4.68221907e-01 -8.82336397e-01 4.74418425e-02 3.16886020e+00] [ 8.69484638e-01 4.69634046e-01 1.53102343e-01 -2.05780591e+00] [-1.57368074e-01 -3.04359175e-02 9.87070891e-01 -3.99370062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560792138 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.05, Z:-39.97 [[ 4.71111197e-01 -8.80871242e-01 4.60444930e-02 3.16821931e+00] [ 8.68051858e-01 4.72260628e-01 1.53153093e-01 -2.05381071e+00] [-1.56653156e-01 -3.21831292e-02 9.87129188e-01 -3.99696394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590792138 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.05, Z:-40.00 [[ 4.72934838e-01 -8.79868442e-01 4.65205638e-02 3.16867985e+00] [ 8.67039295e-01 4.74133877e-01 1.53101040e-01 -2.04977916e+00] [-1.56765749e-01 -3.20716587e-02 9.87114942e-01 -4.00028786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620792138 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:3.16, Y:-2.04, Z:-40.04 [[ 4.86379764e-01 -8.72492759e-01 4.68092957e-02 3.16243846e+00] [ 8.60076395e-01 4.87521903e-01 1.50302987e-01 -2.03976060e+00] [-1.53958825e-01 -3.28447611e-02 9.87531216e-01 -4.00358021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650792138 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:3.16, Y:-2.04, Z:-40.07 [[ 4.86438082e-01 -8.72452209e-01 4.69588632e-02 3.16480512e+00] [ 8.59948594e-01 4.87584880e-01 1.50829044e-01 -2.03604670e+00] [-1.54487564e-01 -3.29867825e-02 9.87443905e-01 -4.00689639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680792138 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:3.16, Y:-2.04, Z:-40.10 [[ 4.89963556e-01 -8.70424363e-01 4.79285144e-02 3.16392859e+00] [ 8.57744093e-01 4.91179763e-01 1.51715228e-01 -2.03562008e+00] [-1.55598147e-01 -3.32245327e-02 9.87261539e-01 -4.01017139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710792138 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.03, Z:-40.13 [[ 4.83840924e-01 -8.73942794e-01 4.60646654e-02 3.17020415e+00] [ 8.61520066e-01 4.84897348e-01 1.50524876e-01 -2.03144752e+00] [-1.53886764e-01 -3.31444613e-02 9.87532434e-01 -4.01331101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740792137999996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.03, Z:-40.17 [[ 4.89323046e-01 -8.70799425e-01 4.76583534e-02 3.16894067e+00] [ 8.58394357e-01 4.90563038e-01 1.50023442e-01 -2.02625391e+00] [-1.54019754e-01 -3.25002661e-02 9.87533112e-01 -4.01663212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770792138 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.02, Z:-40.20 [[ 4.91325906e-01 -8.69674597e-01 4.75914823e-02 3.17029973e+00] [ 8.57307689e-01 4.92535345e-01 1.49774697e-01 -2.02421836e+00] [-1.53695737e-01 -3.27876453e-02 9.87574094e-01 -4.01997346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800792138 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.02, Z:-40.23 [[ 4.93147318e-01 -8.68617970e-01 4.80473257e-02 3.17083366e+00] [ 8.56256008e-01 4.94405624e-01 1.49628635e-01 -2.02002262e+00] [-1.53724989e-01 -3.26481488e-02 9.87574162e-01 -4.02329942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830792138 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:3.16, Y:-2.02, Z:-40.26 [[ 5.07991256e-01 -8.59934592e-01 4.95719882e-02 3.16352093e+00] [ 8.47616512e-01 5.09296553e-01 1.48873335e-01 -2.01850762e+00] [-1.53268173e-01 -3.36083165e-02 9.87612955e-01 -4.02646474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.02, Z:-40.30 [[ 5.00478135e-01 -8.64540559e-01 4.57302760e-02 3.16961293e+00] [ 8.52114197e-01 5.01245979e-01 1.50512006e-01 -2.01892890e+00] [-1.53045851e-01 -3.63605505e-02 9.87549937e-01 -4.02956038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.02, Z:-40.33 [[ 5.00212639e-01 -8.64779605e-01 4.40857105e-02 3.17432221e+00] [ 8.52537187e-01 5.00763850e-01 1.49719444e-01 -2.01736275e+00] [-1.51550852e-01 -3.73068508e-02 9.87745179e-01 -4.03265544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920792138 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:3.19, Y:-2.02, Z:-40.36 [[ 4.91079603e-01 -8.70140175e-01 4.11934283e-02 3.18579917e+00] [ 8.57907965e-01 4.91296479e-01 1.50405098e-01 -2.01534712e+00] [-1.51111705e-01 -3.85207057e-02 9.87765867e-01 -4.03602049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950792138 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:3.18, Y:-2.00, Z:-40.39 [[ 5.25172360e-01 -8.49621786e-01 4.83405990e-02 3.17798862e+00] [ 8.37547984e-01 5.26097378e-01 1.47427691e-01 -2.00294604e+00] [-1.50689640e-01 -3.69373769e-02 9.87890815e-01 -4.03928281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980792138 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.00, Z:-40.42 [[ 5.53453119e-01 -8.31181062e-01 5.31760063e-02 3.16851417e+00] [ 8.18412919e-01 5.54578248e-01 1.50476781e-01 -1.99836526e+00] [-1.54563707e-01 -3.97619132e-02 9.87182380e-01 -4.04200499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010792138 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:3.20, Y:-2.01, Z:-40.46 [[ 5.02093186e-01 -8.64160789e-01 3.35941126e-02 3.20135368e+00] [ 8.51393041e-01 5.00745343e-01 1.56153744e-01 -2.01072647e+00] [-1.51764038e-01 -4.98019373e-02 9.87161306e-01 -4.04568199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040792138 meters Centerline goodness : 0.986767 Centerline is valid? [True, True] Translation: X:3.19, Y:-2.00, Z:-40.49 [[ 0.53796629 -0.84177945 0.04471712 3.18671431] [ 0.82892159 0.53790138 0.1534637 -1.99893535] [ -0.15323599 -0.04549131 0.98714197 -40.48811981] [ 0. 0. 0. 1. ]] SLAMing on 47.070792138 meters Centerline goodness : 0.988227 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.99, Z:-40.52 [[ 0.54125247 -0.83963624 0.04535144 3.18895125] [ 0.82696915 0.54129926 0.15204317 -1.99311731] [ -0.15220966 -0.0447895 0.98733283 -40.5202536 ] [ 0. 0. 0. 1. ]] SLAMing on 47.100792138 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.99, Z:-40.55 [[ 0.54969355 -0.8339998 0.04776329 3.18797548] [ 0.82097522 0.54990729 0.15362833 -1.99169439] [ -0.15439138 -0.04523603 0.98697366 -40.55090055] [ 0. 0. 0. 1. ]] SLAMing on 47.130792138 meters Centerline goodness : 0.986429 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.99, Z:-40.58 [[ 0.55256475 -0.8320557 0.04853351 3.19221361] [ 0.81882444 0.55280229 0.15471319 -1.98904013] [ -0.15555943 -0.04574863 0.9867666 -40.58320108] [ 0. 0. 0. 1. ]] SLAMing on 47.160792138 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.99, Z:-40.62 [[ 0.55568263 -0.82994145 0.04913264 3.19302878] [ 0.81657762 0.55593284 0.15536945 -1.98603489] [ -0.15626199 -0.04621549 0.98663383 -40.61509753] [ 0. 0. 0. 1. ]] SLAMing on 47.190792138 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:3.20, Y:-1.99, Z:-40.65 [[ 0.55519432 -0.8302161 0.05000489 3.19512834] [ 0.81652026 0.55550352 0.15719574 -1.98613329] [ -0.15828432 -0.04644418 0.98630067 -40.64733416] [ 0. 0. 0. 1. ]] SLAMing on 47.220792138 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:3.20, Y:-1.98, Z:-40.68 [[ 0.55984321 -0.82707473 0.05022928 3.19540681] [ 0.81349655 0.56014957 0.15638358 -1.98385282] [ -0.15747682 -0.04668894 0.98641837 -40.68058267] [ 0. 0. 0. 1. ]] SLAMing on 47.250792138 meters Centerline goodness : 0.921618 Centerline is valid? [True, False] Translation: X:3.13, Y:-1.95, Z:-40.68 [[ 6.78048545e-01 -7.30033629e-01 8.54463091e-02 3.13367291e+00] [ 7.16414188e-01 6.82395440e-01 1.45214237e-01 -1.95209413e+00] [-1.64319448e-01 -3.72473540e-02 9.85703684e-01 -4.06830044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280792138 meters Centerline goodness : 0.991250 Centerline is valid? [False, True] Translation: X:3.08, Y:-1.92, Z:-40.68 [[ 7.70569278e-01 -6.26802800e-01 1.15504276e-01 3.08265344e+00] [ 6.13837440e-01 7.78622141e-01 1.30196613e-01 -1.91523081e+00] [-1.71541788e-01 -2.94246610e-02 9.84737328e-01 -4.06828815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310792138 meters Centerline goodness : 0.907825 Centerline is valid? [True, False] Translation: X:3.04, Y:-1.87, Z:-40.69 [[ 8.44919719e-01 -5.15967074e-01 1.41027115e-01 3.03916645e+00] [ 5.04496974e-01 8.56321704e-01 1.10435239e-01 -1.87281370e+00] [-1.77745527e-01 -2.21611579e-02 9.83826921e-01 -4.06856715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340792138 meters Centerline goodness : 0.752464 Centerline is valid? [False, False] Translation: X:3.01, Y:-1.83, Z:-40.69 [[ 8.96863592e-01 -4.11268880e-01 1.62768565e-01 3.00661362e+00] [ 4.01422164e-01 9.11370196e-01 9.09099134e-02 -1.83052021e+00] [-1.85730837e-01 -1.61948819e-02 9.82467191e-01 -4.06859666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370792138 meters Centerline goodness : 0.999278 Centerline is valid? [False, True] Translation: X:2.98, Y:-1.79, Z:-40.69 [[ 9.33186041e-01 -3.10207320e-01 1.81480664e-01 2.98213297e+00] [ 3.02365880e-01 9.50610420e-01 7.01049474e-02 -1.78820141e+00] [-1.94264478e-01 -1.05473977e-02 9.80892484e-01 -4.06892554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.96, Z:-40.72 [[ 0.71628068 -0.69145942 0.09394604 3.11048318] [ 0.67533877 0.72079329 0.15612359 -1.95675443] [ -0.1756688 -0.04838291 0.98325966 -40.72076315] [ 0. 0. 0. 1. ]] SLAMing on 47.430792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.00, Z:-40.75 [[ 0.61229323 -0.78853982 0.05746256 3.1692475 ] [ 0.77148157 0.61178229 0.174753 -1.99619577] [ -0.17295427 -0.06266877 0.9829341 -40.75062794] [ 0. 0. 0. 1. ]] SLAMing on 47.460792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:3.19, Y:-2.00, Z:-40.78 [[ 0.58901509 -0.8066918 0.0480579 3.18502017] [ 0.78957237 0.58714481 0.17842769 -2.00180624] [ -0.1721531 -0.06715141 0.98277871 -40.78005415] [ 0. 0. 0. 1. ]] SLAMing on 47.490792137999996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:3.20, Y:-2.01, Z:-40.81 [[ 0.56050846 -0.82712327 0.041199 3.19655175] [ 0.80992554 0.55787472 0.18109782 -2.00732282] [ -0.1727741 -0.06813874 0.98260176 -40.80787958] [ 0. 0. 0. 1. ]] SLAMing on 47.520792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:3.21, Y:-2.01, Z:-40.84 [[ 5.38597828e-01 -8.41957289e-01 3.19421918e-02 3.21245555e+00] [ 8.24361897e-01 5.34421497e-01 1.86604197e-01 -2.01331671e+00] [-1.74183358e-01 -7.41726897e-02 9.81915765e-01 -4.08355632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550792138 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:3.24, Y:-2.02, Z:-40.87 [[ 4.89124874e-01 -8.72056666e-01 1.65538026e-02 3.24130528e+00] [ 8.54698678e-01 4.83000700e-01 1.90264273e-01 -2.02345233e+00] [-1.73916726e-01 -7.89144756e-02 9.81593336e-01 -4.08659786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.03, Z:-40.89 [[ 4.78638309e-01 -8.77914638e-01 1.30865720e-02 3.25219547e+00] [ 8.60678028e-01 4.72083728e-01 1.90709951e-01 -2.02527854e+00] [-1.73605015e-01 -8.00177634e-02 9.81559197e-01 -4.08949714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.04, Z:-40.93 [[ 4.20355082e-01 -9.07341718e-01 -5.71070433e-03 3.28977310e+00] [ 8.90389610e-01 4.11273598e-01 1.95090673e-01 -2.03533036e+00] [-1.74665244e-01 -8.70921075e-02 9.80768585e-01 -4.09278175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640792138 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:3.26, Y:-2.02, Z:-40.96 [[ 4.97425768e-01 -8.67371469e-01 1.53081926e-02 3.25571117e+00] [ 8.49934319e-01 4.90807745e-01 1.91623095e-01 -2.02122892e+00] [-1.73721785e-01 -8.23073069e-02 9.81349198e-01 -4.09583682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670792138 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:3.26, Y:-2.02, Z:-40.99 [[ 4.86171880e-01 -8.73737443e-01 1.48251073e-02 3.25971092e+00] [ 8.56183782e-01 4.79662685e-01 1.92023541e-01 -2.02185102e+00] [-1.74889208e-01 -8.06634294e-02 9.81278338e-01 -4.09874856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:3.30, Y:-2.03, Z:-41.02 [[ 4.35264303e-01 -9.00298934e-01 -2.61082076e-03 3.29506161e+00] [ 8.83135999e-01 4.26399408e-01 1.95587201e-01 -2.03207314e+00] [-1.74973696e-01 -8.74378365e-02 9.80682839e-01 -4.10194095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.03, Z:-41.05 [[ 4.59222778e-01 -8.88311783e-01 4.07632355e-03 3.28570744e+00] [ 8.71113529e-01 4.51221290e-01 1.93805485e-01 -2.02710586e+00] [-1.73999020e-01 -8.54489528e-02 9.81031507e-01 -4.10499874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.03, Z:-41.08 [[ 4.67456233e-01 -8.84004457e-01 4.55967780e-03 3.28756334e+00] [ 8.66995287e-01 4.59456969e-01 1.92920879e-01 -2.02542647e+00] [-1.72637892e-01 -8.62288480e-02 9.81203722e-01 -4.10806009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.02, Z:-41.11 [[ 4.66467233e-01 -8.84524053e-01 5.05173791e-03 3.28742022e+00] [ 8.67666759e-01 4.58672502e-01 1.91765304e-01 -2.02349514e+00] [-1.71938117e-01 -8.50690055e-02 9.81427811e-01 -4.11078168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:3.32, Y:-2.03, Z:-41.14 [[ 4.03160899e-01 -9.15021258e-01 -1.40494515e-02 3.32391982e+00] [ 8.98340288e-01 3.92790675e-01 1.96723697e-01 -2.03400636e+00] [-1.74487871e-01 -9.19324905e-02 9.80358302e-01 -4.11367547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:3.35, Y:-2.04, Z:-41.17 [[ 3.50899471e-01 -9.35994824e-01 -2.79866085e-02 3.35426251e+00] [ 9.19348200e-01 3.38671136e-01 2.00251714e-01 -2.04034908e+00] [-1.77956312e-01 -9.59976588e-02 9.79344679e-01 -4.11664519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.04, Z:-41.20 [[ 3.44130876e-01 -9.38428452e-01 -3.04299331e-02 3.36174081e+00] [ 9.21737258e-01 3.31482770e-01 2.01294811e-01 -2.04049420e+00] [-1.78813779e-01 -9.73201628e-02 9.79057924e-01 -4.11969890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910792138 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.04, Z:-41.23 [[ 3.48213730e-01 -9.36941169e-01 -2.98067723e-02 3.36444471e+00] [ 9.20173056e-01 3.35565662e-01 2.01685975e-01 -2.03799635e+00] [-1.78965764e-01 -9.76572146e-02 9.78996590e-01 -4.12283850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940792138 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.04, Z:-41.26 [[ 3.47444231e-01 -9.37177011e-01 -3.13329984e-02 3.36933629e+00] [ 9.20428446e-01 3.34470061e-01 2.02339453e-01 -2.03717968e+00] [-1.79147933e-01 -9.91414586e-02 9.78814073e-01 -4.12596899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970792138 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.04, Z:-41.29 [[ 3.53365514e-01 -9.34976313e-01 -3.08562321e-02 3.37190305e+00] [ 9.17960381e-01 3.40202466e-01 2.03987796e-01 -2.03584629e+00] [-1.80226391e-01 -1.00407051e-01 9.78487032e-01 -4.12914832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:3.38, Y:-2.03, Z:-41.32 [[ 3.54537173e-01 -9.34473552e-01 -3.25971565e-02 3.37866577e+00] [ 9.17642825e-01 3.41034573e-01 2.04027120e-01 -2.03405223e+00] [-1.79541190e-01 -1.02247745e-01 9.78422383e-01 -4.13249722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.03, Z:-41.36 [[ 3.82476745e-01 -9.23630304e-01 -2.48717016e-02 3.36860437e+00] [ 9.06605990e-01 3.69961516e-01 2.02963186e-01 -2.02976700e+00] [-1.78261377e-01 -1.00177532e-01 9.78870443e-01 -4.13572150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.35, Y:-2.02, Z:-41.39 [[ 4.21409078e-01 -9.06769974e-01 -1.35130795e-02 3.35361257e+00] [ 8.89649199e-01 4.10470518e-01 2.00095620e-01 -2.02309454e+00] [-1.75893980e-01 -9.63440112e-02 9.79683183e-01 -4.13900381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.02, Z:-41.42 [[ 4.17128708e-01 -9.08716011e-01 -1.54548664e-02 3.36008166e+00] [ 8.91534006e-01 4.05819930e-01 2.01189713e-01 -2.02397310e+00] [-1.76552421e-01 -9.77005441e-02 9.79430368e-01 -4.14217666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120792138 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:3.36, Y:-2.02, Z:-41.45 [[ 4.17011273e-01 -9.08787654e-01 -1.43735436e-02 3.36467265e+00] [ 8.91846645e-01 4.06086136e-01 1.99257652e-01 -2.02170782e+00] [-1.75245997e-01 -9.59116837e-02 9.79841717e-01 -4.14531416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150792138 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:3.49, Y:-2.03, Z:-41.50 [[ 0.06436734 -0.99568285 -0.06687681 3.48750351] [ 0.98048088 0.05062388 0.18998544 -2.02533612] [ -0.18577968 -0.07780029 0.97950652 -41.50388226] [ 0. 0. 0. 1. ]] SLAMing on 48.180792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.80, Z:-41.52 [[ 9.20065696e-01 -3.58598693e-01 1.57753264e-01 3.08224419e+00] [ 3.48906880e-01 9.33173391e-01 8.63215542e-02 -1.79925076e+00] [-1.78165945e-01 -2.43803019e-02 9.83698377e-01 -4.15161586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210792138 meters Centerline goodness : 0.982427 Centerline is valid? [True, True] Translation: X:3.20, Y:-1.93, Z:-41.54 [[ 0.74588873 -0.66002165 0.08956242 3.19977381] [ 0.64330578 0.7487074 0.15998409 -1.93130103] [ -0.17264901 -0.06171431 0.98304815 -41.54005085] [ 0. 0. 0. 1. ]] SLAMing on 48.240792137999996 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:3.39, Y:-2.00, Z:-41.58 [[ 2.63137677e-01 -9.64699678e-01 -1.06345352e-02 3.39285225e+00] [ 9.48058133e-01 2.56524894e-01 1.88097728e-01 -2.00245927e+00] [-1.78729794e-01 -5.95777566e-02 9.82092741e-01 -4.15821302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270792138 meters Centerline goodness : 0.981648 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.81, Z:-41.60 [[ 9.14414127e-01 -3.72617710e-01 1.58122884e-01 3.09414141e+00] [ 3.60800647e-01 9.27384183e-01 9.89013195e-02 -1.81215659e+00] [-1.83493045e-01 -3.33859247e-02 9.82453909e-01 -4.15956462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300792138 meters Centerline goodness : 0.969773 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.92, Z:-41.62 [[ 0.77689115 -0.62144827 0.10120368 3.19177069] [ 0.60398198 0.78096157 0.15907482 -1.9243083 ] [ -0.17789296 -0.06245862 0.98206569 -41.61567929] [ 0. 0. 0. 1. ]] SLAMing on 48.330792138 meters Centerline goodness : 0.971378 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.98, Z:-41.64 [[ 0.6298729 -0.77506878 0.05028425 3.2811239 ] [ 0.75595956 0.62662924 0.18936982 -1.98382336] [ -0.17828422 -0.08126606 0.98061744 -41.64041083] [ 0. 0. 0. 1. ]] SLAMing on 48.360792138 meters Centerline goodness : 0.976568 Centerline is valid? [True, True] Translation: X:3.33, Y:-2.01, Z:-41.67 [[ 5.51919486e-01 -8.33518169e-01 2.51464200e-02 3.32859287e+00] [ 8.13928076e-01 5.45017455e-01 2.01189117e-01 -2.00506553e+00] [-1.81400022e-01 -9.05728170e-02 9.79229593e-01 -4.16665987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390792138 meters Centerline goodness : 0.979114 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.02, Z:-41.69 [[ 4.82187025e-01 -8.76058745e-01 4.09240377e-03 3.36996964e+00] [ 8.56526751e-01 4.72407371e-01 2.07829741e-01 -2.01795656e+00] [-1.84004344e-01 -9.67075513e-02 9.78156455e-01 -4.16948424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420792138 meters Centerline goodness : 0.970547 Centerline is valid? [True, True] Translation: X:3.37, Y:-2.02, Z:-41.72 [[ 4.89657088e-01 -8.71905344e-01 4.12394841e-03 3.37155952e+00] [ 8.52360705e-01 4.79666292e-01 2.08330212e-01 -2.01684108e+00] [-1.83622344e-01 -9.84952731e-02 9.78049854e-01 -4.17247486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450792138 meters Centerline goodness : 0.971947 Centerline is valid? [True, True] Translation: X:3.40, Y:-2.03, Z:-41.76 [[ 4.27673485e-01 -9.03838136e-01 -1.31153980e-02 3.40471681e+00] [ 8.84558122e-01 4.15474594e-01 2.11985354e-01 -2.02574702e+00] [-1.86151333e-01 -1.02261847e-01 9.77184832e-01 -4.17550139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480792138 meters Centerline goodness : 0.971947 Centerline is valid? [True, True] Translation: X:3.41, Y:-2.03, Z:-41.79 [[ 4.21762085e-01 -9.06555670e-01 -1.65396528e-02 3.41370664e+00] [ 8.87307087e-01 4.08916405e-01 2.13245181e-01 -2.02672444e+00] [-1.86555293e-01 -1.04614483e-01 9.76858707e-01 -4.17869965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:3.43, Y:-2.02, Z:-41.82 [[ 3.60615622e-01 -9.32473561e-01 -2.11998072e-02 3.42870170e+00] [ 9.13555620e-01 3.48533781e-01 2.09619495e-01 -2.01893166e+00] [-1.88075788e-01 -9.49592675e-02 9.77553188e-01 -4.18235816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.94, Z:-41.86 [[ 0.69073518 -0.71991313 0.06789693 3.27394751] [ 0.70269283 0.69042243 0.17187105 -1.93968198] [ -0.17060979 -0.07100669 0.98277686 -41.85564143] [ 0. 0. 0. 1. ]] SLAMing on 48.570792138 meters Centerline goodness : 0.968768 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.98, Z:-41.89 [[ 4.80212353e-01 -8.77028651e-01 1.47255695e-02 3.37355392e+00] [ 8.59247216e-01 4.73718323e-01 1.93093690e-01 -1.98052402e+00] [-1.76324470e-01 -8.00730706e-02 9.81069816e-01 -4.18900253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600792138 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.97, Z:-41.94 [[ 3.92850296e-01 -9.19234344e-01 2.60166509e-02 3.36793301e+00] [ 9.02584305e-01 3.90843441e-01 1.80507555e-01 -1.96592746e+00] [-1.76097181e-01 -4.74302256e-02 9.83229453e-01 -4.19367254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:3.10, Y:-1.70, Z:-41.93 [[ 9.49515870e-01 -2.63499929e-01 1.70256866e-01 3.10374699e+00] [ 2.58850090e-01 9.64655352e-01 4.93627588e-02 -1.70313265e+00] [-1.77246281e-01 -2.79971765e-03 9.84162546e-01 -4.19343682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660792138 meters Centerline goodness : 0.980041 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.87, Z:-41.96 [[ 0.74580011 -0.65950331 0.09400847 3.23623106] [ 0.64541112 0.75028305 0.14324744 -1.87319172] [ -0.16500512 -0.04615985 0.98521195 -41.95773418] [ 0. 0. 0. 1. ]] SLAMing on 48.690792138 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.95, Z:-42.00 [[ 2.79686908e-01 -9.60050437e-01 -8.85391453e-03 3.42999527e+00] [ 9.44745863e-01 2.73562684e-01 1.80606512e-01 -1.94761852e+00] [-1.70969261e-01 -5.88779761e-02 9.83515580e-01 -4.19983125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720792138 meters Centerline goodness : 0.976430 Centerline is valid? [True, True] Translation: X:3.16, Y:-1.78, Z:-42.01 [[ 8.81924264e-01 -4.49624088e-01 1.41590154e-01 3.16012411e+00] [ 4.40271279e-01 8.92993082e-01 9.34053354e-02 -1.78114271e+00] [-1.68436317e-01 -2.00383533e-02 9.85508839e-01 -4.20096854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.91, Z:-42.03 [[ 0.6458193 -0.76083347 0.06363857 3.30327088] [ 0.74479465 0.6461454 0.16666447 -1.91455773] [ -0.16792367 -0.06023746 0.98395787 -42.03335936] [ 0. 0. 0. 1. ]] SLAMing on 48.780792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.96, Z:-42.06 [[ 4.68549938e-01 -8.83262687e-01 1.75493831e-02 3.39079790e+00] [ 8.66043624e-01 4.63156790e-01 1.88292932e-01 -1.95896113e+00] [-1.74440237e-01 -7.30261104e-02 9.81956104e-01 -4.20632503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.95, Z:-42.10 [[ 5.06340469e-01 -8.61776477e-01 3.09940953e-02 3.37314111e+00] [ 8.44685066e-01 5.02891600e-01 1.83322610e-01 -1.94819836e+00] [-1.73569783e-01 -6.66434067e-02 9.82564088e-01 -4.20995711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840792138 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.96, Z:-42.15 [[ 3.72715259e-01 -9.27853767e-01 1.30661142e-02 3.42314790e+00] [ 9.10598244e-01 3.68421183e-01 1.87287667e-01 -1.96222097e+00] [-1.78589401e-01 -5.79069907e-02 9.82218207e-01 -4.21492009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.71, Z:-42.15 [[ 9.37314491e-01 -3.09371420e-01 1.60408448e-01 3.15263407e+00] [ 3.03797482e-01 9.50919802e-01 5.88100419e-02 -1.71323324e+00] [-1.70729716e-01 -6.39182189e-03 9.85297168e-01 -4.21546955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900792138 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.86, Z:-42.17 [[ 0.7523544 -0.65156796 0.09706725 3.26045099] [ 0.63766953 0.75730446 0.14095222 -1.864541 ] [ -0.16534941 -0.04414919 0.98524638 -42.1735883 ] [ 0. 0. 0. 1. ]] SLAMing on 48.930792138 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:3.40, Y:-1.95, Z:-42.21 [[ 4.65561273e-01 -8.84703364e-01 2.35087028e-02 3.39999441e+00] [ 8.67258747e-01 4.61353632e-01 1.87123201e-01 -1.95280813e+00] [-1.76394351e-01 -6.67291876e-02 9.82055115e-01 -4.22087237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960792138 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.91, Z:-42.25 [[ 0.6221383 -0.77978074 0.06989948 3.32420875] [ 0.76416765 0.62423903 0.162399 -1.90550307] [ -0.17026959 -0.04761971 0.98424622 -42.24664179] [ 0. 0. 0. 1. ]] SLAMing on 48.990792137999996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.88, Z:-42.28 [[ 6.90403599e-01 -7.18067503e-01 8.78745259e-02 3.29500498e+00] [ 7.03557231e-01 6.94743108e-01 1.49463159e-01 -1.87895256e+00] [-1.68374859e-01 -4.13651449e-02 9.84854726e-01 -4.22766369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020792138 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.87, Z:-42.30 [[ 7.20875946e-01 -6.86528865e-01 9.49525588e-02 3.28721806e+00] [ 6.72277340e-01 7.25963678e-01 1.44982472e-01 -1.86793750e+00] [-1.68466761e-01 -4.06799230e-02 9.84867552e-01 -4.23012418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.93, Z:-42.33 [[ 0.55188523 -0.8323136 0.05173748 3.37219915] [ 0.81480348 0.55140311 0.17902484 -1.92583924] [ -0.17753301 -0.05664529 0.98248325 -42.33439206] [ 0. 0. 0. 1. ]] SLAMing on 49.080792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:3.34, Y:-1.90, Z:-42.37 [[ 6.23935168e-01 -7.77925068e-01 7.44143471e-02 3.33748127e+00] [ 7.62708193e-01 6.26927210e-01 1.58866251e-01 -1.90173476e+00] [-1.70238418e-01 -4.23658088e-02 9.84491757e-01 -4.23708191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110792138 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.91, Z:-42.41 [[ 5.70230227e-01 -8.18497625e-01 6.99937580e-02 3.35687275e+00] [ 8.03877280e-01 5.73525088e-01 1.57639755e-01 -1.90666674e+00] [-1.69170941e-01 -3.36245616e-02 9.85012985e-01 -4.24137182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140792138 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.80, Z:-42.45 [[ 7.93875466e-01 -5.94237397e-01 1.29010311e-01 3.25075665e+00] [ 5.86197234e-01 8.04287842e-01 9.74364887e-02 -1.80209316e+00] [-1.61661830e-01 -1.72695037e-03 9.86844704e-01 -4.24509263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170792138 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.74, Z:-42.47 [[ 8.88946458e-01 -4.32222816e-01 1.51517763e-01 3.20911048e+00] [ 4.26222534e-01 9.01766507e-01 7.17740751e-02 -1.74358648e+00] [-1.67656037e-01 7.76975104e-04 9.85845246e-01 -4.24672167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200792138 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.84, Z:-42.50 [[ 7.51279641e-01 -6.50642594e-01 1.10648619e-01 3.28490988e+00] [ 6.38185810e-01 7.58915881e-01 1.29481879e-01 -1.84277163e+00] [-1.68219420e-01 -2.66627213e-02 9.85388921e-01 -4.24957472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.90, Z:-42.54 [[ 5.64850596e-01 -8.22373083e-01 6.81638864e-02 3.37051868e+00] [ 8.07440675e-01 5.67851895e-01 1.59949313e-01 -1.90213975e+00] [-1.70245002e-01 -3.53091704e-02 9.84768959e-01 -4.25373224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.80, Z:-42.57 [[ 7.92267703e-01 -5.96269133e-01 1.29518366e-01 3.26329578e+00] [ 5.88111739e-01 8.02782773e-01 9.83076937e-02 -1.79644263e+00] [-1.62592957e-01 -1.71473912e-03 9.86691740e-01 -4.25738110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.71, Z:-42.58 [[ 9.24494444e-01 -3.46881541e-01 1.58060807e-01 3.20523196e+00] [ 3.42775849e-01 9.37896735e-01 5.34268821e-02 -1.70523332e+00] [-1.66777514e-01 4.78657176e-03 9.85982936e-01 -4.25809148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320792138 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.91, Z:-42.63 [[ 5.45885101e-01 -8.35255602e-01 6.60116405e-02 3.38567909e+00] [ 8.20353051e-01 5.48839004e-01 1.60613260e-01 -1.90591731e+00] [-1.70382888e-01 -3.35235349e-02 9.84807516e-01 -4.26260183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350792138 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.77, Z:-42.66 [[ 8.24298795e-01 -5.49189120e-01 1.37560193e-01 3.25322266e+00] [ 5.43011210e-01 8.35670777e-01 8.24207380e-02 -1.77032987e+00] [-1.60219606e-01 6.75741203e-03 9.87058263e-01 -4.26628858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:3.23, Y:-1.74, Z:-42.69 [[ 8.72846835e-01 -4.64256045e-01 1.50348687e-01 3.23299314e+00] [ 4.58820824e-01 8.85674407e-01 7.11638647e-02 -1.73860059e+00] [-1.66198239e-01 6.86795436e-03 9.86068444e-01 -4.26865522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410792138 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.83, Z:-42.72 [[ 7.30398795e-01 -6.73344353e-01 1.14564317e-01 3.30415445e+00] [ 6.63518448e-01 7.39286850e-01 1.14883513e-01 -1.82525726e+00] [-1.62052058e-01 -7.89524163e-03 9.86750625e-01 -4.27248036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440792138 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.77, Z:-42.76 [[ 8.22857649e-01 -5.51309479e-01 1.37706747e-01 3.26245225e+00] [ 5.45338827e-01 8.34260777e-01 8.13297040e-02 -1.76659267e+00] [-1.59721174e-01 8.17406680e-03 9.87128326e-01 -4.27577975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470792138 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:3.26, Y:-1.76, Z:-42.79 [[ 8.24768696e-01 -5.48447553e-01 1.37702138e-01 3.26467417e+00] [ 5.42502019e-01 8.36147110e-01 8.09294132e-02 -1.76362291e+00] [-1.59524783e-01 7.95564102e-03 9.87161867e-01 -4.27910628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.76, Z:-42.82 [[ 8.27199022e-01 -5.44791690e-01 1.37636450e-01 3.26620942e+00] [ 5.38876172e-01 8.38536625e-01 8.04288560e-02 -1.75959354e+00] [-1.59230177e-01 7.63833225e-03 9.87211936e-01 -4.28226332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.76, Z:-42.86 [[ 8.26938441e-01 -5.45095647e-01 1.37998368e-01 3.26916668e+00] [ 5.39217356e-01 8.38335159e-01 8.02421540e-02 -1.75837416e+00] [-1.59428533e-01 8.05579336e-03 9.87176604e-01 -4.28557262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.75, Z:-42.89 [[ 8.32597642e-01 -5.35231705e-01 1.42506801e-01 3.26923120e+00] [ 5.29250585e-01 8.44661487e-01 8.02545422e-02 -1.75489324e+00] [-1.63324781e-01 8.60206494e-03 9.86534855e-01 -4.28869784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590792138 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.76, Z:-42.92 [[ 8.18649922e-01 -5.57055347e-01 1.39648294e-01 3.27930092e+00] [ 5.50308961e-01 8.30454234e-01 8.66360952e-02 -1.76384322e+00] [-1.64232617e-01 5.92507499e-03 9.86403843e-01 -4.29185561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.76, Z:-42.95 [[ 8.16162698e-01 -5.60952586e-01 1.38602476e-01 3.28382470e+00] [ 5.53928876e-01 8.27835909e-01 8.86030938e-02 -1.76463223e+00] [-1.64442241e-01 4.46137367e-03 9.86376625e-01 -4.29510066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.76, Z:-42.99 [[ 8.16479805e-01 -5.60937224e-01 1.36785085e-01 3.28775840e+00] [ 5.54454772e-01 8.27834912e-01 8.52599787e-02 -1.76065485e+00] [-1.61060964e-01 6.22809240e-03 9.86924808e-01 -4.29852296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.75, Z:-43.02 [[ 8.36321765e-01 -5.29347352e-01 1.42678962e-01 3.28054144e+00] [ 5.23443947e-01 8.48363802e-01 7.92798493e-02 -1.74645977e+00] [-1.63010245e-01 8.38097544e-03 9.86588779e-01 -4.30157240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.76, Z:-43.05 [[ 8.21848215e-01 -5.52404766e-01 1.39335874e-01 3.29046226e+00] [ 5.45889608e-01 8.33551859e-01 8.48282607e-02 -1.75519667e+00] [-1.63003212e-01 6.34605078e-03 9.86605129e-01 -4.30487076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740792137999996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:3.29, Y:-1.75, Z:-43.08 [[ 8.24904284e-01 -5.47588713e-01 1.40283726e-01 3.29192962e+00] [ 5.41199749e-01 8.36719290e-01 8.36878806e-02 -1.75210535e+00] [-1.63204639e-01 6.88702646e-03 9.86568201e-01 -4.30815484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.75, Z:-43.11 [[ 8.23196131e-01 -5.50543264e-01 1.38745250e-01 3.29714860e+00] [ 5.44445249e-01 8.34768738e-01 8.21007013e-02 -1.74952470e+00] [-1.61020186e-01 7.95421279e-03 9.86919060e-01 -4.31129691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800792138 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.74, Z:-43.14 [[ 8.30799638e-01 -5.38271934e-01 1.41546058e-01 3.29640199e+00] [ 5.32582304e-01 8.42711824e-01 7.86947940e-02 -1.74278707e+00] [-1.61641736e-01 1.00053196e-02 9.86798785e-01 -4.31448621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830792138 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.74, Z:-43.18 [[ 8.31971325e-01 -5.36480395e-01 1.41465546e-01 3.29861391e+00] [ 5.30837547e-01 8.43853583e-01 7.82472269e-02 -1.74025683e+00] [-1.61354311e-01 9.99577428e-03 9.86845921e-01 -4.31773196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860792138 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.74, Z:-43.21 [[ 8.34581668e-01 -5.32301164e-01 1.41876393e-01 3.29998939e+00] [ 5.26638643e-01 8.46500662e-01 7.80279983e-02 -1.73643940e+00] [-1.61632855e-01 9.59685401e-03 9.86804297e-01 -4.32101475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.73, Z:-43.24 [[ 8.35498446e-01 -5.30830447e-01 1.41990785e-01 3.30214112e+00] [ 5.25213023e-01 8.47422364e-01 7.76312950e-02 -1.73476609e+00] [-1.61535222e-01 9.71458293e-03 9.86819132e-01 -4.32419960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.73, Z:-43.27 [[ 8.36528586e-01 -5.28995781e-01 1.42770406e-01 3.30475680e+00] [ 5.23372499e-01 8.48567339e-01 7.75544887e-02 -1.73293520e+00] [-1.62176301e-01 9.84555749e-03 9.86712680e-01 -4.32743156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950792138 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.73, Z:-43.31 [[ 8.37554084e-01 -5.27284336e-01 1.43088733e-01 3.30740201e+00] [ 5.21637016e-01 8.49633860e-01 7.75701435e-02 -1.73090984e+00] [-1.62474554e-01 9.67118898e-03 9.86665337e-01 -4.33070668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980792138 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.73, Z:-43.34 [[ 8.39349336e-01 -5.24424848e-01 1.43077847e-01 3.30954229e+00] [ 5.18807740e-01 8.51403896e-01 7.71358154e-02 -1.72847791e+00] [-1.62268975e-01 9.48599921e-03 9.86700966e-01 -4.33396473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.73, Z:-43.37 [[ 8.41163675e-01 -5.21358085e-01 1.43629448e-01 3.31170311e+00] [ 5.15745975e-01 8.53286051e-01 7.68700428e-02 -1.72572673e+00] [-1.62633823e-01 9.41602199e-03 9.86641565e-01 -4.33719604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040792138 meters Centerline goodness : 0.999922 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.72, Z:-43.40 [[ 8.42253795e-01 -5.19575389e-01 1.43700942e-01 3.31418837e+00] [ 5.13965607e-01 8.54374508e-01 7.67043318e-02 -1.72376247e+00] [-1.62628105e-01 9.25282760e-03 9.86644052e-01 -4.34036495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.72, Z:-43.44 [[ 8.43378454e-01 -5.17759228e-01 1.43659894e-01 3.31687022e+00] [ 5.12192868e-01 8.55476383e-01 7.62799004e-02 -1.72147258e+00] [-1.62392269e-01 9.24874866e-03 9.86682934e-01 -4.34368101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.72, Z:-43.47 [[ 8.44793144e-01 -5.15482004e-01 1.43536919e-01 3.31982509e+00] [ 5.09967278e-01 8.56851047e-01 7.57605410e-02 -1.71896403e+00] [-1.62042955e-01 9.19714622e-03 9.86740844e-01 -4.34683623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.72, Z:-43.50 [[ 8.45877155e-01 -5.13549587e-01 1.44078662e-01 3.32261886e+00] [ 5.08029258e-01 8.58010605e-01 7.56576154e-02 -1.71672597e+00] [-1.62474957e-01 9.19912728e-03 9.86669785e-01 -4.35014985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160792138 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.72, Z:-43.53 [[ 8.46206561e-01 -5.13093480e-01 1.43769042e-01 3.32580922e+00] [ 5.07664945e-01 8.58280314e-01 7.50413658e-02 -1.71537890e+00] [-1.61897374e-01 9.48600673e-03 9.86762006e-01 -4.35331460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.71, Z:-43.57 [[ 8.46206459e-01 -5.12852330e-01 1.44627508e-01 3.32932819e+00] [ 5.07418893e-01 8.58420504e-01 7.51019720e-02 -1.71439003e+00] [-1.62667440e-01 9.83495634e-03 9.86631936e-01 -4.35656857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220792138 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.71, Z:-43.60 [[ 8.47587528e-01 -5.10492963e-01 1.44887255e-01 3.33177999e+00] [ 5.05078593e-01 8.59826271e-01 7.47957128e-02 -1.71207278e+00] [-1.62760553e-01 9.78353747e-03 9.86617091e-01 -4.35981815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.71, Z:-43.63 [[ 8.48367039e-01 -5.09119298e-01 1.45158217e-01 3.33441319e+00] [ 5.03755268e-01 8.60637674e-01 7.43869930e-02 -1.71041610e+00] [-1.62800484e-01 1.00167437e-02 9.86608163e-01 -4.36303363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:3.34, Y:-1.71, Z:-43.66 [[ 8.48546209e-01 -5.08768388e-01 1.45341179e-01 3.33721494e+00] [ 5.03431822e-01 8.60842937e-01 7.42013338e-02 -1.70917290e+00] [-1.62867220e-01 1.02061141e-02 9.86595208e-01 -4.36620934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:3.34, Y:-1.71, Z:-43.70 [[ 8.49178603e-01 -5.07592401e-01 1.45758890e-01 3.33996399e+00] [ 5.02236738e-01 8.61537393e-01 7.42400132e-02 -1.70725071e+00] [-1.63260401e-01 1.01624388e-02 9.86530672e-01 -4.36950895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340792138 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:3.34, Y:-1.71, Z:-43.73 [[ 8.50333164e-01 -5.05809573e-01 1.45224604e-01 3.34182973e+00] [ 5.00556247e-01 8.62584223e-01 7.34295658e-02 -1.70523383e+00] [-1.62409829e-01 1.02534877e-02 9.86670114e-01 -4.37274389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.70, Z:-43.76 [[ 8.49821280e-01 -5.06583501e-01 1.45523018e-01 3.34500749e+00] [ 5.01348376e-01 8.62126044e-01 7.34063315e-02 -1.70420953e+00] [-1.62645621e-01 1.05754663e-02 9.86627874e-01 -4.37606294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.70, Z:-43.79 [[ 8.51000570e-01 -5.04532432e-01 1.45756836e-01 3.34760650e+00] [ 4.99347035e-01 8.63326296e-01 7.29400064e-02 -1.70192737e+00] [-1.62636308e-01 1.07112568e-02 9.86627944e-01 -4.37939661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.70, Z:-43.83 [[ 8.50154824e-01 -5.05961662e-01 1.45738024e-01 3.35170063e+00] [ 5.00805311e-01 8.62485567e-01 7.28881855e-02 -1.70148203e+00] [-1.62575570e-01 1.10201339e-02 9.86634553e-01 -4.38263008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:3.35, Y:-1.70, Z:-43.86 [[ 8.51920110e-01 -5.02948550e-01 1.45859116e-01 3.35391120e+00] [ 4.97814890e-01 8.64248223e-01 7.24937533e-02 -1.69924469e+00] [-1.62519110e-01 1.08519535e-02 9.86645719e-01 -4.38581352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490792137999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.70, Z:-43.89 [[ 8.52966304e-01 -5.01169310e-01 1.45869140e-01 3.35661949e+00] [ 4.96073083e-01 8.65281180e-01 7.21108555e-02 -1.69761150e+00] [-1.62357569e-01 1.08536240e-02 9.86672295e-01 -4.38910239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.69, Z:-43.92 [[ 8.56221890e-01 -4.95595252e-01 1.45840397e-01 3.35773509e+00] [ 4.90491948e-01 8.68494018e-01 7.16644302e-02 -1.69378707e+00] [-1.62178064e-01 1.01728867e-02 9.86709070e-01 -4.39236458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550792138 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.69, Z:-43.96 [[ 8.56844932e-01 -4.94420419e-01 1.46168437e-01 3.36041343e+00] [ 4.89352437e-01 8.69160963e-01 7.13681528e-02 -1.69229406e+00] [-1.62329771e-01 1.03764406e-02 9.86682003e-01 -4.39550171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.69, Z:-43.99 [[ 8.56019751e-01 -4.95592549e-01 1.47031329e-01 3.36415953e+00] [ 4.90546891e-01 8.68485328e-01 7.13931554e-02 -1.69173267e+00] [-1.63076468e-01 1.10118102e-02 9.86551978e-01 -4.39883183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.69, Z:-44.02 [[ 8.56850835e-01 -4.94022273e-01 1.47474202e-01 3.36689628e+00] [ 4.88998277e-01 8.69377800e-01 7.11542422e-02 -1.68985681e+00] [-1.63362578e-01 1.11460588e-02 9.86503134e-01 -4.40200698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.69, Z:-44.05 [[ 8.56234906e-01 -4.94970557e-01 1.47871344e-01 3.37112283e+00] [ 4.89996079e-01 8.68831086e-01 7.09674991e-02 -1.68950975e+00] [-1.63602043e-01 1.16915288e-02 9.86457135e-01 -4.40524794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670792137999996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:3.37, Y:-1.69, Z:-44.08 [[ 8.58455849e-01 -4.90954752e-01 1.48381223e-01 3.37340539e+00] [ 4.85964787e-01 8.71110744e-01 7.07410654e-02 -1.68674733e+00] [-1.63987140e-01 1.13799682e-02 9.86396834e-01 -4.40844987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700792138 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.68, Z:-44.12 [[ 8.60304357e-01 -4.87826197e-01 1.47993292e-01 3.37567284e+00] [ 4.82883349e-01 8.72870074e-01 7.01534475e-02 -1.68390393e+00] [-1.63401606e-01 1.11101801e-02 9.86497075e-01 -4.41178078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.68, Z:-44.15 [[ 8.61553083e-01 -4.85699798e-01 1.47722683e-01 3.37775632e+00] [ 4.80820093e-01 8.74055285e-01 6.95657670e-02 -1.68189930e+00] [-1.62905871e-01 1.10934333e-02 9.86579248e-01 -4.41495963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760792138 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.68, Z:-44.18 [[ 8.62671624e-01 -4.84060465e-01 1.46571263e-01 3.37937245e+00] [ 4.79300591e-01 8.74964643e-01 6.86135331e-02 -1.67997728e+00] [-1.61457771e-01 1.10607448e-02 9.86817637e-01 -4.41818456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790792138 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.68, Z:-44.21 [[ 8.63762050e-01 -4.81982160e-01 1.46997680e-01 3.38229836e+00] [ 4.77228042e-01 8.76111387e-01 6.84268423e-02 -1.67815214e+00] [-1.61766858e-01 1.10469052e-02 9.86767171e-01 -4.42143041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820792138 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.68, Z:-44.25 [[ 8.64224466e-01 -4.80962690e-01 1.47617627e-01 3.38526073e+00] [ 4.76223272e-01 8.76668500e-01 6.82915552e-02 -1.67662676e+00] [-1.62257413e-01 1.12797163e-02 9.86683992e-01 -4.42474896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.67, Z:-44.28 [[ 8.69697101e-01 -4.70867284e-01 1.48023489e-01 3.38633870e+00] [ 4.66042672e-01 8.82148681e-01 6.79553799e-02 -1.66988151e+00] [-1.62576691e-01 9.88466533e-03 9.86646397e-01 -4.42797674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880792138 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.67, Z:-44.31 [[ 8.70276465e-01 -4.69355797e-01 1.49412213e-01 3.38988784e+00] [ 4.64449818e-01 8.82954003e-01 6.84002555e-02 -1.66811544e+00] [-1.64028168e-01 9.86734268e-03 9.86406304e-01 -4.43112831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.67, Z:-44.34 [[ 8.70221774e-01 -4.69337581e-01 1.49787511e-01 3.39251633e+00] [ 4.64470063e-01 8.82959551e-01 6.81908464e-02 -1.66739118e+00] [-1.64260841e-01 1.02306556e-02 9.86363883e-01 -4.43442746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.66, Z:-44.38 [[ 8.72508833e-01 -4.64930319e-01 1.50226946e-01 3.39437477e+00] [ 4.60034139e-01 8.85293295e-01 6.80027437e-02 -1.66369491e+00] [-1.64611445e-01 9.77652917e-03 9.86310038e-01 -4.43772556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.40, Y:-1.66, Z:-44.41 [[ 8.73869331e-01 -4.62487274e-01 1.49859648e-01 3.39599267e+00] [ 4.57659362e-01 8.86572598e-01 6.73567795e-02 -1.66141112e+00] [-1.64013111e-01 9.72364719e-03 9.86410234e-01 -4.44091221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000792138 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.66, Z:-44.44 [[ 8.80671761e-01 -4.48715727e-01 1.51892874e-01 3.39426841e+00] [ 4.44099363e-01 8.93616258e-01 6.50056848e-02 -1.65568328e+00] [-1.64903015e-01 1.02068578e-02 9.86256972e-01 -4.44403123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030792138 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:3.40, Y:-1.67, Z:-44.47 [[ 8.67690833e-01 -4.74512259e-01 1.48157801e-01 3.40403190e+00] [ 4.69114256e-01 8.80218984e-01 7.17380956e-02 -1.66638743e+00] [-1.64451915e-01 7.25644860e-03 9.86358409e-01 -4.44726655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060792138 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.67, Z:-44.51 [[ 8.58148119e-01 -4.92782346e-01 1.44039461e-01 3.41370121e+00] [ 4.87179027e-01 8.70129438e-01 7.43730906e-02 -1.67172819e+00] [-1.61982722e-01 6.34987690e-03 9.86773164e-01 -4.45062076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090792138 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.66, Z:-44.54 [[ 8.75158683e-01 -4.60541688e-01 1.48319364e-01 3.40877967e+00] [ 4.55994265e-01 8.87577098e-01 6.53920953e-02 -1.65623567e+00] [-1.61760656e-01 1.04043193e-02 9.86775172e-01 -4.45378874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.65, Z:-44.57 [[ 8.83652283e-01 -4.43245555e-01 1.50638710e-01 3.40771239e+00] [ 4.39007519e-01 8.96330267e-01 6.21647014e-02 -1.64855132e+00] [-1.62576263e-01 1.11995461e-02 9.86632418e-01 -4.45692998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.67, Z:-44.60 [[ 8.59910320e-01 -4.89687949e-01 1.44083149e-01 3.42303332e+00] [ 4.84195156e-01 8.71872674e-01 7.34376657e-02 -1.66791603e+00] [-1.61583700e-01 6.61455590e-03 9.86836843e-01 -4.46016981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.65, Z:-44.63 [[ 8.82030868e-01 -4.46493502e-01 1.50549329e-01 3.41412521e+00] [ 4.42087642e-01 8.94724281e-01 6.34584720e-02 -1.64844252e+00] [-1.63033936e-01 1.05836668e-02 9.86563694e-01 -4.46324857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.65, Z:-44.66 [[ 8.75292088e-01 -4.60475941e-01 1.47735130e-01 3.42084355e+00] [ 4.55587532e-01 8.87633514e-01 6.74295618e-02 -1.65353352e+00] [-1.62184343e-01 8.28572133e-03 9.86725689e-01 -4.46641174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240792137999996 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.66, Z:-44.70 [[ 8.63395232e-01 -4.83588916e-01 1.43841698e-01 3.43049445e+00] [ 4.78275821e-01 8.75268861e-01 7.18098886e-02 -1.66119358e+00] [-1.60626625e-01 6.79569079e-03 9.86991847e-01 -4.46981249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.64, Z:-44.73 [[ 8.80205806e-01 -4.51008407e-01 1.47746933e-01 3.42576198e+00] [ 4.46694536e-01 8.92458465e-01 6.31021373e-02 -1.64485013e+00] [-1.60317596e-01 1.04548801e-02 9.87010113e-01 -4.47315939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.64, Z:-44.76 [[ 8.82829107e-01 -4.44694620e-01 1.51193460e-01 3.42586122e+00] [ 4.40470392e-01 8.95606577e-01 6.22470282e-02 -1.64297797e+00] [-1.63090776e-01 1.16427542e-02 9.86542369e-01 -4.47623029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.43, Y:-1.65, Z:-44.79 [[ 8.70719125e-01 -4.68771622e-01 1.48665304e-01 3.43364768e+00] [ 4.63590788e-01 8.83283139e-01 6.99605397e-02 -1.65387930e+00] [-1.64109072e-01 8.00388562e-03 9.86409727e-01 -4.47946018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360792138 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.65, Z:-44.83 [[ 8.74961785e-01 -4.60793534e-01 1.48698335e-01 3.43551889e+00] [ 4.55892530e-01 8.87465142e-01 6.75841921e-02 -1.64858188e+00] [-1.63106948e-01 8.65687501e-03 9.86570414e-01 -4.48268984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.65, Z:-44.86 [[ 8.67153949e-01 -4.76470884e-01 1.44981124e-01 3.44385853e+00] [ 4.71387477e-01 8.79155888e-01 6.98482062e-02 -1.65351127e+00] [-1.60741645e-01 7.77313839e-03 9.86965907e-01 -4.48605958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420792137999996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.63, Z:-44.89 [[ 8.88507209e-01 -4.33312789e-01 1.50980019e-01 3.43519080e+00] [ 4.29275616e-01 9.01171388e-01 6.01047001e-02 -1.63450829e+00] [-1.62103008e-01 1.14085813e-02 9.86707889e-01 -4.48912179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.65, Z:-44.92 [[ 8.72326999e-01 -4.66242240e-01 1.47186209e-01 3.44634251e+00] [ 4.61280522e-01 8.84618367e-01 6.83419702e-02 -1.64878842e+00] [-1.62067537e-01 8.27758540e-03 9.86744949e-01 -4.49241450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.64, Z:-44.96 [[ 8.79269594e-01 -4.52147843e-01 1.49824263e-01 3.44647511e+00] [ 4.47406171e-01 8.91897016e-01 6.59350481e-02 -1.64192125e+00] [-1.63440203e-01 9.05761704e-03 9.86511662e-01 -4.49562156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.65, Z:-44.99 [[ 8.69056885e-01 -4.72451012e-01 1.46731632e-01 3.45635333e+00] [ 4.67386725e-01 8.81318766e-01 6.94757597e-02 -1.64824573e+00] [-1.62141234e-01 8.20202949e-03 9.86733473e-01 -4.49892549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540792138 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.63, Z:-45.02 [[ 8.90698580e-01 -4.28436699e-01 1.51980373e-01 3.44812718e+00] [ 4.24531058e-01 9.03491981e-01 5.89544014e-02 -1.62780583e+00] [-1.62571278e-01 1.20097870e-02 9.86623710e-01 -4.50208341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570792138 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.64, Z:-45.05 [[ 8.78607278e-01 -4.53678009e-01 1.49082242e-01 3.45709535e+00] [ 4.48919240e-01 8.91121990e-01 6.61295325e-02 -1.63884469e+00] [-1.62851978e-01 8.82399796e-03 9.86611053e-01 -4.50530562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600792138 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.64, Z:-45.09 [[ 8.73243449e-01 -4.64523598e-01 1.47185954e-01 3.46379483e+00] [ 4.59622267e-01 8.85520704e-01 6.78266442e-02 -1.64149363e+00] [-1.61843286e-01 8.42076917e-03 9.86780544e-01 -4.50857231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630792138 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.63, Z:-45.12 [[ 8.90094377e-01 -4.29212153e-01 1.53326210e-01 3.45683534e+00] [ 4.25156308e-01 9.03127183e-01 6.00283762e-02 -1.62564482e+00] [-1.64237977e-01 1.17566854e-02 9.86350682e-01 -4.51168955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.63, Z:-45.15 [[ 8.81885313e-01 -4.46465604e-01 1.51481878e-01 3.46323565e+00] [ 4.41801921e-01 8.94749901e-01 6.50667194e-02 -1.63255575e+00] [-1.64588447e-01 9.54360045e-03 9.86316158e-01 -4.51484167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.63, Z:-45.18 [[ 8.79583653e-01 -4.52049341e-01 1.48269992e-01 3.47009760e+00] [ 4.47460930e-01 8.91944933e-01 6.49072670e-02 -1.63196632e+00] [-1.61589955e-01 9.25365742e-03 9.86814601e-01 -4.51817931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720792138 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.62, Z:-45.21 [[ 8.91516481e-01 -4.27580872e-01 1.49575941e-01 3.46642564e+00] [ 4.23665250e-01 9.03910444e-01 5.87678913e-02 -1.61977799e+00] [-1.60331281e-01 1.09775849e-02 9.87002215e-01 -4.52136090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.62, Z:-45.25 [[ 8.92151024e-01 -4.26270089e-01 1.49533815e-01 3.46890244e+00] [ 4.22404215e-01 9.04527711e-01 5.83463741e-02 -1.61921731e+00] [-1.60128793e-01 1.11099361e-02 9.87033606e-01 -4.52467661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780792138 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.62, Z:-45.28 [[ 8.94881963e-01 -4.20597315e-01 1.49278836e-01 3.47027004e+00] [ 4.16737842e-01 9.07186890e-01 5.78058608e-02 -1.61581079e+00] [-1.59736793e-01 1.04807179e-02 9.87104002e-01 -4.52800301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810792138 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.61, Z:-45.31 [[ 8.96257007e-01 -4.17836374e-01 1.48782194e-01 3.47314739e+00] [ 4.14035360e-01 9.08463274e-01 5.71769183e-02 -1.61441126e+00] [-1.59053755e-01 1.03558757e-02 9.87215609e-01 -4.53132250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.61, Z:-45.34 [[ 9.00635837e-01 -4.07768214e-01 1.50267005e-01 3.47265318e+00] [ 4.04174794e-01 9.13018317e-01 5.51388154e-02 -1.61099246e+00] [-1.59680384e-01 1.10741427e-02 9.87106650e-01 -4.53439823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:3.48, Y:-1.62, Z:-45.38 [[ 8.86690804e-01 -4.38811532e-01 1.45684104e-01 3.48439247e+00] [ 4.34511307e-01 8.98539399e-01 6.18617290e-02 -1.62247532e+00] [-1.58048547e-01 8.44916392e-03 9.87395194e-01 -4.53772095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.48, Y:-1.61, Z:-45.41 [[ 8.99963373e-01 -4.09551583e-01 1.49443728e-01 3.48106058e+00] [ 4.06002855e-01 9.12217995e-01 5.49546371e-02 -1.60891891e+00] [-1.58832016e-01 1.12174194e-02 9.87241895e-01 -4.54094272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.62, Z:-45.44 [[ 8.90602794e-01 -4.30643950e-01 1.46193203e-01 3.48892854e+00] [ 4.26620436e-01 9.02472969e-01 5.94772630e-02 -1.61706035e+00] [-1.57548937e-01 9.39839138e-03 9.87466456e-01 -4.54409675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960792138 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:3.48, Y:-1.61, Z:-45.47 [[ 9.01877723e-01 -4.05351295e-01 1.49354950e-01 3.48433023e+00] [ 4.01857506e-01 9.14093712e-01 5.42515503e-02 -1.60637408e+00] [-1.58515357e-01 1.10911432e-02 9.87294216e-01 -4.54717890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990792137999996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.61, Z:-45.50 [[ 8.93316499e-01 -4.24250933e-01 1.48313111e-01 3.49118514e+00] [ 4.20098551e-01 9.05501649e-01 5.98662733e-02 -1.61469904e+00] [-1.59696089e-01 8.82659334e-03 9.87126765e-01 -4.55042122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020792138 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.61, Z:-45.54 [[ 8.97057433e-01 -4.15498149e-01 1.50496678e-01 3.49382006e+00] [ 4.11558315e-01 9.09539512e-01 5.79450546e-02 -1.60932680e+00] [-1.60958738e-01 9.95811728e-03 9.86910898e-01 -4.55367628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.60, Z:-45.57 [[ 8.99101129e-01 -4.11408925e-01 1.49532126e-01 3.49686388e+00] [ 4.07491471e-01 9.11403188e-01 5.74014779e-02 -1.60458422e+00] [-1.59899537e-01 9.32333233e-03 9.87089263e-01 -4.55686853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.60, Z:-45.60 [[ 9.05301541e-01 -3.96191344e-01 1.53171596e-01 3.49511247e+00] [ 3.92481782e-01 9.18110480e-01 5.50563117e-02 -1.59794742e+00] [-1.62441281e-01 1.02744970e-02 9.86664718e-01 -4.56011144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.60, Z:-45.63 [[ 9.02285339e-01 -4.02790227e-01 1.53756950e-01 3.50031833e+00] [ 3.98887399e-01 9.15237111e-01 5.68319789e-02 -1.60085837e+00] [-1.63615433e-01 1.00530487e-02 9.86472973e-01 -4.56331587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.60, Z:-45.67 [[ 9.01255820e-01 -4.05332891e-01 1.53111708e-01 3.50439369e+00] [ 4.01297407e-01 9.14121454e-01 5.78131369e-02 -1.60034153e+00] [-1.63396263e-01 9.33890527e-03 9.86516318e-01 -4.56655096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170792137999996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.59, Z:-45.70 [[ 9.06072639e-01 -3.93830803e-01 1.54692182e-01 3.50547903e+00] [ 3.90114904e-01 9.19122709e-01 5.49891671e-02 -1.59410946e+00] [-1.63837525e-01 1.05235458e-02 9.86431204e-01 -4.56970759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.60, Z:-45.73 [[ 8.99127980e-01 -4.10117655e-01 1.52880293e-01 3.51219906e+00] [ 4.06049714e-01 9.11982514e-01 5.84082557e-02 -1.60074620e+00] [-1.63378410e-01 9.56050206e-03 9.86517152e-01 -4.57293955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.59, Z:-45.76 [[ 9.07733397e-01 -3.89875199e-01 1.54975513e-01 3.51150490e+00] [ 3.86315176e-01 9.20800797e-01 5.37259487e-02 -1.59096357e+00] [-1.63647991e-01 1.11005547e-02 9.86456341e-01 -4.57619851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260792138 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:3.51, Y:-1.59, Z:-45.79 [[ 9.11909909e-01 -3.79226307e-01 1.56868498e-01 3.51179717e+00] [ 3.75767049e-01 9.25235795e-01 5.23244556e-02 -1.58572100e+00] [-1.64983160e-01 1.12308232e-02 9.86232440e-01 -4.57936933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.59, Z:-45.83 [[ 9.03073117e-01 -4.00753485e-01 1.54452548e-01 3.52000239e+00] [ 3.96660523e-01 9.16141399e-01 5.78391430e-02 -1.59413364e+00] [-1.64679611e-01 9.03225308e-03 9.86305756e-01 -4.58262690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.58, Z:-45.86 [[ 9.10802903e-01 -3.82161428e-01 1.56175269e-01 3.51960001e+00] [ 3.78639033e-01 9.24030792e-01 5.29110447e-02 -1.58460630e+00] [-1.64531318e-01 1.09425197e-02 9.86311161e-01 -4.58596734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.58, Z:-45.89 [[ 9.13860291e-01 -3.74438604e-01 1.57019427e-01 3.52088863e+00] [ 3.70967024e-01 9.27189544e-01 5.19905481e-02 -1.58086128e+00] [-1.65054040e-01 1.07369322e-02 9.86226081e-01 -4.58919375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380792138 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.59, Z:-45.92 [[ 9.06303664e-01 -3.93049406e-01 1.55324931e-01 3.52848914e+00] [ 3.89095284e-01 9.19470015e-01 5.63892803e-02 -1.58764012e+00] [-1.64980390e-01 9.33038700e-03 9.86252713e-01 -4.59245541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.58, Z:-45.96 [[ 9.12986428e-01 -3.76611824e-01 1.56905439e-01 3.52873687e+00] [ 3.73085751e-01 9.26310412e-01 5.24980349e-02 -1.57908346e+00] [-1.65114523e-01 1.06091902e-02 9.86217339e-01 -4.59574849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.58, Z:-45.99 [[ 9.14439628e-01 -3.72927466e-01 1.57242715e-01 3.53130797e+00] [ 3.69408612e-01 9.27802283e-01 5.21555534e-02 -1.57648410e+00] [-1.65340388e-01 1.03937081e-02 9.86181792e-01 -4.59905151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.57, Z:-46.02 [[ 9.15798211e-01 -3.69436009e-01 1.57577513e-01 3.53360309e+00] [ 3.65944625e-01 9.29198978e-01 5.17087035e-02 -1.57374708e+00] [-1.65523921e-01 1.03099058e-02 9.86151884e-01 -4.60224882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.57, Z:-46.06 [[ 9.17680010e-01 -3.64574130e-01 1.57952848e-01 3.53585580e+00] [ 3.61026296e-01 9.31124545e-01 5.16439315e-02 -1.57123447e+00] [-1.65901815e-01 9.63252822e-03 9.86095230e-01 -4.60551366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.57, Z:-46.09 [[ 9.19564084e-01 -3.59761673e-01 1.58029851e-01 3.53854375e+00] [ 3.56215309e-01 9.32998957e-01 5.12210886e-02 -1.56844091e+00] [-1.65869071e-01 9.19157896e-03 9.86104947e-01 -4.60882008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.56, Z:-46.12 [[ 9.21872874e-01 -3.53695702e-01 1.58271146e-01 3.54070434e+00] [ 3.50125839e-01 9.35321561e-01 5.08475656e-02 -1.56469925e+00] [-1.66018981e-01 8.53982626e-03 9.86085579e-01 -4.61212850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590792138 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:3.54, Y:-1.56, Z:-46.15 [[ 9.22580895e-01 -3.51632378e-01 1.58742440e-01 3.54384770e+00] [ 3.48087150e-01 9.36098459e-01 5.05471187e-02 -1.56319176e+00] [-1.66372557e-01 8.62239749e-03 9.86025267e-01 -4.61537756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.56, Z:-46.19 [[ 9.23302032e-01 -3.49256296e-01 1.59791733e-01 3.54716644e+00] [ 3.45707533e-01 9.36986923e-01 5.04163414e-02 -1.56129761e+00] [-1.67330989e-01 8.69169551e-03 9.85862462e-01 -4.61867742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.56, Z:-46.22 [[ 9.23855925e-01 -3.47455803e-01 1.60513846e-01 3.55001110e+00] [ 3.43927075e-01 9.37654629e-01 5.01793240e-02 -1.55975378e+00] [-1.67941648e-01 8.84659167e-03 9.85757242e-01 -4.62191546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.56, Z:-46.25 [[ 9.24804347e-01 -3.44529162e-01 1.61358532e-01 3.55296243e+00] [ 3.41000192e-01 9.38734256e-01 4.99686391e-02 -1.55713097e+00] [-1.68688435e-01 8.81207597e-03 9.85630032e-01 -4.62521670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.55, Z:-46.29 [[ 9.26164334e-01 -3.40698556e-01 1.61691435e-01 3.55556591e+00] [ 3.37177266e-01 9.40133462e-01 4.96040802e-02 -1.55459350e+00] [-1.68911567e-01 8.57714599e-03 9.85593890e-01 -4.62853192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740792137999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.55, Z:-46.32 [[ 9.25963713e-01 -3.41070785e-01 1.62055306e-01 3.55897948e+00] [ 3.37623576e-01 9.39993241e-01 4.92242622e-02 -1.55451923e+00] [-1.69119850e-01 9.13381129e-03 9.85553169e-01 -4.63170319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.55, Z:-46.35 [[ 9.26726974e-01 -3.39232715e-01 1.61549623e-01 3.56132309e+00] [ 3.35854372e-01 9.40657611e-01 4.86322953e-02 -1.55308956e+00] [-1.68460547e-01 9.18828717e-03 9.85665572e-01 -4.63487094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:3.56, Y:-1.55, Z:-46.38 [[ 9.26613892e-01 -3.39284162e-01 1.62089336e-01 3.56467641e+00] [ 3.35954259e-01 9.40634729e-01 4.83843203e-02 -1.55214944e+00] [-1.68882892e-01 9.62101934e-03 9.85589166e-01 -4.63812928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830792138 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.55, Z:-46.41 [[ 9.28506520e-01 -3.34554884e-01 1.61085913e-01 3.56666825e+00] [ 3.31293400e-01 9.42330843e-01 4.75106955e-02 -1.54923599e+00] [-1.67691159e-01 9.25270916e-03 9.85796157e-01 -4.64135742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860792138 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.55, Z:-46.45 [[ 9.29827935e-01 -3.30673607e-01 1.61477483e-01 3.56949365e+00] [ 3.27372465e-01 9.43704468e-01 4.74251682e-02 -1.54779000e+00] [-1.68069274e-01 8.76603551e-03 9.85736210e-01 -4.64468275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.55, Z:-46.48 [[ 9.30082714e-01 -3.29461927e-01 1.62483794e-01 3.57208458e+00] [ 3.26197289e-01 9.44124625e-01 4.71595259e-02 -1.54627548e+00] [-1.68942220e-01 9.13951332e-03 9.85583581e-01 -4.64786576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920792137999996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.55, Z:-46.51 [[ 9.29420744e-01 -3.30305916e-01 1.64545078e-01 3.57566198e+00] [ 3.27004348e-01 9.43825110e-01 4.75638251e-02 -1.54600671e+00] [-1.71012389e-01 9.60015010e-03 9.85222107e-01 -4.65111997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.54, Z:-46.54 [[ 9.31615530e-01 -3.23737978e-01 1.65185429e-01 3.57760877e+00] [ 3.20388832e-01 9.46105187e-01 4.72860666e-02 -1.54228163e+00] [-1.71591087e-01 8.87113259e-03 9.85128318e-01 -4.65437405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.54, Z:-46.58 [[ 9.33447964e-01 -3.19023836e-01 1.64008204e-01 3.57945236e+00] [ 3.15729963e-01 9.47709573e-01 4.64882401e-02 -1.53981664e+00] [-1.70263001e-01 8.38795090e-03 9.85362955e-01 -4.65766650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010792138 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.54, Z:-46.61 [[ 9.34032596e-01 -3.17439500e-01 1.63753695e-01 3.58211657e+00] [ 3.14214180e-01 9.48240017e-01 4.59382053e-02 -1.53888687e+00] [-1.69860407e-01 8.54595166e-03 9.85431078e-01 -4.66083472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040792138 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.54, Z:-46.64 [[ 9.34403343e-01 -3.16100665e-01 1.64227778e-01 3.58495405e+00] [ 3.12907082e-01 9.48685555e-01 4.56604328e-02 -1.53807324e+00] [-1.70233814e-01 8.72277372e-03 9.85365091e-01 -4.66413266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070792138 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:3.59, Y:-1.54, Z:-46.67 [[ 9.35445266e-01 -3.12993647e-01 1.64247167e-01 3.58767692e+00] [ 3.09832183e-01 9.49716226e-01 4.52007584e-02 -1.53628969e+00] [-1.70135750e-01 8.60622304e-03 9.85383052e-01 -4.66742632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100792138 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:3.59, Y:-1.54, Z:-46.71 [[ 9.36042758e-01 -3.11267073e-01 1.64124236e-01 3.59025008e+00] [ 3.08166547e-01 9.50282220e-01 4.46887143e-02 -1.53502269e+00] [-1.69874468e-01 8.74705161e-03 9.85426889e-01 -4.67057170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130792138 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:3.59, Y:-1.53, Z:-46.74 [[ 9.37006183e-01 -3.08420420e-01 1.64000787e-01 3.59315532e+00] [ 3.05352366e-01 9.51211071e-01 4.42428550e-02 -1.53367123e+00] [-1.69644764e-01 8.62219970e-03 9.85467560e-01 -4.67385684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.53, Z:-46.77 [[ 9.37436599e-01 -3.07108375e-01 1.64003261e-01 3.59664988e+00] [ 3.04098698e-01 9.51633634e-01 4.37882151e-02 -1.53265803e+00] [-1.69518747e-01 8.82450276e-03 9.85487454e-01 -4.67714800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.53, Z:-46.80 [[ 9.37867805e-01 -3.05650085e-01 1.64262001e-01 3.60021391e+00] [ 3.02686509e-01 9.52101268e-01 4.34056661e-02 -1.53207024e+00] [-1.69661005e-01 9.01111487e-03 9.85461284e-01 -4.68046533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.53, Z:-46.84 [[ 9.39119814e-01 -3.01919985e-01 1.64007005e-01 3.60260976e+00] [ 2.98985849e-01 9.53293073e-01 4.28926515e-02 -1.52971335e+00] [-1.69296890e-01 8.75443465e-03 9.85526216e-01 -4.68372870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.53, Z:-46.87 [[ 9.40551079e-01 -2.97210816e-01 1.64406201e-01 3.60495041e+00] [ 2.94273412e-01 9.54775023e-01 4.25184014e-02 -1.52669603e+00] [-1.69607863e-01 8.38964525e-03 9.85475919e-01 -4.68689387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.52, Z:-46.90 [[ 9.41460756e-01 -2.94160486e-01 1.64685315e-01 3.60793534e+00] [ 2.91238182e-01 9.55720389e-01 4.21765317e-02 -1.52488579e+00] [-1.69799783e-01 8.25510240e-03 9.85444005e-01 -4.69015178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.52, Z:-46.93 [[ 9.42092197e-01 -2.92203149e-01 1.64558841e-01 3.61072889e+00] [ 2.89333576e-01 9.56319954e-01 4.16920668e-02 -1.52405951e+00] [-1.69553456e-01 8.33462708e-03 9.85485748e-01 -4.69345499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340792138 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.52, Z:-46.97 [[ 9.42601971e-01 -2.90755778e-01 1.64202928e-01 3.61366243e+00] [ 2.87953449e-01 9.56759641e-01 4.11558134e-02 -1.52307295e+00] [-1.69069025e-01 8.48924872e-03 9.85567652e-01 -4.69675260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370792138 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.52, Z:-47.00 [[ 9.43189837e-01 -2.88902849e-01 1.64097758e-01 3.61650999e+00] [ 2.86156284e-01 9.57319750e-01 4.06629811e-02 -1.52167493e+00] [-1.68841675e-01 8.60469408e-03 9.85605625e-01 -4.70008071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400792138 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.52, Z:-47.03 [[ 9.45390105e-01 -2.81698342e-01 1.63962173e-01 3.61923512e+00] [ 2.78931901e-01 9.59471455e-01 4.01437693e-02 -1.51857530e+00] [-1.68625458e-01 7.78275837e-03 9.85649473e-01 -4.70324247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430792138 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.51, Z:-47.07 [[ 9.48552419e-01 -2.71228749e-01 1.63350159e-01 3.62106078e+00] [ 2.68400176e-01 9.62494267e-01 3.95743683e-02 -1.51360516e+00] [-1.67957298e-01 6.30484879e-03 9.85774109e-01 -4.70655453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.62, Y:-1.51, Z:-47.10 [[ 9.48893154e-01 -2.70365578e-01 1.62801219e-01 3.62360606e+00] [ 2.67620112e-01 9.62735305e-01 3.89898479e-02 -1.51298484e+00] [-1.67275994e-01 6.57168083e-03 9.85888206e-01 -4.70984573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490792137999996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.51, Z:-47.13 [[ 9.49359348e-01 -2.68284228e-01 1.63524929e-01 3.62616536e+00] [ 2.65563988e-01 9.63316541e-01 3.86912258e-02 -1.51131392e+00] [-1.67906515e-01 6.69445542e-03 9.85780192e-01 -4.71302214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.51, Z:-47.16 [[ 9.50193235e-01 -2.65035732e-01 1.63978279e-01 3.62876285e+00] [ 2.62321446e-01 9.64216456e-01 3.83938124e-02 -1.50880999e+00] [-1.68286287e-01 6.53347842e-03 9.85716511e-01 -4.71635295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.51, Z:-47.20 [[ 9.50940978e-01 -2.62745740e-01 1.63327686e-01 3.63132607e+00] [ 2.60099217e-01 9.64842795e-01 3.77727133e-02 -1.50764564e+00] [-1.67510160e-01 6.56178227e-03 9.85848512e-01 -4.71954838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580792138 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.51, Z:-47.23 [[ 9.51156048e-01 -2.62578374e-01 1.62341522e-01 3.63420195e+00] [ 2.60029064e-01 9.64886113e-01 3.71439793e-02 -1.50703919e+00] [-1.66394286e-01 6.88379341e-03 9.86035271e-01 -4.72286751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610792138 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.50, Z:-47.26 [[ 9.52256307e-01 -2.58723188e-01 1.62080961e-01 3.63690234e+00] [ 2.56200737e-01 9.65928751e-01 3.66446402e-02 -1.50449525e+00] [-1.66039478e-01 6.63017189e-03 9.86096817e-01 -4.72617264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640792138 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.50, Z:-47.30 [[ 9.52917227e-01 -2.56198359e-01 1.62207149e-01 3.63991338e+00] [ 2.53735653e-01 9.66600474e-01 3.60796732e-02 -1.50280241e+00] [-1.66033060e-01 6.77679479e-03 9.86096901e-01 -4.72950679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670792137999996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.50, Z:-47.33 [[ 9.53572290e-01 -2.53225544e-01 1.63023652e-01 3.64245445e+00] [ 2.50706650e-01 9.67386361e-01 3.61912150e-02 -1.50115807e+00] [-1.66871398e-01 6.36017385e-03 9.85958156e-01 -4.73267081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700792138 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.50, Z:-47.36 [[ 9.55305560e-01 -2.45619364e-01 1.64506582e-01 3.64506945e+00] [ 2.43271624e-01 9.69341252e-01 3.45897870e-02 -1.49824642e+00] [-1.67958937e-01 6.97596740e-03 9.85769309e-01 -4.73578987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730792138 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.51, Z:-47.39 [[ 9.47594529e-01 -2.76156463e-01 1.60630683e-01 3.65259478e+00] [ 2.73006020e-01 9.61103364e-01 4.18095348e-02 -1.51227384e+00] [-1.65928663e-01 4.23465707e-03 9.86128666e-01 -4.73908157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.50, Z:-47.42 [[ 9.55161399e-01 -2.47874828e-01 1.61940644e-01 3.65229802e+00] [ 2.45503171e-01 9.68770267e-01 3.48190011e-02 -1.49851532e+00] [-1.65514035e-01 6.49917576e-03 9.86186019e-01 -4.74223611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.50, Z:-47.46 [[ 9.55731647e-01 -2.45903123e-01 1.61581783e-01 3.65505189e+00] [ 2.43546679e-01 9.69273708e-01 3.45469812e-02 -1.49741131e+00] [-1.65112185e-01 6.33506345e-03 9.86254447e-01 -4.74553965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.50, Z:-47.49 [[ 9.56436177e-01 -2.43149255e-01 1.61580566e-01 3.65792499e+00] [ 2.40830475e-01 9.69968365e-01 3.40889146e-02 -1.49590908e+00] [-1.65016731e-01 6.30965333e-03 9.86270585e-01 -4.74868204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850792138 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.49, Z:-47.52 [[ 9.57342325e-01 -2.39656014e-01 1.61433169e-01 3.66050725e+00] [ 2.37359124e-01 9.70838726e-01 3.36572951e-02 -1.49381083e+00] [-1.64791745e-01 6.09608232e-03 9.86309545e-01 -4.75192223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.48, Z:-47.55 [[ 9.62893641e-01 -2.13910210e-01 1.64554729e-01 3.65885947e+00] [ 2.11826885e-01 9.76836894e-01 3.03159039e-02 -1.48421166e+00] [-1.67228012e-01 5.66612452e-03 9.85901966e-01 -4.75494802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.51, Z:-47.58 [[ 9.46167375e-01 -2.82294516e-01 1.58357520e-01 3.67185062e+00] [ 2.78613176e-01 9.59327143e-01 4.54547039e-02 -1.51278789e+00] [-1.64748281e-01 1.11273364e-03 9.86335017e-01 -4.75830566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.49, Z:-47.62 [[ 9.58718756e-01 -2.34072529e-01 1.61457110e-01 3.66939835e+00] [ 2.31870845e-01 9.72199581e-01 3.26172494e-02 -1.48990406e+00] [-1.64603337e-01 6.16642778e-03 9.86340568e-01 -4.76159041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970792138 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.49, Z:-47.65 [[ 9.58780522e-01 -2.33231628e-01 1.62305019e-01 3.67312542e+00] [ 2.31064778e-01 9.72399709e-01 3.23708932e-02 -1.48975307e+00] [-1.65375270e-01 6.46639141e-03 9.86209514e-01 -4.76490969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.49, Z:-47.68 [[ 9.59250585e-01 -2.31232092e-01 1.62388532e-01 3.67636384e+00] [ 2.29107399e-01 9.72876548e-01 3.19534406e-02 -1.48905778e+00] [-1.65372655e-01 6.55305761e-03 9.86209381e-01 -4.76820031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.49, Z:-47.71 [[ 9.59556679e-01 -2.30167312e-01 1.62092532e-01 3.67957851e+00] [ 2.28112250e-01 9.73127235e-01 3.14354191e-02 -1.48864441e+00] [-1.64972063e-01 6.81122580e-03 9.86274721e-01 -4.77137672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060792138 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.49, Z:-47.75 [[ 9.61057877e-01 -2.25186204e-01 1.60184051e-01 3.68198326e+00] [ 2.23174582e-01 9.74295604e-01 3.06787021e-02 -1.48589151e+00] [-1.62975037e-01 6.26500029e-03 9.86610302e-01 -4.77465665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.48, Z:-47.78 [[ 9.61624066e-01 -2.23045535e-01 1.59780614e-01 3.68478363e+00] [ 2.21086277e-01 9.74787566e-01 3.01671738e-02 -1.48485083e+00] [-1.62480809e-01 6.31582078e-03 9.86691490e-01 -4.77792953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.69, Y:-1.48, Z:-47.81 [[ 9.62564960e-01 -2.19208744e-01 1.59424666e-01 3.68765940e+00] [ 2.17292654e-01 9.75658433e-01 2.95723683e-02 -1.48246911e+00] [-1.62026542e-01 6.17648336e-03 9.86767070e-01 -4.78110277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.69, Y:-1.48, Z:-47.84 [[ 9.63318911e-01 -2.16109231e-01 1.59102091e-01 3.69066805e+00] [ 2.14186707e-01 9.76351901e-01 2.93431255e-02 -1.48101720e+00] [-1.61680949e-01 5.81076524e-03 9.86825975e-01 -4.78439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180792138 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:3.69, Y:-1.48, Z:-47.88 [[ 9.63943425e-01 -2.13568831e-01 1.58749574e-01 3.69359779e+00] [ 2.11693813e-01 9.76910710e-01 2.88304345e-02 -1.47996948e+00] [-1.61241442e-01 5.81539491e-03 9.86897856e-01 -4.78756320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210792138 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.70, Y:-1.48, Z:-47.91 [[ 9.64526529e-01 -2.10912185e-01 1.58759648e-01 3.69703556e+00] [ 2.09064359e-01 9.77488075e-01 2.84456759e-02 -1.47848381e+00] [-1.61185202e-01 5.75437495e-03 9.86907401e-01 -4.79088513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240792137999996 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:3.70, Y:-1.48, Z:-47.94 [[ 9.65057563e-01 -2.08394996e-01 1.58856621e-01 3.70012244e+00] [ 2.06603661e-01 9.78026957e-01 2.78962101e-02 -1.47694670e+00] [-1.61179488e-01 5.89891103e-03 9.86907481e-01 -4.79421929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270792138 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.70, Y:-1.48, Z:-47.98 [[ 9.65433370e-01 -2.06707417e-01 1.58777994e-01 3.70320742e+00] [ 2.04901194e-01 9.78386485e-01 2.78457577e-02 -1.47577651e+00] [-1.61102168e-01 5.65057687e-03 9.86921558e-01 -4.79753258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.71, Y:-1.48, Z:-48.01 [[ 9.65347487e-01 -2.06927039e-01 1.59013928e-01 3.70632243e+00] [ 2.05192506e-01 9.78337076e-01 2.74335932e-02 -1.47585286e+00] [-1.61245973e-01 6.14551604e-03 9.86895115e-01 -4.80069825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330792138 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:3.71, Y:-1.47, Z:-48.04 [[ 9.65955887e-01 -2.03744825e-01 1.59427947e-01 3.70948828e+00] [ 2.02021581e-01 9.79005562e-01 2.71180934e-02 -1.47435416e+00] [-1.61606018e-01 6.01300388e-03 9.86837038e-01 -4.80393218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360792138 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:3.71, Y:-1.47, Z:-48.07 [[ 9.66647345e-01 -2.00125225e-01 1.59821164e-01 3.71235671e+00] [ 1.98419439e-01 9.79752709e-01 2.67274148e-02 -1.47275034e+00] [-1.61934049e-01 5.87564126e-03 9.86784090e-01 -4.80707501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390792138 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:3.72, Y:-1.47, Z:-48.10 [[ 9.67691136e-01 -1.95284022e-01 1.59492997e-01 3.71525719e+00] [ 1.93583996e-01 9.80731627e-01 2.62814021e-02 -1.47004270e+00] [-1.61552164e-01 5.44301180e-03 9.86849164e-01 -4.81032319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420792137999996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:3.72, Y:-1.47, Z:-48.14 [[ 9.68254468e-01 -1.92336741e-01 1.59655450e-01 3.71843709e+00] [ 1.90667531e-01 9.81314096e-01 2.58560948e-02 -1.46831586e+00] [-1.61645220e-01 5.40583096e-03 9.86834130e-01 -4.81353785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:3.72, Y:-1.47, Z:-48.17 [[ 9.68653947e-01 -1.90085407e-01 1.59928328e-01 3.72166983e+00] [ 1.88444219e-01 9.81752551e-01 2.55089075e-02 -1.46695107e+00] [-1.61858915e-01 5.42826489e-03 9.86798979e-01 -4.81678548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:3.72, Y:-1.46, Z:-48.20 [[ 9.71034266e-01 -1.77823096e-01 1.59597620e-01 3.72384260e+00] [ 1.76561987e-01 9.84039954e-01 2.21638136e-02 -1.46249345e+00] [-1.60991673e-01 6.65705043e-03 9.86933313e-01 -4.81983936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.73, Y:-1.47, Z:-48.23 [[ 9.68809538e-01 -1.88880346e-01 1.60412885e-01 3.72949384e+00] [ 1.87207732e-01 9.81986274e-01 2.56168350e-02 -1.47056921e+00] [-1.62361768e-01 5.21269837e-03 9.86717530e-01 -4.82294991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.50, Z:-48.26 [[ 9.51809856e-01 -2.64929549e-01 1.54500268e-01 3.73989278e+00] [ 2.61447834e-01 9.64267706e-01 4.28114670e-02 -1.50400430e+00] [-1.60321642e-01 -3.54615733e-04 9.87064762e-01 -4.82633408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.47, Z:-48.30 [[ 9.68602950e-01 -1.93524894e-01 1.56065500e-01 3.73563176e+00] [ 1.92234262e-01 9.81068427e-01 2.34676481e-02 -1.46923846e+00] [-1.57652509e-01 7.27030307e-03 9.87467888e-01 -4.82963358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.46, Z:-48.33 [[ 9.71337607e-01 -1.78756909e-01 1.56681911e-01 3.73960495e+00] [ 1.77707211e-01 9.83863597e-01 2.07983067e-02 -1.46317267e+00] [-1.57871470e-01 7.64132792e-03 9.87430103e-01 -4.83264637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:3.75, Y:-1.48, Z:-48.36 [[ 9.61866427e-01 -2.27105520e-01 1.52433787e-01 3.74566970e+00] [ 2.25072223e-01 9.73858414e-01 3.06966497e-02 -1.48416598e+00] [-1.55420304e-01 4.78253444e-03 9.87836857e-01 -4.83592730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660792138 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:3.75, Y:-1.47, Z:-48.39 [[ 9.68704160e-01 -1.94437331e-01 1.54293143e-01 3.74663578e+00] [ 1.93331358e-01 9.80880338e-01 2.22878569e-02 -1.46944606e+00] [-1.55676702e-01 8.23936319e-03 9.87773697e-01 -4.83924728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:3.75, Y:-1.47, Z:-48.42 [[ 9.68999513e-01 -1.93374279e-01 1.53773642e-01 3.75009856e+00] [ 1.92330455e-01 9.81088495e-01 2.17798233e-02 -1.46895535e+00] [-1.55077208e-01 8.47071641e-03 9.87866037e-01 -4.84244784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.75, Y:-1.47, Z:-48.46 [[ 9.69658971e-01 -1.89714199e-01 1.54175231e-01 3.75279482e+00] [ 1.88680710e-01 9.81804311e-01 2.14449177e-02 -1.46632811e+00] [-1.55438312e-01 8.29563528e-03 9.87810768e-01 -4.84559762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:3.76, Y:-1.46, Z:-48.49 [[ 9.70013019e-01 -1.87057315e-01 1.55191184e-01 3.75609962e+00] [ 1.86035091e-01 9.82314013e-01 2.12161630e-02 -1.46472945e+00] [-1.56415113e-01 8.29105182e-03 9.87656606e-01 -4.84885650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:3.76, Y:-1.46, Z:-48.52 [[ 9.73302111e-01 -1.66762791e-01 1.57712311e-01 3.75809673e+00] [ 1.66011447e-01 9.85959163e-01 1.80202164e-02 -1.45766369e+00] [-1.58503000e-01 8.64293433e-03 9.87320667e-01 -4.85191193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:3.77, Y:-1.48, Z:-48.55 [[ 9.62310725e-01 -2.23496700e-01 1.54942869e-01 3.76754686e+00] [ 2.21647249e-01 9.74685524e-01 2.93364486e-02 -1.48187064e+00] [-1.57577171e-01 6.11188146e-03 9.87487762e-01 -4.85528267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:3.77, Y:-1.47, Z:-48.59 [[ 9.69737117e-01 -1.87303998e-01 1.56611416e-01 3.76786529e+00] [ 1.86424798e-01 9.82257052e-01 2.04175864e-02 -1.46515109e+00] [-1.57656964e-01 9.39656025e-03 9.87449232e-01 -4.85861562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:3.77, Y:-1.46, Z:-48.62 [[ 9.73451028e-01 -1.63834564e-01 1.59847842e-01 3.76949411e+00] [ 1.63280828e-01 9.86438558e-01 1.66836244e-02 -1.45574085e+00] [-1.60413429e-01 9.85939668e-03 9.87000671e-01 -4.86165650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:3.78, Y:-1.47, Z:-48.65 [[ 9.66042619e-01 -2.03529781e-01 1.59176902e-01 3.77612513e+00] [ 2.01716512e-01 9.79053831e-01 2.76413441e-02 -1.47380031e+00] [-1.61468592e-01 5.40589305e-03 9.86863045e-01 -4.86473254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930792138 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:3.78, Y:-1.48, Z:-48.68 [[ 9.64551845e-01 -2.10359489e-01 1.59338080e-01 3.77999416e+00] [ 2.08312111e-01 9.77613256e-01 2.96375721e-02 -1.47693632e+00] [-1.62005564e-01 4.60507695e-03 9.86779099e-01 -4.86788627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.48, Z:-48.71 [[ 9.62027031e-01 -2.22879563e-01 1.57571225e-01 3.78513594e+00] [ 2.20848923e-01 9.74830755e-01 3.05082336e-02 -1.48055107e+00] [-1.60404938e-01 5.44968998e-03 9.87036249e-01 -4.87130684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990792137999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:3.78, Y:-1.46, Z:-48.75 [[ 9.70651813e-01 -1.80320166e-01 1.59121640e-01 3.78440349e+00] [ 1.79561505e-01 9.83558314e-01 1.92538175e-02 -1.46065132e+00] [-1.59977263e-01 9.88336821e-03 9.87071220e-01 -4.87454596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020792138 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.46, Z:-48.78 [[ 9.71094280e-01 -1.77370124e-01 1.59736465e-01 3.78762948e+00] [ 1.76593501e-01 9.84097370e-01 1.91598971e-02 -1.45899629e+00] [-1.60594628e-01 9.60235498e-03 9.86973738e-01 -4.87787093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.46, Z:-48.81 [[ 9.71355385e-01 -1.75679779e-01 1.60016662e-01 3.79111283e+00] [ 1.74950287e-01 9.84398748e-01 1.87483677e-02 -1.45770116e+00] [-1.60813911e-01 9.78363294e-03 9.86936253e-01 -4.88108596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.46, Z:-48.84 [[ 9.71566527e-01 -1.73881178e-01 1.60697913e-01 3.79459981e+00] [ 1.73183670e-01 9.84716790e-01 1.84461553e-02 -1.45719374e+00] [-1.61449372e-01 9.90858733e-03 9.86831252e-01 -4.88437524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110792138 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:3.80, Y:-1.46, Z:-48.88 [[ 9.71754435e-01 -1.72100521e-01 1.61476715e-01 3.79776051e+00] [ 1.71443057e-01 9.85027693e-01 1.81030974e-02 -1.45631036e+00] [-1.62174588e-01 1.00922963e-02 9.86710468e-01 -4.88763122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:3.80, Y:-1.45, Z:-48.91 [[ 9.72409618e-01 -1.68178830e-01 1.61664517e-01 3.80073625e+00] [ 1.67536494e-01 9.85707027e-01 1.76968749e-02 -1.45442124e+00] [-1.62330090e-01 9.87609509e-03 9.86687085e-01 -4.89089339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170792137999996 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:3.80, Y:-1.45, Z:-48.94 [[ 9.73456040e-01 -1.61839812e-01 1.61836997e-01 3.80342107e+00] [ 1.61181431e-01 9.86773540e-01 1.72779188e-02 -1.45106933e+00] [-1.62492722e-01 9.26582442e-03 9.86666235e-01 -4.89421565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:3.81, Y:-1.45, Z:-48.97 [[ 9.73904686e-01 -1.58134678e-01 1.62797682e-01 3.80637870e+00] [ 1.57492559e-01 9.87375109e-01 1.69259436e-02 -1.44841960e+00] [-1.63418958e-01 9.15516772e-03 9.86514281e-01 -4.89741703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:3.81, Y:-1.45, Z:-49.01 [[ 9.74107307e-01 -1.56736098e-01 1.62937872e-01 3.80951197e+00] [ 1.56136417e-01 9.87596654e-01 1.65610437e-02 -1.44799149e+00] [-1.63512611e-01 9.30830193e-03 9.86497330e-01 -4.90071320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:3.81, Y:-1.45, Z:-49.04 [[ 9.74672075e-01 -1.52808929e-01 1.63290468e-01 3.81239985e+00] [ 1.52229736e-01 9.88213514e-01 1.61293876e-02 -1.44612459e+00] [-1.63830562e-01 9.13680122e-03 9.86446180e-01 -4.90394749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:3.82, Y:-1.45, Z:-49.07 [[ 9.74803569e-01 -1.52365357e-01 1.62919609e-01 3.81527693e+00] [ 1.51865485e-01 9.88278172e-01 1.55925975e-02 -1.44548290e+00] [-1.63385665e-01 9.54214580e-03 9.86516128e-01 -4.90710944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:3.82, Y:-1.45, Z:-49.10 [[ 9.74603238e-01 -1.53176206e-01 1.63357214e-01 3.81876274e+00] [ 1.52715338e-01 9.88149420e-01 1.54515113e-02 -1.44583803e+00] [-1.63788140e-01 9.88805930e-03 9.86445980e-01 -4.91041591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:3.82, Y:-1.44, Z:-49.14 [[ 9.75118632e-01 -1.50542343e-01 1.62728779e-01 3.82142386e+00] [ 1.50122131e-01 9.88554456e-01 1.49476740e-02 -1.44437087e+00] [-1.63116517e-01 9.85343571e-03 9.86557607e-01 -4.91363861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:3.82, Y:-1.44, Z:-49.17 [[ 9.75476448e-01 -1.48155057e-01 1.62775241e-01 3.82461809e+00] [ 1.47788327e-01 9.88913767e-01 1.44281339e-02 -1.44319398e+00] [-1.63108278e-01 9.98197580e-03 9.86557677e-01 -4.91697287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:3.83, Y:-1.44, Z:-49.20 [[ 9.75798281e-01 -1.45183096e-01 1.63522423e-01 3.82792278e+00] [ 1.44778994e-01 9.89358487e-01 1.44508300e-02 -1.44220511e+00] [-1.63880314e-01 9.57351686e-03 9.86433774e-01 -4.92021321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:3.83, Y:-1.44, Z:-49.24 [[ 9.76518168e-01 -1.40185022e-01 1.63586143e-01 3.83087659e+00] [ 1.39782480e-01 9.90082873e-01 1.40272174e-02 -1.43965727e+00] [-1.63930244e-01 9.16864418e-03 9.86429324e-01 -4.92354414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.83, Y:-1.44, Z:-49.27 [[ 9.76880160e-01 -1.37155733e-01 1.63992251e-01 3.83346711e+00] [ 1.36784589e-01 9.90507344e-01 1.36080195e-02 -1.43869973e+00] [-1.64301947e-01 9.13820836e-03 9.86367763e-01 -4.92671288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.44, Z:-49.30 [[ 9.76301286e-01 -1.38718284e-01 1.66111522e-01 3.83618898e+00] [ 1.38427331e-01 9.90282135e-01 1.33853280e-02 -1.44011874e+00] [-1.66354062e-01 9.92626163e-03 9.86016123e-01 -4.93003534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.44, Z:-49.33 [[ 9.76580020e-01 -1.36831694e-01 1.66037803e-01 3.83912112e+00] [ 1.36587776e-01 9.90543430e-01 1.29418881e-02 -1.43989000e+00] [-1.66238515e-01 1.00399449e-02 9.86034460e-01 -4.93333050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.44, Z:-49.37 [[ 9.77555469e-01 -1.30190160e-01 1.65637640e-01 3.84115900e+00] [ 1.29925364e-01 9.91445232e-01 1.24800363e-02 -1.43684816e+00] [-1.65845427e-01 9.32060289e-03 9.86107713e-01 -4.93662021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.44, Z:-49.40 [[ 9.77683772e-01 -1.28886399e-01 1.65899780e-01 3.84423243e+00] [ 1.28679010e-01 9.91613160e-01 1.20438386e-02 -1.43669365e+00] [-1.66060692e-01 9.57275382e-03 9.86069069e-01 -4.93978377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:3.85, Y:-1.44, Z:-49.43 [[ 9.78000396e-01 -1.25935420e-01 1.66299417e-01 3.84751353e+00] [ 1.25751536e-01 9.91993035e-01 1.16777757e-02 -1.43523264e+00] [-1.66438509e-01 9.49153799e-03 9.86006153e-01 -4.94307659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:3.85, Y:-1.43, Z:-49.46 [[ 9.78712070e-01 -1.20335819e-01 1.66258756e-01 3.85008011e+00] [ 1.20148007e-01 9.92692534e-01 1.12244546e-02 -1.43227933e+00] [-1.66394530e-01 8.99014905e-03 9.86018274e-01 -4.94626696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.85, Y:-1.43, Z:-49.50 [[ 9.78897985e-01 -1.17755292e-01 1.67010257e-01 3.85319191e+00] [ 1.17594804e-01 9.93002002e-01 1.08851098e-02 -1.43134768e+00] [-1.67123299e-01 8.98412630e-03 9.85895070e-01 -4.94953982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:3.86, Y:-1.43, Z:-49.53 [[ 9.79128649e-01 -1.14368808e-01 1.68008524e-01 3.85664387e+00] [ 1.14231869e-01 9.93398499e-01 1.05120106e-02 -1.43033487e+00] [-1.68101662e-01 8.89931691e-03 9.85729493e-01 -4.95281295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740792137999996 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:3.86, Y:-1.43, Z:-49.56 [[ 9.79374698e-01 -1.11318447e-01 1.68622075e-01 3.85971413e+00] [ 1.11226555e-01 9.93744559e-01 1.00202023e-02 -1.42940443e+00] [-1.68682703e-01 8.94171990e-03 9.85629845e-01 -4.95600529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:3.86, Y:-1.43, Z:-49.59 [[ 9.79951581e-01 -1.06902029e-01 1.68127495e-01 3.86259883e+00] [ 1.06775548e-01 9.94234666e-01 9.81895504e-03 -1.42701053e+00] [-1.68207850e-01 8.32980488e-03 9.85716356e-01 -4.95932537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:3.87, Y:-1.42, Z:-49.63 [[ 9.80585734e-01 -1.02001735e-01 1.67473173e-01 3.86513584e+00] [ 1.01895708e-01 9.94752090e-01 9.24901354e-03 -1.42424121e+00] [-1.67537705e-01 7.99534688e-03 9.85833248e-01 -4.96252331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.87, Y:-1.42, Z:-49.66 [[ 9.80887785e-01 -9.99526606e-02 1.66938965e-01 3.86817717e+00] [ 9.98495088e-02 9.94961551e-01 9.03258641e-03 -1.42298099e+00] [-1.67000682e-01 7.80881995e-03 9.85925856e-01 -4.96576724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:3.87, Y:-1.42, Z:-49.69 [[ 9.81150439e-01 -9.81533997e-02 1.66462386e-01 3.87097543e+00] [ 9.80951435e-02 9.95139949e-01 8.59218730e-03 -1.42235813e+00] [-1.66496723e-01 7.89892333e-03 9.86010369e-01 -4.96908613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890792138 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:3.87, Y:-1.42, Z:-49.72 [[ 9.81337616e-01 -9.69924533e-02 1.66038994e-01 3.87410301e+00] [ 9.69902623e-02 9.95252034e-01 8.14112141e-03 -1.42175914e+00] [-1.66040274e-01 8.11497688e-03 9.86085582e-01 -4.97231014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920792137999996 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.88, Y:-1.42, Z:-49.76 [[ 9.81581138e-01 -9.23474121e-02 1.67243609e-01 3.87737158e+00] [ 9.23422370e-02 9.95696584e-01 7.82454210e-03 -1.42030832e+00] [-1.67246466e-01 7.76322604e-03 9.85884553e-01 -4.97563855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:3.88, Y:-1.42, Z:-49.79 [[ 9.82065036e-01 -8.35419262e-02 1.69023700e-01 3.88060730e+00] [ 8.34793253e-02 9.96481367e-01 7.48916375e-03 -1.41731366e+00] [-1.69054627e-01 6.75513856e-03 9.85583533e-01 -4.97894462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:3.88, Y:-1.41, Z:-49.82 [[ 9.82699509e-01 -7.72178674e-02 1.68342140e-01 3.88357237e+00] [ 7.71311166e-02 9.96995932e-01 7.06412153e-03 -1.41464355e+00] [-1.68381905e-01 6.04250847e-03 9.85703313e-01 -4.98222471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:3.89, Y:-1.41, Z:-49.86 [[ 9.83037709e-01 -7.44040037e-02 1.67633250e-01 3.88681952e+00] [ 7.43528983e-02 9.97210217e-01 6.59015963e-03 -1.41347227e+00] [-1.67655924e-01 5.98564259e-03 9.85827400e-01 -4.98551888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.89, Y:-1.41, Z:-49.89 [[ 9.83001108e-01 -7.55318773e-02 1.67343233e-01 3.89004360e+00] [ 7.55717020e-02 9.97121470e-01 6.13941571e-03 -1.41484090e+00] [-1.67325253e-01 6.61136054e-03 9.85879582e-01 -4.98879306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:3.89, Y:-1.41, Z:-49.92 [[ 9.83357820e-01 -7.16407367e-02 1.66958088e-01 3.89268694e+00] [ 7.17158032e-02 9.97409457e-01 5.58734465e-03 -1.41334908e+00] [-1.66925857e-01 6.47917431e-03 9.85948162e-01 -4.99193497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.41, Z:-49.95 [[ 9.83584074e-01 -6.84011149e-02 1.66984004e-01 3.89553764e+00] [ 6.84584284e-02 9.97639248e-01 5.41978265e-03 -1.41188441e+00] [-1.66960515e-01 6.10065055e-03 9.85944709e-01 -4.99521216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.41, Z:-49.99 [[ 9.83766359e-01 -6.56815875e-02 1.67002034e-01 3.89880905e+00] [ 6.58027939e-02 9.97821036e-01 4.81368194e-03 -1.41074102e+00] [-1.66954313e-01 6.25366206e-03 9.85944800e-01 -4.99854635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.41, Z:-50.02 [[ 9.84038713e-01 -6.17641588e-02 1.66892182e-01 3.90182446e+00] [ 6.18412769e-02 9.98074742e-01 4.73980468e-03 -1.40863327e+00] [-1.66863621e-01 5.65667433e-03 9.85963759e-01 -5.00177901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.91, Y:-1.41, Z:-50.05 [[ 9.84335706e-01 -5.81042513e-02 1.66454537e-01 3.90516242e+00] [ 5.81995813e-02 9.98295667e-01 4.30926285e-03 -1.40703556e+00] [-1.66421230e-01 5.44582309e-03 9.86039714e-01 -5.00503156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:3.91, Y:-1.41, Z:-50.08 [[ 9.84606257e-01 -5.24330744e-02 1.66737191e-01 3.90841995e+00] [ 5.25208397e-02 9.98612267e-01 3.88613864e-03 -1.40512325e+00] [-1.66709567e-01 4.93086089e-03 9.85993715e-01 -5.00834356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:3.91, Y:-1.41, Z:-50.11 [[ 9.84761805e-01 -5.25353838e-02 1.65783654e-01 3.91121785e+00] [ 5.27143131e-02 9.98604103e-01 3.32365518e-03 -1.40516142e+00] [-1.65726847e-01 5.46616278e-03 9.86156546e-01 -5.01148274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:3.91, Y:-1.41, Z:-50.15 [[ 9.84910820e-01 -5.21806565e-02 1.65008652e-01 3.91431827e+00] [ 5.23833001e-02 9.98622159e-01 3.12638624e-03 -1.40653821e+00] [-1.64944433e-01 5.56448608e-03 9.86287164e-01 -5.01478300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310792138 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:3.92, Y:-1.40, Z:-50.18 [[ 9.85146934e-01 -4.75425163e-02 1.65000687e-01 3.91702276e+00] [ 4.77522535e-02 9.98855568e-01 2.69769128e-03 -1.40472000e+00] [-1.64940110e-01 5.22153233e-03 9.86289763e-01 -5.01805580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.92, Y:-1.40, Z:-50.21 [[ 9.85219411e-01 -4.69284778e-02 1.64743526e-01 3.92026883e+00] [ 4.72046967e-02 9.98882725e-01 2.24022306e-03 -1.40473973e+00] [-1.64664592e-01 5.56955693e-03 9.86333895e-01 -5.02119752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:3.92, Y:-1.40, Z:-50.25 [[ 9.85501394e-01 -4.21576999e-02 1.64346375e-01 3.92328609e+00] [ 4.24312657e-02 9.99097681e-01 1.84724889e-03 -1.40267578e+00] [-1.64275958e-01 5.15295835e-03 9.86400961e-01 -5.02450421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:3.93, Y:-1.40, Z:-50.28 [[ 9.85350590e-01 -4.21324825e-02 1.65254558e-01 3.92562876e+00] [ 4.24853218e-02 9.99096109e-01 1.40064208e-03 -1.40298067e+00] [-1.65164199e-01 5.64076959e-03 9.86249953e-01 -5.02769181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:3.93, Y:-1.40, Z:-50.31 [[ 9.85354738e-01 -3.90838238e-02 1.65977391e-01 3.92886899e+00] [ 3.94641341e-02 9.99220480e-01 1.00727981e-03 -1.40192971e+00] [-1.65887377e-01 5.55762608e-03 9.86129044e-01 -5.03100740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460792138 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:3.93, Y:-1.40, Z:-50.34 [[ 9.85296069e-01 -3.66447347e-02 1.66879659e-01 3.93199395e+00] [ 3.70674819e-02 9.99312595e-01 5.81860585e-04 -1.40191848e+00] [-1.66786267e-01 5.61250380e-03 9.85977100e-01 -5.03432302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490792137999996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:3.94, Y:-1.40, Z:-50.38 [[ 9.85430896e-01 -3.23707068e-02 1.66967321e-01 3.93517314e+00] [ 3.28101320e-02 9.99461595e-01 1.26734639e-04 -1.39961523e+00] [-1.66881527e-01 5.35333160e-03 9.85962422e-01 -5.03754208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520792138 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:3.94, Y:-1.39, Z:-50.40 [[ 9.85471220e-01 -2.13720672e-02 1.68492461e-01 3.93771802e+00] [ 2.19930535e-02 9.99756467e-01 -1.82001492e-03 -1.39467200e+00] [-1.68412530e-01 5.49923601e-03 9.85701262e-01 -5.04048905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:3.94, Y:-1.41, Z:-50.44 [[ 9.84738759e-01 -4.83269520e-02 1.67194746e-01 3.94227397e+00] [ 4.81504847e-02 9.98827014e-01 5.11150378e-03 -1.40675950e+00] [-1.67245652e-01 3.01701216e-03 9.85910640e-01 -5.04391563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.39, Z:-50.47 [[ 9.85615677e-01 -2.33253685e-02 1.67384778e-01 3.94509051e+00] [ 2.37955924e-02 9.99716522e-01 -8.03852484e-04 -1.39499799e+00] [-1.67318578e-01 4.77530957e-03 9.85891318e-01 -5.04717819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.39, Z:-50.50 [[ 9.85612416e-01 -2.06180365e-02 1.67758941e-01 3.94870240e+00] [ 2.11246579e-02 9.99776086e-01 -1.23573298e-03 -1.39386188e+00] [-1.67695899e-01 4.76180402e-03 9.85827272e-01 -5.05042764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.39, Z:-50.53 [[ 9.85502742e-01 -7.94470770e-03 1.69473382e-01 3.95153163e+00] [ 8.63581751e-03 9.99957128e-01 -3.34126061e-03 -1.38781720e+00] [-1.69439571e-01 4.75636270e-03 9.85529101e-01 -5.05340939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670792137999996 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.41, Z:-50.57 [[ 9.84741933e-01 -5.55120448e-02 1.64929493e-01 3.95460640e+00] [ 5.54874797e-02 9.98448037e-01 4.75987700e-03 -1.41347696e+00] [-1.64937759e-01 4.46427141e-03 9.86293874e-01 -5.05673237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.40, Z:-50.60 [[ 9.85875576e-01 -2.95801703e-02 1.64846481e-01 3.95719574e+00] [ 3.03169347e-02 9.99538425e-01 -1.95459831e-03 -1.40268863e+00] [-1.64712574e-01 6.92463073e-03 9.86317301e-01 -5.05999042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.40, Z:-50.63 [[ 9.85829213e-01 -3.09585579e-02 1.64870646e-01 3.96077739e+00] [ 3.17851812e-02 9.99491896e-01 -2.37721142e-03 -1.40328157e+00] [-1.64713280e-01 7.58396783e-03 9.86312333e-01 -5.06327229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.40, Z:-50.66 [[ 9.85927791e-01 -3.05153727e-02 1.64363021e-01 3.96458353e+00] [ 3.14065062e-02 9.99502701e-01 -2.82514754e-03 -1.40346867e+00] [-1.64195073e-01 7.94745970e-03 9.86395872e-01 -5.06644384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.97, Y:-1.40, Z:-50.70 [[ 9.86107107e-01 -1.75816842e-02 1.65177658e-01 3.96880139e+00] [ 1.85887700e-02 9.99816847e-01 -4.55300139e-03 -1.39781909e+00] [-1.65067356e-01 7.56019652e-03 9.86253320e-01 -5.06954859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820792138 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:3.97, Y:-1.42, Z:-50.73 [[ 9.84981581e-01 -5.77244851e-02 1.62724210e-01 3.97204789e+00] [ 5.77965852e-02 9.98319142e-01 4.29491412e-03 -1.41634986e+00] [-1.62698615e-01 5.17449237e-03 9.86662245e-01 -5.07290282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:3.98, Y:-1.40, Z:-50.76 [[ 9.86001509e-01 -1.61969482e-02 1.65947834e-01 3.97501903e+00] [ 1.72781642e-02 9.99837848e-01 -5.07372785e-03 -1.39815148e+00] [-1.65838746e-01 7.86997725e-03 9.86121480e-01 -5.07593190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.98, Y:-1.42, Z:-50.79 [[ 9.84993803e-01 -5.59066465e-02 1.63283970e-01 3.97945216e+00] [ 5.61074331e-02 9.98418998e-01 3.38541537e-03 -1.41595886e+00] [-1.63215085e-01 5.82683128e-03 9.86573304e-01 -5.07934076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910792138 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:3.98, Y:-1.40, Z:-50.83 [[ 9.86249001e-01 -2.50879044e-02 1.63350864e-01 3.98291209e+00] [ 2.61618596e-02 9.99647921e-01 -4.42627894e-03 -1.40173421e+00] [-1.63182306e-01 8.63897557e-03 9.86558109e-01 -5.08260241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:3.99, Y:-1.40, Z:-50.86 [[ 9.86121706e-01 -2.29717017e-02 1.64427131e-01 3.98664078e+00] [ 2.41026254e-02 9.99697550e-01 -4.88586111e-03 -1.40190814e+00] [-1.64265164e-01 8.78117924e-03 9.86377132e-01 -5.08586103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:3.99, Y:-1.40, Z:-50.89 [[ 9.85952609e-01 -2.22215358e-02 1.65540500e-01 3.98994193e+00] [ 2.34346445e-02 9.99710904e-01 -5.37836518e-03 -1.40127259e+00] [-1.65373127e-01 9.18219594e-03 9.86188327e-01 -5.08906935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:3.99, Y:-1.40, Z:-50.92 [[ 9.86008070e-01 -1.97645756e-02 1.65521741e-01 3.99325163e+00] [ 2.10332908e-02 9.99761276e-01 -5.91545973e-03 -1.40047254e+00] [-1.65365310e-01 9.31415795e-03 9.86188400e-01 -5.09240368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.00, Y:-1.40, Z:-50.96 [[ 9.85859175e-01 -2.28446026e-02 1.66011479e-01 3.99677983e+00] [ 2.41722814e-02 9.99689915e-01 -5.98119242e-03 -1.40184232e+00] [-1.65823363e-01 9.90948960e-03 9.86105681e-01 -5.09566475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:4.00, Y:-1.40, Z:-50.99 [[ 9.85853095e-01 -2.16088267e-02 1.66212915e-01 4.00055841e+00] [ 2.29959387e-02 9.99714911e-01 -6.42519937e-03 -1.40160475e+00] [-1.66026689e-01 1.01565247e-02 9.86068955e-01 -5.09892608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090792138 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:4.00, Y:-1.40, Z:-51.02 [[ 9.85784604e-01 -2.23281865e-02 1.66523771e-01 4.00410321e+00] [ 2.38032184e-02 9.99693079e-01 -6.86696425e-03 -1.40300704e+00] [-1.66319334e-01 1.07331493e-02 9.86013529e-01 -5.10215775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:4.01, Y:-1.40, Z:-51.05 [[ 9.85915191e-01 -1.77933441e-02 1.66296822e-01 4.00708310e+00] [ 1.92770680e-02 9.99787441e-01 -7.31217982e-03 -1.40184538e+00] [-1.66131366e-01 1.04149043e-02 9.86048629e-01 -5.10529735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:4.01, Y:-1.40, Z:-51.09 [[ 9.85888994e-01 -1.31614035e-02 1.66882200e-01 4.01049741e+00] [ 1.46567962e-02 9.99862686e-01 -7.73226771e-03 -1.40049225e+00] [-1.66757517e-01 1.00691160e-02 9.85946522e-01 -5.10858224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180792138 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:4.01, Y:-1.40, Z:-51.12 [[ 9.85752046e-01 -7.87251826e-03 1.68020617e-01 4.01308838e+00] [ 9.36628335e-03 9.99923331e-01 -8.09971016e-03 -1.39875469e+00] [-1.67943970e-01 9.55803457e-03 9.85750205e-01 -5.11177098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210792138 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.40, Z:-51.15 [[ 9.85890426e-01 -1.31748642e-02 1.66872681e-01 4.01612838e+00] [ 1.44331923e-02 9.99875799e-01 -6.33008527e-03 -1.40070194e+00] [-1.66768557e-01 8.64927596e-03 9.85958132e-01 -5.11506514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240792137999996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.40, Z:-51.18 [[ 9.86019946e-01 -2.38945063e-03 1.66610191e-01 4.01928845e+00] [ 3.94813864e-03 9.99951482e-01 -9.02471061e-03 -1.39575884e+00] [-1.66580543e-01 9.55634480e-03 9.85981541e-01 -5.11834174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.39, Z:-51.22 [[ 9.85989185e-01 2.17207489e-03 1.66795110e-01 4.02279231e+00] [-6.00804893e-04 9.99954976e-01 -9.47024149e-03 -1.39455799e+00] [-1.66808170e-01 9.23734437e-03 9.85946097e-01 -5.12160381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:4.03, Y:-1.39, Z:-51.25 [[ 9.85943134e-01 5.31345674e-03 1.66996719e-01 4.02588273e+00] [-3.70414769e-03 9.99943669e-01 -9.94677291e-03 -1.39320829e+00] [-1.67040164e-01 9.18837194e-03 9.85907276e-01 -5.12478738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:4.03, Y:-1.39, Z:-51.28 [[ 9.85860599e-01 5.99236888e-03 1.67460358e-01 4.02929698e+00] [-4.31510872e-03 9.99936837e-01 -1.03779470e-02 -1.39347898e+00] [-1.67511969e-01 9.50859941e-03 9.85824187e-01 -5.12805210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:4.03, Y:-1.39, Z:-51.31 [[ 9.85795579e-01 8.86083815e-03 1.67715716e-01 4.03268433e+00] [-7.14400598e-03 9.99915756e-01 -1.08371607e-02 -1.39237647e+00] [-1.67797613e-01 9.48506306e-03 9.85775834e-01 -5.13136609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:4.04, Y:-1.39, Z:-51.35 [[ 9.85530854e-01 9.86513923e-03 1.69208792e-01 4.03609389e+00] [-8.05123637e-03 9.99902573e-01 -1.14026950e-02 -1.39280912e+00] [-1.69304795e-01 9.87536780e-03 9.85514263e-01 -5.13451690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420792137999996 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.04, Y:-1.39, Z:-51.38 [[ 9.85511833e-01 1.72550382e-02 1.68726672e-01 4.03919160e+00] [-1.54900538e-02 9.99810729e-01 -1.17713515e-02 -1.38880563e+00] [-1.68897852e-01 8.98722095e-03 9.85592586e-01 -5.13782900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:4.04, Y:-1.39, Z:-51.41 [[ 9.85536882e-01 1.97737724e-02 1.68303453e-01 4.04201437e+00] [-1.79785082e-02 9.99764133e-01 -1.21840963e-02 -1.38836605e+00] [-1.68504682e-01 8.98203121e-03 9.85659929e-01 -5.14115080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:4.05, Y:-1.39, Z:-51.44 [[ 9.85431854e-01 2.17832621e-02 1.68669945e-01 4.04519892e+00] [-1.99334833e-02 9.99721246e-01 -1.26525240e-02 -1.38774548e+00] [-1.68898540e-01 9.10602062e-03 9.85591378e-01 -5.14441500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:4.05, Y:-1.39, Z:-51.48 [[ 9.85488600e-01 2.25592559e-02 1.68235845e-01 4.04859134e+00] [-2.06547094e-02 9.99701336e-01 -1.30622435e-02 -1.38744740e+00] [-1.68480274e-01 9.39782951e-03 9.85660224e-01 -5.14767827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540792138 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:4.05, Y:-1.39, Z:-51.51 [[ 9.85476846e-01 2.49345071e-02 1.67969211e-01 4.05147888e+00] [-2.29789664e-02 9.99643763e-01 -1.35762094e-02 -1.38680889e+00] [-1.68247891e-01 9.51928113e-03 9.85698752e-01 -5.15087448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:4.05, Y:-1.39, Z:-51.54 [[ 9.85472035e-01 2.64921634e-02 1.67758853e-01 4.05461270e+00] [-2.45336982e-02 9.99604625e-01 -1.37364772e-02 -1.38673715e+00] [-1.68056434e-01 9.42116908e-03 9.85732355e-01 -5.15417773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600792137999996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:4.06, Y:-1.39, Z:-51.57 [[ 9.85365716e-01 3.15355940e-02 1.67510929e-01 4.05774462e+00] [-2.95800596e-02 9.99462155e-01 -1.41570230e-02 -1.38503361e+00] [-1.67867284e-01 8.99486184e-03 9.85768567e-01 -5.15745078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630792138 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:4.06, Y:-1.38, Z:-51.61 [[ 9.85199035e-01 3.48545730e-02 1.67833312e-01 4.06075683e+00] [-3.28639628e-02 9.99352833e-01 -1.46244615e-02 -1.38454364e+00] [-1.68234425e-01 8.89233764e-03 9.85706906e-01 -5.16071102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:4.06, Y:-1.38, Z:-51.64 [[ 9.84986875e-01 3.84698798e-02 1.68288217e-01 4.06319716e+00] [-3.64454883e-02 9.99221515e-01 -1.51026850e-02 -1.38370055e+00] [-1.68738206e-01 8.74260024e-03 9.85622131e-01 -5.16401128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.38, Z:-51.67 [[ 9.84890138e-01 4.10939678e-02 1.68234068e-01 4.06655735e+00] [-3.90076020e-02 9.99115740e-01 -1.56890195e-02 -1.38300867e+00] [-1.68730029e-01 8.88955307e-03 9.85622216e-01 -5.16734563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.38, Z:-51.71 [[ 9.84751324e-01 4.60213709e-02 1.67770271e-01 4.06974398e+00] [-4.40085816e-02 9.98907818e-01 -1.56976449e-02 -1.38080840e+00] [-1.68309462e-01 8.07494496e-03 9.85701131e-01 -5.17060995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.38, Z:-51.74 [[ 9.84634480e-01 4.86518371e-02 1.67713859e-01 4.07311311e+00] [-4.65771885e-02 9.98781955e-01 -1.62841113e-02 -1.38012591e+00] [-1.68301828e-01 8.22225740e-03 9.85701217e-01 -5.17394428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780792138 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:4.08, Y:-1.38, Z:-51.77 [[ 9.84498066e-01 4.99605872e-02 1.68129410e-01 4.07624690e+00] [-4.78821663e-02 9.98718413e-01 -1.63960501e-02 -1.38018379e+00] [-1.68733094e-01 8.09147927e-03 9.85628566e-01 -5.17710882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810792138 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:4.08, Y:-1.38, Z:-51.80 [[ 9.84414006e-01 5.08192065e-02 1.68364110e-01 4.07955263e+00] [-4.86777359e-02 9.98672819e-01 -1.68249352e-02 -1.38131754e+00] [-1.68995690e-01 8.36711816e-03 9.85581274e-01 -5.18034703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:4.08, Y:-1.38, Z:-51.84 [[ 9.84215468e-01 5.38458043e-02 1.68583931e-01 4.08272027e+00] [-5.16671651e-02 9.98514740e-01 -1.72863812e-02 -1.37942549e+00] [-1.69264339e-01 8.30327001e-03 9.85535712e-01 -5.18359328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870792138 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:4.09, Y:-1.38, Z:-51.87 [[ 9.84200697e-01 5.36531589e-02 1.68731523e-01 4.08563594e+00] [-5.13865216e-02 9.98520650e-01 -1.77746083e-02 -1.37973236e+00] [-1.69435574e-01 8.82325582e-03 9.85501769e-01 -5.18682361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:4.09, Y:-1.38, Z:-51.90 [[ 9.84177456e-01 5.74457323e-02 1.67614804e-01 4.08861377e+00] [-5.51945720e-02 9.98312230e-01 -1.80623882e-02 -1.37956637e+00] [-1.68369516e-01 8.52516793e-03 9.85687084e-01 -5.19016102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.09, Y:-1.38, Z:-51.93 [[ 9.84011519e-01 5.68145882e-02 1.68799978e-01 4.09197400e+00] [-5.44443353e-02 9.98342793e-01 -1.86408881e-02 -1.38147050e+00] [-1.69579316e-01 9.15264602e-03 9.85474041e-01 -5.19343630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960792138 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:4.10, Y:-1.38, Z:-51.97 [[ 9.83874616e-01 5.80201860e-02 1.69187462e-01 4.09530725e+00] [-5.55794553e-02 9.98270978e-01 -1.91305701e-02 -1.38185300e+00] [-1.70004892e-01 9.41873531e-03 9.85398206e-01 -5.19674080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990792137999996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:4.10, Y:-1.38, Z:-52.00 [[ 9.83531710e-01 6.07494876e-02 1.70220078e-01 4.09831828e+00] [-5.82361033e-02 9.98107962e-01 -1.97244237e-02 -1.38192440e+00] [-1.71096264e-01 9.48664210e-03 9.85208644e-01 -5.19988825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020792138 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:4.10, Y:-1.38, Z:-52.03 [[ 9.83388338e-01 6.32020886e-02 1.70155439e-01 4.10168325e+00] [-6.06307860e-02 9.97954408e-01 -2.02708481e-02 -1.38139499e+00] [-1.71088530e-01 9.61745764e-03 9.85208719e-01 -5.20322257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:4.11, Y:-1.38, Z:-52.06 [[ 9.82706206e-01 7.06333999e-02 1.71170779e-01 4.10522133e+00] [-6.81292325e-02 9.97466536e-01 -2.04674721e-02 -1.37784032e+00] [-1.72182812e-01 8.45177799e-03 9.85028754e-01 -5.20642363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:4.11, Y:-1.38, Z:-52.10 [[ 9.82443483e-01 7.53005128e-02 1.70688707e-01 4.10848297e+00] [-7.28062570e-02 9.97128459e-01 -2.08347212e-02 -1.37579553e+00] [-1.71767432e-01 8.04173022e-03 9.85104705e-01 -5.20965457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110792138 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:4.11, Y:-1.37, Z:-52.13 [[ 9.82254558e-01 7.73577920e-02 1.70855951e-01 4.11247685e+00] [-7.48187565e-02 9.96970497e-01 -2.12598496e-02 -1.37494565e+00] [-1.71982958e-01 8.09935438e-03 9.85066629e-01 -5.21291855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:4.12, Y:-1.38, Z:-52.16 [[ 9.81947064e-01 7.73983710e-02 1.72596224e-01 4.11639282e+00] [-7.47247298e-02 9.96962711e-01 -2.19446329e-02 -1.37706160e+00] [-1.73770478e-01 8.65126160e-03 9.84748179e-01 -5.21607735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170792137999996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:4.12, Y:-1.37, Z:-52.19 [[ 9.81526857e-01 8.25073344e-02 1.72619723e-01 4.11951048e+00] [-7.98412054e-02 9.96557141e-01 -2.23438306e-02 -1.37498101e+00] [-1.73868947e-01 8.14890308e-03 9.84735083e-01 -5.21941377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.12, Y:-1.37, Z:-52.23 [[ 9.81169660e-01 8.76268504e-02 1.72126797e-01 4.12294009e+00] [-8.49742206e-02 9.96123770e-01 -2.27335987e-02 -1.37314737e+00] [-1.73451668e-01 7.67917690e-03 9.84812444e-01 -5.22267199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.37, Z:-52.26 [[ 9.81400435e-01 8.69622650e-02 1.71145411e-01 4.12553078e+00] [-8.42470570e-02 9.96177605e-01 -2.30784014e-02 -1.37423324e+00] [-1.72498175e-01 8.23065603e-03 9.84975449e-01 -5.22584102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.37, Z:-52.29 [[ 9.81118262e-01 9.19621260e-02 1.70146769e-01 4.12853473e+00] [-8.92820432e-02 9.95732571e-01 -2.33530212e-02 -1.37176867e+00] [-1.71568273e-01 7.72102445e-03 9.85141976e-01 -5.22914545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.37, Z:-52.32 [[ 9.79342549e-01 1.12030311e-01 1.68337104e-01 4.13151290e+00] [-1.09078870e-01 9.93674217e-01 -2.67086280e-02 -1.36602173e+00] [-1.70264415e-01 7.79487480e-03 9.85367581e-01 -5.23208924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320792138 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.39, Z:-52.35 [[ 9.84865371e-01 5.36456863e-02 1.64810014e-01 4.13355508e+00] [-5.26359345e-02 9.98558658e-01 -1.04912028e-02 -1.39233369e+00] [-1.65135274e-01 1.65749329e-03 9.86269534e-01 -5.23547822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350792137999996 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:4.14, Y:-1.37, Z:-52.39 [[ 9.81502397e-01 1.00896042e-01 1.62705359e-01 4.13809297e+00] [-9.84912766e-02 9.94876688e-01 -2.28000877e-02 -1.37090159e+00] [-1.64172208e-01 6.35328215e-03 9.86411234e-01 -5.23879960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-1.37, Z:-52.42 [[ 9.81219595e-01 1.03181752e-01 1.62977396e-01 4.14152711e+00] [-1.00733482e-01 9.94642031e-01 -2.32378286e-02 -1.37072138e+00] [-1.64501888e-01 6.38413218e-03 9.86356108e-01 -5.24207061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-1.37, Z:-52.45 [[ 9.80945974e-01 1.05707071e-01 1.63006170e-01 4.14470026e+00] [-1.03219455e-01 9.94376697e-01 -2.36797176e-02 -1.37044588e+00] [-1.64592651e-01 6.40311568e-03 9.86340843e-01 -5.24525971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440792138 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:4.15, Y:-1.37, Z:-52.49 [[ 9.80860827e-01 1.08388005e-01 1.61753141e-01 4.14777856e+00] [-1.05912465e-01 9.94088787e-01 -2.38753500e-02 -1.37024704e+00] [-1.63384785e-01 6.28672164e-03 9.86542391e-01 -5.24850760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470792138 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:4.15, Y:-1.37, Z:-52.52 [[ 9.80925511e-01 1.06983638e-01 1.62294927e-01 4.15109608e+00] [-1.04649351e-01 9.94245742e-01 -2.28892480e-02 -1.37199429e+00] [-1.63809815e-01 5.46858854e-03 9.86476781e-01 -5.25166826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500792138 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:4.15, Y:-1.37, Z:-52.55 [[ 9.81066521e-01 1.09788754e-01 1.59545952e-01 4.15441901e+00] [-1.07529202e-01 9.93941512e-01 -2.27539439e-02 -1.37114921e+00] [-1.61077472e-01 5.16728370e-03 9.86928238e-01 -5.25485006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:4.15, Y:-1.37, Z:-52.58 [[ 9.81144883e-01 1.07634744e-01 1.60528755e-01 4.15480428e+00] [-1.05420738e-01 9.94178293e-01 -2.22708258e-02 -1.37351880e+00] [-1.61991318e-01 4.92784693e-03 9.86779879e-01 -5.25807069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560792138 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:4.16, Y:-1.37, Z:-52.61 [[ 9.80643958e-01 1.17634110e-01 1.56523618e-01 4.16042855e+00] [-1.15354256e-01 9.93043960e-01 -2.36027522e-02 -1.36966983e+00] [-1.58211322e-01 5.09023079e-03 9.87392155e-01 -5.26136272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590792138 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.16, Y:-1.37, Z:-52.64 [[ 9.80291316e-01 1.13466426e-01 1.61722930e-01 4.16036617e+00] [-1.11112750e-01 9.93528635e-01 -2.35543580e-02 -1.37374267e+00] [-1.63348991e-01 5.12065314e-03 9.86555060e-01 -5.26442716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:4.17, Y:-1.37, Z:-52.68 [[ 9.79678068e-01 1.24951991e-01 1.56900869e-01 4.16634658e+00] [-1.22527671e-01 9.92148449e-01 -2.50683877e-02 -1.36756509e+00] [-1.58801299e-01 5.33425158e-03 9.87296153e-01 -5.26766109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:4.17, Y:-1.37, Z:-52.71 [[ 9.79287208e-01 1.28121837e-01 1.56784438e-01 4.16981021e+00] [-1.25623769e-01 9.91742896e-01 -2.57817119e-02 -1.36684751e+00] [-1.58793053e-01 5.55184856e-03 9.87296279e-01 -5.27099534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:4.17, Y:-1.37, Z:-52.74 [[ 9.78595907e-01 1.31220412e-01 1.58528402e-01 4.17376236e+00] [-1.28703789e-01 9.91339984e-01 -2.60839084e-02 -1.36592841e+00] [-1.60578285e-01 5.12239992e-03 9.87009815e-01 -5.27428558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:4.18, Y:-1.37, Z:-52.78 [[ 9.79236248e-01 1.25560180e-01 1.59157195e-01 4.17637569e+00] [-1.22879708e-01 9.92064694e-01 -2.66124141e-02 -1.37036765e+00] [-1.61235693e-01 6.50265082e-03 9.86894506e-01 -5.27757830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740792137999996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:4.18, Y:-1.36, Z:-52.81 [[ 9.76781582e-01 1.42135133e-01 1.60297674e-01 4.17846097e+00] [-1.39308437e-01 9.89830297e-01 -2.87948373e-02 -1.36331137e+00] [-1.62760252e-01 5.79544827e-03 9.86648627e-01 -5.28064999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770792138 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:4.18, Y:-1.38, Z:-52.84 [[ 9.82101770e-01 1.02044703e-01 1.58312957e-01 4.18033415e+00] [-1.00248788e-01 9.94775004e-01 -1.93099024e-02 -1.38272148e+00] [-1.59456246e-01 3.09360730e-03 9.87200150e-01 -5.28401308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800792138 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:4.18, Y:-1.37, Z:-52.87 [[ 9.78315792e-01 1.29351678e-01 1.61760174e-01 4.18126036e+00] [-1.26775618e-01 9.91585584e-01 -2.61910624e-02 -1.37103085e+00] [-1.63786915e-01 5.11588398e-03 9.86482475e-01 -5.28720254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830792138 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.37, Z:-52.91 [[ 9.78805288e-01 1.31517052e-01 1.56982395e-01 4.18733019e+00] [-1.29059983e-01 9.91301387e-01 -2.57891434e-02 -1.37009850e+00] [-1.59008578e-01 4.98240466e-03 9.87264629e-01 -5.29052249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860792138 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.37, Z:-52.94 [[ 9.77334335e-01 1.41165968e-01 1.57764911e-01 4.19118945e+00] [-1.38507957e-01 9.89971796e-01 -2.77738838e-02 -1.36594619e+00] [-1.60103539e-01 5.29267476e-03 9.87086037e-01 -5.29385477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890792138 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.37, Z:-52.97 [[ 9.77080381e-01 1.42377733e-01 1.58248253e-01 4.19442440e+00] [-1.39647182e-01 9.89796820e-01 -2.83005092e-02 -1.36546784e+00] [-1.60662980e-01 5.55294971e-03 9.86993704e-01 -5.29706475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920792137999996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:4.20, Y:-1.37, Z:-53.00 [[ 9.76831270e-01 1.44148791e-01 1.58182790e-01 4.19715438e+00] [-1.41382179e-01 9.89539966e-01 -2.86659281e-02 -1.36572200e+00] [-1.60660352e-01 5.63754744e-03 9.86993652e-01 -5.30034089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950792138 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:4.20, Y:-1.37, Z:-53.04 [[ 9.76434106e-01 1.46292854e-01 1.58665806e-01 4.19975299e+00] [-1.43467884e-01 9.89224748e-01 -2.91781599e-02 -1.36593048e+00] [-1.61224698e-01 5.72710306e-03 9.86901108e-01 -5.30365982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980792138 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:4.20, Y:-1.36, Z:-53.07 [[ 9.74391137e-01 1.57851433e-01 1.60140053e-01 4.20335503e+00] [-1.54802285e-01 9.87445685e-01 -3.14208827e-02 -1.36134921e+00] [-1.63089436e-01 5.82618354e-03 9.86594087e-01 -5.30686007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010792138 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:4.20, Y:-1.37, Z:-53.10 [[ 9.78460961e-01 1.31850165e-01 1.58838543e-01 4.20467487e+00] [-1.29608204e-01 9.91264080e-01 -2.44384351e-02 -1.37361735e+00] [-1.60673153e-01 3.32527655e-03 9.87002067e-01 -5.31026200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040792138 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:4.21, Y:-1.36, Z:-53.13 [[ 9.75573493e-01 1.52606684e-01 1.58011262e-01 4.20896714e+00] [-1.49697834e-01 9.88269811e-01 -3.02215138e-02 -1.36461287e+00] [-1.60769765e-01 5.82936406e-03 9.86974722e-01 -5.31345008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070792138 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:4.21, Y:-1.36, Z:-53.17 [[ 9.75146231e-01 1.56014994e-01 1.57318625e-01 4.21220515e+00] [-1.53149121e-01 9.87739880e-01 -3.02535277e-02 -1.36381345e+00] [-1.60109883e-01 5.40840448e-03 9.87084381e-01 -5.31674468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100792137999996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:4.22, Y:-1.37, Z:-53.20 [[ 9.75399209e-01 1.51627071e-01 1.60017546e-01 4.21765136e+00] [-1.48529420e-01 9.88415199e-01 -3.12154657e-02 -1.36843776e+00] [-1.62896884e-01 6.68022716e-03 9.86620484e-01 -5.31996341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:4.22, Y:-1.37, Z:-53.23 [[ 9.74590566e-01 1.52936795e-01 1.63656853e-01 4.22332956e+00] [-1.49637122e-01 9.88210711e-01 -3.23778178e-02 -1.37059063e+00] [-1.66679214e-01 7.06597536e-03 9.85985858e-01 -5.32324811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160792138 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:4.23, Y:-1.37, Z:-53.26 [[ 9.74129558e-01 1.53935949e-01 1.65454913e-01 4.22797986e+00] [-1.50499625e-01 9.88052921e-01 -3.31856646e-02 -1.37183567e+00] [-1.68586677e-01 7.42623454e-03 9.85658858e-01 -5.32649446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:-1.37, Z:-53.30 [[ 9.71340709e-01 1.66624058e-01 1.69510029e-01 4.23145557e+00] [-1.62804893e-01 9.85990833e-01 -3.62856005e-02 -1.36734047e+00] [-1.73181389e-01 7.64861873e-03 9.84860247e-01 -5.32952597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220792138 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:4.24, Y:-1.39, Z:-53.33 [[ 9.78092503e-01 1.20309375e-01 1.69884401e-01 4.23504597e+00] [-1.17654832e-01 9.92723373e-01 -2.56446135e-02 -1.39056249e+00] [-1.71733503e-01 5.09508366e-03 9.85130268e-01 -5.33288070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:4.24, Y:-1.38, Z:-53.36 [[ 9.74174242e-01 1.51094010e-01 1.67794954e-01 4.24062084e+00] [-1.47325530e-01 9.88477142e-01 -3.47581304e-02 -1.37813470e+00] [-1.71113222e-01 9.13999475e-03 9.85208976e-01 -5.33619558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.37, Z:-53.39 [[ 9.71188795e-01 1.68694861e-01 1.68328158e-01 4.24628745e+00] [-1.64560889e-01 9.85622422e-01 -3.83164996e-02 -1.37114256e+00] [-1.72371803e-01 9.51232378e-03 9.84986029e-01 -5.33922037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.40, Z:-53.42 [[ 9.79229619e-01 1.12288908e-01 1.68821071e-01 4.24500220e+00] [-1.09636615e-01 9.93657768e-01 -2.49810324e-02 -1.39770543e+00] [-1.70555462e-01 5.95319601e-03 9.85330094e-01 -5.34248775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.38, Z:-53.46 [[ 9.74520916e-01 1.51039350e-01 1.65819478e-01 4.25028326e+00] [-1.47199465e-01 9.88477451e-01 -3.52795401e-02 -1.38047499e+00] [-1.69237414e-01 9.97211136e-03 9.85524863e-01 -5.34583651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.38, Z:-53.49 [[ 9.73166531e-01 1.59540657e-01 1.65812185e-01 4.25394915e+00] [-1.55741082e-01 9.87150587e-01 -3.57551814e-02 -1.37595134e+00] [-1.69386001e-01 8.97197676e-03 9.85508948e-01 -5.34903745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:4.26, Y:-1.37, Z:-53.52 [[ 9.69233990e-01 1.80267141e-01 1.67598419e-01 4.25847490e+00] [-1.75885139e-01 9.83566596e-01 -4.07574412e-02 -1.36874531e+00] [-1.72191434e-01 1.00254260e-02 9.85012488e-01 -5.35203843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430792138 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:4.26, Y:-1.40, Z:-53.55 [[ 9.79631584e-01 1.07934569e-01 1.69328345e-01 4.25679781e+00] [-1.05368872e-01 9.94141315e-01 -2.40924774e-02 -1.40069428e+00] [-1.70936715e-01 5.75981503e-03 9.85265175e-01 -5.35545001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460792138 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:4.26, Y:-1.38, Z:-53.59 [[ 9.73289529e-01 1.57830604e-01 1.66724301e-01 4.26260380e+00] [-1.53781418e-01 9.87411653e-01 -3.70068042e-02 -1.37815918e+00] [-1.70466324e-01 1.03792357e-02 9.85308837e-01 -5.35873658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490792137999996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:4.27, Y:-1.38, Z:-53.62 [[ 9.73056275e-01 1.58946411e-01 1.67025520e-01 4.26503669e+00] [-1.54819065e-01 9.87229630e-01 -3.75328524e-02 -1.37910417e+00] [-1.70858254e-01 1.06628428e-02 9.85237921e-01 -5.36200418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520792138 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:4.27, Y:-1.38, Z:-53.65 [[ 9.72654871e-01 1.61504283e-01 1.66909762e-01 4.26843133e+00] [-1.57327095e-01 9.86813539e-01 -3.80423980e-02 -1.37894982e+00] [-1.70852823e-01 1.07426957e-02 9.85237995e-01 -5.36533877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:4.27, Y:-1.38, Z:-53.69 [[ 9.71895377e-01 1.65761540e-01 1.67160068e-01 4.27154067e+00] [-1.61592544e-01 9.86112613e-01 -3.83374957e-02 -1.37711269e+00] [-1.71193533e-01 1.02482142e-02 9.85184119e-01 -5.36858813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:4.27, Y:-1.38, Z:-53.72 [[ 9.71531943e-01 1.67622852e-01 1.67416439e-01 4.27406030e+00] [-1.63388697e-01 9.85796409e-01 -3.88532199e-02 -1.37714116e+00] [-1.71551212e-01 1.03931904e-02 9.85120380e-01 -5.37191984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:4.28, Y:-1.37, Z:-53.75 [[ 9.70255419e-01 1.74775533e-01 1.67505029e-01 4.27809836e+00] [-1.70563296e-01 9.84561638e-01 -3.93261232e-02 -1.37399751e+00] [-1.71792270e-01 9.58617427e-03 9.85086555e-01 -5.37522414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:4.28, Y:-1.37, Z:-53.79 [[ 9.69814996e-01 1.77331949e-01 1.67368613e-01 4.28152399e+00] [-1.73058562e-01 9.84102980e-01 -3.99006184e-02 -1.37380421e+00] [-1.71783605e-01 9.73164666e-03 9.85086640e-01 -5.37855842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670792137999996 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:4.28, Y:-1.38, Z:-53.82 [[ 9.69986793e-01 1.75205614e-01 1.68607872e-01 4.28331051e+00] [-1.70826314e-01 9.84478592e-01 -4.02526125e-02 -1.37568261e+00] [-1.73043324e-01 1.02418412e-02 9.84860961e-01 -5.38181696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:4.29, Y:-1.38, Z:-53.85 [[ 9.69539549e-01 1.77797890e-01 1.68466537e-01 4.28673681e+00] [-1.73355956e-01 9.84012181e-01 -4.08379817e-02 -1.37548125e+00] [-1.73034032e-01 1.03893607e-02 9.84861049e-01 -5.38515127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:4.29, Y:-1.37, Z:-53.88 [[ 9.68686569e-01 1.82085667e-01 1.68793187e-01 4.29038216e+00] [-1.77676719e-01 9.83234609e-01 -4.09961950e-02 -1.37415931e+00] [-1.73428123e-01 9.72184377e-03 9.84798544e-01 -5.38831624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760792138 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:4.29, Y:-1.37, Z:-53.92 [[ 9.68280946e-01 1.83882428e-01 1.69172285e-01 4.29291461e+00] [-1.79404959e-01 9.82898899e-01 -4.15164464e-02 -1.37473334e+00] [-1.73913398e-01 9.84923715e-03 9.84711695e-01 -5.39161810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:4.30, Y:-1.38, Z:-53.95 [[ 9.68201157e-01 1.84019794e-01 1.69479305e-01 4.29655358e+00] [-1.79444820e-01 9.82868445e-01 -4.20615739e-02 -1.37551926e+00] [-1.74316023e-01 1.03118811e-02 9.84635765e-01 -5.39490997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:4.30, Y:-1.37, Z:-53.98 [[ 9.67878514e-01 1.86547492e-01 1.68556270e-01 4.29898871e+00] [-1.81978282e-01 9.82392287e-01 -4.23001040e-02 -1.37492429e+00] [-1.73479358e-01 1.02677813e-02 9.84783979e-01 -5.39819900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850792137999996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:4.30, Y:-1.37, Z:-54.01 [[ 9.67261067e-01 1.90139999e-01 1.68085721e-01 4.30217358e+00] [-1.85569437e-01 9.81705508e-01 -4.26412962e-02 -1.37431016e+00] [-1.73118494e-01 1.00536931e-02 9.84849689e-01 -5.40147878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:4.30, Y:-1.38, Z:-54.05 [[ 9.67346006e-01 1.89814759e-01 1.67964466e-01 4.30492441e+00] [-1.85162222e-01 9.81762917e-01 -4.30874197e-02 -1.37583851e+00] [-1.73079912e-01 1.05797698e-02 9.84850960e-01 -5.40471742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.38, Z:-54.08 [[ 9.66858331e-01 1.92416177e-01 1.67812344e-01 4.30835565e+00] [-1.87700956e-01 9.81254769e-01 -4.36741325e-02 -1.37568257e+00] [-1.73070273e-01 1.07281614e-02 9.84851048e-01 -5.40805173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.37, Z:-54.11 [[ 9.66257736e-01 1.95209409e-01 1.68045451e-01 4.31155406e+00] [-1.90508627e-01 9.80707265e-01 -4.38146425e-02 -1.37478568e+00] [-1.73356425e-01 1.03221291e-02 9.84805059e-01 -5.41127953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.38, Z:-54.15 [[ 9.67930796e-01 1.85448377e-01 1.69466437e-01 4.31355469e+00] [-1.80978115e-01 9.82607216e-01 -4.15930279e-02 -1.38124622e+00] [-1.74232304e-01 9.58945608e-03 9.84657883e-01 -5.41457634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:4.32, Y:-1.37, Z:-54.18 [[ 9.63949313e-01 2.06906962e-01 1.67305804e-01 4.31785938e+00] [-2.01825886e-01 9.78292424e-01 -4.70132480e-02 -1.37200253e+00] [-1.73401368e-01 1.15517460e-02 9.84783490e-01 -5.41774018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:4.32, Y:-1.37, Z:-54.21 [[ 9.62164342e-01 2.12580393e-01 1.70438716e-01 4.31815547e+00] [-2.07308197e-01 9.77079365e-01 -4.83655417e-02 -1.37227114e+00] [-1.76813718e-01 1.12022567e-02 9.84180582e-01 -5.42079759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:4.32, Y:-1.39, Z:-54.24 [[ 9.70618445e-01 1.70666777e-01 1.69625130e-01 4.31948129e+00] [-1.67019971e-01 9.85308854e-01 -3.56481536e-02 -1.39163159e+00] [-1.73217098e-01 6.26997130e-03 9.84863709e-01 -5.42421870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:4.32, Y:-1.38, Z:-54.27 [[ 9.66185181e-01 1.94567249e-01 1.69203373e-01 4.32491550e+00] [-1.90036318e-01 9.80846671e-01 -4.27317992e-02 -1.38142182e+00] [-1.74276774e-01 9.13204524e-03 9.84654362e-01 -5.42749794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.33, Y:-1.37, Z:-54.31 [[ 9.61706033e-01 2.17744769e-01 1.66459366e-01 4.33026675e+00] [-2.12448935e-01 9.75932495e-01 -4.92058422e-02 -1.37216973e+00] [-1.73167420e-01 1.19574403e-02 9.84819813e-01 -5.43067626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:4.33, Y:-1.38, Z:-54.34 [[ 9.65565386e-01 1.96133515e-01 1.70924337e-01 4.33018115e+00] [-1.91287726e-01 9.80523012e-01 -4.45379396e-02 -1.38339394e+00] [-1.76330629e-01 1.03085652e-02 9.84277015e-01 -5.43397961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:4.33, Y:-1.38, Z:-54.37 [[ 9.62808037e-01 2.09477976e-01 1.70644840e-01 4.33377733e+00] [-2.04373911e-01 9.77756776e-01 -4.71486058e-02 -1.37772328e+00] [-1.76725743e-01 1.05197034e-02 9.84203916e-01 -5.43720932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.34, Y:-1.37, Z:-54.40 [[ 9.60170120e-01 2.24293279e-01 1.66630928e-01 4.33845595e+00] [-2.18811057e-01 9.74443826e-01 -5.08030646e-02 -1.37328451e+00] [-1.73767265e-01 1.23188952e-02 9.84709695e-01 -5.44037848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240792137999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.34, Y:-1.38, Z:-54.44 [[ 9.62102640e-01 2.15279334e-01 1.67371798e-01 4.34059567e+00] [-2.10098517e-01 9.76487265e-01 -4.82828656e-02 -1.37864364e+00] [-1.73830733e-01 1.12885058e-02 9.84710844e-01 -5.44371015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:4.34, Y:-1.38, Z:-54.47 [[ 9.61614204e-01 2.17550221e-01 1.67242411e-01 4.34400460e+00] [-2.12400963e-01 9.75987949e-01 -4.83047980e-02 -1.37848337e+00] [-1.73735298e-01 1.09281306e-02 9.84731751e-01 -5.44700742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300792138 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:4.35, Y:-1.38, Z:-54.50 [[ 9.61943558e-01 2.14109647e-01 1.69769403e-01 4.34708639e+00] [-2.09256323e-01 9.76768960e-01 -4.61972831e-02 -1.38172745e+00] [-1.75716767e-01 8.91385782e-03 9.84400407e-01 -5.45021654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:4.35, Y:-1.38, Z:-54.54 [[ 9.59062859e-01 2.27067824e-01 1.69229537e-01 4.35103749e+00] [-2.21805106e-01 9.73826913e-01 -4.96350600e-02 -1.37684302e+00] [-1.76070802e-01 1.00671671e-02 9.84326026e-01 -5.45350049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:4.35, Y:-1.38, Z:-54.57 [[ 9.57951938e-01 2.31398262e-01 1.69655323e-01 4.35430978e+00] [-2.26106434e-01 9.72810968e-01 -5.01467942e-02 -1.37586837e+00] [-1.76646440e-01 9.67805856e-03 9.84226788e-01 -5.45672329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:4.36, Y:-1.37, Z:-54.60 [[ 9.54345991e-01 2.47941318e-01 1.66579806e-01 4.35969779e+00] [-2.42318244e-01 9.68714967e-01 -5.36020588e-02 -1.36861966e+00] [-1.74658516e-01 1.07895839e-02 9.84569951e-01 -5.45989700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420792137999996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:4.36, Y:-1.37, Z:-54.63 [[ 9.56688652e-01 2.38134182e-01 1.67448302e-01 4.36159047e+00] [-2.32851462e-01 9.71184752e-01 -5.07973833e-02 -1.37445253e+00] [-1.74719831e-01 9.60669846e-03 9.84571324e-01 -5.46322936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:4.36, Y:-1.38, Z:-54.66 [[ 9.59122323e-01 2.25699213e-01 1.70716826e-01 4.36349023e+00] [-2.20605238e-01 9.74156817e-01 -4.84956217e-02 -1.38158332e+00] [-1.77250384e-01 8.85220737e-03 9.84125978e-01 -5.46637023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.38, Z:-54.70 [[ 9.56624681e-01 2.36457195e-01 1.70168194e-01 4.36738169e+00] [-2.31049500e-01 9.71593862e-01 -5.12005487e-02 -1.37777578e+00] [-1.77441111e-01 9.66243244e-03 9.84083985e-01 -5.46970110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510792138 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.38, Z:-54.73 [[ 9.55115728e-01 2.43165976e-01 1.69187039e-01 4.37125951e+00] [-2.37716643e-01 9.69938062e-01 -5.20668215e-02 -1.37598224e+00] [-1.76761828e-01 9.51126532e-03 9.84207698e-01 -5.47293393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.38, Z:-54.76 [[ 9.54357647e-01 2.45939549e-01 1.69455657e-01 4.37435397e+00] [-2.40509199e-01 9.69242925e-01 -5.21869529e-02 -1.37576060e+00] [-1.77078532e-01 9.04937331e-03 9.84155121e-01 -5.47609775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570792138 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:4.38, Y:-1.37, Z:-54.79 [[ 9.49784159e-01 2.62866500e-01 1.69738785e-01 4.37776500e+00] [-2.56975304e-01 9.64782930e-01 -5.61924548e-02 -1.36946985e+00] [-1.78532196e-01 9.75202764e-03 9.83885742e-01 -5.47918375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600792137999996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:4.38, Y:-1.39, Z:-54.83 [[ 9.59555521e-01 2.23169610e-01 1.71605732e-01 4.37752773e+00] [-2.18456295e-01 9.74756124e-01 -4.61231687e-02 -1.38920519e+00] [-1.77567028e-01 6.76938884e-03 9.84085426e-01 -5.48250546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.38, Y:-1.37, Z:-54.86 [[ 9.51202310e-01 2.59979538e-01 1.66207114e-01 4.38438566e+00] [-2.54371309e-01 9.65566177e-01 -5.45636770e-02 -1.37267436e+00] [-1.74669407e-01 9.62277444e-03 9.84580114e-01 -5.48572029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:4.39, Y:-1.38, Z:-54.89 [[ 9.54105763e-01 2.47261698e-01 1.68949243e-01 4.38575299e+00] [-2.41974879e-01 9.68913347e-01 -5.15275036e-02 -1.37949082e+00] [-1.76437955e-01 8.28121546e-03 9.84276927e-01 -5.48893160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:4.39, Y:-1.38, Z:-54.92 [[ 9.52104600e-01 2.54860452e-01 1.68946678e-01 4.38915520e+00] [-2.49410856e-01 9.66941247e-01 -5.30928493e-02 -1.37691163e+00] [-1.76892779e-01 8.41281062e-03 9.84194173e-01 -5.49221041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:4.39, Y:-1.37, Z:-54.95 [[ 9.48627052e-01 2.69578911e-01 1.65631905e-01 4.39388745e+00] [-2.63723499e-01 9.62924214e-01 -5.68055741e-02 -1.37097046e+00] [-1.74804557e-01 1.02062788e-02 9.84550252e-01 -5.49534984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.38, Z:-54.99 [[ 9.50611780e-01 2.61979176e-01 1.66445650e-01 4.39593431e+00] [-2.56394324e-01 9.65029506e-01 -5.45894140e-02 -1.37573700e+00] [-1.74926253e-01 9.21762024e-03 9.84538390e-01 -5.49853613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.38, Z:-55.02 [[ 9.50655486e-01 2.62105181e-01 1.65997052e-01 4.39876780e+00] [-2.56469367e-01 9.64991272e-01 -5.49118260e-02 -1.37640975e+00] [-1.74578381e-01 9.62906972e-03 9.84596196e-01 -5.50173991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.39, Y:-1.39, Z:-55.05 [[ 9.55310485e-01 2.39826361e-01 1.72815492e-01 4.39420523e+00] [-2.34558107e-01 9.70784462e-01 -5.05966592e-02 -1.38644531e+00] [-1.79901007e-01 7.80024447e-03 9.83653793e-01 -5.50502122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840792138 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.37, Z:-55.08 [[ 9.46333160e-01 2.78767614e-01 1.63530328e-01 4.40313098e+00] [-2.72853628e-01 9.60303312e-01 -5.80383245e-02 -1.37084582e+00] [-1.73217921e-01 1.03037476e-02 9.84829622e-01 -5.50819693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870792138 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.37, Z:-55.11 [[ 9.47350359e-01 2.73292628e-01 1.66848543e-01 4.40197830e+00] [-2.67738011e-01 9.61899459e-01 -5.53695552e-02 -1.37431550e+00] [-1.75623615e-01 7.78267098e-03 9.84426623e-01 -5.51124223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900792138 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:4.41, Y:-1.38, Z:-55.14 [[ 9.51983156e-01 2.57584989e-01 1.65463121e-01 4.40531120e+00] [-2.52509426e-01 9.66229327e-01 -5.13797308e-02 -1.38337892e+00] [-1.73109968e-01 7.13164043e-03 9.84876682e-01 -5.51448497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:4.41, Y:-1.38, Z:-55.18 [[ 9.47767098e-01 2.74861063e-01 1.61829925e-01 4.41110487e+00] [-2.69338060e-01 9.61441071e-01 -5.55704588e-02 -1.37708294e+00] [-1.70864092e-01 9.08089452e-03 9.85252759e-01 -5.51769214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:4.41, Y:-1.38, Z:-55.21 [[ 9.47834321e-01 2.73458852e-01 1.63799744e-01 4.41385038e+00] [-2.68043250e-01 9.61850628e-01 -5.47374278e-02 -1.37872601e+00] [-1.72519321e-01 7.97659685e-03 9.84973836e-01 -5.52082841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990792137999996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:4.42, Y:-1.38, Z:-55.24 [[ 9.45760440e-01 2.82226208e-01 1.60889892e-01 4.41784340e+00] [-2.76825261e-01 9.59314740e-01 -5.55248094e-02 -1.37534166e+00] [-1.70014602e-01 7.97478162e-03 9.85409274e-01 -5.52411834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:4.42, Y:-1.38, Z:-55.27 [[ 9.45675672e-01 2.82827463e-01 1.60331373e-01 4.42141291e+00] [-2.77434064e-01 9.59136952e-01 -5.55576023e-02 -1.37610718e+00] [-1.69492960e-01 8.05808860e-03 9.85498454e-01 -5.52744800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:4.42, Y:-1.38, Z:-55.31 [[ 9.45951392e-01 2.81857974e-01 1.60412116e-01 4.42381854e+00] [-2.76357300e-01 9.59416388e-01 -5.60966807e-02 -1.37867301e+00] [-1.69713310e-01 8.73367385e-03 9.85454776e-01 -5.53058871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.38, Z:-55.34 [[ 9.46249321e-01 2.81067275e-01 1.60041897e-01 4.42606524e+00] [-2.75505304e-01 9.59643167e-01 -5.64076251e-02 -1.38024930e+00] [-1.69437450e-01 9.28328567e-03 9.85497220e-01 -5.53385479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.38, Z:-55.37 [[ 9.46087975e-01 2.81948073e-01 1.59445377e-01 4.42927623e+00] [-2.76356875e-01 9.59381995e-01 -5.66839146e-02 -1.38081984e+00] [-1.68950945e-01 9.56414377e-03 9.85578056e-01 -5.53716063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140792138 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.39, Z:-55.40 [[ 9.48876661e-01 2.69533957e-01 1.64269679e-01 4.42642303e+00] [-2.63991094e-01 9.62949525e-01 -5.51082070e-02 -1.38843359e+00] [-1.73036943e-01 8.92515908e-03 9.84874895e-01 -5.54038703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170792137999996 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.38, Z:-55.44 [[ 9.44719807e-01 2.87577924e-01 1.57491030e-01 4.43473704e+00] [-2.81903467e-01 9.57703384e-01 -5.77465426e-02 -1.38246109e+00] [-1.67436323e-01 1.01570354e-02 9.85830570e-01 -5.54365804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:4.44, Y:-1.38, Z:-55.47 [[ 9.44218510e-01 2.89337852e-01 1.57273689e-01 4.43774560e+00] [-2.83789317e-01 9.57181486e-01 -5.71596501e-02 -1.38281100e+00] [-1.67077914e-01 9.33860669e-03 9.85899468e-01 -5.54684105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.44, Y:-1.38, Z:-55.50 [[ 9.42249423e-01 2.95820321e-01 1.57023445e-01 4.44159587e+00] [-2.90343902e-01 9.55206889e-01 -5.72731944e-02 -1.38038312e+00] [-1.66932451e-01 8.37483476e-03 9.85932766e-01 -5.55011429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.44, Y:-1.38, Z:-55.53 [[ 9.41463521e-01 2.98408616e-01 1.56839847e-01 4.44489204e+00] [-2.92884780e-01 9.54400761e-01 -5.77727770e-02 -1.38055835e+00] [-1.66927964e-01 8.45495792e-03 9.85932842e-01 -5.55345019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290792138 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:4.45, Y:-1.38, Z:-55.57 [[ 9.40737167e-01 3.00526909e-01 1.57153297e-01 4.44809855e+00] [-2.94967379e-01 9.53736882e-01 -5.81395395e-02 -1.38153956e+00] [-1.67355391e-01 8.33892962e-03 9.85861367e-01 -5.55669183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:4.45, Y:-1.38, Z:-55.60 [[ 9.38817909e-01 3.06714879e-01 1.56674558e-01 4.45123073e+00] [-3.01192264e-01 9.51770426e-01 -5.84489263e-02 -1.38057752e+00] [-1.67045366e-01 7.68373409e-03 9.85919270e-01 -5.55998777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350792137999996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:4.45, Y:-1.38, Z:-55.63 [[ 9.38979628e-01 3.06337792e-01 1.56443011e-01 4.45377638e+00] [-3.00743654e-01 9.51887457e-01 -5.88517050e-02 -1.38223824e+00] [-1.66944642e-01 8.21130924e-03 9.85932077e-01 -5.56331166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.46, Y:-1.38, Z:-55.67 [[ 9.38213914e-01 3.09130449e-01 1.55541046e-01 4.45673819e+00] [-3.03558094e-01 9.50984868e-01 -5.89937608e-02 -1.38252896e+00] [-1.66153949e-01 8.13302371e-03 9.86066285e-01 -5.56664948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410792138 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.46, Y:-1.38, Z:-55.70 [[ 9.36542785e-01 3.15042204e-01 1.53740108e-01 4.46046849e+00] [-3.09598442e-01 9.49048344e-01 -5.87881377e-02 -1.37854750e+00] [-1.64427540e-01 7.45990817e-03 9.86360955e-01 -5.56989714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:4.46, Y:-1.38, Z:-55.73 [[ 9.35647924e-01 3.17979053e-01 1.53141386e-01 4.46414921e+00] [-3.12536907e-01 9.48069023e-01 -5.90407502e-02 -1.37822886e+00] [-1.63962326e-01 7.37902025e-03 9.86439003e-01 -5.57315939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:4.47, Y:-1.38, Z:-55.76 [[ 9.34291957e-01 3.21040969e-01 1.55020114e-01 4.47001523e+00] [-3.15422599e-01 9.47036407e-01 -6.02546938e-02 -1.37965258e+00] [-1.66153917e-01 7.39862844e-03 9.86072074e-01 -5.57641740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:4.47, Y:-1.38, Z:-55.80 [[ 9.34382238e-01 3.20198405e-01 1.56214003e-01 4.47382561e+00] [-3.14397208e-01 9.47316043e-01 -6.12103813e-02 -1.38356860e+00] [-1.67583498e-01 8.08064655e-03 9.85824769e-01 -5.57972486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.48, Y:-1.38, Z:-55.83 [[ 9.33433287e-01 3.23444073e-01 1.55197392e-01 4.47718376e+00] [-3.17678465e-01 9.46214067e-01 -6.13133933e-02 -1.38362113e+00] [-1.66681409e-01 7.92909311e-03 9.85978923e-01 -5.58293379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:4.48, Y:-1.38, Z:-55.86 [[ 9.32659491e-01 3.25849876e-01 1.54816447e-01 4.48006256e+00] [-3.20073444e-01 9.45388598e-01 -6.15905005e-02 -1.38417632e+00] [-1.66430960e-01 7.89033166e-03 9.86021540e-01 -5.58618427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:4.48, Y:-1.39, Z:-55.89 [[ 9.31736146e-01 3.28803023e-01 1.54130874e-01 4.48398125e+00] [-3.23035648e-01 9.44366321e-01 -6.18079381e-02 -1.38518754e+00] [-1.65878644e-01 7.79892317e-03 9.86115334e-01 -5.58949126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.38, Z:-55.93 [[ 9.30448301e-01 3.32852078e-01 1.53217016e-01 4.48716143e+00] [-3.27126730e-01 9.42949247e-01 -6.19259287e-02 -1.38499802e+00] [-1.65088044e-01 7.49749384e-03 9.86250336e-01 -5.59274964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.38, Z:-55.96 [[ 9.28625590e-01 3.38338724e-01 1.52254464e-01 4.49112364e+00] [-3.32678938e-01 9.40998820e-01 -6.20156874e-02 -1.38375463e+00] [-1.64253579e-01 6.93750097e-03 9.86393751e-01 -5.59603012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:4.50, Y:-1.38, Z:-55.99 [[ 9.27308929e-01 3.40954099e-01 1.54429441e-01 4.49522545e+00] [-3.35189811e-01 9.40057918e-01 -6.27606733e-02 -1.38412918e+00] [-1.66571128e-01 6.43535752e-03 9.86008441e-01 -5.59917561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:4.50, Y:-1.39, Z:-56.02 [[ 9.29790142e-01 3.34387312e-01 1.53868180e-01 4.49799977e+00] [-3.28711082e-01 9.42411093e-01 -6.17280891e-02 -1.38682935e+00] [-1.65648169e-01 6.81599294e-03 9.86161359e-01 -5.60242952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740792137999996 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.50, Y:-1.38, Z:-56.06 [[ 9.26858295e-01 3.42808189e-01 1.53023678e-01 4.50243771e+00] [-3.36919689e-01 9.39375549e-01 -6.37079310e-02 -1.38439046e+00] [-1.65586302e-01 7.49153429e-03 9.86166849e-01 -5.60570985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:4.51, Y:-1.38, Z:-56.09 [[ 9.23812353e-01 3.49964027e-01 1.55228592e-01 4.50606369e+00] [-3.43952266e-01 9.36739990e-01 -6.49232651e-02 -1.38359214e+00] [-1.68129637e-01 6.58568828e-03 9.85742894e-01 -5.60885230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:4.51, Y:-1.39, Z:-56.12 [[ 9.29241814e-01 3.35352535e-01 1.55075237e-01 4.50690660e+00] [-3.29712713e-01 9.42073233e-01 -6.15430812e-02 -1.39228246e+00] [-1.66730858e-01 6.05812730e-03 9.85983834e-01 -5.61205927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:4.51, Y:-1.39, Z:-56.15 [[ 9.24076818e-01 3.50005908e-01 1.53550965e-01 4.51230140e+00] [-3.43958633e-01 9.36717937e-01 -6.52071008e-02 -1.38697778e+00] [-1.66656814e-01 7.44119016e-03 9.85986884e-01 -5.61539746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:4.52, Y:-1.39, Z:-56.19 [[ 9.22536152e-01 3.53678220e-01 1.54398074e-01 4.51583644e+00] [-3.47603443e-01 9.35341870e-01 -6.56310321e-02 -1.38731148e+00] [-1.67627250e-01 6.87769760e-03 9.85826456e-01 -5.61863886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:4.52, Y:-1.39, Z:-56.22 [[ 9.20869131e-01 3.58062637e-01 1.54243935e-01 4.52026338e+00] [-3.51973083e-01 9.33674498e-01 -6.60823752e-02 -1.38719517e+00] [-1.67675258e-01 6.56350602e-03 9.85820434e-01 -5.62180553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920792137999996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:4.52, Y:-1.39, Z:-56.25 [[ 9.19556738e-01 3.61329143e-01 1.54456003e-01 4.52374456e+00] [-3.55191121e-01 9.32416337e-01 -6.66261408e-02 -1.38726024e+00] [-1.68091266e-01 6.40511606e-03 9.85750628e-01 -5.62510901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950792138 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:4.53, Y:-1.39, Z:-56.28 [[ 9.19067990e-01 3.62612839e-01 1.54356598e-01 4.52636837e+00] [-3.56417551e-01 9.31916309e-01 -6.70710295e-02 -1.38901635e+00] [-1.68168248e-01 6.62743547e-03 9.85736028e-01 -5.62834696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:4.53, Y:-1.39, Z:-56.32 [[ 9.18909717e-01 3.63180637e-01 1.53963494e-01 4.52864973e+00] [-3.56941581e-01 9.31692679e-01 -6.73903484e-02 -1.39104809e+00] [-1.67921530e-01 6.96967279e-03 9.85775727e-01 -5.63165478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:4.53, Y:-1.39, Z:-56.35 [[ 9.17946978e-01 3.65719836e-01 1.53695635e-01 4.53176420e+00] [-3.59452973e-01 9.30698926e-01 -6.77721817e-02 -1.39126664e+00] [-1.67829993e-01 6.96491652e-03 9.85791349e-01 -5.63495053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:4.53, Y:-1.39, Z:-56.38 [[ 9.16243103e-01 3.69883342e-01 1.53898958e-01 4.53475358e+00] [-3.63572570e-01 9.29054173e-01 -6.83617592e-02 -1.39066180e+00] [-1.68266345e-01 6.68255076e-03 9.85718916e-01 -5.63822652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:4.54, Y:-1.39, Z:-56.42 [[ 9.15246029e-01 3.72435231e-01 1.53677274e-01 4.53803636e+00] [-3.66077029e-01 9.28033538e-01 -6.88575347e-02 -1.39106458e+00] [-1.68262637e-01 6.76386507e-03 9.85718994e-01 -5.64156242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100792137999996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:4.54, Y:-1.39, Z:-56.45 [[ 9.12983443e-01 3.77400466e-01 1.55016520e-01 4.54132034e+00] [-3.70897937e-01 9.26027601e-01 -7.00542884e-02 -1.39049997e+00] [-1.69988097e-01 6.46309803e-03 9.85424921e-01 -5.64470786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.54, Y:-1.40, Z:-56.48 [[ 9.20294568e-01 3.58682803e-01 1.56219574e-01 4.54125215e+00] [-3.52648633e-01 9.33443838e-01 -6.57384392e-02 -1.40022975e+00] [-1.69401446e-01 5.40810935e-03 9.85532294e-01 -5.64792249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.39, Z:-56.51 [[ 9.12763805e-01 3.78334831e-01 1.54029193e-01 4.54799565e+00] [-3.71862331e-01 9.25645203e-01 -6.99954665e-02 -1.39321282e+00] [-1.69058107e-01 6.61167371e-03 9.85583909e-01 -5.65109979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190792138 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.39, Z:-56.54 [[ 9.11497434e-01 3.81413869e-01 1.53934689e-01 4.55121625e+00] [-3.74915398e-01 9.24381805e-01 -7.04040027e-02 -1.39270308e+00] [-1.69147489e-01 6.46058249e-03 9.85569575e-01 -5.65441563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220792138 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.39, Z:-56.58 [[ 9.08313022e-01 3.88721475e-01 1.54476759e-01 4.55463917e+00] [-3.82159230e-01 9.21337173e-01 -7.13592127e-02 -1.39043710e+00] [-1.70064039e-01 5.78178271e-03 9.85416051e-01 -5.65757230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250792138 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.40, Z:-56.61 [[ 9.12756044e-01 3.77287085e-01 1.56623307e-01 4.55485296e+00] [-3.71068203e-01 9.26086500e-01 -6.83533695e-02 -1.39699164e+00] [-1.70835574e-01 4.27202197e-03 9.85290290e-01 -5.66071186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:4.56, Y:-1.40, Z:-56.64 [[ 9.15095689e-01 3.71979037e-01 1.55664626e-01 4.55747088e+00] [-3.65886232e-01 9.28230018e-01 -6.72034145e-02 -1.40065446e+00] [-1.69490840e-01 4.54201147e-03 9.85521296e-01 -5.66396635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:4.56, Y:-1.39, Z:-56.67 [[ 9.08406754e-01 3.88862759e-01 1.53567328e-01 4.56359009e+00] [-3.82253550e-01 9.21273394e-01 -7.16767544e-02 -1.39485749e+00] [-1.69349914e-01 6.40999155e-03 9.85535143e-01 -5.66724234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340792138 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:4.57, Y:-1.40, Z:-56.70 [[ 9.07302677e-01 3.91451390e-01 1.53517628e-01 4.56676085e+00] [-3.84791354e-01 9.20176365e-01 -7.21877482e-02 -1.39526526e+00] [-1.69521287e-01 6.42388127e-03 9.85505590e-01 -5.67043716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:4.57, Y:-1.40, Z:-56.74 [[ 9.06441918e-01 3.93412511e-01 1.53589210e-01 4.56924943e+00] [-3.86694564e-01 9.19339145e-01 -7.26832274e-02 -1.39602700e+00] [-1.69795064e-01 6.49101168e-03 9.85458017e-01 -5.67371471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:4.57, Y:-1.40, Z:-56.77 [[ 9.05492035e-01 3.95619893e-01 1.53522230e-01 4.57253529e+00] [-3.88850849e-01 9.18390964e-01 -7.31645705e-02 -1.39672123e+00] [-1.69938789e-01 6.55268615e-03 9.85432834e-01 -5.67703614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:4.58, Y:-1.40, Z:-56.80 [[ 9.03233516e-01 4.01039585e-01 1.52762780e-01 4.57607936e+00] [-3.94322459e-01 9.16041046e-01 -7.33389379e-02 -1.39606716e+00] [-1.69348794e-01 6.00439163e-03 9.85537890e-01 -5.68025273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:4.58, Y:-1.40, Z:-56.84 [[ 9.03328434e-01 4.00702867e-01 1.53084788e-01 4.57857909e+00] [-3.93871593e-01 9.16184887e-01 -7.39622906e-02 -1.39839670e+00] [-1.69890871e-01 6.51649085e-03 9.85441336e-01 -5.68357565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490792137999996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:4.58, Y:-1.40, Z:-56.87 [[ 9.00729732e-01 4.06613245e-01 1.52812365e-01 4.58243629e+00] [-3.99801393e-01 9.13581510e-01 -7.43483065e-02 -1.39734991e+00] [-1.69837557e-01 5.87313376e-03 9.85454570e-01 -5.68683823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:4.58, Y:-1.40, Z:-56.90 [[ 9.00082987e-01 4.07980747e-01 1.52978192e-01 4.58479640e+00] [-4.01081494e-01 9.12970050e-01 -7.49621468e-02 -1.39876687e+00] [-1.70247620e-01 6.11543117e-03 9.85382337e-01 -5.68998889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:4.59, Y:-1.40, Z:-56.93 [[ 8.99064943e-01 4.10654286e-01 1.51806739e-01 4.58746544e+00] [-4.03820830e-01 9.11771475e-01 -7.48432732e-02 -1.39900730e+00] [-1.69147765e-01 5.98623983e-03 9.85572523e-01 -5.69324047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.59, Y:-1.40, Z:-56.97 [[ 8.97643594e-01 4.14095548e-01 1.50867013e-01 4.59045582e+00] [-4.07309194e-01 9.10215133e-01 -7.48841309e-02 -1.39843484e+00] [-1.68330623e-01 5.76973911e-03 9.85713707e-01 -5.69655909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.59, Y:-1.40, Z:-57.00 [[ 8.97098762e-01 4.14773437e-01 1.52239308e-01 4.59385368e+00] [-4.07781392e-01 9.09903741e-01 -7.60888900e-02 -1.39939989e+00] [-1.70082766e-01 6.17889206e-03 9.85410409e-01 -5.69981295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:4.60, Y:-1.40, Z:-57.03 [[ 8.96487766e-01 4.16102936e-01 1.52210484e-01 4.59662931e+00] [-4.09023693e-01 9.09294234e-01 -7.67047259e-02 -1.40037637e+00] [-1.70321177e-01 6.50715416e-03 9.85367116e-01 -5.70304756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670792137999996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:4.60, Y:-1.40, Z:-57.06 [[ 8.94831643e-01 4.19870638e-01 1.51607976e-01 4.59981100e+00] [-4.12863667e-01 9.07564338e-01 -7.66196111e-02 -1.39980441e+00] [-1.69764317e-01 5.96822766e-03 9.85466619e-01 -5.70635280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700792138 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:4.60, Y:-1.40, Z:-57.10 [[ 8.93718086e-01 4.22334074e-01 1.51333780e-01 4.60309746e+00] [-4.15270979e-01 9.06419635e-01 -7.71586666e-02 -1.40031899e+00] [-1.69758643e-01 6.11356895e-03 9.85466705e-01 -5.70968841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.40, Z:-57.13 [[ 8.93646553e-01 4.22607468e-01 1.50992606e-01 4.60543947e+00] [-4.15568454e-01 9.06292218e-01 -7.70537251e-02 -1.40245206e+00] [-1.69406903e-01 6.11103195e-03 9.85527248e-01 -5.71300378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.40, Z:-57.16 [[ 8.92785593e-01 4.24207021e-01 1.51599100e-01 4.60819213e+00] [-4.17042574e-01 9.05543209e-01 -7.78908662e-02 -1.40397166e+00] [-1.70321388e-01 6.31656405e-03 9.85368320e-01 -5.71631611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.41, Z:-57.20 [[ 8.91630997e-01 4.26579471e-01 1.51737012e-01 4.61110945e+00] [-4.19342193e-01 9.04427682e-01 -7.85028307e-02 -1.40533639e+00] [-1.70722850e-01 6.36582580e-03 9.85298526e-01 -5.71951081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.41, Z:-57.23 [[ 8.90163798e-01 4.29646735e-01 1.51697386e-01 4.61418392e+00] [-4.22376235e-01 9.02975735e-01 -7.89502260e-02 -1.40575109e+00] [-1.70899765e-01 6.20526231e-03 9.85268880e-01 -5.72283482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850792137999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.41, Z:-57.26 [[ 8.88252847e-01 4.33673685e-01 1.51439804e-01 4.61798731e+00] [-4.26392004e-01 9.01050564e-01 -7.93583082e-02 -1.40541428e+00] [-1.70870531e-01 5.91752177e-03 9.85275720e-01 -5.72604274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.41, Z:-57.29 [[ 8.87325018e-01 4.35453804e-01 1.51770539e-01 4.62082082e+00] [-4.28083913e-01 9.00190965e-01 -8.00024424e-02 -1.40640674e+00] [-1.71459835e-01 6.01764261e-03 9.85172732e-01 -5.72931944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.41, Z:-57.33 [[ 8.86023270e-01 4.37989914e-01 1.52077614e-01 4.62421737e+00] [-4.30534755e-01 8.98959726e-01 -8.06922301e-02 -1.40694521e+00] [-1.72054033e-01 6.02049543e-03 9.85069116e-01 -5.73260629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:4.63, Y:-1.40, Z:-57.35 [[ 8.71467100e-01 4.66626966e-01 1.51011153e-01 4.63005022e+00] [-4.58520328e-01 8.84430800e-01 -8.68404794e-02 -1.39633295e+00] [-1.74081025e-01 6.43693709e-03 9.84710294e-01 -5.73546799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970792138 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.42, Z:-57.39 [[ 8.97764242e-01 4.11727981e-01 1.56522957e-01 4.62076346e+00] [-4.05423663e-01 9.11306260e-01 -7.17812854e-02 -1.42411532e+00] [-1.72194714e-01 9.84560836e-04 9.85062440e-01 -5.73856212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.44, Z:-57.42 [[ 9.15279077e-01 3.69760412e-01 1.59816921e-01 4.61687077e+00] [-3.64474606e-01 9.29126339e-01 -6.23097729e-02 -1.44411779e+00] [-1.71529798e-01 -1.21837802e-03 9.85178179e-01 -5.74210011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:4.63, Y:-1.41, Z:-57.45 [[ 8.85303759e-01 4.39848595e-01 1.50898865e-01 4.63386994e+00] [-4.32206814e-01 8.98041923e-01 -8.19632456e-02 -1.41386699e+00] [-1.71564926e-01 7.34285157e-03 9.85145451e-01 -5.74537693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060792138 meters Centerline goodness : 0.984771 Centerline is valid? [True, True] Translation: X:4.63, Y:-1.40, Z:-57.48 [[ 8.66454366e-01 4.74997251e-01 1.53734976e-01 4.63453201e+00] [-4.66464033e-01 8.79965924e-01 -8.98402970e-02 -1.39981643e+00] [-1.77955434e-01 6.13068071e-03 9.84019450e-01 -5.74831681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.63, Y:-1.44, Z:-57.52 [[ 9.05544924e-01 3.93971823e-01 1.57399469e-01 4.62927148e+00] [-3.88050722e-01 9.19122357e-01 -6.80494641e-02 -1.43821046e+00] [-1.71478943e-01 5.42869115e-04 9.85187636e-01 -5.75164191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120792138 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:4.64, Y:-1.41, Z:-57.55 [[ 8.79331487e-01 4.51919379e-01 1.50149959e-01 4.64456200e+00] [-4.44312213e-01 8.92037996e-01 -8.27941496e-02 -1.41279193e+00] [-1.71355749e-01 6.09004210e-03 9.85190397e-01 -5.75496922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.41, Z:-57.58 [[ 8.76677348e-01 4.57092640e-01 1.50010487e-01 4.64860106e+00] [-4.49485491e-01 8.89401850e-01 -8.32294593e-02 -1.41218312e+00] [-1.71463178e-01 5.53784405e-03 9.85174965e-01 -5.75823228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.41, Z:-57.61 [[ 8.75881348e-01 4.58293557e-01 1.50992975e-01 4.65010154e+00] [-4.50403305e-01 8.88778082e-01 -8.49139815e-02 -1.41379520e+00] [-1.73114778e-01 6.36683748e-03 9.84881078e-01 -5.76131267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.43, Z:-57.65 [[ 8.86048366e-01 4.37466371e-01 1.53432292e-01 4.64805980e+00] [-4.30349186e-01 8.99227235e-01 -7.86762801e-02 -1.42531913e+00] [-1.72388722e-01 3.68152742e-03 9.85022119e-01 -5.76459071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240792137999996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.42, Z:-57.68 [[ 8.83313475e-01 4.43122793e-01 1.52968935e-01 4.65159790e+00] [-4.35669765e-01 8.96447106e-01 -8.10829380e-02 -1.42451850e+00] [-1.73058257e-01 4.97771198e-03 9.84899011e-01 -5.76775714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.43, Z:-57.71 [[ 8.83928270e-01 4.41905654e-01 1.52938574e-01 4.65288681e+00] [-4.34189302e-01 8.97037985e-01 -8.24772919e-02 -1.42632581e+00] [-1.73638892e-01 6.49971743e-03 9.84787941e-01 -5.77091576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.43, Z:-57.74 [[ 8.89868863e-01 4.30258361e-01 1.51694266e-01 4.65339160e+00] [-4.22859431e-01 9.02680076e-01 -7.97407165e-02 -1.43365346e+00] [-1.71240502e-01 6.81342969e-03 9.85205698e-01 -5.77411796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.66, Y:-1.42, Z:-57.77 [[ 8.76746637e-01 4.57017765e-01 1.49833566e-01 4.66221119e+00] [-4.48906204e-01 8.89419371e-01 -8.61185427e-02 -1.42335016e+00] [-1.72622580e-01 8.24292533e-03 9.84953552e-01 -5.77718228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:4.66, Y:-1.43, Z:-57.80 [[ 8.79805774e-01 4.51109563e-01 1.49806417e-01 4.66313391e+00] [-4.43338839e-01 8.92439471e-01 -8.36807267e-02 -1.42840850e+00] [-1.71442335e-01 7.20778371e-03 9.85167790e-01 -5.78030092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.46, Z:-57.84 [[ 9.10795365e-01 3.82519847e-01 1.55339529e-01 4.65352209e+00] [-3.76636529e-01 9.23944152e-01 -6.68739717e-02 -1.46034940e+00] [-1.69105671e-01 2.40196230e-03 9.85594999e-01 -5.78368922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420792137999996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:4.67, Y:-1.43, Z:-57.87 [[ 8.81334363e-01 4.48553197e-01 1.48491650e-01 4.66878419e+00] [-4.40692978e-01 8.93714410e-01 -8.40491106e-02 -1.43159901e+00] [-1.70409625e-01 8.63614194e-03 9.85335464e-01 -5.78677866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:4.67, Y:-1.44, Z:-57.90 [[ 8.87752325e-01 4.34971056e-01 1.50651883e-01 4.66800818e+00] [-4.27519101e-01 9.00416927e-01 -8.04784217e-02 -1.43955497e+00] [-1.70655289e-01 7.03834851e-03 9.85305655e-01 -5.79002132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480792138 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:4.67, Y:-1.45, Z:-57.93 [[ 8.92087000e-01 4.26443093e-01 1.49422465e-01 4.66998676e+00] [-4.19058551e-01 9.04476707e-01 -7.94469488e-02 -1.44548359e+00] [-1.69028741e-01 8.25682875e-03 9.85576537e-01 -5.79318884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.68, Y:-1.44, Z:-57.96 [[ 8.83765629e-01 4.44249174e-01 1.46972736e-01 4.67620782e+00] [-4.36381517e-01 8.95848016e-01 -8.38302066e-02 -1.43999816e+00] [-1.68906734e-01 9.95006963e-03 9.85581814e-01 -5.79646013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.68, Y:-1.44, Z:-58.00 [[ 8.82995220e-01 4.46029276e-01 1.46209868e-01 4.67952759e+00] [-4.38178355e-01 8.94962115e-01 -8.39198578e-02 -1.43983142e+00] [-1.68283006e-01 1.00348341e-02 9.85687644e-01 -5.79971978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.68, Y:-1.44, Z:-58.03 [[ 8.81233689e-01 4.49619184e-01 1.45841607e-01 4.68272183e+00] [-4.41767750e-01 8.93166607e-01 -8.42298499e-02 -1.44038194e+00] [-1.68132210e-01 9.79806286e-03 9.85715759e-01 -5.80305502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600792137999996 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:4.69, Y:-1.44, Z:-58.06 [[ 8.80199412e-01 4.51669567e-01 1.45751832e-01 4.68550217e+00] [-4.43761023e-01 8.92130338e-01 -8.47326042e-02 -1.44169933e+00] [-1.68300770e-01 9.90260646e-03 9.85685949e-01 -5.80628947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630792138 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:4.69, Y:-1.44, Z:-58.10 [[ 8.78635932e-01 4.54759023e-01 1.45578603e-01 4.68857392e+00] [-4.46829166e-01 8.90561322e-01 -8.51130287e-02 -1.44235715e+00] [-1.68352591e-01 9.73459958e-03 9.85678773e-01 -5.80954282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:4.69, Y:-1.44, Z:-58.13 [[ 8.75589626e-01 4.60121334e-01 1.47075373e-01 4.69036453e+00] [-4.51927681e-01 8.87803065e-01 -8.69890168e-02 -1.44144194e+00] [-1.70599469e-01 9.69924858e-03 9.85292721e-01 -5.81250417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.69, Y:-1.45, Z:-58.16 [[ 8.85060062e-01 4.41617384e-01 1.47114833e-01 4.69046507e+00] [-4.34096559e-01 8.97164687e-01 -8.15824879e-02 -1.45166688e+00] [-1.68014477e-01 8.34335917e-03 9.85749219e-01 -5.81575514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.70, Y:-1.45, Z:-58.19 [[ 8.76657118e-01 4.58857138e-01 1.44645859e-01 4.69715326e+00] [-4.50869906e-01 8.88453483e-01 -8.58296915e-02 -1.44557424e+00] [-1.67894684e-01 1.00267451e-02 9.85753945e-01 -5.81909596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.70, Y:-1.45, Z:-58.22 [[ 8.74750624e-01 4.62552769e-01 1.44417043e-01 4.70035085e+00] [-4.54594938e-01 8.86540373e-01 -8.59628339e-02 -1.44556706e+00] [-1.67793886e-01 9.54478587e-03 9.85775892e-01 -5.82240194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.70, Y:-1.45, Z:-58.26 [[ 8.73591417e-01 4.64819646e-01 1.44155241e-01 4.70372977e+00] [-4.56831971e-01 8.85353721e-01 -8.63327245e-02 -1.44662966e+00] [-1.67757525e-01 9.56480438e-03 9.85781886e-01 -5.82569427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810792138 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:4.71, Y:-1.45, Z:-58.29 [[ 8.71589588e-01 4.68720909e-01 1.43639478e-01 4.70710297e+00] [-4.60752004e-01 8.83297747e-01 -8.65602808e-02 -1.44677234e+00] [-1.67449040e-01 9.26286245e-03 9.85837217e-01 -5.82902689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:4.71, Y:-1.45, Z:-58.32 [[ 8.70571547e-01 4.70986320e-01 1.42397571e-01 4.71026868e+00] [-4.63093337e-01 8.82092130e-01 -8.63599177e-02 -1.44721574e+00] [-1.66282116e-01 9.23912101e-03 9.86034937e-01 -5.83222032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:4.71, Y:-1.45, Z:-58.36 [[ 8.69608840e-01 4.72899014e-01 1.41940083e-01 4.71317881e+00] [-4.65001001e-01 8.81067807e-01 -8.65655181e-02 -1.44793893e+00] [-1.65995586e-01 9.27585905e-03 9.86082869e-01 -5.83554595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900792138 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.45, Z:-58.39 [[ 8.68412904e-01 4.75180391e-01 1.41642595e-01 4.71638253e+00] [-4.67233625e-01 8.79838020e-01 -8.70505422e-02 -1.44876128e+00] [-1.65987251e-01 9.41563103e-03 9.86082947e-01 -5.83888147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.45, Z:-58.42 [[ 8.66520439e-01 4.78575716e-01 1.41801315e-01 4.71800998e+00] [-4.70454382e-01 8.77991166e-01 -8.83413052e-02 -1.44860711e+00] [-1.66778305e-01 9.83849669e-03 9.85945334e-01 -5.84201679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.46, Z:-58.45 [[ 8.75138194e-01 4.61752597e-01 1.44629460e-01 4.71614477e+00] [-4.54127417e-01 8.86974732e-01 -8.39292209e-02 -1.45834805e+00] [-1.67037212e-01 7.76946379e-03 9.85919979e-01 -5.84534194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990792137999996 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.47, Z:-58.49 [[ 8.81838070e-01 4.49144010e-01 1.43635917e-01 4.71540464e+00] [-4.41652648e-01 8.93413642e-01 -8.21888250e-02 -1.46664170e+00] [-1.65240906e-01 9.04005166e-03 9.86211803e-01 -5.84865193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.46, Z:-58.52 [[ 8.70454282e-01 4.71900321e-01 1.40069376e-01 4.72353067e+00] [-4.63853038e-01 8.81580902e-01 -8.74955521e-02 -1.45850827e+00] [-1.64771666e-01 1.11892725e-02 9.86268269e-01 -5.85198760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05079213799999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:4.73, Y:-1.46, Z:-58.55 [[ 8.69310804e-01 4.74203371e-01 1.39391140e-01 4.72622754e+00] [-4.66175319e-01 8.80344432e-01 -8.76028101e-02 -1.45919166e+00] [-1.64253762e-01 1.11733601e-02 9.86354834e-01 -5.85526566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08079213799999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:4.73, Y:-1.46, Z:-58.59 [[ 8.66279096e-01 4.79853688e-01 1.38927918e-01 4.73045444e+00] [-4.71863455e-01 8.77285250e-01 -8.78377470e-02 -1.45792488e+00] [-1.64028680e-01 1.05369966e-02 9.86399292e-01 -5.85856274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110792138 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:4.73, Y:-1.46, Z:-58.62 [[ 8.63838385e-01 4.84390207e-01 1.38381258e-01 4.73367608e+00] [-4.76430121e-01 8.74793509e-01 -8.80378136e-02 -1.45735666e+00] [-1.63699681e-01 1.01214433e-02 9.86458297e-01 -5.86178900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:4.74, Y:-1.46, Z:-58.65 [[ 8.62169709e-01 4.87326361e-01 1.38478917e-01 4.73683513e+00] [-4.79314006e-01 8.73162785e-01 -8.85710718e-02 -1.45846685e+00] [-1.64077655e-01 9.98841105e-03 9.86396855e-01 -5.86506952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:4.74, Y:-1.46, Z:-58.68 [[ 8.60251309e-01 4.90651759e-01 1.38667000e-01 4.73993900e+00] [-4.82571703e-01 8.71300238e-01 -8.92213418e-02 -1.45892306e+00] [-1.64597199e-01 9.83600559e-03 9.86311825e-01 -5.86831852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200792138 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:4.74, Y:-1.46, Z:-58.72 [[ 8.57883329e-01 4.94878321e-01 1.38317176e-01 4.74317487e+00] [-4.86800358e-01 8.68910405e-01 -8.95551179e-02 -1.45823977e+00] [-1.64504120e-01 9.49499176e-03 9.86330695e-01 -5.87151009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:4.75, Y:-1.45, Z:-58.75 [[ 8.53750528e-01 5.02256144e-01 1.37290934e-01 4.74799668e+00] [-4.94312210e-01 8.64677710e-01 -8.93750339e-02 -1.45474787e+00] [-1.63601571e-01 8.43939723e-03 9.86490397e-01 -5.87481199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26079213799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:4.75, Y:-1.45, Z:-58.78 [[ 8.50526296e-01 5.07554609e-01 1.37816321e-01 4.75360953e+00] [-4.99530192e-01 8.61583273e-01 -9.02432818e-02 -1.45340386e+00] [-1.64543630e-01 7.91087108e-03 9.86338082e-01 -5.87808811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29079213799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:4.76, Y:-1.45, Z:-58.81 [[ 8.37271544e-01 5.29601322e-01 1.36010296e-01 4.76119961e+00] [-5.21034297e-01 8.48199801e-01 -9.52909192e-02 -1.44658745e+00] [-1.65830103e-01 8.91834633e-03 9.86114010e-01 -5.88108871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32079213799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:4.75, Y:-1.48, Z:-58.84 [[ 8.72461619e-01 4.66949897e-01 1.44112866e-01 4.74779556e+00] [-4.60244180e-01 8.84280235e-01 -7.88908215e-02 -1.47665815e+00] [-1.64274220e-01 2.50210626e-03 9.86411537e-01 -5.88442994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:4.76, Y:-1.46, Z:-58.88 [[ 8.48244979e-01 5.11829892e-01 1.36053732e-01 4.76247388e+00] [-5.03863270e-01 8.59049050e-01 -9.03135373e-02 -1.45799883e+00] [-1.63101998e-01 8.05552614e-03 9.86576326e-01 -5.88770338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38079213799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.46, Z:-58.91 [[ 8.44379644e-01 5.18350234e-01 1.35410680e-01 4.76685737e+00] [-5.10451003e-01 8.55137740e-01 -9.04390340e-02 -1.45684233e+00] [-1.62673877e-01 7.24436210e-03 9.86653297e-01 -5.89086276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41079213799999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.46, Z:-58.94 [[ 8.43156117e-01 5.20724237e-01 1.33918006e-01 4.77051037e+00] [-5.12952932e-01 8.53695300e-01 -8.99089818e-02 -1.45825361e+00] [-1.61142958e-01 7.11367442e-03 9.86905438e-01 -5.89417664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44079213799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.46, Z:-58.97 [[ 8.40945156e-01 5.24449689e-01 1.33280784e-01 4.77387784e+00] [-5.16709402e-01 8.51413929e-01 -9.00317444e-02 -1.45939949e+00] [-1.60694237e-01 6.84432506e-03 9.86980505e-01 -5.89739566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.46, Z:-59.00 [[ 8.34265351e-01 5.34578436e-01 1.35008223e-01 4.77483198e+00] [-5.26314224e-01 8.45087369e-01 -9.39184568e-02 -1.45667452e+00] [-1.64300526e-01 7.29616629e-03 9.86383345e-01 -5.90046931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.47, Z:-59.04 [[ 8.53615090e-01 5.01674508e-01 1.40228263e-01 4.76870154e+00] [-4.94124362e-01 8.65042919e-01 -8.68438943e-02 -1.47376260e+00] [-1.64870834e-01 4.84105765e-03 9.86303286e-01 -5.90380137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.78, Y:-1.48, Z:-59.07 [[ 8.52593412e-01 5.03874393e-01 1.38546272e-01 4.77600488e+00] [-4.96674778e-01 8.63769367e-01 -8.49508430e-02 -1.47611943e+00] [-1.62476580e-01 3.61609037e-03 9.86705774e-01 -5.90719291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.46, Z:-59.10 [[ 8.34264066e-01 5.34865514e-01 1.33874382e-01 4.78695748e+00] [-5.26908494e-01 8.44913540e-01 -9.21333266e-02 -1.46412115e+00] [-1.62391217e-01 6.32397454e-03 9.86706187e-01 -5.91042609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590792138 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.47, Z:-59.14 [[ 8.32563786e-01 5.37632190e-01 1.33376049e-01 4.79045240e+00] [-5.29688986e-01 8.43156800e-01 -9.22831987e-02 -1.46554855e+00] [-1.62071341e-01 6.18382499e-03 9.86759667e-01 -5.91372345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.47, Z:-59.17 [[ 8.30635654e-01 5.40537441e-01 1.33655100e-01 4.79409005e+00] [-5.32508528e-01 8.41297902e-01 -9.30188604e-02 -1.46736943e+00] [-1.62723932e-01 6.09230150e-03 9.86652829e-01 -5.91698394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65079213799999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:4.80, Y:-1.46, Z:-59.20 [[ 8.21546400e-01 5.54010968e-01 1.34660170e-01 4.79775291e+00] [-5.45553752e-01 8.32488404e-01 -9.66134619e-02 -1.46308541e+00] [-1.65627947e-01 5.90808092e-03 9.86170613e-01 -5.92004100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68079213799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.48, Z:-59.23 [[ 8.38359067e-01 5.26725541e-01 1.40407545e-01 4.79106322e+00] [-5.18977564e-01 8.50031358e-01 -9.00498670e-02 -1.47757039e+00] [-1.66782381e-01 2.62575682e-03 9.85990235e-01 -5.92330673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71079213799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:4.80, Y:-1.47, Z:-59.26 [[ 8.30970651e-01 5.38574208e-01 1.39375747e-01 4.79758976e+00] [-5.30559346e-01 8.42572685e-01 -9.26177712e-02 -1.47464253e+00] [-1.67315740e-01 3.01554468e-03 9.85898752e-01 -5.92645615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74079213799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:4.80, Y:-1.48, Z:-59.30 [[ 8.35757400e-01 5.31260215e-01 1.38824177e-01 4.80069530e+00] [-5.23573183e-01 8.47204697e-01 -9.00850847e-02 -1.48000078e+00] [-1.65471117e-01 2.60465983e-03 9.86211197e-01 -5.92971214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:4.81, Y:-1.47, Z:-59.33 [[ 8.18641466e-01 5.58225752e-01 1.34945025e-01 4.81167896e+00] [-5.49865308e-01 8.29675869e-01 -9.63643849e-02 -1.46940745e+00] [-1.65753713e-01 4.68629333e-03 9.86156045e-01 -5.93301769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:4.82, Y:-1.47, Z:-59.36 [[ 8.11007923e-01 5.69489284e-01 1.33970532e-01 4.81568909e+00] [-5.60832477e-01 8.21982309e-01 -9.90556208e-02 -1.46603281e+00] [-1.66532522e-01 5.19986790e-03 9.86022252e-01 -5.93598832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83079213799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:4.81, Y:-1.49, Z:-59.39 [[ 8.34134406e-01 5.33839687e-01 1.38690234e-01 4.80843330e+00] [-5.26120669e-01 8.45581977e-01 -9.04884662e-02 -1.48500496e+00] [-1.65580296e-01 2.51174451e-03 9.86193113e-01 -5.93934500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:4.82, Y:-1.47, Z:-59.43 [[ 8.11049603e-01 5.69046599e-01 1.35589492e-01 4.81772226e+00] [-5.60319483e-01 8.22292222e-01 -9.93860111e-02 -1.47086601e+00] [-1.68049456e-01 4.63355092e-03 9.85767676e-01 -5.94260993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:4.82, Y:-1.48, Z:-59.46 [[ 8.23813127e-01 5.50096988e-01 1.36840180e-01 4.81719480e+00] [-5.42002072e-01 8.35094099e-01 -9.40829451e-02 -1.48222377e+00] [-1.66029171e-01 3.33910428e-03 9.86115188e-01 -5.94591128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:4.82, Y:-1.48, Z:-59.49 [[ 8.12630039e-01 5.67252848e-01 1.33628690e-01 4.82399631e+00] [-5.58783533e-01 8.23529792e-01 -9.77734340e-02 -1.47696712e+00] [-1.65509466e-01 4.78411811e-03 9.86196597e-01 -5.94916266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:4.83, Y:-1.48, Z:-59.52 [[ 8.12588767e-01 5.67368489e-01 1.33388508e-01 4.82615560e+00] [-5.58831257e-01 8.23447286e-01 -9.81946711e-02 -1.47929675e+00] [-1.65550967e-01 5.25021936e-03 9.86187260e-01 -5.95236755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:4.83, Y:-1.48, Z:-59.56 [[ 8.10373643e-01 5.70573295e-01 1.33194120e-01 4.82965983e+00] [-5.62013440e-01 8.21231227e-01 -9.85909002e-02 -1.47950648e+00] [-1.65636505e-01 5.03858145e-03 9.86174001e-01 -5.95558282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01079213799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:4.83, Y:-1.47, Z:-59.59 [[ 8.00470183e-01 5.84159456e-01 1.34183514e-01 4.83412740e+00] [-5.75211862e-01 8.11626873e-01 -1.01946713e-01 -1.47387720e+00] [-1.68460082e-01 4.42135517e-03 9.85698561e-01 -5.95865591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04079213799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:4.83, Y:-1.49, Z:-59.62 [[ 8.20764714e-01 5.54308695e-01 1.38156270e-01 4.82988710e+00] [-5.46317831e-01 8.32309801e-01 -9.37935121e-02 -1.49063853e+00] [-1.66979377e-01 1.50517139e-03 9.85959240e-01 -5.96200465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:4.84, Y:-1.48, Z:-59.65 [[ 8.01383248e-01 5.82850868e-01 1.34423789e-01 4.84149652e+00] [-5.74063118e-01 8.12570767e-01 -1.00897404e-01 -1.48038154e+00] [-1.68036981e-01 3.68974985e-03 9.85773787e-01 -5.96533809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10079213799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:4.84, Y:-1.48, Z:-59.69 [[ 7.99178477e-01 5.85997197e-01 1.33869515e-01 4.84436537e+00] [-5.77227023e-01 8.10305542e-01 -1.01063805e-01 -1.48122430e+00] [-1.67698316e-01 3.49491632e-03 9.85832166e-01 -5.96866086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:4.85, Y:-1.48, Z:-59.72 [[ 7.94346134e-01 5.92207820e-01 1.35292710e-01 4.84634671e+00] [-5.83038767e-01 8.05777100e-01 -1.03870410e-01 -1.47960540e+00] [-1.70528636e-01 3.62816420e-03 9.85346041e-01 -5.97177102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:4.84, Y:-1.50, Z:-59.75 [[ 8.14370201e-01 5.63680039e-01 1.38079647e-01 4.84126533e+00] [-5.55417868e-01 8.25991626e-01 -9.61708116e-02 -1.49586458e+00] [-1.68262199e-01 1.62674016e-03 9.85740933e-01 -5.97518653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19079213799999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:4.85, Y:-1.48, Z:-59.78 [[ 7.94362925e-01 5.92691587e-01 1.33057225e-01 4.85305832e+00] [-5.83873756e-01 8.05422888e-01 -1.01908822e-01 -1.48366521e+00] [-1.67567836e-01 3.26396805e-03 9.85855145e-01 -5.97847491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.49, Z:-59.82 [[ 7.93762351e-01 5.93506920e-01 1.33007015e-01 4.85564764e+00] [-5.84607959e-01 8.04820983e-01 -1.02453501e-01 -1.48566348e+00] [-1.67853699e-01 3.56677245e-03 9.85805465e-01 -5.98171032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.49, Z:-59.85 [[ 7.97847103e-01 5.87871419e-01 1.33593393e-01 4.85544031e+00] [-5.78708476e-01 8.08937121e-01 -1.03524076e-01 -1.49031667e+00] [-1.68927500e-01 5.28475512e-03 9.85614312e-01 -5.98488370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280792138 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.49, Z:-59.88 [[ 7.93213666e-01 5.94016038e-01 1.34003835e-01 4.85982301e+00] [-5.84789492e-01 8.04440975e-01 -1.04383755e-01 -1.48958198e+00] [-1.69803800e-01 4.43458680e-03 9.85467911e-01 -5.98822065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.49, Z:-59.92 [[ 7.88458427e-01 6.00270779e-01 1.34195011e-01 4.86445954e+00] [-5.91004334e-01 7.99788839e-01 -1.05127025e-01 -1.48932943e+00] [-1.70432353e-01 3.57845610e-03 9.85362881e-01 -5.99154708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:4.87, Y:-1.48, Z:-59.95 [[ 7.73172084e-01 6.20157493e-01 1.32701216e-01 4.87319859e+00] [-6.10454069e-01 7.84469413e-01 -1.09332383e-01 -1.48263980e+00] [-1.71903341e-01 3.52474899e-03 9.85107516e-01 -5.99456800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.51, Z:-59.98 [[ 8.13098382e-01 5.64588667e-01 1.41812052e-01 4.85649732e+00] [-5.56434746e-01 8.25371600e-01 -9.56143020e-02 -1.51005281e+00] [-1.71030392e-01 -1.16531886e-03 9.85265064e-01 -5.99786006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40079213799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:4.87, Y:-1.49, Z:-60.01 [[ 7.84185368e-01 6.05819693e-01 1.34297462e-01 4.87251959e+00] [-5.96373326e-01 7.95594178e-01 -1.06624391e-01 -1.49329903e+00] [-1.71441435e-01 3.52186263e-03 9.85188018e-01 -6.00111393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:4.88, Y:-1.49, Z:-60.04 [[ 7.80997556e-01 6.09990018e-01 1.33996253e-01 4.87605977e+00] [-6.00542911e-01 7.92403098e-01 -1.06983842e-01 -1.49324359e+00] [-1.71438122e-01 3.08361883e-03 9.85190064e-01 -6.00438676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.88, Y:-1.49, Z:-60.08 [[ 7.79741272e-01 6.11608969e-01 1.33932886e-01 4.87899035e+00] [-6.02089100e-01 7.91153681e-01 -1.07538684e-01 -1.49427943e+00] [-1.71733119e-01 3.21281980e-03 9.85138271e-01 -6.00767892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:4.88, Y:-1.50, Z:-60.11 [[ 7.78174880e-01 6.13681115e-01 1.33564009e-01 4.88211269e+00] [-6.04138767e-01 7.89547358e-01 -1.07848595e-01 -1.49568465e+00] [-1.71639757e-01 3.23387167e-03 9.85154473e-01 -6.01096509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52079213799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.50, Z:-60.14 [[ 7.75991993e-01 6.16416767e-01 1.33666738e-01 4.88551636e+00] [-6.06796455e-01 7.87413951e-01 -1.08523423e-01 -1.49629264e+00] [-1.72146712e-01 3.10480406e-03 9.85066429e-01 -6.01421247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55079213799999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.50, Z:-60.17 [[ 7.74031296e-01 6.18887455e-01 1.33618381e-01 4.88866023e+00] [-6.09198572e-01 7.85473691e-01 -1.09124608e-01 -1.49733725e+00] [-1.72489574e-01 3.06573489e-03 9.85006573e-01 -6.01749098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58079213799999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.50, Z:-60.21 [[ 7.74674321e-01 6.18079187e-01 1.33633135e-01 4.89050706e+00] [-6.08260079e-01 7.86106780e-01 -1.09798939e-01 -1.50017336e+00] [-1.72914353e-01 3.77471706e-03 9.84929631e-01 -6.02070267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.50, Z:-60.24 [[ 7.72517476e-01 6.20824453e-01 1.33393206e-01 4.89338037e+00] [-6.10976052e-01 7.83941198e-01 -1.10201917e-01 -1.50169612e+00] [-1.72988475e-01 3.63285198e-03 9.84917149e-01 -6.02388773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.90, Y:-1.50, Z:-60.27 [[ 7.70935133e-01 6.22867891e-01 1.33021091e-01 4.89643834e+00] [-6.12972388e-01 7.82317972e-01 -1.10650090e-01 -1.50296245e+00] [-1.72985178e-01 3.76578596e-03 9.84917228e-01 -6.02722340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.90, Y:-1.50, Z:-60.31 [[ 7.69844901e-01 6.24188321e-01 1.33145665e-01 4.89865092e+00] [-6.14278778e-01 7.81265902e-01 -1.10838506e-01 -1.50468724e+00] [-1.73206269e-01 3.53990247e-03 9.84879210e-01 -6.03050235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700792138 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.91, Y:-1.50, Z:-60.34 [[ 7.48575597e-01 6.50320180e-01 1.29299031e-01 4.90965599e+00] [-6.39837942e-01 7.59647576e-01 -1.16374258e-01 -1.49552071e+00] [-1.73902224e-01 4.38450361e-03 9.84753163e-01 -6.03352126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.53, Z:-60.37 [[ 8.03953769e-01 5.77085519e-01 1.43633705e-01 4.88696650e+00] [-5.68844753e-01 8.16676102e-01 -9.72408919e-02 -1.53035564e+00] [-1.73418525e-01 -3.52809786e-03 9.84841900e-01 -6.03693113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:4.91, Y:-1.51, Z:-60.40 [[ 7.63353060e-01 6.32297728e-01 1.32256150e-01 4.90845765e+00] [-6.22380505e-01 7.74720192e-01 -1.11584637e-01 -1.50700966e+00] [-1.73016222e-01 2.86482474e-03 9.84914808e-01 -6.04019479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:4.91, Y:-1.51, Z:-60.43 [[ 7.64753078e-01 6.30659190e-01 1.31991347e-01 4.90958360e+00] [-6.20647048e-01 7.76050967e-01 -1.11991692e-01 -1.51025454e+00] [-1.73060602e-01 3.72595118e-03 9.84904130e-01 -6.04347576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82079213799999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:4.91, Y:-1.51, Z:-60.47 [[ 7.63261192e-01 6.32501849e-01 1.31809570e-01 4.91237685e+00] [-6.22434791e-01 7.74549548e-01 -1.12463008e-01 -1.51141072e+00] [-1.73226104e-01 3.79578768e-03 9.84874768e-01 -6.04677421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85079213799999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:4.91, Y:-1.51, Z:-60.50 [[ 7.62180086e-01 6.33880755e-01 1.31440884e-01 4.91439327e+00] [-6.23776599e-01 7.73420537e-01 -1.12798172e-01 -1.51329131e+00] [-1.73159670e-01 3.98277235e-03 9.84885712e-01 -6.04992837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:4.92, Y:-1.51, Z:-60.53 [[ 7.59378022e-01 6.37445813e-01 1.30414169e-01 4.91794232e+00] [-6.27454562e-01 7.70486860e-01 -1.12475653e-01 -1.51397068e+00] [-1.72179537e-01 3.58257353e-03 9.85059070e-01 -6.05317956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91079213799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:4.92, Y:-1.51, Z:-60.56 [[ 7.59403580e-01 6.37578633e-01 1.29613616e-01 4.92012352e+00] [-6.27604575e-01 7.70374819e-01 -1.12406115e-01 -1.51486928e+00] [-1.71518803e-01 4.01550768e-03 9.85172663e-01 -6.05648327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94079213799999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:4.92, Y:-1.52, Z:-60.60 [[ 7.70507655e-01 6.24743111e-01 1.26546434e-01 4.91781540e+00] [-6.14962737e-01 7.80797137e-01 -1.10347923e-01 -1.52301789e+00] [-1.67746198e-01 7.20257815e-03 9.85803903e-01 -6.05972010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:4.92, Y:-1.52, Z:-60.63 [[ 7.63019577e-01 6.34461278e-01 1.23531418e-01 4.92280498e+00] [-6.25167530e-01 7.72935554e-01 -1.08333692e-01 -1.52080680e+00] [-1.64215357e-01 5.43289663e-03 9.86409550e-01 -6.06291819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:4.93, Y:-1.52, Z:-60.66 [[ 7.60930477e-01 6.37198392e-01 1.22323415e-01 4.92529478e+00] [-6.28013142e-01 7.70681535e-01 -1.07932689e-01 -1.52224399e+00] [-1.63046934e-01 5.30856020e-03 9.86604032e-01 -6.06607406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.93, Y:-1.52, Z:-60.69 [[ 7.58707666e-01 6.39920144e-01 1.21921639e-01 4.92851070e+00] [-6.30790367e-01 7.68425810e-01 -1.07820625e-01 -1.52323787e+00] [-1.62684324e-01 4.89733895e-03 9.86666016e-01 -6.06939503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:4.93, Y:-1.52, Z:-60.73 [[ 7.56828517e-01 6.42128607e-01 1.21989541e-01 4.93157304e+00] [-6.32918715e-01 7.66581346e-01 -1.08475527e-01 -1.52438908e+00] [-1.63170146e-01 4.88790909e-03 9.86585836e-01 -6.07272861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:4.94, Y:-1.52, Z:-60.76 [[ 7.53314127e-01 6.46228058e-01 1.22094732e-01 4.93543011e+00] [-6.36957197e-01 7.63131296e-01 -1.09161144e-01 -1.52466414e+00] [-1.63717305e-01 4.46351395e-03 9.86497198e-01 -6.07605087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:4.94, Y:-1.53, Z:-60.79 [[ 7.51586670e-01 6.48310694e-01 1.21699308e-01 4.93847279e+00] [-6.38995784e-01 7.61361936e-01 -1.09601048e-01 -1.52599827e+00] [-1.63712753e-01 4.60934223e-03 9.86497283e-01 -6.07938658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15079213799999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:4.94, Y:-1.53, Z:-60.83 [[ 7.55764178e-01 6.43264638e-01 1.22601443e-01 4.93806830e+00] [-6.33731884e-01 7.65621914e-01 -1.10485219e-01 -1.53118606e+00] [-1.64937586e-01 5.80432702e-03 9.86286927e-01 -6.08267072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18079213799999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:4.94, Y:-1.53, Z:-60.86 [[ 7.54013339e-01 6.45393207e-01 1.22194488e-01 4.94111288e+00] [-6.35815538e-01 7.63827318e-01 -1.10934349e-01 -1.53250566e+00] [-1.64931764e-01 5.95282526e-03 9.86287016e-01 -6.08600649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21079213799999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:4.94, Y:-1.53, Z:-60.89 [[ 7.52966325e-01 6.46602303e-01 1.22258638e-01 4.94265537e+00] [-6.37012964e-01 7.62805450e-01 -1.11096037e-01 -1.53456044e+00] [-1.65094508e-01 5.77123729e-03 9.86260866e-01 -6.08915652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24079213799999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:4.95, Y:-1.53, Z:-60.92 [[ 7.48336815e-01 6.51983829e-01 1.22102817e-01 4.94691675e+00] [-6.42395290e-01 7.58216286e-01 -1.11518410e-01 -1.53426039e+00] [-1.65288544e-01 5.01505726e-03 9.86232501e-01 -6.09249377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27079213799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.95, Y:-1.54, Z:-60.96 [[ 7.46289223e-01 6.54302779e-01 1.22230394e-01 4.94990934e+00] [-6.44620773e-01 7.56216275e-01 -1.12254196e-01 -1.53570340e+00] [-1.65880846e-01 4.98184548e-03 9.86133219e-01 -6.09574127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30079213799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:4.95, Y:-1.54, Z:-60.99 [[ 7.44959846e-01 6.55927960e-01 1.21627874e-01 4.95233730e+00] [-6.46238401e-01 7.54805810e-01 -1.12446064e-01 -1.53711540e+00] [-1.65561943e-01 5.16719997e-03 9.86185856e-01 -6.09896616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33079213799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.54, Z:-61.02 [[ 7.43217003e-01 6.57961586e-01 1.21305560e-01 4.95524553e+00] [-6.48308146e-01 7.53035585e-01 -1.12400870e-01 -1.53882064e+00] [-1.65302858e-01 4.89485487e-03 9.86230706e-01 -6.10224275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.54, Z:-61.06 [[ 7.41640052e-01 6.59857682e-01 1.20656012e-01 4.95801308e+00] [-6.50229868e-01 7.51374506e-01 -1.12416500e-01 -1.53972575e+00] [-1.64836743e-01 4.91843629e-03 9.86308601e-01 -6.10550909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.54, Z:-61.09 [[ 7.40742150e-01 6.60989775e-01 1.19973267e-01 4.96043162e+00] [-6.51379866e-01 7.50377404e-01 -1.12418959e-01 -1.54135374e+00] [-1.64333011e-01 5.12529147e-03 9.86391602e-01 -6.10864748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.54, Z:-61.12 [[ 7.38807095e-01 6.63219652e-01 1.19598369e-01 4.96350250e+00] [-6.53608916e-01 7.48407930e-01 -1.12609746e-01 -1.54218064e+00] [-1.64193364e-01 5.02631948e-03 9.86415366e-01 -6.11192033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.450792138 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:4.97, Y:-1.54, Z:-61.15 [[ 7.37528655e-01 6.64731995e-01 1.19091803e-01 4.96552130e+00] [-6.55113813e-01 7.47064045e-01 -1.12788319e-01 -1.54397660e+00] [-1.63943208e-01 5.16593217e-03 9.86456252e-01 -6.11506732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480792138 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:4.97, Y:-1.55, Z:-61.18 [[ 7.37457311e-01 6.64892662e-01 1.18635842e-01 4.96715305e+00] [-6.55257136e-01 7.46918396e-01 -1.12920304e-01 -1.54637874e+00] [-1.63691175e-01 5.53692159e-03 9.86496093e-01 -6.11837994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51079213799999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:4.97, Y:-1.55, Z:-61.22 [[ 7.33827246e-01 6.68900730e-01 1.18614446e-01 4.97038030e+00] [-6.59192323e-01 7.43333381e-01 -1.13670426e-01 -1.54695402e+00] [-1.64204308e-01 5.22472343e-03 9.86412514e-01 -6.12153642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54079213799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:4.97, Y:-1.55, Z:-61.25 [[ 7.30885405e-01 6.72197723e-01 1.18138674e-01 4.97402786e+00] [-6.62566760e-01 7.40356992e-01 -1.13476043e-01 -1.54730402e+00] [-1.63743131e-01 4.66322555e-03 9.86491987e-01 -6.12484093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57079213799999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:4.98, Y:-1.55, Z:-61.28 [[ 7.27298130e-01 6.76166958e-01 1.17625150e-01 4.97793661e+00] [-6.66567135e-01 7.36736311e-01 -1.13612772e-01 -1.54735671e+00] [-1.63479921e-01 4.22529740e-03 9.86537613e-01 -6.12809012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60079213799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:4.98, Y:-1.55, Z:-61.31 [[ 7.26404191e-01 6.77189310e-01 1.17267172e-01 4.97986364e+00] [-6.67553390e-01 7.35795255e-01 -1.13920206e-01 -1.54903543e+00] [-1.63430174e-01 4.47001672e-03 9.86544777e-01 -6.13127577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63079213799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:4.98, Y:-1.55, Z:-61.35 [[ 7.24102335e-01 6.79684570e-01 1.17067049e-01 4.98295334e+00] [-6.70020165e-01 7.33491789e-01 -1.14292490e-01 -1.54991655e+00] [-1.63550561e-01 4.32217533e-03 9.86525485e-01 -6.13455248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66079213799999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:4.99, Y:-1.55, Z:-61.38 [[ 7.22761249e-01 6.81139326e-01 1.16899083e-01 4.98545378e+00] [-6.71417783e-01 7.32140282e-01 -1.14755251e-01 -1.55164807e+00] [-1.63750842e-01 4.45252506e-03 9.86491681e-01 -6.13781581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69079213799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.99, Y:-1.55, Z:-61.41 [[ 7.18219769e-01 6.85895696e-01 1.17078854e-01 4.99022568e+00] [-6.76101005e-01 7.27689716e-01 -1.15564305e-01 -1.55178732e+00] [-1.64462138e-01 3.84343776e-03 9.86375909e-01 -6.14111216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.00, Y:-1.55, Z:-61.44 [[ 7.10518767e-01 6.93776755e-01 1.17630334e-01 4.99776401e+00] [-6.83886318e-01 7.20185743e-01 -1.16756153e-01 -1.54913670e+00] [-1.65718395e-01 2.51166249e-03 9.86169917e-01 -6.14436771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.55, Z:-61.48 [[ 7.05055452e-01 6.98700837e-01 1.21301076e-01 5.00707433e+00] [-6.88132951e-01 7.15411457e-01 -1.21076380e-01 -1.55211793e+00] [-1.71376348e-01 1.89429457e-03 9.85203816e-01 -6.14764195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780792138 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.56, Z:-61.51 [[ 7.06637261e-01 6.96954061e-01 1.22142616e-01 5.00841078e+00] [-6.86095179e-01 7.17110234e-01 -1.22581885e-01 -1.55754227e+00] [-1.73023663e-01 2.81946798e-03 9.84913632e-01 -6.15094163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.810792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.56, Z:-61.54 [[ 7.06341399e-01 6.97306990e-01 1.21839195e-01 5.01036747e+00] [-6.86387863e-01 7.16765356e-01 -1.22959853e-01 -1.56013771e+00] [-1.73070879e-01 3.22268957e-03 9.84904099e-01 -6.15423409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840792138 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.56, Z:-61.57 [[ 7.04646738e-01 6.99107767e-01 1.21331383e-01 5.01305022e+00] [-6.88183177e-01 7.15008790e-01 -1.23151716e-01 -1.56172897e+00] [-1.72849327e-01 3.28023830e-03 9.84942816e-01 -6.15742676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.870792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.56, Z:-61.61 [[ 7.04727083e-01 6.99168995e-01 1.20509149e-01 5.01454794e+00] [-6.88287604e-01 7.14946947e-01 -1.22926959e-01 -1.56412766e+00] [-1.72104367e-01 3.68500395e-03 9.85071829e-01 -6.16070908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90079213799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.57, Z:-61.64 [[ 7.02429243e-01 7.01658659e-01 1.19449928e-01 5.01702181e+00] [-6.90888926e-01 7.12504496e-01 -1.22514629e-01 -1.56578555e+00] [-1.71072061e-01 3.53122518e-03 9.85252191e-01 -6.16396987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.57, Z:-61.67 [[ 7.00151990e-01 7.04089935e-01 1.18509726e-01 5.01969807e+00] [-6.93409990e-01 7.10102700e-01 -1.22215957e-01 -1.56668991e+00] [-1.70205102e-01 3.39391738e-03 9.85402813e-01 -6.16729639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.57, Z:-61.71 [[ 6.96484642e-01 7.07919818e-01 1.17297379e-01 5.02345278e+00] [-6.97400563e-01 7.06286842e-01 -1.21619697e-01 -1.56743064e+00] [-1.68942589e-01 2.90299315e-03 9.85621618e-01 -6.17058759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99079213799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:5.03, Y:-1.57, Z:-61.74 [[ 6.94756726e-01 7.09712409e-01 1.16710701e-01 5.02593417e+00] [-6.99204329e-01 7.04485317e-01 -1.21711725e-01 -1.56879257e+00] [-1.68601296e-01 2.95541230e-03 9.85679902e-01 -6.17376500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02079213799999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:5.03, Y:-1.57, Z:-61.77 [[ 6.97747860e-01 7.06807238e-01 1.16496577e-01 5.02630938e+00] [-6.96193641e-01 7.07394383e-01 -1.22096689e-01 -1.57330717e+00] [-1.68707847e-01 4.08852740e-03 9.85657621e-01 -6.17708698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05079213799999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:5.03, Y:-1.58, Z:-61.80 [[ 6.96168917e-01 7.08409193e-01 1.16212111e-01 5.02845306e+00] [-6.97750228e-01 7.05789515e-01 -1.22498077e-01 -1.57541573e+00] [-1.68800053e-01 4.19232629e-03 9.85641398e-01 -6.18022564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08079213799999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:5.03, Y:-1.58, Z:-61.84 [[ 6.94387941e-01 7.10213890e-01 1.15851704e-01 5.03126593e+00] [-6.99523124e-01 7.03973090e-01 -1.22838458e-01 -1.57710932e+00] [-1.68798061e-01 4.25659841e-03 9.85641464e-01 -6.18356167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110792138 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:5.04, Y:-1.58, Z:-61.87 [[ 6.90759291e-01 7.13748911e-01 1.15819226e-01 5.03514631e+00] [-7.03054448e-01 7.00392218e-01 -1.23147003e-01 -1.57781522e+00] [-1.69014924e-01 3.63771439e-03 9.85606779e-01 -6.18688434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140792138 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:5.04, Y:-1.58, Z:-61.90 [[ 6.89540826e-01 7.14957069e-01 1.15628019e-01 5.03761576e+00] [-7.04191667e-01 6.99157775e-01 -1.23662851e-01 -1.58009954e+00] [-1.69255858e-01 3.84629736e-03 9.85564640e-01 -6.19009167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:5.04, Y:-1.58, Z:-61.93 [[ 6.83951239e-01 7.20274650e-01 1.15823705e-01 5.04217892e+00] [-7.09434680e-01 6.93682508e-01 -1.24527160e-01 -1.58054382e+00] [-1.70038635e-01 3.00115228e-03 9.85432827e-01 -6.19332326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200792138 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:5.04, Y:-1.58, Z:-61.97 [[ 6.84062836e-01 7.20150418e-01 1.15937101e-01 5.04387076e+00] [-7.09180652e-01 6.93809297e-01 -1.25265569e-01 -1.58345214e+00] [-1.70648291e-01 3.46917133e-03 9.85325898e-01 -6.19659388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.230792138 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.59, Z:-62.00 [[ 6.82445474e-01 7.21810888e-01 1.15139989e-01 5.04629618e+00] [-7.10891498e-01 6.92081287e-01 -1.25127017e-01 -1.58501728e+00] [-1.70004275e-01 3.54032697e-03 9.85436965e-01 -6.19982138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26079213799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.59, Z:-62.03 [[ 6.80984052e-01 7.23220682e-01 1.14945928e-01 5.04874300e+00] [-7.12244976e-01 6.90607393e-01 -1.25572780e-01 -1.58650470e+00] [-1.70199339e-01 3.64340068e-03 9.85402918e-01 -6.20299419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.59, Z:-62.06 [[ 6.81428905e-01 7.22872346e-01 1.14499861e-01 5.04986130e+00] [-7.11872837e-01 6.90969190e-01 -1.25692654e-01 -1.58900579e+00] [-1.69975620e-01 4.14126682e-03 9.85439566e-01 -6.20632009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.59, Z:-62.10 [[ 6.78947046e-01 7.25302590e-01 1.13873005e-01 5.05268831e+00] [-7.14329710e-01 6.88418384e-01 -1.25750524e-01 -1.59010207e+00] [-1.69599451e-01 4.03507612e-03 9.85504817e-01 -6.20954018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35079213799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.59, Z:-62.13 [[ 6.79082564e-01 7.25227921e-01 1.13540009e-01 5.05428945e+00] [-7.14205191e-01 6.88494147e-01 -1.26042669e-01 -1.59294392e+00] [-1.69581294e-01 4.50251479e-03 9.85505917e-01 -6.21280523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38079213799999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:5.06, Y:-1.59, Z:-62.16 [[ 6.76846264e-01 7.27356231e-01 1.13278628e-01 5.05640494e+00] [-7.16269526e-01 6.86245035e-01 -1.26592724e-01 -1.59423808e+00] [-1.69814903e-01 4.54578361e-03 9.85465491e-01 -6.21594834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41079213799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.06, Y:-1.60, Z:-62.19 [[ 6.76706047e-01 7.27517648e-01 1.13079604e-01 5.05824767e+00] [-7.16423128e-01 6.86072893e-01 -1.26656572e-01 -1.59702996e+00] [-1.69725743e-01 4.69642466e-03 9.85480145e-01 -6.21923306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44079213799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.06, Y:-1.60, Z:-62.23 [[ 6.73844212e-01 7.30154398e-01 1.13174786e-01 5.06128045e+00] [-7.18954924e-01 6.83267173e-01 -1.27474658e-01 -1.59879770e+00] [-1.70404798e-01 4.53049048e-03 9.85363729e-01 -6.22256088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470792138 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.06, Y:-1.60, Z:-62.26 [[ 6.72081951e-01 7.31840850e-01 1.12760016e-01 5.06343455e+00] [-7.20619151e-01 6.81460045e-01 -1.27750720e-01 -1.60084833e+00] [-1.70334641e-01 4.60192596e-03 9.85375529e-01 -6.22576308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.60, Z:-62.29 [[ 6.70461927e-01 7.33345728e-01 1.12627030e-01 5.06553165e+00] [-7.22060031e-01 6.79839925e-01 -1.28245811e-01 -1.60228706e+00] [-1.70616870e-01 4.66045684e-03 9.85326425e-01 -6.22908053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.60, Z:-62.32 [[ 6.68463423e-01 7.35231793e-01 1.12209011e-01 5.06835040e+00] [-7.23911227e-01 6.77799173e-01 -1.28611102e-01 -1.60401053e+00] [-1.70614146e-01 4.74245477e-03 9.85326505e-01 -6.23241660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560792138 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.60, Z:-62.36 [[ 6.65594534e-01 7.37775034e-01 1.12569604e-01 5.07147695e+00] [-7.26324874e-01 6.75031877e-01 -1.29553627e-01 -1.60486217e+00] [-1.71569503e-01 4.46808322e-03 9.85161886e-01 -6.23564005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.590792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.61, Z:-62.39 [[ 6.64824655e-01 7.38526937e-01 1.12187971e-01 5.07295908e+00] [-7.27086755e-01 6.74208487e-01 -1.29567617e-01 -1.60635285e+00] [-1.71327257e-01 4.56935847e-03 9.85203579e-01 -6.23885968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.61, Z:-62.42 [[ 6.65066190e-01 7.38322794e-01 1.12100022e-01 5.07508161e+00] [-7.26843893e-01 6.74430218e-01 -1.29776100e-01 -1.60953425e+00] [-1.71420295e-01 4.83047956e-03 9.85186149e-01 -6.24217385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.61, Z:-62.45 [[ 6.63089575e-01 7.40142311e-01 1.11810446e-01 5.07754284e+00] [-7.28626557e-01 6.72432929e-01 -1.30143368e-01 -1.61159832e+00] [-1.71509639e-01 4.82864987e-03 9.85170608e-01 -6.24542285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.61, Z:-62.49 [[ 6.60802873e-01 7.42146357e-01 1.12064034e-01 5.08042052e+00] [-7.30472338e-01 6.70220373e-01 -1.31205239e-01 -1.61373229e+00] [-1.72481089e-01 4.84112178e-03 9.85000933e-01 -6.24864125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71079213799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.61, Z:-62.52 [[ 6.56114636e-01 7.46381931e-01 1.11479135e-01 5.08427809e+00] [-7.34775411e-01 6.65504868e-01 -1.31180662e-01 -1.61407788e+00] [-1.72100783e-01 4.15742483e-03 9.85070574e-01 -6.25194103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74079213799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:5.09, Y:-1.62, Z:-62.55 [[ 6.53254997e-01 7.48959776e-01 1.10982718e-01 5.08730351e+00] [-7.37361448e-01 6.62603541e-01 -1.31356933e-01 -1.61533818e+00] [-1.71918600e-01 3.97519521e-03 9.85103138e-01 -6.25514330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77079213799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:5.09, Y:-1.62, Z:-62.58 [[ 6.51781334e-01 7.50132261e-01 1.11725929e-01 5.09033979e+00] [-7.38275593e-01 6.61274850e-01 -1.32908698e-01 -1.61705762e+00] [-1.73580649e-01 4.14288196e-03 9.84810944e-01 -6.25838434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80079213799999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:5.09, Y:-1.62, Z:-62.62 [[ 6.49943474e-01 7.51728248e-01 1.11705519e-01 5.09299121e+00] [-7.39768657e-01 6.59459552e-01 -1.33624222e-01 -1.61919940e+00] [-1.74114374e-01 4.21194966e-03 9.84716428e-01 -6.26168443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83079213799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:5.10, Y:-1.62, Z:-62.65 [[ 6.46900640e-01 7.54430155e-01 1.11151712e-01 5.09611040e+00] [-7.42491661e-01 6.56368214e-01 -1.33741920e-01 -1.62019112e+00] [-1.73855388e-01 3.98851455e-03 9.84763117e-01 -6.26485425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:5.10, Y:-1.62, Z:-62.68 [[ 6.42935944e-01 7.57869639e-01 1.10756410e-01 5.09983187e+00] [-7.45948305e-01 6.52396650e-01 -1.33939306e-01 -1.62137097e+00] [-1.73765645e-01 3.49583809e-03 9.84780828e-01 -6.26817228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.10, Y:-1.62, Z:-62.71 [[ 6.39727577e-01 7.60625651e-01 1.10441146e-01 5.10284969e+00] [-7.48674755e-01 6.49182564e-01 -1.34343256e-01 -1.62292545e+00] [-1.73881393e-01 3.25858805e-03 9.84761211e-01 -6.27138848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.11, Y:-1.62, Z:-62.75 [[ 6.37818550e-01 7.62291993e-01 1.09992793e-01 5.10559995e+00] [-7.50302475e-01 6.47224387e-01 -1.34710019e-01 -1.62476689e+00] [-1.73878386e-01 3.39268427e-03 9.84761289e-01 -6.27472415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.950792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:5.11, Y:-1.63, Z:-62.78 [[ 6.36663664e-01 7.63253281e-01 1.10017306e-01 5.10806349e+00] [-7.51249358e-01 6.46091385e-01 -1.34871510e-01 -1.62664681e+00] [-1.74022356e-01 3.21735935e-03 9.84736446e-01 -6.27790722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980792138 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:5.11, Y:-1.63, Z:-62.81 [[ 6.33787836e-01 7.65713303e-01 1.09526786e-01 5.11097724e+00] [-7.53740684e-01 6.43175280e-01 -1.34909378e-01 -1.62828114e+00] [-1.73746826e-01 2.94912815e-03 9.84785938e-01 -6.28121246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01079213799999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:5.11, Y:-1.63, Z:-62.85 [[ 6.32137963e-01 7.67109830e-01 1.09289088e-01 5.11390321e+00] [-7.55075825e-01 6.41508510e-01 -1.35378469e-01 -1.62990646e+00] [-1.73960034e-01 3.05632099e-03 9.84747971e-01 -6.28454743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:5.12, Y:-1.63, Z:-62.88 [[ 6.28527058e-01 7.70131047e-01 1.08866468e-01 5.11769612e+00] [-7.58073915e-01 6.37879529e-01 -1.35770562e-01 -1.63076457e+00] [-1.74004816e-01 2.80664214e-03 9.84740802e-01 -6.28769102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:5.12, Y:-1.63, Z:-62.91 [[ 6.27350429e-01 7.71115338e-01 1.08685665e-01 5.12018320e+00] [-7.59055629e-01 6.36689584e-01 -1.35870993e-01 -1.63324515e+00] [-1.73971237e-01 2.74025992e-03 9.84746922e-01 -6.29100552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10079213799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.12, Y:-1.64, Z:-62.94 [[ 6.26440056e-01 7.71870443e-01 1.08576589e-01 5.12211938e+00] [-7.59710666e-01 6.35772662e-01 -1.36502112e-01 -1.63587291e+00] [-1.74391973e-01 3.02359801e-03 9.84671670e-01 -6.29431473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13079213799999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.64, Z:-62.98 [[ 6.23208919e-01 7.74538754e-01 1.08168209e-01 5.12505515e+00] [-7.62376202e-01 6.32520441e-01 -1.36749470e-01 -1.63727136e+00] [-1.74336367e-01 2.75862072e-03 9.84682294e-01 -6.29763256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.64, Z:-63.01 [[ 6.20609735e-01 7.76616123e-01 1.08217167e-01 5.12805263e+00] [-7.64331839e-01 6.29968387e-01 -1.37610578e-01 -1.63951701e+00] [-1.75043987e-01 2.68863829e-03 9.84556943e-01 -6.30084619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.64, Z:-63.04 [[ 6.17205496e-01 7.79412144e-01 1.07582919e-01 5.13094502e+00] [-7.67191906e-01 6.26507219e-01 -1.37496489e-01 -1.64097871e+00] [-1.74567909e-01 2.32684393e-03 9.84642387e-01 -6.30414532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.64, Z:-63.07 [[ 6.13800262e-01 7.82236125e-01 1.06563983e-01 5.13386498e+00] [-7.70156480e-01 6.22978875e-01 -1.36953705e-01 -1.64145098e+00] [-1.73517246e-01 1.99127807e-03 9.84828818e-01 -6.30740537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:5.14, Y:-1.64, Z:-63.11 [[ 6.10567958e-01 7.84802192e-01 1.06265180e-01 5.13664752e+00] [-7.72694865e-01 6.19743892e-01 -1.37332274e-01 -1.64304963e+00] [-1.73635866e-01 1.74012651e-03 9.84808386e-01 -6.31064554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.14, Y:-1.64, Z:-63.14 [[ 6.06438232e-01 7.88022349e-01 1.06082272e-01 5.14029299e+00] [-7.75865990e-01 6.15645230e-01 -1.37887329e-01 -1.64442998e+00] [-1.73967341e-01 1.31452111e-03 9.84750545e-01 -6.31387583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.310792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.14, Y:-1.65, Z:-63.17 [[ 6.04579295e-01 7.89537040e-01 1.05428359e-01 5.14279804e+00] [-7.77435980e-01 6.13701550e-01 -1.37708766e-01 -1.64609763e+00] [-1.73427719e-01 1.29206856e-03 9.84845753e-01 -6.31716928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.65, Z:-63.20 [[ 6.02861107e-01 7.90947124e-01 1.04695424e-01 5.14525047e+00] [-7.78894093e-01 6.11882939e-01 -1.37561844e-01 -1.64791756e+00] [-1.72865489e-01 1.38403848e-03 9.84944469e-01 -6.32032210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.370792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.65, Z:-63.24 [[ 6.03342865e-01 7.90666161e-01 1.04040424e-01 5.14631484e+00] [-7.78634173e-01 6.12244555e-01 -1.37424267e-01 -1.65089891e+00] [-1.72354901e-01 1.90452133e-03 9.85033076e-01 -6.32356475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40079213799999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.65, Z:-63.27 [[ 6.02789446e-01 7.91149672e-01 1.03571622e-01 5.14799787e+00] [-7.79104674e-01 6.11618573e-01 -1.37545002e-01 -1.65357486e+00] [-1.72165011e-01 2.21754063e-03 9.85065628e-01 -6.32685708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43079213799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.66, Z:-63.30 [[ 6.02155249e-01 7.91745089e-01 1.02707209e-01 5.15011379e+00] [-7.79754855e-01 6.10846160e-01 -1.37292881e-01 -1.65559576e+00] [-1.71439268e-01 2.58518412e-03 9.85191298e-01 -6.33000841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.66, Z:-63.33 [[ 6.02686711e-01 7.91403736e-01 1.02219644e-01 5.15147183e+00] [-7.79468058e-01 6.11287095e-01 -1.36958511e-01 -1.65844742e+00] [-1.70875027e-01 2.86612720e-03 9.85288542e-01 -6.33333000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49079213799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.66, Z:-63.37 [[ 6.02956649e-01 7.91292979e-01 1.01482511e-01 5.15273877e+00] [-7.79401879e-01 6.11428098e-01 -1.36705489e-01 -1.66149943e+00] [-1.70223352e-01 3.33182366e-03 9.85399873e-01 -6.33663870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.66, Z:-63.40 [[ 6.03090035e-01 7.91148168e-01 1.01818392e-01 5.15433479e+00] [-7.79050760e-01 6.11612544e-01 -1.37876793e-01 -1.66449337e+00] [-1.71354378e-01 3.83042443e-03 9.85202012e-01 -6.33988457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.16, Y:-1.67, Z:-63.43 [[ 6.00958681e-01 7.92825228e-01 1.01374661e-01 5.15699336e+00] [-7.80696562e-01 6.09436510e-01 -1.38202814e-01 -1.66646417e+00] [-1.71352097e-01 3.91133126e-03 9.85202091e-01 -6.34322060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.16, Y:-1.67, Z:-63.46 [[ 6.01066171e-01 7.92751113e-01 1.01316978e-01 5.15804286e+00] [-7.80563159e-01 6.09531085e-01 -1.38538841e-01 -1.66928675e+00] [-1.71582668e-01 4.18671054e-03 9.85160829e-01 -6.34647247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610792138 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.16, Y:-1.67, Z:-63.50 [[ 5.97144952e-01 7.95759544e-01 1.00919047e-01 5.16137996e+00] [-7.83569456e-01 6.05600725e-01 -1.38804431e-01 -1.67066999e+00] [-1.71571598e-01 3.80928283e-03 9.85164289e-01 -6.34975044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640792138 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:5.16, Y:-1.67, Z:-63.53 [[ 5.93495558e-01 7.98564035e-01 1.00292094e-01 5.16449758e+00] [-7.86420189e-01 6.01899721e-01 -1.38780446e-01 -1.67189290e+00] [-1.71190856e-01 3.49385031e-03 9.85231690e-01 -6.35297003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.17, Y:-1.67, Z:-63.56 [[ 5.91716344e-01 7.99917872e-01 1.00015831e-01 5.16705488e+00] [-7.87733620e-01 6.00099053e-01 -1.39128969e-01 -1.67375053e+00] [-1.71311154e-01 3.53905191e-03 9.85210619e-01 -6.35624308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:5.17, Y:-1.68, Z:-63.60 [[ 5.92371195e-01 7.99494932e-01 9.95199514e-02 5.16831127e+00] [-7.87285574e-01 6.00658585e-01 -1.39250454e-01 -1.67703437e+00] [-1.71107546e-01 4.13733614e-03 9.85243670e-01 -6.35953883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.730792138 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.17, Y:-1.68, Z:-63.63 [[ 5.92182098e-01 7.99697215e-01 9.90188243e-02 5.16956577e+00] [-7.87474868e-01 6.00386273e-01 -1.39354427e-01 -1.67996851e+00] [-1.70890890e-01 4.54836126e-03 9.85279461e-01 -6.36278086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76079213799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.17, Y:-1.68, Z:-63.66 [[ 5.89745847e-01 8.01581278e-01 9.83223840e-02 5.17219112e+00] [-7.89418967e-01 5.97869176e-01 -1.39176663e-01 -1.68208195e+00] [-1.70345330e-01 4.46130424e-03 9.85374327e-01 -6.36603387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79079213799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.18, Y:-1.68, Z:-63.69 [[ 5.85000178e-01 8.05160055e-01 9.74272941e-02 5.17530881e+00] [-7.93130279e-01 5.93044906e-01 -1.38715899e-01 -1.68301611e+00] [-1.69467261e-01 3.87628876e-03 9.85528194e-01 -6.36936363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82079213799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:5.18, Y:-1.68, Z:-63.73 [[ 5.80157359e-01 8.08670145e-01 9.73141080e-02 5.17904184e+00] [-7.96577300e-01 5.88252892e-01 -1.39366926e-01 -1.68421136e+00] [-1.69947177e-01 3.33653817e-03 9.85447525e-01 -6.37268994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85079213799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.18, Y:-1.69, Z:-63.76 [[ 5.75817848e-01 8.11826139e-01 9.68097423e-02 5.18220101e+00] [-7.99763055e-01 5.83892143e-01 -1.39459752e-01 -1.68599181e+00] [-1.69743520e-01 2.87855926e-03 9.85484070e-01 -6.37596429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.69, Z:-63.79 [[ 5.71959032e-01 8.14616896e-01 9.62402116e-02 5.18577049e+00] [-8.02589819e-01 5.79993848e-01 -1.39487344e-01 -1.68750365e+00] [-1.69447478e-01 2.53963240e-03 9.85535947e-01 -6.37915193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.69, Z:-63.82 [[ 5.70880323e-01 8.15446784e-01 9.56148513e-02 5.18795982e+00] [-8.03462694e-01 5.78825712e-01 -1.39314372e-01 -1.69014504e+00] [-1.68947791e-01 2.70886755e-03 9.85621279e-01 -6.38239039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94079213799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.69, Z:-63.86 [[ 5.72508501e-01 8.14390164e-01 9.48824355e-02 5.18884175e+00] [-8.02439214e-01 5.80307352e-01 -1.39049214e-01 -1.69291152e+00] [-1.68301287e-01 3.46947022e-03 9.85729496e-01 -6.38570408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.70, Z:-63.89 [[ 5.74770277e-01 8.12971524e-01 9.33618246e-02 5.18911943e+00] [-8.01242009e-01 5.82287402e-01 -1.37668529e-01 -1.69587817e+00] [-1.66284008e-01 4.32236236e-03 9.86068429e-01 -6.38889738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.70, Z:-63.92 [[ 5.73838424e-01 8.13736727e-01 9.24229566e-02 5.19064493e+00] [-8.02130027e-01 5.81216267e-01 -1.37022154e-01 -1.69813843e+00] [-1.65217685e-01 4.49334814e-03 9.86246889e-01 -6.39218293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030792138 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.70, Z:-63.95 [[ 5.70878498e-01 8.15853175e-01 9.20941715e-02 5.19363501e+00] [-8.04222724e-01 5.78242839e-01 -1.37335462e-01 -1.70016398e+00] [-1.65298368e-01 4.33763701e-03 9.86234067e-01 -6.39542372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.70, Z:-63.99 [[ 5.71899006e-01 8.15171749e-01 9.17962206e-02 5.19426844e+00] [-8.03471496e-01 5.79197742e-01 -1.37708134e-01 -1.70401525e+00] [-1.65423944e-01 4.99949818e-03 9.86209878e-01 -6.39868316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.090792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.71, Z:-64.02 [[ 5.71399336e-01 8.15569926e-01 9.13700984e-02 5.19516224e+00] [-8.03839952e-01 5.78633654e-01 -1.37929064e-01 -1.70677517e+00] [-1.65360610e-01 5.36563982e-03 9.86218575e-01 -6.40186377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.71, Z:-64.05 [[ 5.69374722e-01 8.17047670e-01 9.08049070e-02 5.19666177e+00] [-8.05351617e-01 5.76545187e-01 -1.37856521e-01 -1.70844713e+00] [-1.64988482e-01 5.36213996e-03 9.86280918e-01 -6.40505348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15079213799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.71, Z:-64.08 [[ 5.66594175e-01 8.18996455e-01 9.06413189e-02 5.19909749e+00] [-8.07245261e-01 5.73774907e-01 -1.38338154e-01 -1.71018033e+00] [-1.65306172e-01 5.21181721e-03 9.86228526e-01 -6.40830538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18079213799999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.71, Z:-64.12 [[ 5.65114441e-01 8.20056841e-01 9.02908932e-02 5.20113106e+00] [-8.08275235e-01 5.72257059e-01 -1.38610974e-01 -1.71243989e+00] [-1.65338479e-01 5.35117019e-03 9.86222365e-01 -6.41156711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21079213799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.71, Z:-64.15 [[ 5.63697287e-01 8.21098044e-01 8.96848438e-02 5.20359429e+00] [-8.09318542e-01 5.70759711e-01 -1.38696969e-01 -1.71389856e+00] [-1.65072305e-01 5.59949791e-03 9.86265573e-01 -6.41480164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24079213799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:5.21, Y:-1.71, Z:-64.18 [[ 5.59712559e-01 8.23825711e-01 8.96272822e-02 5.20738555e+00] [-8.12036625e-01 5.66821153e-01 -1.38961504e-01 -1.71452484e+00] [-1.65282699e-01 4.99786308e-03 9.86233568e-01 -6.41807269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27079213799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.22, Y:-1.71, Z:-64.21 [[ 5.48545671e-01 8.31516131e-01 8.76274524e-02 5.21528464e+00] [-8.20207588e-01 5.55491866e-01 -1.36705156e-01 -1.71083732e+00] [-1.62348879e-01 3.11632000e-03 9.86728499e-01 -6.42129659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30079213799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:5.21, Y:-1.72, Z:-64.25 [[ 5.52458998e-01 8.28885704e-01 8.79633204e-02 5.21393154e+00] [-8.17333547e-01 5.59401249e-01 -1.37971435e-01 -1.71719008e+00] [-1.63569341e-01 4.32818806e-03 9.86522345e-01 -6.42460311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33079213799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:5.22, Y:-1.72, Z:-64.28 [[ 5.50005815e-01 8.30582699e-01 8.73268714e-02 5.21609014e+00] [-8.19076089e-01 5.56878807e-01 -1.37841775e-01 -1.71876189e+00] [-1.63119478e-01 4.28642562e-03 9.86597011e-01 -6.42779809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:5.22, Y:-1.72, Z:-64.31 [[ 5.46258226e-01 8.33076961e-01 8.70903382e-02 5.21987361e+00] [-8.21539230e-01 5.53142935e-01 -1.38225130e-01 -1.72059579e+00] [-1.63325577e-01 3.95848505e-03 9.86564284e-01 -6.43112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.22, Y:-1.72, Z:-64.34 [[ 5.43537504e-01 8.34839022e-01 8.72398308e-02 5.22283709e+00] [-8.23144276e-01 5.50480299e-01 -1.39301619e-01 -1.72264025e+00] [-1.64318235e-01 3.90468671e-03 9.86399651e-01 -6.43437084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.22, Y:-1.73, Z:-64.38 [[ 5.43705847e-01 8.34760323e-01 8.69433994e-02 5.22447196e+00] [-8.23005352e-01 5.50596045e-01 -1.39664546e-01 -1.72633864e+00] [-1.64457114e-01 4.38154742e-03 9.86374503e-01 -6.43767381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.450792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.73, Z:-64.41 [[ 5.41468630e-01 8.36265702e-01 8.64372496e-02 5.22702376e+00] [-8.24479868e-01 5.48305731e-01 -1.39977759e-01 -1.72847124e+00] [-1.64452638e-01 4.52779316e-03 9.86374589e-01 -6.44100953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.73, Z:-64.44 [[ 5.43621990e-01 8.34884363e-01 8.62741706e-02 5.22613413e+00] [-8.23108969e-01 5.50402726e-01 -1.39815821e-01 -1.73398672e+00] [-1.64215581e-01 4.99391097e-03 9.86411833e-01 -6.44433473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.74, Z:-64.48 [[ 5.42240036e-01 8.35853450e-01 8.55847775e-02 5.22776528e+00] [-8.24129741e-01 5.48928368e-01 -1.39598771e-01 -1.73620229e+00] [-1.63664026e-01 5.16308196e-03 9.86502625e-01 -6.44752337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.74, Z:-64.51 [[ 5.39761256e-01 8.37484769e-01 8.53056136e-02 5.22939167e+00] [-8.25727313e-01 5.46436953e-01 -1.39932342e-01 -1.73974008e+00] [-1.63805345e-01 5.09088146e-03 9.86479545e-01 -6.45082819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.74, Z:-64.54 [[ 5.35845688e-01 8.40019292e-01 8.50704858e-02 5.23258525e+00] [-8.28216091e-01 5.42535490e-01 -1.40404235e-01 -1.74189058e+00] [-1.64096023e-01 4.77825847e-03 9.86432797e-01 -6.45413043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.74, Z:-64.57 [[ 5.30956488e-01 8.43155172e-01 8.47027936e-02 5.23694359e+00] [-8.31343786e-01 5.37653200e-01 -1.40700196e-01 -1.74316862e+00] [-1.64172826e-01 4.28854070e-03 9.86422268e-01 -6.45729573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.75, Z:-64.61 [[ 5.28216221e-01 8.44887503e-01 8.45738218e-02 5.24055897e+00] [-8.33003205e-01 5.34927752e-01 -1.41272648e-01 -1.74524305e+00] [-1.64600379e-01 4.17223951e-03 9.86351513e-01 -6.46053075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66079213799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:5.25, Y:-1.75, Z:-64.64 [[ 5.20716497e-01 8.49540871e-01 8.44667853e-02 5.24564835e+00] [-8.37386478e-01 5.27508700e-01 -1.43242655e-01 -1.74581230e+00] [-1.66247454e-01 3.85746997e-03 9.86076520e-01 -6.46369683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69079213799999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.75, Z:-64.67 [[ 5.29121153e-01 8.44107400e-01 8.66804613e-02 5.24451381e+00] [-8.31987261e-01 5.36163860e-01 -1.42567574e-01 -1.75124799e+00] [-1.66817275e-01 3.31847936e-03 9.85982244e-01 -6.46685527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.76, Z:-64.70 [[ 5.32673539e-01 8.41770146e-01 8.76465778e-02 5.24397920e+00] [-8.29672202e-01 5.39827513e-01 -1.42233237e-01 -1.75532234e+00] [-1.67041726e-01 3.04595236e-03 9.85945122e-01 -6.47017643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.76, Z:-64.73 [[ 5.32011341e-01 8.42148513e-01 8.80330307e-02 5.24497833e+00] [-8.30063776e-01 5.39239546e-01 -1.42178901e-01 -1.75814558e+00] [-1.67206641e-01 2.56775774e-03 9.85918529e-01 -6.47346235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780792138 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:5.25, Y:-1.76, Z:-64.77 [[ 5.26914172e-01 8.45499844e-01 8.65532723e-02 5.24859685e+00] [-8.33311645e-01 5.33965680e-01 -1.43081637e-01 -1.75982735e+00] [-1.67191978e-01 3.26589241e-03 9.85918950e-01 -6.47677219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.810792138 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:5.25, Y:-1.76, Z:-64.80 [[ 5.28520496e-01 8.44546480e-01 8.60658367e-02 5.25040942e+00] [-8.32511923e-01 5.35471100e-01 -1.42107705e-01 -1.76277630e+00] [-1.66102330e-01 3.45599945e-03 9.86102465e-01 -6.48007648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840792138 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:5.26, Y:-1.76, Z:-64.83 [[ 5.14943145e-01 8.53184149e-01 8.31286040e-02 5.25769093e+00] [-8.40832272e-01 5.21589286e-01 -1.44726315e-01 -1.76226321e+00] [-1.66837187e-01 4.62861071e-03 9.85973595e-01 -6.48332603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87079213799998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.26, Y:-1.76, Z:-64.87 [[ 5.12333924e-01 8.54820466e-01 8.24373774e-02 5.25978329e+00] [-8.42530532e-01 5.18903664e-01 -1.44503600e-01 -1.76440891e+00] [-1.66301691e-01 4.57808877e-03 9.86064292e-01 -6.48653536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90079213799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:5.26, Y:-1.77, Z:-64.90 [[ 5.08322232e-01 8.57252993e-01 8.20110616e-02 5.26249978e+00] [-8.44975990e-01 5.14878154e-01 -1.44623868e-01 -1.76600813e+00] [-1.66204948e-01 4.21814975e-03 9.86082209e-01 -6.48982742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.77, Z:-64.93 [[ 5.05576938e-01 8.58892168e-01 8.18303281e-02 5.26502595e+00] [-8.46537450e-01 5.12139692e-01 -1.45214607e-01 -1.76817746e+00] [-1.66632248e-01 4.14471921e-03 9.86010403e-01 -6.49312579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96079213799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.77, Z:-64.96 [[ 5.05671516e-01 8.58889707e-01 8.12698600e-02 5.26605525e+00] [-8.46511596e-01 5.12138910e-01 -1.45367996e-01 -1.77071578e+00] [-1.66476533e-01 4.71257579e-03 9.86034155e-01 -6.49633402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99079213799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.77, Z:-65.00 [[ 5.02097092e-01 8.61023196e-01 8.08552158e-02 5.26897401e+00] [-8.48730956e-01 5.08548376e-01 -1.45032113e-01 -1.77204913e+00] [-1.65994802e-01 4.19587745e-03 9.86117701e-01 -6.49959144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.78, Z:-65.03 [[ 5.01435797e-01 8.61457172e-01 8.03348129e-02 5.27030274e+00] [-8.49174204e-01 5.07810273e-01 -1.45023785e-01 -1.77519640e+00] [-1.65726623e-01 4.50186627e-03 9.86161457e-01 -6.50286803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05079213799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.78, Z:-65.06 [[ 4.98205561e-01 8.63355207e-01 8.00562607e-02 5.27240674e+00] [-8.51022500e-01 5.04577951e-01 -1.45470944e-01 -1.77739423e+00] [-1.65987721e-01 4.34475421e-03 9.86118248e-01 -6.50611344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08079213799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:5.27, Y:-1.78, Z:-65.09 [[ 4.96622989e-01 8.64293619e-01 7.97630729e-02 5.27436322e+00] [-8.51896604e-01 5.02967277e-01 -1.45931814e-01 -1.77975562e+00] [-1.66246151e-01 4.52320276e-03 9.86073911e-01 -6.50928127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:5.28, Y:-1.78, Z:-65.12 [[ 4.93682946e-01 8.65984079e-01 7.96788729e-02 5.27671191e+00] [-8.53479157e-01 5.00052038e-01 -1.46701358e-01 -1.78180623e+00] [-1.66884623e-01 4.41970157e-03 9.85966525e-01 -6.51244243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:5.28, Y:-1.78, Z:-65.16 [[ 4.90165073e-01 8.68030529e-01 7.91277627e-02 5.27953323e+00] [-8.55589978e-01 4.96493866e-01 -1.46491055e-01 -1.78346141e+00] [-1.66445157e-01 4.10387790e-03 9.86042173e-01 -6.51575661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.28, Y:-1.79, Z:-65.19 [[ 4.86031735e-01 8.70365773e-01 7.89719752e-02 5.28281835e+00] [-8.57843315e-01 4.92391252e-01 -1.47158765e-01 -1.78523982e+00] [-1.66967062e-01 3.77824892e-03 9.85955235e-01 -6.51904363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.79, Z:-65.22 [[ 4.81387564e-01 8.72966684e-01 7.87094809e-02 5.28601763e+00] [-8.60360985e-01 4.87767579e-01 -1.47857247e-01 -1.78668380e+00] [-1.67466384e-01 3.45807343e-03 9.85871722e-01 -6.52226741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.230792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.79, Z:-65.25 [[ 4.80744535e-01 8.73315642e-01 7.87685324e-02 5.28764065e+00] [-8.60618136e-01 4.87141755e-01 -1.48422827e-01 -1.78893408e+00] [-1.67991418e-01 3.56383554e-03 9.85782016e-01 -6.52547263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.79, Z:-65.29 [[ 4.82673082e-01 8.72240659e-01 7.88855451e-02 5.28794320e+00] [-8.59338996e-01 4.89057261e-01 -1.49530888e-01 -1.79284356e+00] [-1.69006469e-01 4.38510950e-03 9.85605187e-01 -6.52874838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.79, Z:-65.32 [[ 4.78069066e-01 8.74788598e-01 7.87075380e-02 5.29115755e+00] [-8.61800341e-01 4.84488349e-01 -1.50237188e-01 -1.79482317e+00] [-1.69558664e-01 3.99356900e-03 9.85512004e-01 -6.53190447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32079213799999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.80, Z:-65.35 [[ 4.77046230e-01 8.75343615e-01 7.87429343e-02 5.29239416e+00] [-8.62186795e-01 4.83482536e-01 -1.51256627e-01 -1.79744401e+00] [-1.70472357e-01 4.26528567e-03 9.85353227e-01 -6.53508766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35079213799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.80, Z:-65.38 [[ 4.72873047e-01 8.77632432e-01 7.84372155e-02 5.29515981e+00] [-8.64454530e-01 4.79318654e-01 -1.51565147e-01 -1.79925560e+00] [-1.70614909e-01 3.86566675e-03 9.85330203e-01 -6.53834570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.80, Z:-65.42 [[ 4.71546277e-01 8.78383763e-01 7.80132955e-02 5.29641849e+00] [-8.65182543e-01 4.77938697e-01 -1.51768802e-01 -1.80204151e+00] [-1.70596824e-01 4.07027195e-03 9.85332511e-01 -6.54158550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.80, Z:-65.45 [[ 4.70674692e-01 8.78885403e-01 7.76259158e-02 5.29794082e+00] [-8.65607636e-01 4.77012010e-01 -1.52259522e-01 -1.80472269e+00] [-1.70847165e-01 4.47111803e-03 9.85287397e-01 -6.54475991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44079213799999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.81, Z:-65.48 [[ 4.69871958e-01 8.79332187e-01 7.74289808e-02 5.29962887e+00] [-8.66052007e-01 4.76187528e-01 -1.52313362e-01 -1.80754201e+00] [-1.70804757e-01 4.51025335e-03 9.85294572e-01 -6.54808648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.81, Z:-65.51 [[ 4.68965220e-01 8.79873886e-01 7.67695680e-02 5.30150464e+00] [-8.66613653e-01 4.75182265e-01 -1.52258303e-01 -1.80939688e+00] [-1.70447642e-01 4.87429301e-03 9.85354679e-01 -6.55132069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.81, Z:-65.55 [[ 4.65874302e-01 8.81533899e-01 7.65448811e-02 5.30481952e+00] [-8.68298918e-01 4.72099628e-01 -1.52246280e-01 -1.81113018e+00] [-1.70347067e-01 4.46379189e-03 9.85374016e-01 -6.55456863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530792138 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:5.31, Y:-1.81, Z:-65.58 [[ 4.62622177e-01 8.83284266e-01 7.60895980e-02 5.30801186e+00] [-8.70014021e-01 4.68817214e-01 -1.52597583e-01 -1.81301677e+00] [-1.70459157e-01 4.39600863e-03 9.85354937e-01 -6.55772111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:5.31, Y:-1.82, Z:-65.61 [[ 4.59275940e-01 8.85031719e-01 7.60556891e-02 5.31110696e+00] [-8.71720774e-01 4.65513917e-01 -1.52969558e-01 -1.81511932e+00] [-1.70787892e-01 3.95591312e-03 9.85299876e-01 -6.56101925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.590792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.31, Y:-1.82, Z:-65.64 [[ 4.56882797e-01 8.86279551e-01 7.59385757e-02 5.31322634e+00] [-8.72834716e-01 4.63133365e-01 -1.53840974e-01 -1.81712560e+00] [-1.71515798e-01 4.00546954e-03 9.85173227e-01 -6.56418185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62079213799998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.82, Z:-65.67 [[ 4.54987544e-01 8.87299600e-01 7.54039458e-02 5.31500746e+00] [-8.73889240e-01 4.61175665e-01 -1.53735497e-01 -1.81941355e+00] [-1.71183910e-01 4.05303949e-03 9.85230756e-01 -6.56745352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.82, Z:-65.71 [[ 4.52495473e-01 8.88597897e-01 7.51107484e-02 5.31705431e+00] [-8.75123618e-01 4.58669144e-01 -1.54211767e-01 -1.82188025e+00] [-1.71483235e-01 4.04893653e-03 9.85178718e-01 -6.57065189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.82, Z:-65.74 [[ 4.50820137e-01 8.89446799e-01 7.51371833e-02 5.31884944e+00] [-8.75811248e-01 4.57019769e-01 -1.55201768e-01 -1.82460020e+00] [-1.72382894e-01 4.16209219e-03 9.85021226e-01 -6.57391565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.83, Z:-65.77 [[ 4.49871438e-01 8.89954554e-01 7.48102955e-02 5.32017728e+00] [-8.76263917e-01 4.56027699e-01 -1.55564410e-01 -1.82725795e+00] [-1.72560822e-01 4.43042244e-03 9.84988900e-01 -6.57720380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.83, Z:-65.80 [[ 4.44806952e-01 8.92511927e-01 7.46273061e-02 5.32274405e+00] [-8.78729659e-01 4.51006557e-01 -1.56292262e-01 -1.82907735e+00] [-1.73150112e-01 3.94265734e-03 9.84887554e-01 -6.58044767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77079213799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.83, Z:-65.84 [[ 4.41252318e-01 8.94290154e-01 7.44413325e-02 5.32544462e+00] [-8.80405855e-01 4.47471887e-01 -1.57017324e-01 -1.83159656e+00] [-1.73729450e-01 3.74567317e-03 9.84786296e-01 -6.58368781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80079213799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.83, Z:-65.87 [[ 4.35722544e-01 8.97014565e-01 7.42343207e-02 5.32876850e+00] [-8.83042274e-01 4.41989556e-01 -1.57738943e-01 -1.83283213e+00] [-1.74304924e-01 3.17837015e-03 9.84686596e-01 -6.58690002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.84, Z:-65.90 [[ 4.35640813e-01 8.97073954e-01 7.39959724e-02 5.32979827e+00] [-8.83013315e-01 4.41865778e-01 -1.58247023e-01 -1.83566249e+00] [-1.74655571e-01 3.59943297e-03 9.84623012e-01 -6.59021789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.84, Z:-65.94 [[ 4.32979933e-01 8.98398587e-01 7.35415301e-02 5.33213374e+00] [-8.84334667e-01 4.39166759e-01 -1.58381674e-01 -1.83813525e+00] [-1.74586868e-01 3.54076222e-03 9.84635409e-01 -6.59352307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890792138 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.84, Z:-65.97 [[ 4.32923587e-01 8.98448756e-01 7.32598178e-02 5.33273190e+00] [-8.84293128e-01 4.39060060e-01 -1.58908549e-01 -1.84131836e+00] [-1.74936648e-01 4.01210541e-03 9.84571517e-01 -6.59684650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:5.34, Y:-1.84, Z:-66.00 [[ 4.29096956e-01 9.00337648e-01 7.25804470e-02 5.33555914e+00] [-8.86262221e-01 4.35175985e-01 -1.58622629e-01 -1.84314586e+00] [-1.74399192e-01 3.73917906e-03 9.84667934e-01 -6.60002438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.950792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.34, Y:-1.85, Z:-66.03 [[ 4.28978728e-01 9.00430581e-01 7.21250319e-02 5.33657587e+00] [-8.86343563e-01 4.34979901e-01 -1.58705935e-01 -1.84558095e+00] [-1.74276617e-01 4.15391245e-03 9.84687974e-01 -6.60319333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:5.34, Y:-1.85, Z:-66.06 [[ 4.28176872e-01 9.00848553e-01 7.16690427e-02 5.33765971e+00] [-8.86760019e-01 4.34110950e-01 -1.58758786e-01 -1.84858938e+00] [-1.74129939e-01 4.42359872e-03 9.84712748e-01 -6.60648410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.34, Y:-1.85, Z:-66.10 [[ 4.29689261e-01 9.00165359e-01 7.12001817e-02 5.33687139e+00] [-8.86063877e-01 4.35517936e-01 -1.58792109e-01 -1.85213760e+00] [-1.73948112e-01 5.14335465e-03 9.84741388e-01 -6.60977931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.35, Y:-1.85, Z:-66.13 [[ 4.12989738e-01 9.08158145e-01 6.84708753e-02 5.34500038e+00] [-8.95033336e-01 4.18621177e-01 -1.53855897e-01 -1.85045903e+00] [-1.68388845e-01 2.25719087e-03 9.85718064e-01 -6.61302853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07079213799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:5.35, Y:-1.85, Z:-66.16 [[ 4.11403946e-01 9.08938187e-01 6.76621419e-02 5.34674746e+00] [-8.95959485e-01 4.16924265e-01 -1.53071090e-01 -1.85237470e+00] [-1.67342148e-01 2.35151293e-03 9.85896078e-01 -6.61628541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10079213799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.35, Y:-1.85, Z:-66.20 [[ 4.05504676e-01 9.11589965e-01 6.75995027e-02 5.35061828e+00] [-8.98486638e-01 4.11097053e-01 -1.54016148e-01 -1.85394880e+00] [-1.68189531e-01 1.71701820e-03 9.85753181e-01 -6.61957956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13079213799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:5.35, Y:-1.86, Z:-66.23 [[ 4.03945154e-01 9.12285614e-01 6.75519965e-02 5.35181449e+00] [-8.99010873e-01 4.09550125e-01 -1.55074646e-01 -1.85670371e+00] [-1.69138297e-01 1.91167226e-03 9.85590474e-01 -6.62275251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16079213799999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.86, Z:-66.26 [[ 3.98432295e-01 9.14721577e-01 6.73508939e-02 5.35605466e+00] [-9.01390085e-01 4.04082634e-01 -1.55605719e-01 -1.85798738e+00] [-1.69551235e-01 1.28891556e-03 9.85520531e-01 -6.62608117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19079213799999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.86, Z:-66.29 [[ 3.93454504e-01 9.16908601e-01 6.68742977e-02 5.35982964e+00] [-9.03597741e-01 3.99096408e-01 -1.55670096e-01 -1.85959564e+00] [-1.69424542e-01 8.21635964e-04 9.85542820e-01 -6.62940642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.86, Z:-66.33 [[ 3.92643687e-01 9.17293183e-01 6.63637795e-02 5.36130170e+00] [-9.03983459e-01 3.98210888e-01 -1.55698408e-01 -1.86229756e+00] [-1.69247868e-01 1.14223794e-03 9.85572856e-01 -6.63259717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250792138 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.87, Z:-66.36 [[ 3.93871374e-01 9.16795476e-01 6.59651080e-02 5.36128313e+00] [-9.03459866e-01 3.99353116e-01 -1.55811932e-01 -1.86540813e+00] [-1.69191046e-01 1.77303228e-03 9.85581679e-01 -6.63586627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.87, Z:-66.39 [[ 3.90811034e-01 9.18134964e-01 6.55356659e-02 5.36399493e+00] [-9.04786308e-01 3.96264299e-01 -1.56001099e-01 -1.86727658e+00] [-1.69199508e-01 1.67117749e-03 9.85580404e-01 -6.63913191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.310792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.87, Z:-66.42 [[ 3.87538013e-01 9.19560344e-01 6.49850973e-02 5.36685347e+00] [-9.06252603e-01 3.92945887e-01 -1.55883769e-01 -1.86936180e+00] [-1.68880159e-01 1.51797250e-03 9.85635423e-01 -6.64237983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.87, Z:-66.46 [[ 3.85066305e-01 9.20637646e-01 6.44225566e-02 5.36904062e+00] [-9.07305941e-01 3.90414595e-01 -1.56116540e-01 -1.87188774e+00] [-1.68878270e-01 1.66425103e-03 9.85635511e-01 -6.64571551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37079213799998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.87, Z:-66.49 [[ 3.84612228e-01 9.20825702e-01 6.44473556e-02 5.37014705e+00] [-9.07457618e-01 3.89970909e-01 -1.56343730e-01 -1.87456468e+00] [-1.69097919e-01 1.64846668e-03 9.85597878e-01 -6.64898339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40079213799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.88, Z:-66.52 [[ 3.83263530e-01 9.21438647e-01 6.37172370e-02 5.37168007e+00] [-9.08167259e-01 3.88519444e-01 -1.55836036e-01 -1.87691481e+00] [-1.68348732e-01 1.86036087e-03 9.85725745e-01 -6.65219096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43079213799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.88, Z:-66.55 [[ 3.83553808e-01 9.21353590e-01 6.31984111e-02 5.37268572e+00] [-9.08111305e-01 3.88718670e-01 -1.55665196e-01 -1.87951916e+00] [-1.67989090e-01 2.31478727e-03 9.85786137e-01 -6.65548838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46079213799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.88, Z:-66.59 [[ 3.79691894e-01 9.22987120e-01 6.26804722e-02 5.37570457e+00] [-9.09769286e-01 3.84825235e-01 -1.55657910e-01 -1.88155994e+00] [-1.67791274e-01 2.07727835e-03 9.85820356e-01 -6.65869513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49079213799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.88, Z:-66.62 [[ 3.79890312e-01 9.22923534e-01 6.24139501e-02 5.37608765e+00] [-9.09630364e-01 3.84975020e-01 -1.56098802e-01 -1.88467842e+00] [-1.68095070e-01 2.52679856e-03 9.85767550e-01 -6.66198529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52079213799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.89, Z:-66.65 [[ 3.78530763e-01 9.23517518e-01 6.18858304e-02 5.37661939e+00] [-9.10238820e-01 3.83546417e-01 -1.56068689e-01 -1.88771727e+00] [-1.67868257e-01 2.74591448e-03 9.85805614e-01 -6.66518331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55079213799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.89, Z:-66.69 [[ 3.77813337e-01 9.23854973e-01 6.12296581e-02 5.37661764e+00] [-9.10674651e-01 3.82730962e-01 -1.55527137e-01 -1.89050686e+00] [-1.67119005e-01 2.99992930e-03 9.85932167e-01 -6.66850696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58079213799999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.89, Z:-66.72 [[ 3.72292126e-01 9.26123187e-01 6.07817050e-02 5.37990453e+00] [-9.12954242e-01 3.77213231e-01 -1.55642960e-01 -1.89223922e+00] [-1.67072217e-01 2.45373284e-03 9.85941608e-01 -6.67177723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610792138 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.89, Z:-66.75 [[ 3.72524373e-01 9.26084243e-01 5.99463655e-02 5.38021468e+00] [-9.13067543e-01 3.77305560e-01 -1.54751984e-01 -1.89494236e+00] [-1.65931471e-01 2.91380541e-03 9.86132981e-01 -6.67509456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640792138 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.90, Z:-66.78 [[ 3.62617926e-01 9.30107863e-01 5.83746856e-02 5.38481243e+00] [-9.16851223e-01 3.67272268e-01 -1.56508519e-01 -1.89514171e+00] [-1.67009207e-01 3.23189248e-03 9.85950039e-01 -6.67816704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670792138 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.90, Z:-66.82 [[ 3.92312469e-01 9.17566601e-01 6.45171303e-02 5.37163881e+00] [-9.04873144e-01 3.97580012e-01 -1.52101040e-01 -1.90360916e+00] [-1.65213556e-01 1.29131605e-03 9.86256971e-01 -6.68155953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700792138 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.90, Z:-66.85 [[ 3.67835327e-01 9.28044147e-01 5.85767240e-02 5.38456441e+00] [-9.15136842e-01 3.72456965e-01 -1.54273686e-01 -1.90174112e+00] [-1.64990100e-01 3.14159348e-03 9.86290220e-01 -6.68489282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.730792138 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:5.39, Y:-1.90, Z:-66.88 [[ 3.65712128e-01 9.28903258e-01 5.82526950e-02 5.38658689e+00] [-9.15928132e-01 3.70308316e-01 -1.54749500e-01 -1.90396588e+00] [-1.65318772e-01 3.23848664e-03 9.86234869e-01 -6.68812135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76079213799999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:5.40, Y:-1.90, Z:-66.91 [[ 3.33224047e-01 9.41402780e-01 5.21779706e-02 5.40193607e+00] [-9.28155671e-01 3.37260401e-01 -1.57424495e-01 -1.90198312e+00] [-1.65797421e-01 4.02834801e-03 9.86151605e-01 -6.69105194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79079213799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.92, Z:-66.94 [[ 4.19596432e-01 9.04685380e-01 7.40486180e-02 5.36302987e+00] [-8.92464796e-01 4.26062549e-01 -1.48247398e-01 -1.92161860e+00] [-1.65666597e-01 -3.88170537e-03 9.86174179e-01 -6.69442457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.39, Y:-1.92, Z:-66.98 [[ 3.66563285e-01 9.28548570e-01 5.85569075e-02 5.38855664e+00] [-9.14880695e-01 3.71181960e-01 -1.58799456e-01 -1.91720032e+00] [-1.69188275e-01 4.63746599e-03 9.85572839e-01 -6.69754964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:5.40, Y:-1.92, Z:-67.01 [[ 3.49755829e-01 9.35112704e-01 5.68778540e-02 5.39646386e+00] [-9.20688681e-01 3.54316801e-01 -1.63682488e-01 -1.92020775e+00] [-1.73214353e-01 4.88210788e-03 9.84872049e-01 -6.70064047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88079213799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.93, Z:-67.04 [[ 3.85819172e-01 9.20064458e-01 6.80070572e-02 5.37761439e+00] [-9.06101098e-01 3.91767014e-01 -1.59685338e-01 -1.93045899e+00] [-1.73563725e-01 -1.16043640e-05 9.84822640e-01 -6.70387251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:5.39, Y:-1.93, Z:-67.07 [[ 3.73817397e-01 9.25430932e-01 6.19527505e-02 5.38653218e+00] [-9.11629839e-01 3.78904019e-01 -1.59256967e-01 -1.93100938e+00] [-1.70855470e-01 3.05504897e-03 9.85291366e-01 -6.70720450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94079213799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:5.39, Y:-1.93, Z:-67.10 [[ 3.58647001e-01 9.31685598e-01 5.77431868e-02 5.39403984e+00] [-9.17898952e-01 3.63240349e-01 -1.59743428e-01 -1.93064176e+00] [-1.69805306e-01 4.28909065e-03 9.85468296e-01 -6.71045619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970792138 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:5.40, Y:-1.93, Z:-67.14 [[ 3.40843811e-01 9.38565830e-01 5.40340544e-02 5.40418912e+00] [-9.24669116e-01 3.45065349e-01 -1.60987361e-01 -1.93139126e+00] [-1.69742516e-01 4.90792428e-03 9.85476225e-01 -6.71353787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000792138 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.94, Z:-67.17 [[ 3.96454363e-01 9.15597889e-01 6.71151593e-02 5.37834397e+00] [-9.02444290e-01 4.02094463e-01 -1.54642642e-01 -1.94368495e+00] [-1.68577110e-01 7.41057849e-04 9.85688190e-01 -6.71688049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.94, Z:-67.20 [[ 3.39024175e-01 9.39236896e-01 5.38206554e-02 5.40530197e+00] [-9.25328987e-01 3.43235848e-01 -1.61106855e-01 -1.93643363e+00] [-1.69790681e-01 4.81730599e-03 9.85468375e-01 -6.71989526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.95, Z:-67.23 [[ 3.96671459e-01 9.15558136e-01 6.63705679e-02 5.37980804e+00] [-9.02562268e-01 4.02184224e-01 -1.53717933e-01 -1.94957800e+00] [-1.67430899e-01 1.07194650e-03 9.85883231e-01 -6.72323973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.090792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:5.40, Y:-1.94, Z:-67.27 [[ 3.50309937e-01 9.35000439e-01 5.52912874e-02 5.40384103e+00] [-9.21703143e-01 3.54622854e-01 -1.57181258e-01 -1.94326936e+00] [-1.66572100e-01 4.10000345e-03 9.86020753e-01 -6.72655480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12079213799998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.95, Z:-67.30 [[ 3.46038652e-01 9.36612057e-01 5.49099757e-02 5.40690896e+00] [-9.23277579e-01 3.50347413e-01 -1.57528419e-01 -1.94554951e+00] [-1.66780585e-01 3.81377248e-03 9.85986659e-01 -6.72973490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15079213799999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.95, Z:-67.33 [[ 3.42328968e-01 9.38002904e-01 5.44190207e-02 5.40933391e+00] [-9.24706415e-01 3.46609044e-01 -1.57417330e-01 -1.94774570e+00] [-1.66520038e-01 3.56689468e-03 9.86031619e-01 -6.73288911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18079213799999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.95, Z:-67.36 [[ 3.41767925e-01 9.38241443e-01 5.38301004e-02 5.41014291e+00] [-9.25031047e-01 3.45959877e-01 -1.56937333e-01 -1.95060945e+00] [-1.65868165e-01 3.84163268e-03 9.86140453e-01 -6.73618003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.95, Z:-67.40 [[ 3.37840294e-01 9.39687428e-01 5.33991920e-02 5.41304880e+00] [-9.26473981e-01 3.42015549e-01 -1.57071085e-01 -1.95269367e+00] [-1.65861078e-01 3.59197970e-03 9.86142586e-01 -6.73950187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.42, Y:-1.95, Z:-67.43 [[ 3.34593725e-01 9.40877182e-01 5.28882509e-02 5.41549863e+00] [-9.27700543e-01 3.38730311e-01 -1.56950563e-01 -1.95498717e+00] [-1.65586057e-01 3.45021436e-03 9.86189309e-01 -6.74281142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.42, Y:-1.96, Z:-67.46 [[ 3.32607275e-01 9.41604812e-01 5.24669290e-02 5.41702753e+00] [-9.28358972e-01 3.36700219e-01 -1.57424845e-01 -1.95756913e+00] [-1.65897618e-01 3.65250455e-03 9.86136217e-01 -6.74595752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.42, Y:-1.96, Z:-67.49 [[ 3.28900475e-01 9.42919435e-01 5.22246640e-02 5.42016413e+00] [-9.29711911e-01 3.33005727e-01 -1.57298914e-01 -1.95996298e+00] [-1.65711315e-01 3.18179531e-03 9.86169172e-01 -6.74921970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33079213799999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:5.42, Y:-1.96, Z:-67.53 [[ 3.24303175e-01 9.44523870e-01 5.19818152e-02 5.42310525e+00] [-9.31219380e-01 3.28430558e-01 -1.57999477e-01 -1.96200726e+00] [-1.66306694e-01 2.83325825e-03 9.86070006e-01 -6.75250402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.43, Y:-1.96, Z:-67.56 [[ 3.19829237e-01 9.46070842e-01 5.15676343e-02 5.42627562e+00] [-9.32745329e-01 3.23950068e-01 -1.58248240e-01 -1.96432169e+00] [-1.66419384e-01 2.51294370e-03 9.86051862e-01 -6.75567312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.43, Y:-1.97, Z:-67.59 [[ 3.12948931e-01 9.48380652e-01 5.13527553e-02 5.43141243e+00] [-9.34962428e-01 3.17129491e-01 -1.58978440e-01 -1.96580992e+00] [-1.67057549e-01 1.73923596e-03 9.85945612e-01 -6.75884063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420792138 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:5.43, Y:-1.97, Z:-67.62 [[ 3.08763746e-01 9.49763203e-01 5.11351979e-02 5.43450209e+00] [-9.36261907e-01 3.12966306e-01 -1.59579865e-01 -1.96809386e+00] [-1.67566677e-01 1.39653890e-03 9.85859756e-01 -6.76215893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.450792138 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.44, Y:-1.97, Z:-67.65 [[ 3.02193305e-01 9.51898645e-01 5.06771717e-02 5.43901477e+00] [-9.38417572e-01 3.06412304e-01 -1.59636963e-01 -1.96986801e+00] [-1.67486317e-01 6.84872818e-04 9.85874163e-01 -6.76543201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480792138 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.44, Y:-1.97, Z:-67.69 [[ 3.02379104e-01 9.51858052e-01 5.03301681e-02 5.43901532e+00] [-9.38289596e-01 3.06536792e-01 -1.60149400e-01 -1.97296503e+00] [-1.67867544e-01 1.20155885e-03 9.85808827e-01 -6.76865481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51079213799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.44, Y:-1.98, Z:-67.72 [[ 3.00497235e-01 9.52476673e-01 4.98958779e-02 5.43961665e+00] [-9.38911621e-01 3.04608817e-01 -1.60182509e-01 -1.97623280e+00] [-1.67768828e-01 1.28658149e-03 9.85825525e-01 -6.77195723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54079213799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.44, Y:-1.98, Z:-67.75 [[ 2.96485229e-01 9.53764557e-01 4.92917813e-02 5.44218639e+00] [-9.40290292e-01 3.00553051e-01 -1.59756158e-01 -1.97846684e+00] [-1.67184557e-01 1.01675756e-03 9.85925094e-01 -6.77528844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57079213799999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:5.44, Y:-1.98, Z:-67.79 [[ 2.96722518e-01 9.53719466e-01 4.87332267e-02 5.44301813e+00] [-9.40288888e-01 3.00694063e-01 -1.59498865e-01 -1.98071975e+00] [-1.66770965e-01 1.50359346e-03 9.85994516e-01 -6.77855418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60079213799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.98, Z:-67.82 [[ 2.92802559e-01 9.54950427e-01 4.83357436e-02 5.44540004e+00] [-9.41480985e-01 2.96762556e-01 -1.59829722e-01 -1.98307335e+00] [-1.66973700e-01 1.29136807e-03 9.85960504e-01 -6.78172855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63079213799999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.99, Z:-67.85 [[ 2.91057973e-01 9.55503823e-01 4.79343391e-02 5.44717401e+00] [-9.42027105e-01 2.94975441e-01 -1.59920049e-01 -1.98510821e+00] [-1.66943671e-01 1.39055863e-03 9.85965454e-01 -6.78501158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66079213799999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.99, Z:-67.88 [[ 2.88555552e-01 9.56295041e-01 4.72809498e-02 5.44931972e+00] [-9.42920365e-01 2.92400084e-01 -1.59384369e-01 -1.98761984e+00] [-1.66243435e-01 1.40907407e-03 9.86083736e-01 -6.78821238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69079213799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.99, Z:-67.91 [[ 2.86998660e-01 9.56785790e-01 4.68264976e-02 5.45079431e+00] [-9.43435528e-01 2.90789602e-01 -1.59282179e-01 -1.99051969e+00] [-1.66015584e-01 1.53599046e-03 9.86121933e-01 -6.79145522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720792138 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.99, Z:-67.95 [[ 2.85351329e-01 9.57294126e-01 4.65035077e-02 5.45184636e+00] [-9.43862601e-01 2.89110772e-01 -1.59807233e-01 -1.99368610e+00] [-1.66427190e-01 1.70828442e-03 9.86052266e-01 -6.79469560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.00, Z:-67.98 [[ 2.85642928e-01 9.57223292e-01 4.61701952e-02 5.45133166e+00] [-9.43697346e-01 2.89341612e-01 -1.60364430e-01 -1.99715970e+00] [-1.66863526e-01 2.23627465e-03 9.85977466e-01 -6.79784691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.00, Z:-68.01 [[ 2.71933406e-01 9.61240990e-01 4.54750619e-02 5.45674024e+00] [-9.47406758e-01 2.75707338e-01 -1.62498917e-01 -1.99907827e+00] [-1.68738428e-01 1.10550288e-03 9.85660246e-01 -6.80095170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.810792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.00, Z:-68.04 [[ 2.97140070e-01 9.53484095e-01 5.07529243e-02 5.44708574e+00] [-9.39869592e-01 3.01443329e-01 -1.60552391e-01 -2.00489340e+00] [-1.68383282e-01 5.41834296e-06 9.85721599e-01 -6.80415312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840792138 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.01, Z:-68.07 [[ 2.85182269e-01 9.57362368e-01 4.61342466e-02 5.45332717e+00] [-9.43234087e-01 2.88871757e-01 -1.63898032e-01 -2.00737324e+00] [-1.70236689e-01 3.22541871e-03 9.85397923e-01 -6.80743053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87079213799998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.01, Z:-68.11 [[ 2.86162429e-01 9.57089075e-01 4.57336544e-02 5.45278497e+00] [-9.42904727e-01 2.89768077e-01 -1.64210648e-01 -2.01080405e+00] [-1.70416370e-01 3.86843912e-03 9.85364550e-01 -6.81074814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90079213799999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.01, Z:-68.14 [[ 2.85094345e-01 9.57424822e-01 4.53753663e-02 5.45347001e+00] [-9.43169551e-01 2.88652955e-01 -1.64653181e-01 -2.01447393e+00] [-1.70740776e-01 4.14502694e-03 9.85307265e-01 -6.81401088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93079213799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.02, Z:-68.17 [[ 2.85800616e-01 9.57236196e-01 4.49096062e-02 5.45264752e+00] [-9.42952370e-01 2.89268447e-01 -1.64816846e-01 -2.01782764e+00] [-1.70759583e-01 4.75713652e-03 9.85301240e-01 -6.81718300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:5.45, Y:-2.02, Z:-68.20 [[ 2.83623423e-01 9.57904379e-01 4.44629604e-02 5.45380894e+00] [-9.43635690e-01 2.87047630e-01 -1.64788780e-01 -2.02111153e+00] [-1.70614881e-01 4.78112150e-03 9.85326191e-01 -6.82048554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.02, Z:-68.24 [[ 2.80821337e-01 9.58755985e-01 4.38900592e-02 5.45516909e+00] [-9.44541736e-01 2.84190727e-01 -1.64549503e-01 -2.02387799e+00] [-1.70235969e-01 4.75301878e-03 9.85391863e-01 -6.82369450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02079213799999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.03, Z:-68.27 [[ 2.77508193e-01 9.59738367e-01 4.34910359e-02 5.45725132e+00] [-9.45497192e-01 2.80857668e-01 -1.64784800e-01 -2.02655569e+00] [-1.70365086e-01 4.60847978e-03 9.85370235e-01 -6.82688675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.03, Z:-68.30 [[ 2.78758178e-01 9.59392004e-01 4.31376955e-02 5.45645905e+00] [-9.45097388e-01 2.82027374e-01 -1.65080246e-01 -2.02969981e+00] [-1.70542679e-01 5.24814524e-03 9.85336314e-01 -6.83016775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.03, Z:-68.33 [[ 2.77716613e-01 9.59714178e-01 4.26870004e-02 5.45703676e+00] [-9.45413475e-01 2.80924107e-01 -1.65151465e-01 -2.03240637e+00] [-1.70490010e-01 5.50844010e-03 9.85344008e-01 -6.83341989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.04, Z:-68.37 [[ 2.75545077e-01 9.60361930e-01 4.21885570e-02 5.45839087e+00] [-9.46061108e-01 2.78699638e-01 -1.65211656e-01 -2.03536402e+00] [-1.70420920e-01 5.61030548e-03 9.85355385e-01 -6.83663286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.04, Z:-68.40 [[ 2.73957479e-01 9.60833668e-01 4.17847091e-02 5.45932789e+00] [-9.46511740e-01 2.77065912e-01 -1.65378376e-01 -2.03759728e+00] [-1.70478230e-01 5.75692502e-03 9.85344625e-01 -6.83995367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.04, Z:-68.43 [[ 2.71654607e-01 9.61496291e-01 4.15771095e-02 5.46103234e+00] [-9.46986641e-01 2.74755414e-01 -1.66510556e-01 -2.04085257e+00] [-1.71522818e-01 5.86039237e-03 9.85162717e-01 -6.84320631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.04, Z:-68.46 [[ 2.69219085e-01 9.62198220e-01 4.11785193e-02 5.46234867e+00] [-9.47621608e-01 2.72285645e-01 -1.66954530e-01 -2.04394666e+00] [-1.71855671e-01 5.92569122e-03 9.85104317e-01 -6.84638410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.230792138 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.05, Z:-68.50 [[ 2.67919163e-01 9.62578962e-01 4.07561624e-02 5.46290283e+00] [-9.47996033e-01 2.70932394e-01 -1.67030414e-01 -2.04718711e+00] [-1.71822127e-01 6.11396848e-03 9.85109017e-01 -6.84965775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26079213799999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.05, Z:-68.53 [[ 2.65335909e-01 9.63316714e-01 4.02214429e-02 5.46458557e+00] [-9.48722908e-01 2.68295617e-01 -1.67159520e-01 -2.05001057e+00] [-1.71818796e-01 6.19441883e-03 9.85109096e-01 -6.85299386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29079213799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.05, Z:-68.56 [[ 2.63929450e-01 9.63715061e-01 3.99315330e-02 5.46570453e+00] [-9.49081598e-01 2.66858996e-01 -1.67422807e-01 -2.05238826e+00] [-1.72003969e-01 6.28952615e-03 9.85076178e-01 -6.85620255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.06, Z:-68.59 [[ 2.61704021e-01 9.64328229e-01 3.97752808e-02 5.46767198e+00] [-9.49664377e-01 2.64639124e-01 -1.67641597e-01 -2.05506190e+00] [-1.72187620e-01 6.09931276e-03 9.85045289e-01 -6.85948651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.06, Z:-68.63 [[ 2.63777678e-01 9.63782156e-01 3.93102114e-02 5.46688012e+00] [-9.49106293e-01 2.66600844e-01 -1.67693870e-01 -2.05802123e+00] [-1.72100495e-01 6.92433052e-03 9.85055061e-01 -6.86275852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38079213799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.06, Z:-68.66 [[ 2.60420343e-01 9.64717994e-01 3.87354695e-02 5.46916685e+00] [-9.50127446e-01 2.63198561e-01 -1.67285249e-01 -2.06021742e+00] [-1.71578210e-01 6.76084920e-03 9.85147303e-01 -6.86601504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41079213799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.06, Z:-68.69 [[ 2.54475750e-01 9.66328334e-01 3.81004343e-02 5.47295156e+00] [-9.51867268e-01 2.57238769e-01 -1.66664090e-01 -2.06190624e+00] [-1.70853141e-01 6.14541311e-03 9.85277341e-01 -6.86920939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44079213799999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.07, Z:-68.72 [[ 2.52609900e-01 9.66832950e-01 3.77131991e-02 5.47399627e+00] [-9.52346712e-01 2.55333497e-01 -1.66854861e-01 -2.06513825e+00] [-1.70950220e-01 6.23314855e-03 9.85259950e-01 -6.87248758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470792138 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.07, Z:-68.76 [[ 2.49622555e-01 9.67627817e-01 3.72154328e-02 5.47574361e+00] [-9.53180274e-01 2.52306802e-01 -1.66699257e-01 -2.06798382e+00] [-1.70692545e-01 6.13887788e-03 9.85305216e-01 -6.87581822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.07, Z:-68.79 [[ 2.47460655e-01 9.68196605e-01 3.68586253e-02 5.47679418e+00] [-9.53600445e-01 2.50110586e-01 -1.67603358e-01 -2.07110641e+00] [-1.71491735e-01 6.32683542e-03 9.85165243e-01 -6.87904881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.07, Z:-68.82 [[ 2.47377887e-01 9.68217105e-01 3.68757115e-02 5.47671122e+00] [-9.53435981e-01 2.50025076e-01 -1.68663247e-01 -2.07465086e+00] [-1.72522493e-01 6.56492756e-03 9.84983701e-01 -6.88226364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560792138 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.08, Z:-68.86 [[ 2.44697422e-01 9.68910404e-01 3.65486157e-02 5.47808411e+00] [-9.54067828e-01 2.47326442e-01 -1.69068658e-01 -2.07727632e+00] [-1.72851820e-01 6.50080624e-03 9.84926387e-01 -6.88554538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.590792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.08, Z:-68.89 [[ 2.40259409e-01 9.70034079e-01 3.61842633e-02 5.48036276e+00] [-9.55136467e-01 2.42890933e-01 -1.69464815e-01 -2.07981933e+00] [-1.73175475e-01 6.15460688e-03 9.84871756e-01 -6.88888135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62079213799998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.08, Z:-68.92 [[ 2.33261253e-01 9.71762584e-01 3.55902899e-02 5.48488738e+00] [-9.56978865e-01 2.35900119e-01 -1.68945509e-01 -2.08126049e+00] [-1.72570678e-01 5.34928602e-03 9.84982612e-01 -6.89214867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65079213799999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:5.49, Y:-2.08, Z:-68.95 [[ 2.24004740e-01 9.73997346e-01 3.39270722e-02 5.49033491e+00] [-9.60216771e-01 2.26524012e-01 -1.63311436e-01 -2.08227977e+00] [-1.66750202e-01 4.00519212e-03 9.85991039e-01 -6.89537155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68079213799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:5.49, Y:-2.08, Z:-68.98 [[ 2.16848047e-01 9.75627328e-01 3.35892945e-02 5.49235555e+00] [-9.61472932e-01 2.19404216e-01 -1.65624849e-01 -2.08218139e+00] [-1.68957762e-01 3.62022757e-03 9.85616644e-01 -6.89839215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71079213799999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.09, Z:-69.02 [[ 2.38996441e-01 9.70260312e-01 3.84139024e-02 5.48398218e+00] [-9.56612566e-01 2.42055523e-01 -1.62177439e-01 -2.08864665e+00] [-1.66652629e-01 2.01260890e-03 9.86013616e-01 -6.90176851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74079213799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.09, Z:-69.05 [[ 2.15334583e-01 9.76002037e-01 3.24197640e-02 5.49587393e+00] [-9.62165506e-01 2.17723146e-01 -1.63811384e-01 -2.08890728e+00] [-1.66938778e-01 4.08107746e-03 9.85958817e-01 -6.90499627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77079213799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.09, Z:-69.08 [[ 2.15700778e-01 9.75923557e-01 3.23478644e-02 5.49566251e+00] [-9.61964142e-01 2.18069011e-01 -1.64532355e-01 -2.09275434e+00] [-1.67625068e-01 4.37227148e-03 9.85841123e-01 -6.90832645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.10, Z:-69.12 [[ 2.16516477e-01 9.75752052e-01 3.20709971e-02 5.49505407e+00] [-9.61682616e-01 2.18823484e-01 -1.65175145e-01 -2.09625266e+00] [-1.68187874e-01 4.92101998e-03 9.85742676e-01 -6.91163617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83079213799999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.10, Z:-69.15 [[ 2.12294811e-01 9.76670790e-01 3.23277303e-02 5.49651368e+00] [-9.62219928e-01 2.14696159e-01 -1.67446618e-01 -2.09841124e+00] [-1.70480860e-01 4.44166180e-03 9.85350977e-01 -6.91480488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860792138 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:5.49, Y:-2.10, Z:-69.18 [[ 2.25365346e-01 9.73637653e-01 3.52162062e-02 5.49180563e+00] [-9.59543499e-01 2.28074654e-01 -1.65100656e-01 -2.10264075e+00] [-1.68780139e-01 3.41648459e-03 9.85647803e-01 -6.91798447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.10, Z:-69.21 [[ 2.09266752e-01 9.77366574e-01 3.10162234e-02 5.49997619e+00] [-9.63276865e-01 2.11499655e-01 -1.65425441e-01 -2.10372460e+00] [-1.68241217e-01 4.74083433e-03 9.85734456e-01 -6.92114377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920792138 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.11, Z:-69.24 [[ 2.07329385e-01 9.77791913e-01 3.06186353e-02 5.50110655e+00] [-9.63687647e-01 2.09522739e-01 -1.65548604e-01 -2.10617490e+00] [-1.68287387e-01 4.81628960e-03 9.85726209e-01 -6.92442414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.950792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:5.50, Y:-2.11, Z:-69.28 [[ 2.02162387e-01 9.78890743e-01 3.00546530e-02 5.50411852e+00] [-9.64889637e-01 2.04337656e-01 -1.65027609e-01 -2.10866180e+00] [-1.67685296e-01 4.36295214e-03 9.85830922e-01 -6.92770470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.11, Z:-69.31 [[ 2.00236042e-01 9.79298568e-01 2.96621457e-02 5.50518771e+00] [-9.65131688e-01 2.02368440e-01 -1.66035655e-01 -2.11177607e+00] [-1.68601161e-01 4.61844567e-03 9.85673535e-01 -6.93093522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01079213799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.11, Z:-69.34 [[ 1.95437146e-01 9.80273533e-01 2.94639284e-02 5.50725540e+00] [-9.66098134e-01 1.97605016e-01 -1.66152501e-01 -2.11446045e+00] [-1.68697119e-01 4.00732423e-03 9.85659791e-01 -6.93409575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04079213799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.12, Z:-69.37 [[ 1.90969318e-01 9.81168334e-01 2.89727366e-02 5.50891725e+00] [-9.67076025e-01 1.93120457e-01 -1.65736085e-01 -2.11712023e+00] [-1.68210227e-01 3.63166832e-03 9.85744455e-01 -6.93743225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07079213799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.12, Z:-69.41 [[ 1.89122015e-01 9.81539629e-01 2.85099982e-02 5.51013212e+00] [-9.67422528e-01 1.91221177e-01 -1.65915985e-01 -2.11972974e+00] [-1.68304830e-01 3.79715095e-03 9.85727683e-01 -6.94057459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10079213799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.12, Z:-69.44 [[ 1.85257012e-01 9.82288133e-01 2.81044951e-02 5.51242955e+00] [-9.68161336e-01 1.87343081e-01 -1.66030711e-01 -2.12224055e+00] [-1.68355180e-01 3.54866772e-03 9.85720011e-01 -6.94390749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13079213799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.13, Z:-69.47 [[ 1.82523370e-01 9.82788499e-01 2.84953475e-02 5.51410325e+00] [-9.68393523e-01 1.84709954e-01 -1.67619266e-01 -2.12504683e+00] [-1.69997661e-01 2.99972336e-03 9.85439900e-01 -6.94709365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16079213799999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.13, Z:-69.50 [[ 1.92859575e-01 9.80755209e-01 3.04040236e-02 5.50929220e+00] [-9.66344495e-01 1.95219457e-01 -1.67534115e-01 -2.12890543e+00] [-1.70245413e-01 2.92979743e-03 9.85397339e-01 -6.95030126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19079213799999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.13, Z:-69.54 [[ 1.97209908e-01 9.79872456e-01 3.09551668e-02 5.50774234e+00] [-9.65763627e-01 1.99605167e-01 -1.65705743e-01 -2.13210537e+00] [-1.68549305e-01 2.78344031e-03 9.85689294e-01 -6.95356323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.13, Z:-69.57 [[ 1.81764226e-01 9.82976422e-01 2.68164106e-02 5.51521813e+00] [-9.68873370e-01 1.83684078e-01 -1.65965514e-01 -2.13303124e+00] [-1.68065935e-01 4.18488723e-03 9.85766873e-01 -6.95683081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.13, Z:-69.60 [[ 1.73975023e-01 9.84405465e-01 2.60493979e-02 5.51882721e+00] [-9.70027764e-01 1.75871109e-01 -1.67676740e-01 -2.13448725e+00] [-1.69643236e-01 3.90292556e-03 9.85497813e-01 -6.95996749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.14, Z:-69.63 [[ 1.87432774e-01 9.81817364e-01 3.00602435e-02 5.51208517e+00] [-9.67554904e-01 1.89815572e-01 -1.66755981e-01 -2.13821725e+00] [-1.69429820e-01 2.17060006e-03 9.85539865e-01 -6.96328309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.310792138 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.14, Z:-69.66 [[ 1.82763137e-01 9.82703974e-01 2.98418391e-02 5.51412756e+00] [-9.68511193e-01 1.85177239e-01 -1.66419529e-01 -2.14031808e+00] [-1.69067162e-01 1.51320001e-03 9.85603371e-01 -6.96647802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340792138 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.15, Z:-69.70 [[ 1.83425709e-01 9.82547140e-01 3.09213146e-02 5.51344550e+00] [-9.67429362e-01 1.86007044e-01 -1.71702675e-01 -2.14825716e+00] [-1.74457555e-01 1.58049741e-03 9.84663427e-01 -6.96969597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37079213799998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.15, Z:-69.73 [[ 1.85316138e-01 9.82207568e-01 3.04339019e-02 5.51231339e+00] [-9.66895743e-01 1.87780663e-01 -1.72774550e-01 -2.15332490e+00] [-1.75415368e-01 2.59150202e-03 9.84491103e-01 -6.97288089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40079213799999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.15, Z:-69.76 [[ 1.64003410e-01 9.86145489e-01 2.48988939e-02 5.52354530e+00] [-9.70882080e-01 1.65830051e-01 -1.72882561e-01 -2.15404899e+00] [-1.74616343e-01 4.17943971e-03 9.84627678e-01 -6.97621944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43079213799999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.16, Z:-69.79 [[ 1.63059956e-01 9.86319621e-01 2.41879410e-02 5.52469481e+00] [-9.71341245e-01 1.64784468e-01 -1.71295839e-01 -2.15634315e+00] [-1.72938244e-01 4.43674730e-03 9.84922677e-01 -6.97949718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46079213799999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.16, Z:-69.83 [[ 1.57140146e-01 9.87294556e-01 2.35888565e-02 5.52778432e+00] [-9.72477669e-01 1.58854269e-01 -1.70447955e-01 -2.15902585e+00] [-1.72029529e-01 3.84458039e-03 9.85084291e-01 -6.98277505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49079213799999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.16, Z:-69.86 [[ 1.52693528e-01 9.88003241e-01 2.31145555e-02 5.53003143e+00] [-9.73186767e-01 1.54392576e-01 -1.70500584e-01 -2.16206481e+00] [-1.72023845e-01 3.53955610e-03 9.85086427e-01 -6.98606664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.16, Z:-69.89 [[ 1.38728336e-01 9.90099604e-01 2.13827775e-02 5.53579624e+00] [-9.74720602e-01 1.40328308e-01 -1.73861191e-01 -2.16350486e+00] [-1.75140505e-01 3.27724005e-03 9.84537995e-01 -6.98918821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.17, Z:-69.93 [[ 1.66351654e-01 9.85622256e-01 2.95955444e-02 5.52270024e+00] [-9.70476809e-01 1.68963786e-01 -1.72122056e-01 -2.16801390e+00] [-1.74647904e-01 -8.90009644e-05 9.84630947e-01 -6.99251090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58079213799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.17, Z:-69.96 [[ 1.77211548e-01 9.83711135e-01 3.01408252e-02 5.51876454e+00] [-9.68899470e-01 1.79754080e-01 -1.70065540e-01 -2.17180734e+00] [-1.72713302e-01 9.34147935e-04 9.84971696e-01 -6.99578923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610792138 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.17, Z:-69.99 [[ 1.45589670e-01 9.89108558e-01 2.16311954e-02 5.53436116e+00] [-9.74036432e-01 1.47134006e-01 -1.72059914e-01 -2.17256215e+00] [-1.73368618e-01 3.98057368e-03 9.84848962e-01 -6.99907929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.18, Z:-70.02 [[ 1.46152424e-01 9.89035649e-01 2.11649001e-02 5.53339861e+00] [-9.73940763e-01 1.47606738e-01 -1.72196519e-01 -2.17555973e+00] [-1.73432578e-01 4.55357971e-03 9.84835218e-01 -7.00241013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.18, Z:-70.06 [[ 1.43504435e-01 9.89436983e-01 2.05166493e-02 5.53366327e+00] [-9.74444164e-01 1.44889326e-01 -1.71655630e-01 -2.17793229e+00] [-1.72815073e-01 4.64101510e-03 9.84943355e-01 -7.00561175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.18, Z:-70.09 [[ 1.40279433e-01 9.89904577e-01 2.02635040e-02 5.53465028e+00] [-9.74987583e-01 1.41671175e-01 -1.71255631e-01 -2.18057893e+00] [-1.72397488e-01 4.26697814e-03 9.85018223e-01 -7.00892773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.730792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.18, Z:-70.12 [[ 1.35348758e-01 9.90601843e-01 1.97155385e-02 5.53761596e+00] [-9.75764023e-01 1.36721896e-01 -1.70855772e-01 -2.18249924e+00] [-1.71945589e-01 3.88740346e-03 9.85098778e-01 -7.01212776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76079213799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.19, Z:-70.15 [[ 1.32587825e-01 9.90983399e-01 1.92969197e-02 5.53903425e+00] [-9.76130006e-01 1.33929868e-01 -1.70976610e-01 -2.18568683e+00] [-1.72019416e-01 3.83311448e-03 9.85086102e-01 -7.01543034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79079213799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.19, Z:-70.19 [[ 1.27151505e-01 9.91703767e-01 1.88714904e-02 5.54175021e+00] [-9.76765580e-01 1.28499988e-01 -1.71513133e-01 -2.18835871e+00] [-1.72515207e-01 3.37513076e-03 9.85001072e-01 -7.01875964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82079213799999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.19, Z:-70.22 [[ 1.23890909e-01 9.92125772e-01 1.83710468e-02 5.54334632e+00] [-9.77186752e-01 1.25202037e-01 -1.71553207e-01 -2.19114091e+00] [-1.72502450e-01 3.30193916e-03 9.85003554e-01 -7.02197840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85079213799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.19, Z:-70.25 [[ 1.15380987e-01 9.93160246e-01 1.78872217e-02 5.54706673e+00] [-9.78310993e-01 1.16737694e-01 -1.71113738e-01 -2.19394305e+00] [-1.72031475e-01 2.24400630e-03 9.85088898e-01 -7.02527369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88079213799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.20, Z:-70.28 [[ 1.09097710e-01 9.93879761e-01 1.73410130e-02 5.54946197e+00] [-9.79126263e-01 1.10455181e-01 -1.70620671e-01 -2.19679822e+00] [-1.71491837e-01 1.63528328e-03 9.85184184e-01 -7.02847471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91079213799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.20, Z:-70.32 [[ 1.03929505e-01 9.94438383e-01 1.70575695e-02 5.55188366e+00] [-9.79438211e-01 1.05313426e-01 -1.72075195e-01 -2.20010605e+00] [-1.72914570e-01 1.17685461e-03 9.84936123e-01 -7.03176910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94079213799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.20, Z:-70.35 [[ 1.00335183e-01 9.94806973e-01 1.70861956e-02 5.55276258e+00] [-9.79515660e-01 1.01777211e-01 -1.73754055e-01 -2.20172109e+00] [-1.74590731e-01 6.97448771e-04 9.84640843e-01 -7.03486278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970792138 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.21, Z:-70.38 [[ 1.18577172e-01 9.92725482e-01 2.08703432e-02 5.54482456e+00] [-9.78030401e-01 1.20399596e-01 -1.70177766e-01 -2.20629787e+00] [-1.71452585e-01 -2.32631902e-04 9.85192345e-01 -7.03806559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000792138 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.21, Z:-70.41 [[ 9.88205665e-02 9.94967405e-01 1.65637655e-02 5.55475065e+00] [-9.79890531e-01 1.00195749e-01 -1.72555381e-01 -2.20731408e+00] [-1.73346598e-01 8.21343456e-04 9.84860540e-01 -7.04116557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030792138 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.21, Z:-70.44 [[ 1.17103447e-01 9.92916956e-01 2.00674088e-02 5.54714660e+00] [-9.77907768e-01 1.18809307e-01 -1.71990538e-01 -2.21200006e+00] [-1.73156517e-01 5.16609951e-04 9.84894184e-01 -7.04443134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060792138 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.21, Z:-70.48 [[ 1.02738532e-01 9.94588329e-01 1.54547615e-02 5.55410242e+00] [-9.79488481e-01 1.03861853e-01 -1.72670293e-01 -2.21461934e+00] [-1.73341019e-01 2.60213163e-03 9.84858426e-01 -7.04771596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.090792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.22, Z:-70.51 [[ 1.02116988e-01 9.94659256e-01 1.50028555e-02 5.55383061e+00] [-9.79452668e-01 1.03169564e-01 -1.73287369e-01 -2.21769747e+00] [-1.73909723e-01 3.00099735e-03 9.84757027e-01 -7.05086912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12079213799998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.22, Z:-70.54 [[ 9.84260313e-02 9.95038151e-01 1.45394403e-02 5.55550259e+00] [-9.79886256e-01 9.94552289e-02 -1.73007465e-01 -2.22070478e+00] [-1.73595051e-01 2.78144046e-03 9.84813191e-01 -7.05419055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.22, Z:-70.58 [[ 9.57581099e-02 9.95307262e-01 1.39226123e-02 5.55680775e+00] [-9.80151078e-01 9.67207149e-02 -1.73057699e-01 -2.22373005e+00] [-1.73592190e-01 2.92541471e-03 9.84813279e-01 -7.05752670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.23, Z:-70.61 [[ 9.45708616e-02 9.95423682e-01 1.37129858e-02 5.55739402e+00] [-9.80266355e-01 9.55151077e-02 -1.73074369e-01 -2.22681752e+00] [-1.73592123e-01 2.92541353e-03 9.84813290e-01 -7.06086281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21079213799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.23, Z:-70.64 [[ 9.52160395e-02 9.95363825e-01 1.35927215e-02 5.55653775e+00] [-9.80321513e-01 9.61316635e-02 -1.72419355e-01 -2.23011843e+00] [-1.72926679e-01 3.09185081e-03 9.84929847e-01 -7.06415500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.23, Z:-70.67 [[ 9.27247819e-02 9.95607052e-01 1.29889609e-02 5.55701303e+00] [-9.80633307e-01 9.35748622e-02 -1.72052498e-01 -2.23311315e+00] [-1.72512121e-01 3.21612270e-03 9.85002145e-01 -7.06736010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.24, Z:-70.71 [[ 8.76130055e-02 9.96072803e-01 1.27644951e-02 5.55869775e+00] [-9.81147073e-01 8.85018451e-02 -1.71807580e-01 -2.23642821e+00] [-1.72262539e-01 2.52873142e-03 9.85047828e-01 -7.07066000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.24, Z:-70.74 [[ 8.37923084e-02 9.96407471e-01 1.22882261e-02 5.56031341e+00] [-9.81449186e-01 8.46558422e-02 -1.72020007e-01 -2.23933735e+00] [-1.72442290e-01 2.35368401e-03 9.85016810e-01 -7.07386652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.24, Z:-70.77 [[ 7.84526800e-02 9.96847572e-01 1.18361854e-02 5.56291994e+00] [-9.81981201e-01 7.93193257e-02 -1.71526572e-01 -2.24186170e+00] [-1.71924685e-01 1.83380764e-03 9.85108390e-01 -7.07712813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.24, Z:-70.80 [[ 7.59223523e-02 9.97049330e-01 1.13327246e-02 5.56412283e+00] [-9.82236418e-01 7.67407300e-02 -1.71238079e-01 -2.24493439e+00] [-1.71602493e-01 1.86938291e-03 9.85164499e-01 -7.08045026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390792138 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.25, Z:-70.84 [[ 7.09423031e-02 9.97422459e-01 1.07530379e-02 5.56685335e+00] [-9.82620532e-01 7.17352315e-02 -1.71204397e-01 -2.24739543e+00] [-1.71534483e-01 1.57947837e-03 9.85176850e-01 -7.08359713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.25, Z:-70.87 [[ 6.57586090e-02 9.97779687e-01 1.05594649e-02 5.56975580e+00] [-9.82941187e-01 6.65950233e-02 -1.71440153e-01 -2.25028702e+00] [-1.71762710e-01 8.94333010e-04 9.85137945e-01 -7.08684118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.450792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.25, Z:-70.90 [[ 6.20219887e-02 9.98023499e-01 1.01176764e-02 5.57135107e+00] [-9.83033940e-01 6.28374415e-02 -1.72324487e-01 -2.25364779e+00] [-1.72619656e-01 7.41888067e-04 9.84988276e-01 -7.09006348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.26, Z:-70.93 [[ 6.03151996e-02 9.98131854e-01 9.74059382e-03 5.57171903e+00] [-9.82996564e-01 6.10904784e-02 -1.73163821e-01 -2.25707320e+00] [-1.73435383e-01 8.69440164e-04 9.84844867e-01 -7.09331550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.26, Z:-70.97 [[ 6.18866142e-02 9.98039825e-01 9.30347669e-03 5.57023242e+00] [-9.82731469e-01 6.25606681e-02 -1.74140812e-01 -2.25993662e+00] [-1.74381497e-01 1.63416590e-03 9.84676811e-01 -7.09657190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.26, Z:-71.00 [[ 6.35583308e-02 9.97939188e-01 8.81565844e-03 5.56811291e+00] [-9.82644455e-01 6.41218729e-02 -1.74063954e-01 -2.26325527e+00] [-1.74270518e-01 2.40055650e-03 9.84694889e-01 -7.09988586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.27, Z:-71.03 [[ 6.36860652e-02 9.97935225e-01 8.32892572e-03 5.56723274e+00] [-9.82636212e-01 6.41627433e-02 -1.74095425e-01 -2.26656853e+00] [-1.74270364e-01 2.90314858e-03 9.84693562e-01 -7.10315241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60079213799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.27, Z:-71.06 [[ 6.19775311e-02 9.98047105e-01 7.79503803e-03 5.56800560e+00] [-9.82850074e-01 6.23891484e-02 -1.73531915e-01 -2.26930291e+00] [-1.73679351e-01 3.09372596e-03 9.84797396e-01 -7.10632517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.27, Z:-71.10 [[ 6.40428165e-02 9.97920549e-01 7.28660327e-03 5.56633078e+00] [-9.82603860e-01 6.43319334e-02 -1.74215547e-01 -2.27272078e+00] [-1.74322036e-01 3.99740980e-03 9.84680582e-01 -7.10952008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66079213799999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.28, Z:-71.13 [[ 6.85022988e-02 9.97625719e-01 7.09649621e-03 5.56294542e+00] [-9.82216446e-01 6.86871856e-02 -1.74736727e-01 -2.27642453e+00] [-1.74809291e-01 4.99957217e-03 9.84589618e-01 -7.11279695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69079213799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.28, Z:-71.16 [[ 6.66748345e-02 9.97752771e-01 6.62378259e-03 5.56339938e+00] [-9.82291499e-01 6.68037050e-02 -1.75044782e-01 -2.27964768e+00] [-1.75093909e-01 5.16459653e-03 9.84538191e-01 -7.11608674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720792138 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.28, Z:-71.19 [[ 6.58723779e-02 9.97809202e-01 6.13397044e-03 5.56304305e+00] [-9.82397206e-01 6.59293908e-02 -1.74782850e-01 -2.28285970e+00] [-1.74804345e-01 5.48736649e-03 9.84587899e-01 -7.11940123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750792138 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.29, Z:-71.23 [[ 6.28019009e-02 9.98010059e-01 5.64305002e-03 5.56401811e+00] [-9.82507197e-01 6.28176054e-02 -1.75309889e-01 -2.28554927e+00] [-1.75315515e-01 5.46545701e-03 9.84497130e-01 -7.12260089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780792138 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.29, Z:-71.26 [[ 5.62804687e-02 9.98401365e-01 5.21754744e-03 5.56775955e+00] [-9.82799333e-01 5.63201008e-02 -1.75879271e-01 -2.28917229e+00] [-1.75891957e-01 4.77076564e-03 9.84397917e-01 -7.12591765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.810792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.29, Z:-71.29 [[ 4.63438901e-02 9.98918811e-01 3.66773171e-03 5.57218799e+00] [-9.82985435e-01 4.62573710e-02 -1.77763581e-01 -2.29205883e+00] [-1.77741045e-01 4.63292900e-03 9.84066389e-01 -7.12899522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.30, Z:-71.32 [[ 7.81765158e-02 9.96873773e-01 1.14504501e-02 5.55702209e+00] [-9.81275977e-01 7.89711540e-02 -1.75673028e-01 -2.29628605e+00] [-1.76028090e-01 2.49745369e-03 9.84381976e-01 -7.13243879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87079213799998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.30, Z:-71.36 [[ 4.65317430e-02 9.98908910e-01 3.97322020e-03 5.57223591e+00] [-9.83470954e-01 4.65086404e-02 -1.74990942e-01 -2.29757915e+00] [-1.74984800e-01 4.23508690e-03 9.84562026e-01 -7.13570794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.30, Z:-71.39 [[ 3.93131073e-02 9.99220944e-01 3.46186833e-03 5.57741469e+00] [-9.83808381e-01 3.93125292e-02 -1.74858785e-01 -2.29948235e+00] [-1.74858655e-01 3.46842712e-03 9.84587437e-01 -7.13887651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93079213799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.30, Z:-71.42 [[ 2.99850237e-02 9.99548716e-01 1.80611230e-03 5.58139321e+00] [-9.83787498e-01 2.98317461e-02 -1.76839548e-01 -2.30131971e+00] [-1.76813622e-01 3.52570733e-03 9.84238036e-01 -7.14181887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96079213799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.30, Z:-71.45 [[ 3.73927240e-02 9.99290545e-01 4.49332707e-03 5.57576519e+00] [-9.83598752e-01 3.75987707e-02 -1.76408129e-01 -2.30434676e+00] [-1.76451919e-01 2.17674957e-03 9.84306854e-01 -7.14492738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99079213799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.31, Z:-71.48 [[ 1.00124356e-01 9.94765808e-01 2.03985258e-02 5.54676927e+00] [-9.79033599e-01 1.02154674e-01 -1.76231763e-01 -2.30892316e+00] [-1.77393137e-01 -2.32575037e-03 9.84137321e-01 -7.14829453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02079213799999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.31, Z:-71.52 [[ 7.08472297e-02 9.97432285e-01 1.04645810e-02 5.56170959e+00] [-9.81853885e-01 7.15831159e-02 -1.75609814e-01 -2.31179719e+00] [-1.75907985e-01 2.16677930e-03 9.84404229e-01 -7.15166881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.31, Z:-71.55 [[ 1.27821098e-02 9.99911747e-01 -3.62166063e-03 5.58652915e+00] [-9.83676557e-01 1.19242445e-02 -1.79550114e-01 -2.31271007e+00] [-1.79491082e-01 5.85757192e-03 9.83742162e-01 -7.15457347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08079213799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.32, Z:-71.58 [[ 1.01290333e-01 9.94687411e-01 1.83636224e-02 5.54499347e+00] [-9.78734979e-01 1.02941508e-01 -1.77428541e-01 -2.31919679e+00] [-1.78376315e-01 -1.32363535e-06 9.83962342e-01 -7.15801631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.32, Z:-71.61 [[ 2.39654112e-02 9.99711819e-01 -1.39248743e-03 5.58046342e+00] [-9.83183124e-01 2.33168892e-02 -1.81127768e-01 -2.31955976e+00] [-1.81043101e-01 5.70987157e-03 9.83458587e-01 -7.16114808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.31, Z:-71.57 [[-2.79537939e-03 9.99980691e-01 -5.55009151e-03 5.59144997e+00] [-9.82206140e-01 -3.78784046e-03 -1.87767809e-01 -2.31261973e+00] [-1.87785206e-01 4.92645169e-03 9.82197763e-01 -7.15680959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170792138 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:5.60, Y:-2.31, Z:-71.57 [[-2.61956185e-02 9.99596322e-01 -1.09991804e-02 5.60217566e+00] [-9.81900109e-01 -2.77933874e-02 -1.87349151e-01 -2.31280636e+00] [-1.87579227e-01 5.89236957e-03 9.82231802e-01 -7.15700415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.61, Y:-2.31, Z:-71.57 [[-4.26508571e-02 9.98985814e-01 -1.44308274e-02 5.60980120e+00] [-9.81329829e-01 -4.45996530e-02 -1.87089918e-01 -2.31326280e+00] [-1.87543784e-01 6.18185597e-03 9.82236791e-01 -7.15713994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.230792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.31, Z:-71.58 [[-6.13529030e-02 9.97947854e-01 -1.83276562e-02 5.61913169e+00] [-9.80441633e-01 -6.36965851e-02 -1.86217477e-01 -2.31293812e+00] [-1.87002741e-01 6.54421436e-03 9.82337594e-01 -7.15761633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26079213799999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.31, Z:-71.58 [[-7.68551628e-02 9.96843334e-01 -1.99161300e-02 5.62726073e+00] [-9.79510176e-01 -7.92181539e-02 -1.85160198e-01 -2.31347860e+00] [-1.86153428e-01 5.27753485e-03 9.82506513e-01 -7.15791826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29079213799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.64, Y:-2.31, Z:-71.58 [[-9.62874436e-02 9.95088196e-01 -2.29828285e-02 5.63662686e+00] [-9.77837340e-01 -9.88805008e-02 -1.84544802e-01 -2.31402299e+00] [-1.85910908e-01 4.70412070e-03 9.82555345e-01 -7.15820732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.35, Z:-72.04 [[-1.10895999e-01 9.93577174e-01 -2.25050254e-02 5.63489967e+00] [-9.77426797e-01 -1.13134943e-01 -1.78430213e-01 -2.35453135e+00] [-1.79830292e-01 2.20981820e-03 9.83695168e-01 -7.20401797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] SLAMing on 76.38079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.32, Z:-71.59 [[-1.61643128e-01 9.86299390e-01 -3.29395277e-02 5.66874532e+00] [-9.69362072e-01 -1.64946113e-01 -1.82016353e-01 -2.31854577e+00] [-1.84955865e-01 2.50863601e-03 9.82743626e-01 -7.15891919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41079213799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:5.69, Y:-2.32, Z:-71.59 [[-2.15113744e-01 9.75521950e-01 -4.56399147e-02 5.69449253e+00] [-9.59007261e-01 -2.19838139e-01 -1.78819084e-01 -2.32373460e+00] [-1.84475336e-01 5.30256687e-03 9.82822839e-01 -7.15912707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.33, Z:-71.62 [[-2.28975866e-01 9.72274393e-01 -4.74611156e-02 5.70064901e+00] [-9.56906826e-01 -2.33766774e-01 -1.72285869e-01 -2.33114792e+00] [-1.78603971e-01 5.96655941e-03 9.83902953e-01 -7.16214914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470792138 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.71, Y:-2.33, Z:-71.60 [[-2.48109166e-01 9.67405519e-01 -5.06794308e-02 5.71114460e+00] [-9.51181661e-01 -2.53193686e-01 -1.76483442e-01 -2.32752564e+00] [-1.83562768e-01 4.41818554e-03 9.82998062e-01 -7.15990301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500792138 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:5.72, Y:-2.33, Z:-71.60 [[-2.69497690e-01 9.61427006e-01 -5.50373285e-02 5.72172904e+00] [-9.45453212e-01 -2.75015093e-01 -1.74599322e-01 -2.33062779e+00] [-1.83000599e-01 4.98110515e-03 9.83100183e-01 -7.16024810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530792138 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.34, Z:-71.62 [[-2.82906966e-01 9.57492130e-01 -5.63246825e-02 5.72759196e+00] [-9.42724062e-01 -2.88403481e-01 -1.67614961e-01 -2.33799433e+00] [-1.76734240e-01 5.67919351e-03 9.84242224e-01 -7.16204431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560792138 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.34, Z:-71.62 [[-2.97610869e-01 9.52895175e-01 -5.84684216e-02 5.73471232e+00] [-9.38068520e-01 -3.03258731e-01 -1.67515950e-01 -2.33968670e+00] [-1.77356200e-01 4.99281829e-03 9.84134061e-01 -7.16216362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.590792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.75, Y:-2.34, Z:-71.61 [[-3.22636030e-01 9.44396825e-01 -6.34084242e-02 5.74756859e+00] [-9.28773534e-01 -3.28787243e-01 -1.71110114e-01 -2.33888510e+00] [-1.82443730e-01 3.68577834e-03 9.83209388e-01 -7.16107421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62079213799998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.34, Z:-71.61 [[-3.48730682e-01 9.34757843e-01 -6.79314847e-02 5.76014163e+00] [-9.19252047e-01 -3.55270093e-01 -1.69584299e-01 -2.34397741e+00] [-1.82654279e-01 3.30690807e-03 9.83171643e-01 -7.16146898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65079213799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.35, Z:-71.63 [[-3.59615675e-01 9.30528064e-01 -6.92393480e-02 5.76411201e+00] [-9.16013215e-01 -3.66192603e-01 -1.63776576e-01 -2.35020226e+00] [-1.77753638e-01 4.52753360e-03 9.84064604e-01 -7.16291228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68079213799999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.77, Y:-2.35, Z:-71.62 [[-3.77680420e-01 9.23047645e-01 -7.30790393e-02 5.77337792e+00] [-9.07777943e-01 -3.84672505e-01 -1.67231187e-01 -2.35012289e+00] [-1.82473850e-01 3.17959497e-03 9.83205566e-01 -7.16174975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71079213799999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:5.78, Y:-2.36, Z:-71.63 [[-3.92269096e-01 9.16764731e-01 -7.52820381e-02 5.77875589e+00] [-9.02480605e-01 -3.99400219e-01 -1.61270651e-01 -2.35674017e+00] [-1.77914908e-01 4.67908664e-03 9.84034751e-01 -7.16315043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74079213799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.36, Z:-71.63 [[-4.11171609e-01 9.08144951e-01 -7.88077229e-02 5.78796549e+00] [-8.93260813e-01 -4.18644723e-01 -1.63773367e-01 -2.35705016e+00] [-1.81722394e-01 3.05689172e-03 9.83345121e-01 -7.16256515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77079213799999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.80, Y:-2.36, Z:-71.63 [[-4.29924109e-01 8.99083057e-01 -8.25525138e-02 5.79749354e+00] [-8.84567952e-01 -4.37761359e-01 -1.60948847e-01 -2.36126377e+00] [-1.80844682e-01 3.82751848e-03 9.83504220e-01 -7.16275210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80079213799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:5.81, Y:-2.37, Z:-71.63 [[-4.52335499e-01 8.87722857e-01 -8.56780287e-02 5.80936954e+00] [-8.73259449e-01 -4.60370790e-01 -1.59614132e-01 -2.36790350e+00] [-1.81136775e-01 2.62001008e-03 9.83454424e-01 -7.16309184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83079213799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:5.82, Y:-2.37, Z:-71.63 [[-4.67957257e-01 8.79329724e-01 -8.82906724e-02 5.81745183e+00] [-8.65138357e-01 -4.76205535e-01 -1.57365533e-01 -2.37222304e+00] [-1.80420698e-01 2.74330390e-03 9.83585709e-01 -7.16335130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860792138 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:5.82, Y:-2.38, Z:-71.67 [[-4.81503885e-01 8.72077580e-01 -8.73767899e-02 5.81974889e+00] [-8.59164493e-01 -4.89358066e-01 -1.49549513e-01 -2.38326873e+00] [-1.73177315e-01 3.06236366e-03 9.84885902e-01 -7.16728039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890792138 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:5.83, Y:-2.39, Z:-71.68 [[-4.97526445e-01 8.62917296e-01 -8.85504142e-02 5.82643399e+00] [-8.50439985e-01 -5.05338729e-01 -1.46234745e-01 -2.38872504e+00] [-1.70936445e-01 2.55115984e-03 9.85278754e-01 -7.16792122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:5.84, Y:-2.39, Z:-71.65 [[-5.21383961e-01 8.48008312e-01 -9.50824235e-02 5.84248372e+00] [-8.34691153e-01 -5.29981301e-01 -1.49701369e-01 -2.38821009e+00] [-1.77339912e-01 1.31256515e-03 9.84148786e-01 -7.16473197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.950792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:5.84, Y:-2.40, Z:-71.68 [[-5.39748099e-01 8.36646976e-01 -9.32406931e-02 5.84478591e+00] [-8.24889882e-01 -5.47740519e-01 -1.39774842e-01 -2.40291004e+00] [-1.68013904e-01 1.47009925e-03 9.85783529e-01 -7.16812534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.85, Y:-2.41, Z:-71.67 [[-5.54373513e-01 8.26881328e-01 -9.45371699e-02 5.85083273e+00] [-8.15523183e-01 -5.62374764e-01 -1.36589029e-01 -2.40823554e+00] [-1.66108236e-01 1.37591412e-03 9.86106567e-01 -7.16723366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01079213799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:5.86, Y:-2.41, Z:-71.66 [[-5.71958422e-01 8.13723923e-01 -1.03522659e-01 5.86446558e+00] [-8.01334205e-01 -5.81247980e-01 -1.41471825e-01 -2.40661328e+00] [-1.75291345e-01 2.04024566e-03 9.84514490e-01 -7.16557448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04079213799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:5.86, Y:-2.42, Z:-71.68 [[-5.77833917e-01 8.10068772e-01 -9.94814010e-02 5.86205052e+00] [-7.98909158e-01 -5.86331330e-01 -1.34013916e-01 -2.41547666e+00] [-1.66889551e-01 2.03881623e-03 9.85973489e-01 -7.16814111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07079213799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.42, Z:-71.68 [[-5.92034752e-01 7.99470727e-01 -1.01692717e-01 5.86847816e+00] [-7.88442151e-01 -6.00702278e-01 -1.32347073e-01 -2.42064695e+00] [-1.66894657e-01 1.82475789e-03 9.85973044e-01 -7.16839242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10079213799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.43, Z:-71.69 [[-6.01313030e-01 7.92350397e-01 -1.02973239e-01 5.87158025e+00] [-7.82223636e-01 -6.10049165e-01 -1.26357426e-01 -2.42540091e+00] [-1.62938095e-01 4.56773499e-03 9.86625721e-01 -7.16896297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.88, Y:-2.42, Z:-71.66 [[-6.16272404e-01 7.79755776e-01 -1.10404951e-01 5.88401132e+00] [-7.67507585e-01 -6.26083796e-01 -1.37663313e-01 -2.42381607e+00] [-1.76466515e-01 -1.01463673e-04 9.84306639e-01 -7.16637625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16079213799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.43, Z:-71.66 [[-6.31629033e-01 7.66810443e-01 -1.14221319e-01 5.89105414e+00] [-7.54883775e-01 -6.41872627e-01 -1.34721999e-01 -2.43004567e+00] [-1.76621774e-01 1.12949448e-03 9.84278148e-01 -7.16635252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19079213799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.44, Z:-71.68 [[-6.34942262e-01 7.64569578e-01 -1.10822761e-01 5.88912286e+00] [-7.54427602e-01 -6.44523761e-01 -1.24209965e-01 -2.43664637e+00] [-1.66395063e-01 4.74159382e-03 9.86047768e-01 -7.16784916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220792138 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.43, Z:-71.67 [[-6.39826415e-01 7.59900889e-01 -1.14772809e-01 5.89349017e+00] [-7.48291068e-01 -6.50037816e-01 -1.32330328e-01 -2.43370224e+00] [-1.75164600e-01 1.21502806e-03 9.84538413e-01 -7.16689891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.45, Z:-71.68 [[-6.55393601e-01 7.46754277e-01 -1.13213419e-01 5.89728366e+00] [-7.36396670e-01 -6.65096631e-01 -1.23961351e-01 -2.44514891e+00] [-1.67866532e-01 2.12650824e-03 9.85807438e-01 -7.16845384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.45, Z:-71.69 [[-6.67336006e-01 7.35771306e-01 -1.15339675e-01 5.90255576e+00] [-7.25493696e-01 -6.77227454e-01 -1.22563748e-01 -2.45020513e+00] [-1.68290083e-01 1.88700537e-03 9.85735709e-01 -7.16854280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.310792138 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.47, Z:-71.96 [[-6.88222425e-01 7.15442123e-01 -1.20384646e-01 5.89683811e+00] [-7.04689529e-01 -6.98671972e-01 -1.23572423e-01 -2.47208102e+00] [-1.72518295e-01 -2.11512553e-04 9.85006291e-01 -7.19558510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.97, Y:-3.05, Z:-71.67 [[-8.25040553e-01 -5.31100302e-01 -1.92978118e-01 5.96919169e+00] [ 5.13040941e-01 -8.47176911e-01 1.38131370e-01 -3.04736012e+00] [-2.36848218e-01 1.49583065e-02 9.71431506e-01 -7.16678948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37079213799998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:6.04, Y:-2.80, Z:-71.69 [[-9.74394445e-01 -5.56015148e-03 -2.24776668e-01 6.03804726e+00] [ 4.73423951e-03 -9.99979918e-01 4.21317366e-03 -2.80440812e+00] [-2.24795580e-01 3.04114643e-03 9.74401200e-01 -7.16883904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40079213799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:6.04, Y:-2.81, Z:-71.71 [[-9.73485052e-01 -3.51069190e-03 -2.28723694e-01 6.03752522e+00] [ 1.14882897e-02 -9.99370788e-01 -3.35566257e-02 -2.80590257e+00] [-2.28461972e-01 -3.52945176e-02 9.72912856e-01 -7.17112045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.84, Y:-3.18, Z:-71.71 [[-5.53470321e-01 -8.23645580e-01 -1.23606482e-01 5.83616039e+00] [ 8.04728612e-01 -5.67100141e-01 1.75525757e-01 -3.18210313e+00] [-2.14668267e-01 -2.32137544e-03 9.76684261e-01 -7.17129534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46079213799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:5.81, Y:-3.19, Z:-71.74 [[-5.08164692e-01 -8.54444910e-01 -1.08132057e-01 5.81020471e+00] [ 8.36336155e-01 -5.19539803e-01 1.74986365e-01 -3.19254820e+00] [-2.05695117e-01 -1.51285648e-03 9.78614955e-01 -7.17367346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.79, Y:-3.21, Z:-71.74 [[-4.50629517e-01 -8.86411308e-01 -1.05867995e-01 5.78581729e+00] [ 8.66285139e-01 -4.62845281e-01 1.87947611e-01 -3.20996535e+00] [-2.15599389e-01 -7.01712924e-03 9.76456688e-01 -7.17388059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52079213799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.70, Y:-3.24, Z:-71.74 [[-2.62103510e-01 -9.63376352e-01 -5.66370500e-02 5.69586060e+00] [ 9.40845962e-01 -2.68151074e-01 2.07132512e-01 -3.24403232e+00] [-2.14733849e-01 1.00341848e-03 9.76672088e-01 -7.17410333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:5.68, Y:-3.25, Z:-71.75 [[-2.22397319e-01 -9.73796900e-01 -4.75292655e-02 5.67651378e+00] [ 9.50938182e-01 -2.27414794e-01 2.09759589e-01 -3.24824013e+00] [-2.15072095e-01 1.45257683e-03 9.76597094e-01 -7.17451486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.66, Y:-3.25, Z:-71.75 [[-1.78245167e-01 -9.83222843e-01 -3.87492241e-02 5.65544700e+00] [ 9.60258314e-01 -1.82407900e-01 2.11261279e-01 -3.25189496e+00] [-2.14785080e-01 4.47037358e-04 9.76661236e-01 -7.17539751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.63, Y:-3.26, Z:-71.75 [[-1.22918078e-01 -9.92065851e-01 -2.63911706e-02 5.62913416e+00] [ 9.68730612e-01 -1.25717219e-01 2.13906946e-01 -3.25512895e+00] [-2.15527601e-01 7.27095672e-04 9.76497478e-01 -7.17542509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640792138 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.61, Y:-3.26, Z:-71.76 [[-8.49966141e-02 -9.96216713e-01 -1.81062342e-02 5.61122203e+00] [ 9.72674207e-01 -8.69010163e-02 2.15297704e-01 -3.25638107e+00] [-2.16056621e-01 6.88108892e-04 9.76380593e-01 -7.17578923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.59, Y:-3.26, Z:-71.76 [[-4.45714125e-02 -9.98968194e-01 -8.71415663e-03 5.59239653e+00] [ 9.75433563e-01 -4.54017601e-02 2.15564478e-01 -3.25790939e+00] [-2.15737695e-01 1.10793239e-03 9.76450726e-01 -7.17621808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.57, Y:-3.26, Z:-71.79 [[-2.60269466e-03 -9.99993751e-01 2.39240728e-03 5.57299697e+00] [ 9.76241276e-01 -2.02249119e-03 2.16676906e-01 -3.25738018e+00] [-2.16670713e-01 2.89951056e-03 9.76240439e-01 -7.17947329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.730792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.57, Y:-3.26, Z:-71.83 [[ 6.51934637e-03 -9.99972328e-01 3.58357794e-03 5.56867594e+00] [ 9.76192709e-01 7.14121072e-03 2.16787448e-01 -3.25559385e+00] [-2.16807040e-01 2.08495020e-03 9.76212252e-01 -7.18275844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76079213799999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:5.57, Y:-3.25, Z:-71.86 [[ 8.22725717e-03 -9.99954576e-01 4.81231024e-03 5.56781007e+00] [ 9.76156669e-01 9.07518543e-03 2.16877380e-01 -3.25437803e+00] [-2.16911201e-01 2.91326276e-03 9.76186992e-01 -7.18591927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.57, Y:-3.25, Z:-71.89 [[ 9.05499152e-03 -9.99941211e-01 5.96510998e-03 5.56801035e+00] [ 9.75966183e-01 1.01364833e-02 2.17686152e-01 -3.25275573e+00] [-2.17733820e-01 3.85059936e-03 9.76000593e-01 -7.18910748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82079213799999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:5.57, Y:-3.25, Z:-71.92 [[ 1.05198022e-02 -9.99919993e-01 7.02428208e-03 5.56794897e+00] [ 9.76169602e-01 1.17921349e-02 2.16688378e-01 -3.25183222e+00] [-2.16753873e-01 4.57737176e-03 9.76215553e-01 -7.19245338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.25, Z:-71.96 [[ 1.83670643e-02 -9.99797274e-01 8.24993908e-03 5.56468366e+00] [ 9.75984485e-01 1.97197559e-02 2.16945654e-01 -3.24992331e+00] [-2.17064360e-01 4.06715778e-03 9.76148822e-01 -7.19574303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.25, Z:-71.99 [[ 2.27952161e-02 -9.99695543e-01 9.44454752e-03 5.56325287e+00] [ 9.75950167e-01 2.43004137e-02 2.16635088e-01 -3.24854528e+00] [-2.16798638e-01 4.27916410e-03 9.76206965e-01 -7.19904858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.25, Z:-72.02 [[ 2.67513778e-02 -9.99585377e-01 1.06506874e-02 5.56167211e+00] [ 9.75832031e-01 2.84242724e-02 2.16665427e-01 -3.24713324e+00] [-2.16878331e-01 4.59718325e-03 9.76187818e-01 -7.20230366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.25, Z:-72.05 [[ 3.30488337e-02 -9.99381945e-01 1.19792906e-02 5.55905212e+00] [ 9.75507075e-01 3.48626740e-02 2.17187802e-01 -3.24544793e+00] [-2.17471198e-01 4.50807919e-03 9.76056328e-01 -7.20545323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.24, Z:-72.09 [[ 3.43971714e-02 -9.99327837e-01 1.26771079e-02 5.55941826e+00] [ 9.75303522e-01 3.63339368e-02 2.17859781e-01 -3.24386344e+00] [-2.18173953e-01 4.87026778e-03 9.75897744e-01 -7.20877795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.24, Z:-72.12 [[ 3.97154699e-02 -9.99112769e-01 1.40127501e-02 5.55719876e+00] [ 9.75102347e-01 4.18154046e-02 2.17777144e-01 -3.24218256e+00] [-2.18169874e-01 5.01474388e-03 9.75897924e-01 -7.21212510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030792138 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.56, Y:-3.24, Z:-72.15 [[ 4.15209269e-02 -9.99033556e-01 1.44210236e-02 5.55730932e+00] [ 9.74944422e-01 4.36683166e-02 2.18120270e-01 -3.24054431e+00] [-2.18539211e-01 5.00314077e-03 9.75815342e-01 -7.21545224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:5.55, Y:-3.24, Z:-72.19 [[ 4.96175898e-02 -9.98645431e-01 1.56651644e-02 5.55479374e+00] [ 9.74448684e-01 5.18435674e-02 2.18545204e-01 -3.23915294e+00] [-2.19061307e-01 4.42121254e-03 9.75701079e-01 -7.21879903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.090792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.55, Y:-3.24, Z:-72.22 [[ 5.46962475e-02 -9.98360677e-01 1.68605596e-02 5.55301018e+00] [ 9.74195723e-01 5.70602835e-02 2.18373113e-01 -3.23769979e+00] [-2.18977197e-01 4.48129522e-03 9.75719686e-01 -7.22212113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12079213799998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.55, Y:-3.24, Z:-72.25 [[ 5.90264775e-02 -9.98092400e-01 1.80952019e-02 5.55142781e+00] [ 9.73911011e-01 6.15563510e-02 2.18421974e-01 -3.23568334e+00] [-2.19119187e-01 4.73043661e-03 9.75686633e-01 -7.22544215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15079213799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.55, Y:-3.23, Z:-72.29 [[ 6.58237698e-02 -9.97643925e-01 1.93346710e-02 5.54865214e+00] [ 9.73469765e-01 6.84601668e-02 2.18334199e-01 -3.23412626e+00] [-2.19143442e-01 4.45013758e-03 9.75682504e-01 -7.22863246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18079213799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.55, Y:-3.23, Z:-72.32 [[ 7.08687839e-02 -9.97274315e-01 2.05318360e-02 5.54668413e+00] [ 9.73115945e-01 7.36448195e-02 2.18224194e-01 -3.23239847e+00] [-2.19141447e-01 4.51457372e-03 9.75682656e-01 -7.23197996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21079213799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.23, Z:-72.35 [[ 7.68968402e-02 -9.96809699e-01 2.13845614e-02 5.54439654e+00] [ 9.72653923e-01 7.97133993e-02 2.18151601e-01 -3.23112806e+00] [-2.19160268e-01 4.02460871e-03 9.75680572e-01 -7.23516996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24079213799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.23, Z:-72.38 [[ 8.36209092e-02 -9.96256520e-01 2.19200604e-02 5.54078627e+00] [ 9.72384302e-01 8.63875068e-02 2.16808599e-01 -3.22963857e+00] [-2.17890600e-01 3.18499045e-03 9.75968003e-01 -7.23845123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27079213799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.23, Z:-72.42 [[ 8.92197688e-02 -9.95745516e-01 2.30369347e-02 5.53757598e+00] [ 9.71951900e-01 9.20942868e-02 2.16398120e-01 -3.22838513e+00] [-2.17599028e-01 3.08380221e-03 9.76033377e-01 -7.24174507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30079213799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.23, Z:-72.45 [[ 9.21341668e-02 -9.95452367e-01 2.42049452e-02 5.53647401e+00] [ 9.71745004e-01 9.51917553e-02 2.15986519e-01 -3.22661265e+00] [-2.17308403e-01 3.62129657e-03 9.76096278e-01 -7.24500223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33079213799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.53, Y:-3.23, Z:-72.48 [[ 9.96052636e-02 -9.94709137e-01 2.51500336e-02 5.53178897e+00] [ 9.71504932e-01 1.02682888e-01 2.13622075e-01 -3.22501899e+00] [-2.15074308e-01 3.15549858e-03 9.76592589e-01 -7.24818591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.22, Z:-72.51 [[ 8.68947697e-02 -9.95886958e-01 2.56605862e-02 5.53781512e+00] [ 9.73794696e-01 9.03449907e-02 2.08714335e-01 -3.22418871e+00] [-2.10174189e-01 6.85195865e-03 9.77639944e-01 -7.25139174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390792138 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.54, Y:-3.22, Z:-72.55 [[ 9.17806463e-02 -9.95419324e-01 2.67709064e-02 5.53597656e+00] [ 9.73346932e-01 9.53549204e-02 2.08574182e-01 -3.22241068e+00] [-2.10171509e-01 6.91430642e-03 9.77640082e-01 -7.25473925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420792138 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:5.53, Y:-3.22, Z:-72.58 [[ 1.07145310e-01 -9.93855993e-01 2.77515415e-02 5.52935998e+00] [ 9.71295217e-01 1.10593838e-01 2.10605327e-01 -3.22092588e+00] [-2.12380516e-01 4.38956662e-03 9.77177184e-01 -7.25800123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.450792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-3.22, Z:-72.61 [[ 1.14805776e-01 -9.92962532e-01 2.90696495e-02 5.52657757e+00] [ 9.70095152e-01 1.18365611e-01 2.11907947e-01 -3.21916465e+00] [-2.13857498e-01 3.87206970e-03 9.76857194e-01 -7.26131714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.22, Z:-72.65 [[ 1.20330301e-01 -9.92273670e-01 3.02255234e-02 5.52473727e+00] [ 9.69449265e-01 1.24009071e-01 2.11636180e-01 -3.21714821e+00] [-2.13749248e-01 3.83586626e-03 9.76881029e-01 -7.26463448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51079213799999 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.22, Z:-72.68 [[ 1.25289398e-01 -9.91621954e-01 3.14398895e-02 5.52291121e+00] [ 9.68786939e-01 1.29113651e-01 2.11616476e-01 -3.21541534e+00] [-2.13902862e-01 3.94525350e-03 9.76846969e-01 -7.26780776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.21, Z:-72.71 [[ 1.30339561e-01 -9.90935501e-01 3.25335467e-02 5.52119347e+00] [ 9.68091941e-01 1.34281351e-01 2.11580984e-01 -3.21354220e+00] [-2.14031757e-01 3.91809185e-03 9.76818845e-01 -7.27106076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57079213799999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.21, Z:-72.74 [[ 1.35762533e-01 -9.90164011e-01 3.38196011e-02 5.51905492e+00] [ 9.67336214e-01 1.39854005e-01 2.11427307e-01 -3.21174420e+00] [-2.14077517e-01 4.01101803e-03 9.76808440e-01 -7.27427831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60079213799999 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.21, Z:-72.78 [[ 1.39109175e-01 -9.89678384e-01 3.44286777e-02 5.51801215e+00] [ 9.66902230e-01 1.43252731e-01 2.11136761e-01 -3.21003161e+00] [-2.13889490e-01 3.91810460e-03 9.76850006e-01 -7.27755285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:-3.21, Z:-72.81 [[ 1.44600759e-01 -9.88848321e-01 3.56317009e-02 5.51599755e+00] [ 9.66094668e-01 1.48874525e-01 2.10944232e-01 -3.20828422e+00] [-2.13896503e-01 3.92090012e-03 9.76848459e-01 -7.28079942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.21, Z:-72.84 [[ 1.49540009e-01 -9.88072638e-01 3.67457050e-02 5.51425866e+00] [ 9.65311311e-01 1.53938259e-01 2.10895909e-01 -3.20639940e+00] [-2.14037047e-01 3.93366849e-03 9.76817623e-01 -7.28412688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.20, Z:-72.87 [[ 1.54657827e-01 -9.87240855e-01 3.79005393e-02 5.51245948e+00] [ 9.64510193e-01 1.59184484e-01 2.10666534e-01 -3.20453451e+00] [-2.14011787e-01 3.97422810e-03 9.76822994e-01 -7.28738722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.20, Z:-72.91 [[ 1.60362691e-01 -9.86283601e-01 3.90955911e-02 5.51047432e+00] [ 9.63552901e-01 1.65013375e-01 2.10562087e-01 -3.20269006e+00] [-2.14125229e-01 3.90436730e-03 9.76798414e-01 -7.29061381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.20, Z:-72.94 [[ 1.64926069e-01 -9.85488457e-01 4.01483939e-02 5.50894745e+00] [ 9.62792260e-01 1.69696086e-01 2.10319525e-01 -3.20085190e+00] [-2.14080489e-01 3.96739058e-03 9.76807967e-01 -7.29391762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.20, Z:-72.97 [[ 1.69887969e-01 -9.84593775e-01 4.13905274e-02 5.50703519e+00] [ 9.61933791e-01 1.74808625e-01 2.10060291e-01 -3.19885059e+00] [-2.14059476e-01 4.12823088e-03 9.76811905e-01 -7.29712622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.810792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.20, Z:-73.00 [[ 1.73399529e-01 -9.83955177e-01 4.20096698e-02 5.50622830e+00] [ 9.61305919e-01 1.78371418e-01 2.09939439e-01 -3.19710470e+00] [-2.14064322e-01 3.98074436e-03 9.76811455e-01 -7.30045637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840792138 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.20, Z:-73.04 [[ 1.78519262e-01 -9.82987837e-01 4.31947379e-02 5.50434236e+00] [ 9.60376977e-01 1.83625900e-01 2.09660658e-01 -3.19515121e+00] [-2.14025550e-01 4.05476576e-03 9.76819647e-01 -7.30367084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87079213799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.19, Z:-73.07 [[ 1.83491518e-01 -9.82022456e-01 4.43030332e-02 5.50269360e+00] [ 9.59404125e-01 1.88720753e-01 2.09590561e-01 -3.19317714e+00] [-2.14183539e-01 4.04642252e-03 9.76785052e-01 -7.30701091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.19, Z:-73.10 [[ 1.89304812e-01 -9.80866752e-01 4.54324052e-02 5.50069793e+00] [ 9.58338071e-01 1.94639914e-01 2.09053690e-01 -3.19130791e+00] [-2.13896773e-01 3.96473424e-03 9.76848223e-01 -7.31022659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.19, Z:-73.14 [[ 1.93859317e-01 -9.79926372e-01 4.65066760e-02 5.49921678e+00] [ 9.57430812e-01 1.99318623e-01 2.08802123e-01 -3.18947962e+00] [-2.13880354e-01 4.04868768e-03 9.76851474e-01 -7.31351554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96079213799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.19, Z:-73.17 [[ 1.99071139e-01 -9.78819229e-01 4.77870021e-02 5.49728816e+00] [ 9.56361548e-01 2.04683501e-01 2.08512002e-01 -3.18744171e+00] [-2.13876768e-01 4.19292955e-03 9.76851651e-01 -7.31686261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99079213799999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:5.50, Y:-3.19, Z:-73.20 [[ 2.01329593e-01 -9.78340462e-01 4.81283229e-02 5.49687200e+00] [ 9.55910426e-01 2.06962391e-01 2.08331051e-01 -3.18566764e+00] [-2.13779449e-01 4.06315984e-03 9.76873501e-01 -7.32019524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02079213799999 meters Centerline goodness : 0.999941 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.18, Z:-73.23 [[ 2.10814497e-01 -9.76245828e-01 5.00133177e-02 5.49340984e+00] [ 9.53652991e-01 2.16634780e-01 2.08842870e-01 -3.18292417e+00] [-2.14716604e-01 3.66824549e-03 9.76669506e-01 -7.32339946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05079213799999 meters Centerline goodness : 0.999921 Centerline is valid? [True, True] Translation: X:5.51, Y:-3.19, Z:-73.27 [[ 1.71006709e-01 -9.84466004e-01 3.97918752e-02 5.51260325e+00] [ 9.61779083e-01 1.75559775e-01 2.10142242e-01 -3.18607320e+00] [-2.13863746e-01 2.33526003e-03 9.76860709e-01 -7.32666134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08079213799999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.18, Z:-73.30 [[ 2.13520370e-01 -9.75614258e-01 5.08514630e-02 5.49302703e+00] [ 9.53266644e-01 2.19453229e-01 2.07660747e-01 -3.18021630e+00] [-2.13756303e-01 4.13520401e-03 9.76878264e-01 -7.32989250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110792138 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.18, Z:-73.33 [[ 2.17714689e-01 -9.74633926e-01 5.18558107e-02 5.49174024e+00] [ 9.52341146e-01 2.23764700e-01 2.07305816e-01 -3.17823639e+00] [-2.13650781e-01 4.25090087e-03 9.76900851e-01 -7.33324011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140792138 meters Centerline goodness : 0.999961 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.18, Z:-73.36 [[ 2.22354906e-01 -9.73530172e-01 5.28895180e-02 5.49023237e+00] [ 9.51377823e-01 2.28516339e-01 2.06544233e-01 -3.17631309e+00] [-2.13163162e-01 4.39179103e-03 9.77006744e-01 -7.33647825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170792138 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.17, Z:-73.40 [[ 2.24117003e-01 -9.73080817e-01 5.37149112e-02 5.48993202e+00] [ 9.51154108e-01 2.30408986e-01 2.05469127e-01 -3.17462791e+00] [-2.12314464e-01 5.04203354e-03 9.77188388e-01 -7.33975406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200792138 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.17, Z:-73.43 [[ 2.27790693e-01 -9.72174270e-01 5.46679917e-02 5.48888112e+00] [ 9.50451018e-01 2.34196785e-01 2.04437592e-01 -3.17275681e+00] [-2.11552034e-01 5.39026768e-03 9.77351872e-01 -7.34298498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.230792138 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.17, Z:-73.46 [[ 2.28990501e-01 -9.71861726e-01 5.52099230e-02 5.48886451e+00] [ 9.50581798e-01 2.35471934e-01 2.02354180e-01 -3.17130549e+00] [-2.09660670e-01 6.14436271e-03 9.77754903e-01 -7.34627041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26079213799999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.17, Z:-73.49 [[ 2.33291880e-01 -9.70798290e-01 5.59068822e-02 5.48763024e+00] [ 9.49876130e-01 2.39814086e-01 2.00560569e-01 -3.16944701e+00] [-2.08111115e-01 6.31546069e-03 9.78084801e-01 -7.34949905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29079213799999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.17, Z:-73.53 [[ 2.38024256e-01 -9.69627039e-01 5.62837285e-02 5.48631130e+00] [ 9.49211266e-01 2.44507336e-01 1.98025594e-01 -3.16785945e+00] [-2.05772755e-01 6.29025449e-03 9.78579586e-01 -7.35273401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32079213799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:5.48, Y:-3.17, Z:-73.56 [[ 2.50905229e-01 -9.66476490e-01 5.44954983e-02 5.48244139e+00] [ 9.47965475e-01 2.56717182e-01 1.88302272e-01 -3.16593882e+00] [-1.95979650e-01 4.41382620e-03 9.80598029e-01 -7.35599728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35079213799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:5.48, Y:-3.16, Z:-73.59 [[ 2.60628225e-01 -9.63865398e-01 5.51037477e-02 5.47719716e+00] [ 9.45600279e-01 2.66367725e-01 1.86784226e-01 -3.16425418e+00] [-1.94712712e-01 3.42487796e-03 9.80854337e-01 -7.35935155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38079213799999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:5.48, Y:-3.16, Z:-73.63 [[ 2.66913586e-01 -9.62079662e-01 5.62126399e-02 5.47579971e+00] [ 9.43801481e-01 2.72749521e-01 1.86672074e-01 -3.16245950e+00] [-1.94925377e-01 3.22826009e-03 9.80812763e-01 -7.36255642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41079213799999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:5.47, Y:-3.16, Z:-73.66 [[ 2.74041828e-01 -9.59989682e-01 5.76271375e-02 5.47424216e+00] [ 9.41422856e-01 2.80021813e-01 1.87911658e-01 -3.16020148e+00] [-1.96530109e-01 2.75585007e-03 9.80493917e-01 -7.36582951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44079213799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.15, Z:-73.69 [[ 2.95276864e-01 -9.53495839e-01 6.04752736e-02 5.46359447e+00] [ 9.33685224e-01 3.01405524e-01 1.93356182e-01 -3.15193603e+00] [-2.02591896e-01 -6.28737613e-04 9.79263054e-01 -7.36906870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.15, Z:-73.72 [[ 3.11235202e-01 -9.48186048e-01 6.38425242e-02 5.45794095e+00] [ 9.27479777e-01 3.17708505e-01 1.97085181e-01 -3.15044363e+00] [-2.07156732e-01 -2.12719612e-03 9.78305455e-01 -7.37212884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500792138 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.15, Z:-73.75 [[ 2.40000343e-01 -9.69608365e-01 4.75337076e-02 5.49165165e+00] [ 9.48185489e-01 2.44636011e-01 2.02725186e-01 -3.15278286e+00] [-2.08192493e-01 -3.58334248e-03 9.78081308e-01 -7.37542056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530792138 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.14, Z:-73.79 [[ 3.02358790e-01 -9.50868626e-01 6.65433559e-02 5.46495183e+00] [ 9.28571734e-01 3.09594647e-01 2.04708792e-01 -3.13619826e+00] [-2.15252635e-01 -1.05223414e-04 9.76558392e-01 -7.37873342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:5.47, Y:-3.13, Z:-73.82 [[ 3.05258000e-01 -9.49759098e-01 6.91028856e-02 5.46613489e+00] [ 9.26562651e-01 3.12981688e-01 2.08624343e-01 -3.13082862e+00] [-2.19770806e-01 3.43902942e-04 9.75551472e-01 -7.38205409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.590792138 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:5.47, Y:-3.13, Z:-73.85 [[ 3.10402012e-01 -9.47947842e-01 7.10315353e-02 5.46603870e+00] [ 9.24273697e-01 3.18425495e-01 2.10531082e-01 -3.12695176e+00] [-2.22190737e-01 3.03308443e-04 9.75003172e-01 -7.38537397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62079213799998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.12, Z:-73.89 [[ 3.18547724e-01 -9.45164976e-01 7.20452348e-02 5.46302181e+00] [ 9.21614703e-01 3.26593040e-01 2.09674332e-01 -3.12459618e+00] [-2.21706307e-01 -3.93333412e-04 9.75113408e-01 -7.38862534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.12, Z:-73.92 [[ 3.28661728e-01 -9.41673462e-01 7.23364359e-02 5.45885056e+00] [ 9.18681274e-01 3.36524558e-01 2.06823447e-01 -3.12258356e+00] [-2.19103138e-01 -1.52082226e-03 9.75700519e-01 -7.39194470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.12, Z:-73.95 [[ 3.33838439e-01 -9.39754072e-01 7.35811130e-02 5.45726437e+00] [ 9.16812862e-01 3.41848233e-01 2.06383047e-01 -3.12029591e+00] [-2.19102882e-01 -1.43848338e-03 9.75700701e-01 -7.39529209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71079213799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.12, Z:-73.99 [[ 3.34085237e-01 -9.39594900e-01 7.44881090e-02 5.45899629e+00] [ 9.16597668e-01 3.42287688e-01 2.06610392e-01 -3.12009526e+00] [-2.19626433e-01 -7.49854706e-04 9.75583757e-01 -7.39858857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.12, Z:-74.02 [[ 3.40070741e-01 -9.37252708e-01 7.68716544e-02 5.45630620e+00] [ 9.13557377e-01 3.48649364e-01 2.09419531e-01 -3.11799840e+00] [-2.23080276e-01 -9.90788309e-04 9.74799574e-01 -7.40178892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77079213799999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.12, Z:-74.05 [[ 3.45389760e-01 -9.35231407e-01 7.77697241e-02 5.45423392e+00] [ 9.11696997e-01 3.54035294e-01 2.08488841e-01 -3.11654447e+00] [-2.22518540e-01 -1.10748691e-03 9.74927830e-01 -7.40506818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80079213799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.12, Z:-74.08 [[ 3.48350554e-01 -9.34020822e-01 7.91011744e-02 5.45319630e+00] [ 9.10449881e-01 3.57218034e-01 2.08509690e-01 -3.11595606e+00] [-2.23008758e-01 -6.16811104e-04 9.74816246e-01 -7.40832657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83079213799999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.11, Z:-74.12 [[ 3.53075555e-01 -9.32124970e-01 8.05027521e-02 5.45240137e+00] [ 9.08481177e-01 3.62136396e-01 2.08612515e-01 -3.11496398e+00] [-2.23605911e-01 -5.20744570e-04 9.74679499e-01 -7.41152339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860792138 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.11, Z:-74.15 [[ 3.59917714e-01 -9.29396835e-01 8.17359283e-02 5.44989278e+00] [ 9.05685405e-01 3.69080503e-01 2.08598971e-01 -3.11312047e+00] [-2.24038360e-01 -1.05142740e-03 9.74579759e-01 -7.41478057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890792138 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.11, Z:-74.18 [[ 3.67133024e-01 -9.26457921e-01 8.30003853e-02 5.44656171e+00] [ 9.02730234e-01 3.76395118e-01 2.08338283e-01 -3.11132076e+00] [-2.24257592e-01 -1.56090664e-03 9.74528653e-01 -7.41797471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.11, Z:-74.21 [[ 3.71759311e-01 -9.24473660e-01 8.45190373e-02 5.44520151e+00] [ 9.00536396e-01 3.81242599e-01 2.09017417e-01 -3.11015833e+00] [-2.25453354e-01 -1.59170165e-03 9.74252663e-01 -7.42131500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.950792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.10, Z:-74.24 [[ 4.00091249e-01 -9.12074493e-01 8.97056953e-02 5.43379576e+00] [ 8.88568608e-01 4.10016237e-01 2.05748667e-01 -3.10478121e+00] [-2.24438903e-01 -2.60857634e-03 9.74484671e-01 -7.42437268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.49, Y:-3.13, Z:-74.28 [[ 2.85994295e-01 -9.56470335e-01 5.80668762e-02 5.48654030e+00] [ 9.31328808e-01 2.91712320e-01 2.18015079e-01 -3.12538444e+00] [-2.25463778e-01 -8.27171410e-03 9.74216436e-01 -7.42773220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01079213799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.11, Z:-74.31 [[ 3.87319647e-01 -9.17794464e-01 8.73888633e-02 5.43911553e+00] [ 8.93928458e-01 3.97048413e-01 2.07953049e-01 -3.10613789e+00] [-2.25555767e-01 -2.42490973e-03 9.74227240e-01 -7.43099636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04079213799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.10, Z:-74.34 [[ 3.91438864e-01 -9.15877381e-01 8.91304616e-02 5.43810413e+00] [ 8.91746757e-01 4.01451671e-01 2.08864254e-01 -3.10437547e+00] [-2.27075619e-01 -2.27578628e-03 9.73874470e-01 -7.43426444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07079213799999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.10, Z:-74.38 [[ 3.94239872e-01 -9.14536011e-01 9.05472705e-02 5.43818453e+00] [ 8.90345178e-01 4.04500654e-01 2.08960963e-01 -3.10357214e+00] [-2.27728756e-01 -1.76241780e-03 9.73723014e-01 -7.43754816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10079213799999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.10, Z:-74.41 [[ 4.00375862e-01 -9.11685518e-01 9.23508799e-02 5.43617905e+00] [ 8.87157311e-01 4.10882934e-01 2.10064561e-01 -3.10214888e+00] [-2.29458218e-01 -2.17502131e-03 9.73316082e-01 -7.44066786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13079213799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.11, Z:-74.44 [[ 3.53589649e-01 -9.31878074e-01 8.11024996e-02 5.45775294e+00] [ 9.07116890e-01 3.62766725e-01 2.13399275e-01 -3.11203584e+00] [-2.28283393e-01 -1.88632739e-03 9.73592900e-01 -7.44389545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16079213799999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.10, Z:-74.47 [[ 3.98308729e-01 -9.12460014e-01 9.36316147e-02 5.43821001e+00] [ 8.87603744e-01 4.09164282e-01 2.11528211e-01 -3.10230359e+00] [-2.31321747e-01 -1.14576110e-03 9.72876630e-01 -7.44699012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.11, Z:-74.50 [[ 3.55578684e-01 -9.31116206e-01 8.11566992e-02 5.45919158e+00] [ 9.06007481e-01 3.64711536e-01 2.14792785e-01 -3.10959854e+00] [-2.29595827e-01 -2.84715919e-03 9.73281896e-01 -7.45022009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220792138 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.10, Z:-74.53 [[ 4.02171168e-01 -9.10619758e-01 9.50263503e-02 5.43863906e+00] [ 8.85698304e-01 4.13244230e-01 2.11583839e-01 -3.10031871e+00] [-2.31941516e-01 -9.28242484e-04 9.72729290e-01 -7.45329883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.11, Z:-74.57 [[ 3.60875833e-01 -9.28968451e-01 8.23787018e-02 5.45880713e+00] [ 9.02978500e-01 3.70133070e-01 2.18246052e-01 -3.11166844e+00] [-2.33234778e-01 -4.37352913e-03 9.72410618e-01 -7.45666385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.11, Z:-74.60 [[ 3.65725359e-01 -9.27014031e-01 8.30057059e-02 5.45738614e+00] [ 9.01304417e-01 3.74999701e-01 2.16853802e-01 -3.10688047e+00] [-2.32153632e-01 -4.49552522e-03 9.72668742e-01 -7.45976260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.310792138 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.11, Z:-74.63 [[ 3.64221464e-01 -9.27675688e-01 8.22225245e-02 5.45870148e+00] [ 9.01581887e-01 3.73346905e-01 2.18545621e-01 -3.10634154e+00] [-2.33436984e-01 -5.46866714e-03 9.72356554e-01 -7.46295853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.10, Z:-74.66 [[ 3.59067568e-01 -9.29778816e-01 8.11285102e-02 5.46067432e+00] [ 9.04475664e-01 3.68097040e-01 2.15472370e-01 -3.10484819e+00] [-2.30204809e-01 -3.99037671e-03 9.73134021e-01 -7.46633880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37079213799998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.09, Z:-74.69 [[ 4.25641821e-01 -8.99385105e-01 9.96768452e-02 5.43044606e+00] [ 8.74569779e-01 4.37152004e-01 2.09823326e-01 -3.08992791e+00] [-2.32285906e-01 -2.13522601e-03 9.72645207e-01 -7.46937276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40079213799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.10, Z:-74.73 [[ 3.80868981e-01 -9.20525086e-01 8.70194510e-02 5.45136282e+00] [ 8.95606761e-01 3.90671189e-01 2.12754677e-01 -3.09840788e+00] [-2.29842010e-01 -3.09644856e-03 9.73223028e-01 -7.47264109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43079213799999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.09, Z:-74.76 [[ 4.30853373e-01 -8.96761525e-01 1.00916490e-01 5.42946770e+00] [ 8.72165798e-01 4.42510244e-01 2.08594115e-01 -3.08706134e+00] [-2.31715757e-01 -1.85756705e-03 9.72781762e-01 -7.47575555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46079213799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.10, Z:-74.79 [[ 3.89728084e-01 -9.16649675e-01 8.86870557e-02 5.45015153e+00] [ 8.91447488e-01 3.99670055e-01 2.13506965e-01 -3.09531227e+00] [-2.31156651e-01 -4.14980764e-03 9.72907694e-01 -7.47895173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49079213799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.10, Z:-74.82 [[ 3.80834359e-01 -9.20528139e-01 8.71386080e-02 5.45555115e+00] [ 8.95291410e-01 3.90660398e-01 2.14097510e-01 -3.09719837e+00] [-2.31124386e-01 -3.52124066e-03 9.72917838e-01 -7.48210819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.10, Z:-74.85 [[ 3.79793462e-01 -9.21011195e-01 8.65754301e-02 5.45692590e+00] [ 8.95613072e-01 3.89514992e-01 2.14837838e-01 -3.09663149e+00] [-2.31590482e-01 -4.05591938e-03 9.72804913e-01 -7.48539858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55079213799999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.09, Z:-74.89 [[ 3.83199313e-01 -9.19437961e-01 8.82730013e-02 5.45592247e+00] [ 8.94872236e-01 3.93230454e-01 2.11124351e-01 -3.09389866e+00] [-2.28827375e-01 -1.90964826e-03 9.73465144e-01 -7.48863947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.08, Z:-74.92 [[ 4.48541962e-01 -8.87497933e-01 1.05629200e-01 5.42529793e+00] [ 8.63136026e-01 4.60809380e-01 2.06520982e-01 -3.07907271e+00] [-2.31961871e-01 -1.46095869e-03 9.72723782e-01 -7.49176642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610792138 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.09, Z:-74.95 [[ 4.07251367e-01 -9.08498875e-01 9.36809346e-02 5.44612761e+00] [ 8.83277010e-01 4.17869626e-01 2.12618669e-01 -3.08837987e+00] [-2.32310239e-01 -3.84302791e-03 9.72634147e-01 -7.49501150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.09, Z:-74.98 [[ 3.94773274e-01 -9.14252650e-01 9.10832267e-02 5.45322370e+00] [ 8.88807839e-01 4.05128412e-01 2.14223237e-01 -3.09011568e+00] [-2.32754565e-01 -3.61412278e-03 9.72528792e-01 -7.49824480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670792138 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:5.45, Y:-3.09, Z:-75.01 [[ 4.09468077e-01 -9.07354666e-01 9.50968171e-02 5.44730655e+00] [ 8.81745273e-01 4.20348661e-01 2.14084741e-01 -3.08685311e+00] [-2.34224608e-01 -3.80969802e-03 9.72175046e-01 -7.50142329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.09, Z:-75.05 [[ 4.13694878e-01 -9.05346234e-01 9.59413581e-02 5.44488179e+00] [ 8.79754416e-01 4.24655071e-01 2.13776143e-01 -3.08602067e+00] [-2.34283410e-01 -4.03326179e-03 9.72159975e-01 -7.50472235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.730792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.08, Z:-75.08 [[ 4.22074270e-01 -9.01310183e-01 9.74333849e-02 5.44158004e+00] [ 8.76019783e-01 4.33154410e-01 2.12053288e-01 -3.08177571e+00] [-2.33329488e-01 -4.14866396e-03 9.72388882e-01 -7.50781448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.08, Z:-75.11 [[ 4.18228915e-01 -9.03268806e-01 9.58646852e-02 5.44426320e+00] [ 8.77863620e-01 4.29047909e-01 2.12775368e-01 -3.08228485e+00] [-2.33323895e-01 -4.83269163e-03 9.72387065e-01 -7.51100349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79079213799999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.08, Z:-75.14 [[ 4.26075264e-01 -8.99335460e-01 9.82629119e-02 5.44161112e+00] [ 8.74047309e-01 4.37237586e-01 2.11812641e-01 -3.07966494e+00] [-2.33454857e-01 -4.36169303e-03 9.72357859e-01 -7.51422674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82079213799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.08, Z:-75.18 [[ 4.25401366e-01 -8.99653475e-01 9.82715828e-02 5.44197590e+00] [ 8.75446727e-01 4.36599338e-01 2.07301826e-01 -3.07705229e+00] [-2.29405116e-01 -2.15494418e-03 9.73328644e-01 -7.51762320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85079213799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.41, Y:-3.06, Z:-75.21 [[ 5.04586059e-01 -8.55060346e-01 1.19434973e-01 5.40720069e+00] [ 8.31683442e-01 5.18527776e-01 1.98573911e-01 -3.05655953e+00] [-2.31723028e-01 -8.65537561e-04 9.72781419e-01 -7.52052329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88079213799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.46, Y:-3.08, Z:-75.24 [[ 3.95799348e-01 -9.14085574e-01 8.82634610e-02 5.46082227e+00] [ 8.88496763e-01 4.05467239e-01 2.14871636e-01 -3.08375013e+00] [-2.32199004e-01 -6.62425386e-03 9.72645743e-01 -7.52375418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.48, Y:-3.09, Z:-75.27 [[ 3.41993653e-01 -9.36717788e-01 7.48339893e-02 5.48482388e+00] [ 9.10480454e-01 3.50011455e-01 2.20266483e-01 -3.09400747e+00] [-2.32520287e-01 -7.19485479e-03 9.72564934e-01 -7.52709146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94079213799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.08, Z:-75.30 [[ 4.31840954e-01 -8.96269559e-01 1.01065665e-01 5.44164689e+00] [ 8.71376423e-01 4.43502532e-01 2.09782349e-01 -3.07530401e+00] [-2.32844412e-01 -2.52637243e-03 9.72510718e-01 -7.53023620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970792138 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.07, Z:-75.34 [[ 4.44705626e-01 -8.89476454e-01 1.05207148e-01 5.43543385e+00] [ 8.65656653e-01 4.56980981e-01 2.04467463e-01 -3.07074579e+00] [-2.29946659e-01 1.45436553e-04 9.73203223e-01 -7.53350624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000792138 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.05, Z:-75.37 [[ 5.21702008e-01 -8.43715217e-01 1.26378983e-01 5.39939695e+00] [ 8.21617125e-01 5.36778054e-01 1.91871364e-01 -3.04786480e+00] [-2.29722254e-01 3.73546058e-03 9.73249060e-01 -7.53686260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.05, Z:-75.40 [[ 5.22600657e-01 -8.42957843e-01 1.27713069e-01 5.40040571e+00] [ 8.19895166e-01 5.37974436e-01 1.95845407e-01 -3.04829707e+00] [-2.33795788e-01 2.36239002e-03 9.72282854e-01 -7.53994410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060792138 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.06, Z:-75.43 [[ 4.80971120e-01 -8.69100794e-01 1.15458184e-01 5.42255153e+00] [ 8.45942145e-01 4.94631707e-01 1.99302186e-01 -3.05836375e+00] [-2.30322967e-01 1.81234852e-03 9.73112556e-01 -7.54317584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.090792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.04, Z:-75.46 [[ 5.33717088e-01 -8.35841238e-01 1.28512626e-01 5.39915128e+00] [ 8.12750907e-01 5.48971151e-01 1.95106737e-01 -3.04263682e+00] [-2.33627981e-01 3.16954187e-04 9.72326008e-01 -7.54625213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12079213799998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.41, Y:-3.05, Z:-75.50 [[ 5.07177923e-01 -8.53800967e-01 1.17449837e-01 5.41350586e+00] [ 8.29773761e-01 5.20579454e-01 2.01177876e-01 -3.04873658e+00] [-2.32907837e-01 -4.57618467e-03 9.72488045e-01 -7.54951733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15079213799999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.05, Z:-75.53 [[ 5.01423723e-01 -8.57483021e-01 1.15313134e-01 5.41773102e+00] [ 8.34218808e-01 5.14501734e-01 1.98411055e-01 -3.04632588e+00] [-2.29462918e-01 -3.29162490e-03 9.73311838e-01 -7.55278441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18079213799999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.04, Z:-75.56 [[ 5.40511754e-01 -8.31569580e-01 1.27824401e-01 5.40005181e+00] [ 8.08330540e-01 5.55416237e-01 1.95229462e-01 -3.03532791e+00] [-2.33342629e-01 -2.19945175e-03 9.72392092e-01 -7.55586760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.04, Z:-75.59 [[ 5.11714756e-01 -8.50874132e-01 1.19000928e-01 5.41551815e+00] [ 8.27914763e-01 5.25365994e-01 1.96335726e-01 -3.04191032e+00] [-2.29576032e-01 -1.94526285e-03 9.73288786e-01 -7.55906255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24079213799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.03, Z:-75.62 [[ 5.44906008e-01 -8.28555734e-01 1.28735534e-01 5.40016788e+00] [ 8.05508842e-01 5.59902828e-01 1.94072999e-01 -3.03278751e+00] [-2.32879685e-01 -2.05393236e-03 9.72503385e-01 -7.56210650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27079213799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.05, Z:-75.65 [[ 5.11074425e-01 -8.50991706e-01 1.20896848e-01 5.41524056e+00] [ 8.26409324e-01 5.25164728e-01 2.03100069e-01 -3.04768862e+00] [-2.36327234e-01 -3.88896873e-03 9.71665742e-01 -7.56511569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30079213799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.05, Z:-75.68 [[ 4.91014167e-01 -8.63977931e-01 1.11567125e-01 5.42901486e+00] [ 8.39755707e-01 5.03492685e-01 2.03237466e-01 -3.04971000e+00] [-2.31765917e-01 -6.10334538e-03 9.72752440e-01 -7.56806069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.47, Y:-3.07, Z:-75.71 [[ 4.01261033e-01 -9.11791174e-01 8.73294863e-02 5.47116527e+00] [ 8.86041487e-01 4.10554806e-01 2.15349098e-01 -3.07016360e+00] [-2.32206947e-01 -9.03365345e-03 9.72624453e-01 -7.57138922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360792138 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.05, Z:-75.75 [[ 4.85005786e-01 -8.67403122e-01 1.11270892e-01 5.43139137e+00] [ 8.42979331e-01 4.97577182e-01 2.04457318e-01 -3.04843537e+00] [-2.32712773e-01 -5.36391963e-03 9.72530716e-01 -7.57472550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.05, Z:-75.78 [[ 5.05761994e-01 -8.54523388e-01 1.18298712e-01 5.42132192e+00] [ 8.29583889e-01 5.19383259e-01 2.05016100e-01 -3.04585682e+00] [-2.36633422e-01 -5.55064591e-03 9.71583148e-01 -7.57775673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420792138 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.05, Z:-75.81 [[ 4.90454660e-01 -8.64109543e-01 1.12999662e-01 5.43118891e+00] [ 8.39710776e-01 5.03277499e-01 2.03954826e-01 -3.04685783e+00] [-2.33109499e-01 -5.14356130e-03 9.72436890e-01 -7.58107616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.450792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.04, Z:-75.84 [[ 5.14076515e-01 -8.49542724e-01 1.18332149e-01 5.42054531e+00] [ 8.26442060e-01 5.27509041e-01 1.96793632e-01 -3.03683527e+00] [-2.29605876e-01 -3.37231977e-03 9.73277848e-01 -7.58441715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:5.39, Y:-3.01, Z:-75.88 [[ 5.81728255e-01 -8.01944776e-01 1.35929441e-01 5.38895273e+00] [ 7.80412499e-01 5.97396757e-01 1.84589940e-01 -3.01296615e+00] [-2.29234745e-01 -1.30014874e-03 9.73370300e-01 -7.58765635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51079213799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.39, Y:-3.01, Z:-75.91 [[ 5.86981147e-01 -7.97919988e-01 1.37028561e-01 5.38778493e+00] [ 7.76478617e-01 6.02761636e-01 1.83737224e-01 -3.01004379e+00] [-2.29203163e-01 -1.45053928e-03 9.73377525e-01 -7.59098710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.38, Y:-3.01, Z:-75.94 [[ 5.96151614e-01 -7.90987293e-01 1.37631230e-01 5.38385454e+00] [ 7.69748928e-01 6.11827019e-01 1.82083185e-01 -3.00565972e+00] [-2.28231990e-01 -2.60769287e-03 9.73603286e-01 -7.59428464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57079213799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.38, Y:-3.00, Z:-75.97 [[ 6.04027349e-01 -7.84511782e-01 1.40328990e-01 5.38021055e+00] [ 7.62618539e-01 6.20099837e-01 1.84090075e-01 -3.00370161e+00] [-2.31438816e-01 -4.17795041e-03 9.72840490e-01 -7.59737218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60079213799999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.01, Z:-76.01 [[ 5.67047173e-01 -8.13651169e-01 1.28176749e-01 5.39900390e+00] [ 7.91506432e-01 5.81327368e-01 1.88616172e-01 -3.01487631e+00] [-2.27980421e-01 -5.50154599e-03 9.73650174e-01 -7.60066894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63079213799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.38, Y:-3.00, Z:-76.04 [[ 6.11483785e-01 -7.78526889e-01 1.41362878e-01 5.37787693e+00] [ 7.56974031e-01 6.27596774e-01 1.81968694e-01 -2.99947774e+00] [-2.30386408e-01 -4.26287814e-03 9.73089888e-01 -7.60367308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66079213799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.01, Z:-76.07 [[ 5.67989385e-01 -8.13010784e-01 1.28068434e-01 5.39987493e+00] [ 7.91056869e-01 5.82224312e-01 1.87733537e-01 -3.01308353e+00] [-2.27193946e-01 -5.32124171e-03 9.73834994e-01 -7.60690182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69079213799999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:5.38, Y:-3.00, Z:-76.10 [[ 6.12818122e-01 -7.77738387e-01 1.39917659e-01 5.37955868e+00] [ 7.56953359e-01 6.28578015e-01 1.78637317e-01 -2.99570600e+00] [-2.26882263e-01 -3.56104287e-03 9.73915683e-01 -7.61017474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720792138 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.99, Z:-76.13 [[ 6.17592040e-01 -7.73757928e-01 1.40991991e-01 5.37776369e+00] [ 7.53102421e-01 6.33471620e-01 1.77624463e-01 -2.99306518e+00] [-2.26752762e-01 -3.51804440e-03 9.73945999e-01 -7.61344690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.99, Z:-76.17 [[ 6.29786217e-01 -7.63346868e-01 1.43773712e-01 5.37182803e+00] [ 7.42527776e-01 6.45971019e-01 1.77126918e-01 -2.98784174e+00] [-2.28082929e-01 -4.79611753e-03 9.73629896e-01 -7.61653689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780792138 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:5.39, Y:-3.00, Z:-76.20 [[ 5.94103033e-01 -7.93139565e-01 1.34056768e-01 5.38817739e+00] [ 7.71172009e-01 6.09001672e-01 1.85501202e-01 -3.00053055e+00] [-2.28769138e-01 -6.82599998e-03 9.73456772e-01 -7.61972079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.810792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:5.39, Y:-3.00, Z:-76.23 [[ 6.00204508e-01 -7.87872428e-01 1.37882507e-01 5.38581504e+00] [ 7.64425769e-01 6.15769176e-01 1.91001482e-01 -3.00369760e+00] [-2.35388599e-01 -9.23900871e-03 9.71857422e-01 -7.62271534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:5.44, Y:-3.04, Z:-76.26 [[ 4.92405265e-01 -8.63374504e-01 1.10097781e-01 5.44301629e+00] [ 8.39794453e-01 5.04524711e-01 2.00499608e-01 -3.03559681e+00] [-2.28653301e-01 -6.26755720e-03 9.73487743e-01 -7.62612826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87079213799998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.99, Z:-76.29 [[ 6.26844609e-01 -7.65331938e-01 1.46057732e-01 5.37976143e+00] [ 7.45639113e-01 6.43635318e-01 1.72498960e-01 -2.99105204e+00] [-2.26026878e-01 7.76314908e-04 9.74120756e-01 -7.62948795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90079213799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.98, Z:-76.33 [[ 6.48541575e-01 -7.46124591e-01 1.50638376e-01 5.36880709e+00] [ 7.26233189e-01 6.65804440e-01 1.71142640e-01 -2.98200775e+00] [-2.27989432e-01 -1.59452850e-03 9.73662301e-01 -7.63254762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93079213799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.40, Y:-3.01, Z:-76.35 [[ 5.81086539e-01 -8.02851265e-01 1.33297711e-01 5.40123397e+00] [ 7.79566162e-01 5.96129411e-01 1.92110191e-01 -3.01477391e+00] [-2.33698595e-01 -7.71826130e-03 9.72278455e-01 -7.63542924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96079213799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:5.43, Y:-3.03, Z:-76.39 [[ 5.20033578e-01 -8.46531362e-01 1.13796886e-01 5.43427382e+00] [ 8.23222906e-01 5.32262443e-01 1.97486049e-01 -3.02756125e+00] [-2.27747943e-01 -9.01917367e-03 9.73678350e-01 -7.63869365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.02, Z:-76.42 [[ 5.53067832e-01 -8.23965743e-01 1.23273794e-01 5.41864168e+00] [ 8.02153005e-01 5.66614650e-01 1.88410178e-01 -3.01672357e+00] [-2.25092270e-01 -5.31916439e-03 9.74322932e-01 -7.64210555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02079213799999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.97, Z:-76.45 [[ 6.66786813e-01 -7.28857226e-01 1.55442883e-01 5.36298492e+00] [ 7.08906820e-01 6.84660195e-01 1.69385764e-01 -2.97331260e+00] [-2.29883593e-01 -2.74967395e-03 9.73214248e-01 -7.64504132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05079213799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.41, Y:-3.01, Z:-76.48 [[ 5.68055230e-01 -8.13146509e-01 1.26909461e-01 5.41280488e+00] [ 7.91870643e-01 5.82041612e-01 1.84847092e-01 -3.00814584e+00] [-2.24174354e-01 -4.50748086e-03 9.74538630e-01 -7.64836422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08079213799999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.97, Z:-76.52 [[ 6.59898800e-01 -7.36030988e-01 1.50970056e-01 5.36935331e+00] [ 7.17357960e-01 6.76947719e-01 1.64740227e-01 -2.97098929e+00] [-2.23452747e-01 -4.12306585e-04 9.74714676e-01 -7.65170308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110792138 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.97, Z:-76.55 [[ 6.78967275e-01 -7.16872502e-01 1.58421134e-01 5.35966887e+00] [ 6.97461596e-01 6.97201376e-01 1.65703238e-01 -2.96687003e+00] [-2.29239527e-01 -2.01441944e-03 9.73367958e-01 -7.65455163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140792138 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:5.42, Y:-3.01, Z:-76.58 [[ 5.60422877e-01 -8.18868467e-01 1.24018676e-01 5.41928253e+00] [ 7.97828683e-01 5.73964010e-01 1.84484978e-01 -3.00910406e+00] [-2.22251188e-01 -4.44394493e-03 9.74979313e-01 -7.65796555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170792138 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.97, Z:-76.61 [[ 6.65268978e-01 -7.31033608e-01 1.51680753e-01 5.36986240e+00] [ 7.12960362e-01 6.82341129e-01 1.61549081e-01 -2.96649275e+00] [-2.21595823e-01 6.68772393e-04 9.75138372e-01 -7.66132841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200792138 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.96, Z:-76.65 [[ 6.69631680e-01 -7.26899853e-01 1.52348341e-01 5.36925030e+00] [ 7.09046987e-01 6.86743006e-01 1.60113755e-01 -2.96363721e+00] [-2.21010823e-01 8.04889621e-04 9.75271023e-01 -7.66460872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.230792138 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.96, Z:-76.68 [[ 6.74440536e-01 -7.22124892e-01 1.53836286e-01 5.36793943e+00] [ 7.04287338e-01 6.91762284e-01 1.59512658e-01 -2.96061774e+00] [-2.21606202e-01 7.63145335e-04 9.75135944e-01 -7.66778089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26079213799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.95, Z:-76.71 [[ 6.92286435e-01 -7.03794716e-01 1.59412952e-01 5.36236435e+00] [ 6.85671991e-01 7.10403191e-01 1.58685937e-01 -2.95129294e+00] [-2.24929793e-01 -5.51125318e-04 9.74374817e-01 -7.67075130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29079213799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.99, Z:-76.74 [[ 6.13229268e-01 -7.77765454e-01 1.37952032e-01 5.40108910e+00] [ 7.57133514e-01 6.28536908e-01 1.78017408e-01 -2.98537107e+00] [-2.25163734e-01 -4.71737786e-03 9.74309519e-01 -7.67388528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32079213799999 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.99, Z:-76.77 [[ 6.13895984e-01 -7.76904551e-01 1.39825031e-01 5.39980299e+00] [ 7.54769610e-01 6.29572561e-01 1.84285719e-01 -2.99406045e+00] [-2.31202417e-01 -7.59657833e-03 9.72876012e-01 -7.67724743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35079213799999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.98, Z:-76.81 [[ 6.08192480e-01 -7.82036574e-01 1.36090791e-01 5.40488558e+00] [ 7.62136606e-01 6.23225748e-01 1.75321022e-01 -2.98227756e+00] [-2.21922736e-01 -2.90915389e-03 9.75059914e-01 -7.68057732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38079213799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.95, Z:-76.84 [[ 6.78292927e-01 -7.18236532e-01 1.55096707e-01 5.37248448e+00] [ 7.00560513e-01 6.95797929e-01 1.58367326e-01 -2.95103178e+00] [-2.21661167e-01 1.23519167e-03 9.75122967e-01 -7.68377617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41079213799999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.94, Z:-76.87 [[ 6.93720774e-01 -7.02261660e-01 1.59937639e-01 5.36769167e+00] [ 6.84179485e-01 7.11918808e-01 1.58335228e-01 -2.94371230e+00] [-2.25055373e-01 -4.14385366e-04 9.74345887e-01 -7.68688603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.97, Z:-76.90 [[ 6.35645916e-01 -7.58461301e-01 1.43842710e-01 5.39645018e+00] [ 7.38333056e-01 6.51704807e-01 1.73623565e-01 -2.96926919e+00] [-2.25429741e-01 -4.15928246e-03 9.74250549e-01 -7.69004917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.97, Z:-76.93 [[ 6.42845449e-01 -7.51715233e-01 1.47220710e-01 5.39297007e+00] [ 7.30835584e-01 6.59464357e-01 1.76028721e-01 -2.96936899e+00] [-2.29410282e-01 -5.56512831e-03 9.73313902e-01 -7.69307470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:5.43, Y:-2.99, Z:-76.96 [[ 5.79855436e-01 -8.04419143e-01 1.29141456e-01 5.42538770e+00] [ 7.82690223e-01 5.94024668e-01 1.85824402e-01 -2.98988737e+00] [-2.26193917e-01 -6.67353459e-03 9.74059431e-01 -7.69640582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530792138 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.97, Z:-77.00 [[ 6.46521787e-01 -7.48433545e-01 1.47840479e-01 5.39377877e+00] [ 7.27451144e-01 6.63179883e-01 1.76088831e-01 -2.96721244e+00] [-2.29835620e-01 -6.29853973e-03 9.73209081e-01 -7.69955913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:5.42, Y:-2.99, Z:-77.03 [[ 6.00737653e-01 -7.87951272e-01 1.35081695e-01 5.41693771e+00] [ 7.65414864e-01 6.15669761e-01 1.87325470e-01 -2.98602687e+00] [-2.30769057e-01 -9.13992577e-03 9.72965623e-01 -7.70269518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.590792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:5.43, Y:-2.99, Z:-77.06 [[ 5.82574913e-01 -8.02268293e-01 1.30276851e-01 5.42524051e+00] [ 7.79503892e-01 5.96893899e-01 1.89977249e-01 -2.99215757e+00] [-2.30174181e-01 -9.12466682e-03 9.73106668e-01 -7.70585537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62079213799998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:5.44, Y:-2.99, Z:-77.09 [[ 5.61118612e-01 -8.18367586e-01 1.24178897e-01 5.43606111e+00] [ 7.95984607e-01 5.74640686e-01 1.90254008e-01 -2.99368444e+00] [-2.27055960e-01 -7.91057472e-03 9.73849585e-01 -7.70922828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.95, Z:-77.12 [[ 6.82592655e-01 -7.13186710e-01 1.59474083e-01 5.37906977e+00] [ 6.93277470e-01 7.00964402e-01 1.67377586e-01 -2.94956065e+00] [-2.31157125e-01 -3.69092194e-03 9.72909431e-01 -7.71223975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.42, Y:-2.98, Z:-77.16 [[ 5.93660216e-01 -7.93269826e-01 1.35242490e-01 5.42368719e+00] [ 7.71855839e-01 6.08854886e-01 1.83123704e-01 -2.98193831e+00] [-2.27609560e-01 -4.32555198e-03 9.73742870e-01 -7.71556765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71079213799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.94, Z:-77.19 [[ 6.82295652e-01 -7.13848900e-01 1.57773230e-01 5.38291822e+00] [ 6.95162167e-01 7.00298989e-01 1.62267949e-01 -2.94384022e+00] [-2.26323230e-01 -1.03673527e-03 9.74051703e-01 -7.71884304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.93, Z:-77.22 [[ 7.00449976e-01 -6.95206527e-01 1.61424025e-01 5.37519968e+00] [ 6.77492696e-01 7.18810034e-01 1.55935185e-01 -2.93383471e+00] [-2.24440367e-01 1.38801316e-04 9.74487815e-01 -7.72210586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.92, Z:-77.25 [[ 7.34184427e-01 -6.57230054e-01 1.70358105e-01 5.36047837e+00] [ 6.40803880e-01 7.53687501e-01 1.46032660e-01 -2.91536149e+00] [-2.24373827e-01 1.95122937e-03 9.74501195e-01 -7.72545633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.92, Z:-77.29 [[ 7.34698118e-01 -6.56459991e-01 1.71110945e-01 5.36276067e+00] [ 6.40142321e-01 7.54356183e-01 1.45480437e-01 -2.91507140e+00] [-2.24580686e-01 2.65115379e-03 9.74451890e-01 -7.72873921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83079213799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.91, Z:-77.32 [[ 7.38178020e-01 -6.52142536e-01 1.72636390e-01 5.36223794e+00] [ 6.35880909e-01 7.58090744e-01 1.44754597e-01 -2.91302959e+00] [-2.25274679e-01 2.92152314e-03 9.74290913e-01 -7.73195018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860792138 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.91, Z:-77.35 [[ 7.39864728e-01 -6.49999318e-01 1.73496602e-01 5.36237053e+00] [ 6.33938753e-01 7.59925751e-01 1.43647172e-01 -2.91103186e+00] [-2.25215099e-01 3.70674398e-03 9.74302016e-01 -7.73523136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.91, Z:-77.39 [[ 7.44838120e-01 -6.44058920e-01 1.74368241e-01 5.36113791e+00] [ 6.28127786e-01 7.64968078e-01 1.42405491e-01 -2.90727349e+00] [-2.25103665e-01 3.45649923e-03 9.74328688e-01 -7.73851398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920792138 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.90, Z:-77.42 [[ 7.49507092e-01 -6.38391945e-01 1.75199440e-01 5.35990222e+00] [ 6.22618397e-01 7.69704180e-01 1.41073764e-01 -2.90471190e+00] [-2.24912095e-01 3.34660808e-03 9.74373311e-01 -7.74166784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.950792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.90, Z:-77.45 [[ 7.54088466e-01 -6.32657035e-01 1.76339620e-01 5.35904054e+00] [ 6.16948278e-01 7.74425839e-01 1.40140797e-01 -2.90180109e+00] [-2.25223019e-01 3.11386634e-03 9.74302261e-01 -7.74489912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.90, Z:-77.48 [[ 7.58281189e-01 -6.27399511e-01 1.77142578e-01 5.35822748e+00] [ 6.11810664e-01 7.78691906e-01 1.39020241e-01 -2.89878067e+00] [-2.25160723e-01 2.96128461e-03 9.74317135e-01 -7.74819239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.90, Z:-77.52 [[ 7.61710519e-01 -6.22997229e-01 1.77964992e-01 5.35734109e+00] [ 6.07595909e-01 7.82217342e-01 1.37707086e-01 -2.89612497e+00] [-2.24998436e-01 3.23786524e-03 9.74353745e-01 -7.75153609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04079213799999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.89, Z:-77.55 [[ 7.66191152e-01 -6.17155684e-01 1.79080935e-01 5.35655324e+00] [ 6.01850919e-01 7.86834960e-01 1.36624364e-01 -2.89345670e+00] [-2.25225643e-01 3.09964687e-03 9.74301700e-01 -7.75480226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07079213799999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.89, Z:-77.58 [[ 7.70755851e-01 -6.11084252e-01 1.80309331e-01 5.35582866e+00] [ 5.95861272e-01 7.91560100e-01 1.35580058e-01 -2.89056159e+00] [-2.25576511e-01 2.94022485e-03 9.74221019e-01 -7.75803244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.89, Z:-77.61 [[ 7.75021387e-01 -6.05471230e-01 1.80959774e-01 5.35487841e+00] [ 5.90405546e-01 7.95862307e-01 1.34255278e-01 -2.88740612e+00] [-2.25306771e-01 2.78894233e-03 9.74283881e-01 -7.76125089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.88, Z:-77.65 [[ 7.79873838e-01 -5.98937888e-01 1.81852147e-01 5.35368248e+00] [ 5.83955187e-01 8.00792022e-01 1.33148329e-01 -2.88378934e+00] [-2.25373328e-01 2.35460618e-03 9.74269634e-01 -7.76453208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16079213799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.88, Z:-77.68 [[ 7.83982682e-01 -5.93310685e-01 1.82629639e-01 5.35302190e+00] [ 5.78484825e-01 8.04970277e-01 1.31826255e-01 -2.88034682e+00] [-2.25225357e-01 2.29897369e-03 9.74303984e-01 -7.76785399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19079213799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.88, Z:-77.71 [[ 7.88007295e-01 -5.87678270e-01 1.83517719e-01 5.35212077e+00] [ 5.72995486e-01 8.09091529e-01 1.30564433e-01 -2.87757267e+00] [-2.25212513e-01 2.26909879e-03 9.74307023e-01 -7.77118645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.87, Z:-77.75 [[ 7.93335353e-01 -5.80143014e-01 1.84534825e-01 5.35061237e+00] [ 5.65532798e-01 8.14512832e-01 1.29388950e-01 -2.87363186e+00] [-2.25370078e-01 1.71166725e-03 9.74271727e-01 -7.77450047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.87, Z:-77.78 [[ 7.98981026e-01 -5.72038318e-01 1.85476367e-01 5.34893426e+00] [ 5.57500121e-01 8.20226271e-01 1.28150223e-01 -2.86913062e+00] [-2.25439427e-01 1.01350080e-03 9.74256659e-01 -7.77773819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280792138 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.87, Z:-77.81 [[ 8.03136542e-01 -5.65965448e-01 1.86158014e-01 5.34809708e+00] [ 5.51555876e-01 8.24428612e-01 1.26899882e-01 -2.86556474e+00] [-2.25294941e-01 7.58614122e-04 9.74290313e-01 -7.78104248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.310792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.86, Z:-77.84 [[ 8.04736281e-01 -5.63357768e-01 1.87156470e-01 5.34921677e+00] [ 5.49146945e-01 8.26211545e-01 1.25746239e-01 -2.86474534e+00] [-2.25470956e-01 1.58384304e-03 9.74248602e-01 -7.78439033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340792138 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.86, Z:-77.88 [[ 8.07750203e-01 -5.58772845e-01 1.87916249e-01 5.34881888e+00] [ 5.44742193e-01 8.29318697e-01 1.24444534e-01 -2.86258954e+00] [-2.25378686e-01 1.84581197e-03 9.74269491e-01 -7.78772307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37079213799998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.86, Z:-77.91 [[ 8.12358735e-01 -5.51768136e-01 1.88746418e-01 5.34793955e+00] [ 5.37842935e-01 8.33996307e-01 1.23187408e-01 -2.85824577e+00] [-2.25384702e-01 1.44356043e-03 9.74268778e-01 -7.79102574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40079213799999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.85, Z:-77.94 [[ 8.16014821e-01 -5.46048235e-01 1.89607851e-01 5.34732324e+00] [ 5.32253043e-01 8.37752588e-01 1.21972535e-01 -2.85463885e+00] [-2.25447356e-01 1.38795899e-03 9.74254363e-01 -7.79431460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.85, Z:-77.98 [[ 8.19329200e-01 -5.40777811e-01 1.90418018e-01 5.34689601e+00] [ 5.27169946e-01 8.41163949e-01 1.20561434e-01 -2.85178661e+00] [-2.25369720e-01 1.60315319e-03 9.74271994e-01 -7.79751964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46079213799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.85, Z:-78.01 [[ 8.21448966e-01 -5.37403190e-01 1.90838695e-01 5.34697500e+00] [ 5.23884348e-01 8.43323977e-01 1.19790903e-01 -2.85037622e+00] [-2.25314861e-01 1.57529171e-03 9.74284728e-01 -7.80071602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49079213799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.85, Z:-78.04 [[ 8.25722345e-01 -5.30578061e-01 1.91492898e-01 5.34582444e+00] [ 5.17167299e-01 8.47635298e-01 1.18542764e-01 -2.84639378e+00] [-2.25212330e-01 1.15045564e-03 9.74309028e-01 -7.80387150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52079213799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.84, Z:-78.07 [[ 8.28987570e-01 -5.25037318e-01 1.92653639e-01 5.34496904e+00] [ 5.11683964e-01 8.51078576e-01 1.17663840e-01 -2.84340369e+00] [-2.25741292e-01 1.03591685e-03 9.74186736e-01 -7.80716435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55079213799999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.84, Z:-78.10 [[ 8.32196240e-01 -5.19620101e-01 1.93505478e-01 5.34496118e+00] [ 5.06404086e-01 8.54396736e-01 1.16452216e-01 -2.84056919e+00] [-2.25841361e-01 1.08086807e-03 9.74163493e-01 -7.81034476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58079213799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.83, Z:-78.14 [[ 8.44044310e-01 -5.00894164e-01 1.91557405e-01 5.34118066e+00] [ 4.87817401e-01 8.65504778e-01 1.13735049e-01 -2.83216909e+00] [-2.22763072e-01 -2.55238536e-03 9.74869273e-01 -7.81366008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.83, Z:-78.17 [[ 8.50113861e-01 -4.90608113e-01 1.91337666e-01 5.33971049e+00] [ 4.77683728e-01 8.71372236e-01 1.11931596e-01 -2.82750242e+00] [-2.21640879e-01 -3.75571133e-03 9.75121129e-01 -7.81682382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640792138 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.82, Z:-78.20 [[ 8.55810491e-01 -4.80945395e-01 1.90472915e-01 5.33870383e+00] [ 4.68240988e-01 8.76736943e-01 1.09921379e-01 -2.82288306e+00] [-2.19860822e-01 -4.88464349e-03 9.75519020e-01 -7.82009361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.82, Z:-78.23 [[ 8.60302829e-01 -4.73010775e-01 1.90104838e-01 5.33765927e+00] [ 4.60525433e-01 8.81039792e-01 1.08098151e-01 -2.81900604e+00] [-2.18621517e-01 -5.44903197e-03 9.75794517e-01 -7.82334453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.82, Z:-78.26 [[ 8.61663025e-01 -4.70198224e-01 1.90920038e-01 5.33717884e+00] [ 4.57727084e-01 8.82544185e-01 1.07711084e-01 -2.81783580e+00] [-2.19140930e-01 -5.42138597e-03 9.75678155e-01 -7.82640223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.730792138 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.82, Z:-78.30 [[ 8.55576013e-01 -4.82782540e-01 1.86844065e-01 5.34144339e+00] [ 4.70427893e-01 8.75725703e-01 1.08637423e-01 -2.82227616e+00] [-2.16072401e-01 -5.05091389e-03 9.76364279e-01 -7.82974272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76079213799999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.81, Z:-78.33 [[ 8.64583745e-01 -4.65789308e-01 1.88508005e-01 5.33814020e+00] [ 4.54155064e-01 8.84887075e-01 1.03527975e-01 -2.81345564e+00] [-2.15030521e-01 -3.89673900e-03 9.76599555e-01 -7.83302680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79079213799999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.81, Z:-78.36 [[ 8.67153500e-01 -4.60020444e-01 1.90855963e-01 5.33710382e+00] [ 4.48189790e-01 8.87897279e-01 1.03751307e-01 -2.81123575e+00] [-2.17188213e-01 -4.42861490e-03 9.76119699e-01 -7.83622846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82079213799999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.82, Z:-78.40 [[ 8.57570281e-01 -4.79430479e-01 1.86332038e-01 5.34360289e+00] [ 4.67358351e-01 8.77567346e-01 1.07012730e-01 -2.81905126e+00] [-2.14824077e-01 -4.68710278e-03 9.76641514e-01 -7.83954597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85079213799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.81, Z:-78.43 [[ 8.69344711e-01 -4.56450163e-01 1.89454540e-01 5.33944627e+00] [ 4.45100224e-01 8.89741407e-01 1.01222619e-01 -2.80797632e+00] [-2.14768630e-01 -3.67109036e-03 9.76658056e-01 -7.84272043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88079213799999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.81, Z:-78.46 [[ 8.71578273e-01 -4.52138611e-01 1.89530973e-01 5.33953216e+00] [ 4.40992777e-01 8.91941093e-01 9.98321490e-02 -2.80540703e+00] [-2.14188433e-01 -3.42974191e-03 9.76786339e-01 -7.84603817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91079213799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.80, Z:-78.49 [[ 8.73542803e-01 -4.48367547e-01 1.89445279e-01 5.33980149e+00] [ 4.37486492e-01 8.93844510e-01 9.82219976e-02 -2.80304623e+00] [-2.13374179e-01 -2.92136846e-03 9.76966184e-01 -7.84924673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94079213799999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.80, Z:-78.53 [[ 8.71718293e-01 -4.52744633e-01 1.87428692e-01 5.34138903e+00] [ 4.42497229e-01 8.91640054e-01 9.57821313e-02 -2.80391344e+00] [-2.10483775e-01 -5.58359054e-04 9.77597191e-01 -7.85258148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970792138 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.81, Z:-78.56 [[ 8.68353132e-01 -4.60437720e-01 1.84282238e-01 5.34357323e+00] [ 4.51038874e-01 8.87687869e-01 9.25968750e-02 -2.80592998e+00] [-2.06220201e-01 2.71166675e-03 9.78501853e-01 -7.85577303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000792138 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.81, Z:-78.59 [[ 8.61390571e-01 -4.74525821e-01 1.81194728e-01 5.34721647e+00] [ 4.65911393e-01 8.80216265e-01 9.02546396e-02 -2.81152184e+00] [-2.02318704e-01 6.67619284e-03 9.79296978e-01 -7.85904465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.81, Z:-78.62 [[ 8.56772387e-01 -4.83658210e-01 1.78929631e-01 5.34999401e+00] [ 4.75755977e-01 8.75199454e-01 8.76479601e-02 -2.81453039e+00] [-1.98990771e-01 1.00324896e-02 9.79950010e-01 -7.86225056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060792138 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.82, Z:-78.65 [[ 8.53771533e-01 -4.89585541e-01 1.77144483e-01 5.35222578e+00] [ 4.82236181e-01 8.71865841e-01 8.54296195e-02 -2.81678436e+00] [-1.96271330e-01 1.24881019e-02 9.80470098e-01 -7.86543521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.090792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.83, Z:-78.69 [[ 8.40041870e-01 -5.14119974e-01 1.73234840e-01 5.35922203e+00] [ 5.07840649e-01 8.57511235e-01 8.22943297e-02 -2.82715642e+00] [-1.90859981e-01 1.88450113e-02 9.81436362e-01 -7.86871030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12079213799998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.84, Z:-78.72 [[ 8.29253984e-01 -5.31648107e-01 1.72302410e-01 5.36558167e+00] [ 5.26062961e-01 8.46628177e-01 8.04890732e-02 -2.83630444e+00] [-1.88667939e-01 2.38960315e-02 9.81750166e-01 -7.87205157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15079213799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.84, Z:-78.75 [[ 8.27912924e-01 -5.32917162e-01 1.74812725e-01 5.36727862e+00] [ 5.27480854e-01 8.45773499e-01 8.01943672e-02 -2.83670681e+00] [-1.90588925e-01 2.58164127e-02 9.81330410e-01 -7.87521159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18079213799999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.84, Z:-78.78 [[ 8.27704790e-01 -5.33086084e-01 1.75282649e-01 5.36802060e+00] [ 5.27882731e-01 8.45627710e-01 7.90797007e-02 -2.83660539e+00] [-1.90380153e-01 2.70740362e-02 9.81337044e-01 -7.87846204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21079213799999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.84, Z:-78.82 [[ 8.27159953e-01 -5.33266739e-01 1.77293534e-01 5.36933345e+00] [ 5.28218869e-01 8.45462405e-01 7.86012008e-02 -2.83637748e+00] [-1.91810424e-01 2.86340245e-02 9.81014197e-01 -7.88171022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24079213799999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.83, Z:-78.85 [[ 8.31438393e-01 -5.26314017e-01 1.78055483e-01 5.36908611e+00] [ 5.21360991e-01 8.49814548e-01 7.74464425e-02 -2.83290428e+00] [-1.92075288e-01 2.84392373e-02 9.80968039e-01 -7.88492924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27079213799999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.83, Z:-78.88 [[ 8.29919981e-01 -5.28395627e-01 1.78971746e-01 5.37049507e+00] [ 5.23586671e-01 8.48477597e-01 7.70893314e-02 -2.83428042e+00] [-1.92587183e-01 2.97292443e-02 9.80829419e-01 -7.88822494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30079213799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.83, Z:-78.92 [[ 8.29996666e-01 -5.27711938e-01 1.80625706e-01 5.37132256e+00] [ 5.23084062e-01 8.48853666e-01 7.63578236e-02 -2.83351895e+00] [-1.93619727e-01 3.11056888e-02 9.80583417e-01 -7.89153378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33079213799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.84, Z:-78.95 [[ 8.27219996e-01 -5.31568801e-01 1.82048588e-01 5.37323554e+00] [ 5.27248209e-01 8.46351004e-01 7.54937305e-02 -2.83515442e+00] [-1.94207117e-01 3.35348687e-02 9.80387173e-01 -7.89471192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360792138 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.84, Z:-78.98 [[ 8.26925301e-01 -5.32184113e-01 1.81589142e-01 5.37639765e+00] [ 5.28158491e-01 8.45916230e-01 7.39887803e-02 -2.83579556e+00] [-1.92984856e-01 3.47246529e-02 9.80587091e-01 -7.89803946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390792138 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.84, Z:-79.01 [[ 8.26889264e-01 -5.30748704e-01 1.85903091e-01 5.37667291e+00] [ 5.27030969e-01 8.46697402e-01 7.30880761e-02 -2.83839492e+00] [-1.96195066e-01 3.75409408e-02 9.79845995e-01 -7.90110891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420792138 meters Centerline goodness : 0.976774 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.85, Z:-79.04 [[ 8.00494821e-01 -5.66909780e-01 1.94477099e-01 5.39435996e+00] [ 5.61466036e-01 8.22852149e-01 8.75798581e-02 -2.85168658e+00] [-2.09675777e-01 3.90850631e-02 9.76989471e-01 -7.90424110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.450792138 meters Centerline goodness : 0.973609 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.85, Z:-79.07 [[ 7.96457875e-01 -5.71903082e-01 1.96422294e-01 5.39906772e+00] [ 5.65351472e-01 8.19511990e-01 9.36899810e-02 -2.84936372e+00] [-2.14552014e-01 3.64275098e-02 9.76033027e-01 -7.90748833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48079213799998 meters Centerline goodness : 0.973608 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.85, Z:-79.11 [[ 7.98119688e-01 -5.69696831e-01 1.96087952e-01 5.40039218e+00] [ 5.63298217e-01 8.21043351e-01 9.26441302e-02 -2.84755278e+00] [-2.13775776e-01 3.65148892e-02 9.76200072e-01 -7.91080151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51079213799999 meters Centerline goodness : 0.972379 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.84, Z:-79.14 [[ 8.08468302e-01 -5.53674420e-01 1.99558616e-01 5.39569541e+00] [ 5.47469468e-01 8.31942830e-01 9.02679787e-02 -2.83943369e+00] [-2.16000430e-01 3.62734499e-02 9.75719248e-01 -7.91400143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54079213799999 meters Centerline goodness : 0.970755 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.84, Z:-79.17 [[ 8.11032553e-01 -5.49441118e-01 2.00849833e-01 5.39584979e+00] [ 5.42843363e-01 8.34813158e-01 9.16955501e-02 -2.83536578e+00] [-2.18053389e-01 3.46619229e-02 9.75321111e-01 -7.91718318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57079213799999 meters Centerline goodness : 0.964412 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.82, Z:-79.20 [[ 8.16948129e-01 -5.39143208e-01 2.04744612e-01 5.39317875e+00] [ 5.31391042e-01 8.41666938e-01 9.60225304e-02 -2.82308066e+00] [-2.24096666e-01 3.03540260e-02 9.74094101e-01 -7.92034074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60079213799999 meters Centerline goodness : 0.960661 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.81, Z:-79.24 [[ 8.22827404e-01 -5.29209013e-01 2.07105972e-01 5.39025504e+00] [ 5.20885310e-01 8.48040667e-01 9.74962597e-02 -2.81391073e+00] [-2.27230186e-01 2.76558640e-02 9.73448302e-01 -7.92354216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63079213799999 meters Centerline goodness : 0.955409 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.80, Z:-79.27 [[ 8.36401122e-01 -5.06313743e-01 2.09951321e-01 5.38575183e+00] [ 4.97595285e-01 8.62022480e-01 9.65203471e-02 -2.79629661e+00] [-2.29852336e-01 2.37410607e-02 9.72935900e-01 -7.92674443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66079213799999 meters Centerline goodness : 0.950543 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.78, Z:-79.30 [[ 8.50293193e-01 -4.80776289e-01 2.14139316e-01 5.38113402e+00] [ 4.71771510e-01 8.76606202e-01 9.48325294e-02 -2.77805603e+00] [-2.33309084e-01 2.03893744e-02 9.72188842e-01 -7.93009123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69079213799999 meters Centerline goodness : 0.950543 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.77, Z:-79.33 [[ 8.58263224e-01 -4.65549735e-01 2.15980744e-01 5.37915462e+00] [ 4.57060209e-01 8.84779440e-01 9.08917386e-02 -2.77119134e+00] [-2.33409947e-01 2.07071675e-02 9.72157914e-01 -7.93343695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720792138 meters Centerline goodness : 0.938784 Centerline is valid? [True, False] Translation: X:5.36, Y:-2.72, Z:-79.35 [[ 9.05814107e-01 -3.56545828e-01 2.28857765e-01 5.35806057e+00] [ 3.49189457e-01 9.34180142e-01 7.33088368e-02 -2.71747905e+00] [-2.39932339e-01 1.35105399e-02 9.70695595e-01 -7.93511291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750792138 meters Centerline goodness : 0.929963 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.69, Z:-79.37 [[ 9.28750517e-01 -2.88288408e-01 2.33049934e-01 5.34895927e+00] [ 2.82579401e-01 9.57471811e-01 5.82804674e-02 -2.68972818e+00] [-2.39940326e-01 1.17270966e-02 9.70716805e-01 -7.93665052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780792138 meters Centerline goodness : 0.921620 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.67, Z:-79.38 [[ 9.44143269e-01 -2.27461532e-01 2.38442319e-01 5.34232169e+00] [ 2.23372285e-01 9.73721103e-01 4.44076165e-02 -2.66591806e+00] [-2.42277343e-01 1.13342535e-02 9.70140827e-01 -7.93820904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.810792138 meters Centerline goodness : 0.962401 Centerline is valid? [False, True] Translation: X:5.34, Y:-2.65, Z:-79.40 [[ 9.53508087e-01 -1.78527618e-01 2.42796659e-01 5.33848359e+00] [ 1.75178831e-01 9.83896550e-01 3.54958595e-02 -2.64532040e+00] [-2.45223786e-01 8.68724574e-03 9.69427577e-01 -7.94002277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840792138 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.27, Z:-79.44 [[-5.98985520e-02 9.95819984e-01 6.89544990e-02 5.73387947e+00] [-9.72756652e-01 -4.27336497e-02 -2.27855945e-01 -2.27025369e+00] [-2.23956826e-01 -8.07241887e-02 9.71250197e-01 -7.94398483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87079213799998 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:6.03, Y:-2.63, Z:-79.49 [[-9.89508941e-01 -1.06997572e-03 -1.44467678e-01 6.02793810e+00] [ 5.84381296e-03 -9.99450610e-01 -3.26240259e-02 -2.63352036e+00] [-1.44353402e-01 -3.31260075e-02 9.88971568e-01 -7.94943178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90079213799999 meters Centerline goodness : 0.988036 Centerline is valid? [True, True] Translation: X:5.99, Y:-2.76, Z:-79.50 [[-9.13109734e-01 -3.86684966e-01 -1.29249181e-01 5.99281019e+00] [ 3.83160406e-01 -9.22209859e-01 5.21255998e-02 -2.75797156e+00] [-1.39351055e-01 -1.92677620e-03 9.90241168e-01 -7.94975282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93079213799999 meters Centerline goodness : 0.984277 Centerline is valid? [True, True] Translation: X:5.99, Y:-2.77, Z:-79.50 [[-9.02003816e-01 -4.11907827e-01 -1.29309932e-01 5.98847278e+00] [ 4.08242962e-01 -9.11219717e-01 5.49209473e-02 -2.76614964e+00] [-1.40452128e-01 -3.25096553e-03 9.90082134e-01 -7.95000057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96079213799999 meters Centerline goodness : 0.975331 Centerline is valid? [True, True] Translation: X:5.99, Y:-2.77, Z:-79.50 [[-8.90145289e-01 -4.36663921e-01 -1.30253537e-01 5.98513055e+00] [ 4.32811402e-01 -8.99612495e-01 5.80658987e-02 -2.77255741e+00] [-1.42532993e-01 -4.68813002e-03 9.89778949e-01 -7.94973207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99079213799999 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:5.99, Y:-2.79, Z:-79.48 [[-8.66963511e-01 -4.91201418e-01 -8.42344135e-02 5.98635478e+00] [ 4.90698956e-01 -8.70879035e-01 2.80043204e-02 -2.79454643e+00] [-8.71137467e-02 -1.70550148e-02 9.96052369e-01 -7.94844512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02079213799999 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:5.41, Y:-2.82, Z:-79.48 [[ 7.57559976e-01 -6.31070090e-01 1.66893451e-01 5.40843742e+00] [ 6.16427975e-01 7.75725660e-01 1.35152695e-01 -2.81721165e+00] [-2.14754356e-01 4.91519862e-04 9.76667971e-01 -7.94751035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05079213799999 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.75, Z:-79.52 [[ 8.68006695e-01 -4.57032445e-01 1.94128108e-01 5.36980119e+00] [ 4.47914454e-01 8.89415693e-01 9.11721817e-02 -2.74785927e+00] [-2.14329231e-01 7.81472169e-03 9.76730214e-01 -7.95153304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08079213799999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.69, Z:-79.55 [[ 9.24768936e-01 -3.18800973e-01 2.07769954e-01 5.35111493e+00] [ 3.13943124e-01 9.47737377e-01 5.68645697e-02 -2.69301658e+00] [-2.15039831e-01 1.26413609e-02 9.76523459e-01 -7.95520670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110792138 meters Centerline goodness : 0.955041 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.65, Z:-79.59 [[ 9.54535122e-01 -2.06472741e-01 2.15015600e-01 5.34828177e+00] [ 2.04606345e-01 9.78348478e-01 3.11528531e-02 -2.64958156e+00] [-2.16792400e-01 1.42570635e-02 9.76113616e-01 -7.95872358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140792138 meters Centerline goodness : 0.925178 Centerline is valid? [True, False] Translation: X:5.34, Y:-2.63, Z:-79.60 [[ 9.65807431e-01 -1.38244631e-01 2.19327216e-01 5.34419994e+00] [ 1.37275854e-01 9.90336402e-01 1.97269226e-02 -2.62782612e+00] [-2.19934867e-01 1.10559224e-02 9.75451906e-01 -7.96016459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170792138 meters Centerline goodness : 0.910818 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.61, Z:-79.61 [[ 9.71007102e-01 -8.91364756e-02 2.21810499e-01 5.34217082e+00] [ 8.88767364e-02 9.95979969e-01 1.11726088e-02 -2.61210483e+00] [-2.21914700e-01 8.86511074e-03 9.75025782e-01 -7.96098840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200792138 meters Centerline goodness : 0.901222 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.62 [[ 9.73533231e-01 -5.44771929e-02 2.21957844e-01 5.34322138e+00] [ 5.48019337e-02 9.98486183e-01 4.70008547e-03 -2.60104810e+00] [-2.21877888e-01 7.58802965e-03 9.75044935e-01 -7.96191791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23079213799998 meters Centerline goodness : 0.896054 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.63 [[ 9.73841308e-01 -4.68561530e-02 2.22345693e-01 5.34120506e+00] [ 4.71170529e-02 9.98880820e-01 4.13401348e-03 -2.59897622e+00] [-2.22290552e-01 6.45040071e-03 9.74959129e-01 -7.96258686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26079213799999 meters Centerline goodness : 0.916857 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.63 [[ 9.73837792e-01 -4.67652452e-02 2.22380230e-01 5.34107896e+00] [ 4.69883198e-02 9.98886224e-01 4.29065807e-03 -2.59908964e+00] [-2.22333202e-01 6.27086841e-03 9.74950575e-01 -7.96260447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29079213799999 meters Centerline goodness : 0.913627 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.63 [[ 9.73875001e-01 -4.67157909e-02 2.22227624e-01 5.34102008e+00] [ 4.68840879e-02 9.98890105e-01 4.52104100e-03 -2.59957574e+00] [-2.22192179e-01 6.01601064e-03 9.74984330e-01 -7.96263492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32079213799999 meters Centerline goodness : 0.920027 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.63 [[ 9.74038315e-01 -4.56677468e-02 2.21729154e-01 5.34215176e+00] [ 4.55295069e-02 9.98946518e-01 5.73741654e-03 -2.59985988e+00] [-2.21757581e-01 4.50675547e-03 9.75091413e-01 -7.96281289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35079213799999 meters Centerline goodness : 0.916799 Centerline is valid? [False, False] Translation: X:5.34, Y:-2.60, Z:-79.63 [[ 9.74175356e-01 -4.55072867e-02 2.21159361e-01 5.34411283e+00] [ 4.53224972e-02 9.98954909e-01 5.91278420e-03 -2.59959082e+00] [-2.21197304e-01 4.26340588e-03 9.75219758e-01 -7.96315080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38079213799999 meters Centerline goodness : 0.900392 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.63 [[ 9.74366726e-01 -4.40874225e-02 2.20603222e-01 5.34516763e+00] [ 4.35537925e-02 9.99024524e-01 7.28479849e-03 -2.59912829e+00] [-2.20709197e-01 2.51004170e-03 9.75336429e-01 -7.96335420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41079213799999 meters Centerline goodness : 0.900392 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.63 [[ 9.74366726e-01 -4.40874225e-02 2.20603222e-01 5.34516763e+00] [ 4.35537925e-02 9.99024524e-01 7.28479849e-03 -2.59912829e+00] [-2.20709197e-01 2.51004170e-03 9.75336429e-01 -7.96335420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44079213799999 meters Centerline goodness : 0.869594 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.64 [[ 9.74535574e-01 -4.28655693e-02 2.20097608e-01 5.34607848e+00] [ 4.19958927e-02 9.99080503e-01 8.63100286e-03 -2.59905843e+00] [-2.20265202e-01 8.31976200e-04 9.75439669e-01 -7.96352222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470792138 meters Centerline goodness : 0.869594 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.64 [[ 9.74535574e-01 -4.28655693e-02 2.20097608e-01 5.34607848e+00] [ 4.19958927e-02 9.99080503e-01 8.63100286e-03 -2.59905843e+00] [-2.20265202e-01 8.31976200e-04 9.75439669e-01 -7.96352222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500792138 meters Centerline goodness : 0.870633 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.64 [[ 9.74685159e-01 -4.19938994e-02 2.19602717e-01 5.34730652e+00] [ 4.08402447e-02 9.99117701e-01 9.79253732e-03 -2.59968821e+00] [-2.19820189e-01 -5.76012071e-04 9.75540236e-01 -7.96372274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530792138 meters Centerline goodness : 0.874436 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.64 [[ 9.74800487e-01 -4.24231582e-02 2.19007505e-01 5.34965426e+00] [ 4.12462530e-02 9.99099514e-01 9.94527222e-03 -2.60061991e+00] [-2.19232201e-01 -6.61417260e-04 9.75672488e-01 -7.96408218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560792138 meters Centerline goodness : 0.887301 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.64 [[ 9.74938954e-01 -4.09406929e-02 2.18673034e-01 5.35079546e+00] [ 3.92721403e-02 9.99156814e-01 1.19732776e-02 -2.60057068e+00] [-2.18978847e-01 -3.08545668e-03 9.75724728e-01 -7.96427742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.590792138 meters Centerline goodness : 0.887211 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.65 [[ 9.75060079e-01 -4.14001513e-02 2.18045568e-01 5.35319227e+00] [ 3.97450106e-02 9.99138117e-01 1.19731669e-02 -2.60135623e+00] [-2.18353330e-01 -3.00833367e-03 9.75865141e-01 -7.96467955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62079213799998 meters Centerline goodness : 0.893202 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.65 [[ 9.75097771e-01 -4.13173380e-02 2.17892666e-01 5.35345285e+00] [ 3.96183234e-02 9.99140863e-01 1.21624190e-02 -2.60139256e+00] [-2.18207986e-01 -3.22700552e-03 9.75896952e-01 -7.96471285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65079213799999 meters Centerline goodness : 0.897239 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.65 [[ 9.75241622e-01 -3.95948294e-02 2.17568443e-01 5.35427388e+00] [ 3.74663401e-02 9.99201196e-01 1.39012191e-02 -2.60038771e+00] [-2.17945065e-01 -5.40555417e-03 9.75946068e-01 -7.96488555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68079213799999 meters Centerline goodness : 0.900964 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.65 [[ 9.75275896e-01 -3.95104019e-02 2.17430116e-01 5.35459063e+00] [ 3.73462920e-02 9.99203538e-01 1.40550673e-02 -2.60030380e+00] [-2.17812262e-01 -5.58735975e-03 9.75974692e-01 -7.96491488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71079213799999 meters Centerline goodness : 0.903893 Centerline is valid? [False, False] Translation: X:5.35, Y:-2.60, Z:-79.65 [[ 9.75266939e-01 -3.93071252e-02 2.17507122e-01 5.35449636e+00] [ 3.71039617e-02 9.99210437e-01 1.42056157e-02 -2.59996295e+00] [-2.17893768e-01 -5.78389138e-03 9.75955354e-01 -7.96492122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74079213799999 meters Centerline goodness : 0.909005 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.65 [[ 9.75403767e-01 -3.78807742e-02 2.17146354e-01 5.35545328e+00] [ 3.52816045e-02 9.99251942e-01 1.58355286e-02 -2.59956831e+00] [-2.17583778e-01 -7.78476244e-03 9.76010603e-01 -7.96507258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77079213799999 meters Centerline goodness : 0.912111 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.65 [[ 9.75383611e-01 -3.92690034e-02 2.16990224e-01 5.35678133e+00] [ 3.69103173e-02 9.99207289e-01 1.49138326e-02 -2.60011937e+00] [-2.17403865e-01 -6.53752987e-03 9.76059845e-01 -7.96530928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80079213799999 meters Centerline goodness : 0.915609 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.65 [[ 9.75390761e-01 -3.92480869e-02 2.16961868e-01 5.35685154e+00] [ 3.68468599e-02 9.99206783e-01 1.51034280e-02 -2.60032922e+00] [-2.17382550e-01 -6.73738060e-03 9.76063233e-01 -7.96531446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83079213799999 meters Centerline goodness : 0.920299 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.65 [[ 9.75517358e-01 -3.82530063e-02 2.16570060e-01 5.35785650e+00] [ 3.55810146e-02 9.99235078e-01 1.62249955e-02 -2.60034637e+00] [-2.17025056e-01 -8.12198230e-03 9.76132244e-01 -7.96548433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860792138 meters Centerline goodness : 0.926345 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.66 [[ 9.75647198e-01 -3.71648477e-02 2.16174280e-01 5.35898505e+00] [ 3.41099298e-02 9.99258726e-01 1.78469007e-02 -2.60069122e+00] [-2.16677313e-01 -1.00385891e-02 9.76191666e-01 -7.96568681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890792138 meters Centerline goodness : 0.930729 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.66 [[ 9.75771601e-01 -3.60696168e-02 2.15797973e-01 5.35993910e+00] [ 3.28152515e-02 9.99287493e-01 1.86458029e-02 -2.59974258e+00] [-2.16316762e-01 -1.11125802e-02 9.76259990e-01 -7.96583748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920792138 meters Centerline goodness : 0.933100 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.66 [[ 9.75775332e-01 -3.61870139e-02 2.15761444e-01 5.35992300e+00] [ 3.29095754e-02 9.99282166e-01 1.87646399e-02 -2.60019647e+00] [-2.16285600e-01 -1.12094552e-02 9.76265787e-01 -7.96584173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.950792138 meters Centerline goodness : 0.935908 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.66 [[ 9.75843922e-01 -3.66341541e-02 2.15375436e-01 5.36187701e+00] [ 3.33486345e-02 9.99265621e-01 1.88702503e-02 -2.60107926e+00] [-2.15908565e-01 -1.12319424e-02 9.76348982e-01 -7.96616677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98079213799998 meters Centerline goodness : 0.935590 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.66 [[ 9.75864393e-01 -3.66131710e-02 2.15286233e-01 5.36213369e+00] [ 3.32911533e-02 9.99264359e-01 1.90378441e-02 -2.60129133e+00] [-2.15824895e-01 -1.14112272e-02 9.76365402e-01 -7.96620382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01079213799999 meters Centerline goodness : 0.937870 Centerline is valid? [False, False] Translation: X:5.36, Y:-2.60, Z:-79.67 [[ 9.75951101e-01 -3.69808453e-02 2.14829853e-01 5.36410655e+00] [ 3.36462811e-02 9.99250143e-01 1.91593013e-02 -2.60200906e+00] [-2.15377288e-01 -1.14703156e-02 9.76463545e-01 -7.96651952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04079213799999 meters Centerline goodness : 0.938639 Centerline is valid? [False, False] Translation: X:5.37, Y:-2.60, Z:-79.67 [[ 9.76058257e-01 -3.55997852e-02 2.14576174e-01 5.36515613e+00] [ 3.19081247e-02 9.99277571e-01 2.06447822e-02 -2.60162191e+00] [-2.15156108e-01 -1.33037868e-02 9.76489047e-01 -7.96670680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07079213799999 meters Centerline goodness : 0.939751 Centerline is valid? [False, False] Translation: X:5.37, Y:-2.60, Z:-79.67 [[ 9.76068945e-01 -3.54621014e-02 2.14550351e-01 5.36519003e+00] [ 3.17674822e-02 9.99282048e-01 2.06449834e-02 -2.60133390e+00] [-2.15128429e-01 -1.33352027e-02 9.76494717e-01 -7.96671958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10079213799999 meters Centerline goodness : 0.942394 Centerline is valid? [False, False] Translation: X:5.37, Y:-2.60, Z:-79.67 [[ 9.76058819e-01 -3.54995191e-02 2.14590229e-01 5.36504903e+00] [ 3.17845976e-02 9.99279565e-01 2.07386294e-02 -2.60156476e+00] [-2.15171842e-01 -1.34214580e-02 9.76483970e-01 -7.96671184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13079213799999 meters Centerline goodness : 0.944150 Centerline is valid? [False, False] Translation: X:5.37, Y:-2.60, Z:-79.67 [[ 9.76159913e-01 -3.56842170e-02 2.14099184e-01 5.36724829e+00] [ 3.19714668e-02 9.99272742e-01 2.07800940e-02 -2.60173136e+00] [-2.14685000e-01 -1.34396298e-02 9.76590870e-01 -7.96706452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16079213799999 meters Centerline goodness : 0.949996 Centerline is valid? [False, False] Translation: X:5.37, Y:-2.60, Z:-79.68 [[ 9.76339076e-01 -3.72060093e-02 2.13020471e-01 5.37237522e+00] [ 3.38482158e-02 9.99238884e-01 1.93894767e-02 -2.60181220e+00] [-2.13579743e-01 -1.17203408e-02 9.76855326e-01 -7.96784569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19079213799999 meters Centerline goodness : 0.951389 Centerline is valid? [False, True] Translation: X:5.38, Y:-2.60, Z:-79.69 [[ 9.76694724e-01 -3.59350696e-02 2.11603610e-01 5.37726874e+00] [ 3.21010222e-02 9.99252764e-01 2.15276035e-02 -2.60193958e+00] [-2.12219088e-01 -1.42332046e-02 9.77118455e-01 -7.96856664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220792138 meters Centerline goodness : 0.955899 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.55, Z:-79.72 [[ 9.70284109e-01 1.12458111e-01 2.14247335e-01 5.37670765e+00] [-1.11591617e-01 9.93622513e-01 -1.61744729e-02 -2.55204796e+00] [-2.14699926e-01 -8.21437248e-03 9.76645517e-01 -7.97192374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250792138 meters Centerline goodness : 0.962595 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.51, Z:-79.74 [[ 9.41872274e-01 2.59033045e-01 2.13959113e-01 5.38182323e+00] [-2.54578880e-01 9.65829427e-01 -4.86118528e-02 -2.50803029e+00] [-2.19240083e-01 -8.68331489e-03 9.75632301e-01 -7.97449090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280792138 meters Centerline goodness : 0.961496 Centerline is valid? [True, True] Translation: X:5.39, Y:-2.53, Z:-79.77 [[ 9.57371762e-01 2.02910438e-01 2.05588578e-01 5.39184849e+00] [-2.00709029e-01 9.79136818e-01 -3.17329130e-02 -2.53183436e+00] [-2.07738286e-01 -1.08832891e-02 9.78123897e-01 -7.97682012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.310792138 meters Centerline goodness : 0.962686 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.65, Z:-79.79 [[ 9.69084377e-01 -1.51511853e-01 1.94729630e-01 5.39896918e+00] [ 1.43606956e-01 9.88150900e-01 5.41741712e-02 -2.64896812e+00] [-2.00630288e-01 -2.45348136e-02 9.79359755e-01 -7.97948946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340792138 meters Centerline goodness : 0.964345 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.84, Z:-79.82 [[ 6.63020801e-01 -7.40618572e-01 1.09030035e-01 5.50509772e+00] [ 7.17602666e-01 6.70266522e-01 1.89180346e-01 -2.83803063e+00] [-2.13189660e-01 -4.71902610e-02 9.75870508e-01 -7.98236613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37079213799998 meters Centerline goodness : 0.965320 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.84, Z:-79.85 [[ -0.31536792 -0.92924541 -0.19247348 5.89419644] [ 0.92257676 -0.34772604 0.1671488 -2.84411495] [ -0.2222503 -0.12485819 0.96696186 -79.8451912 ] [ 0. 0. 0. 1. ]] SLAMing on 86.40079213799999 meters Centerline goodness : 0.966220 Centerline is valid? [True, True] Translation: X:6.09, Y:-2.57, Z:-79.84 [[-8.92108606e-01 -3.16220698e-01 -3.22717686e-01 6.08500493e+00] [ 3.53026065e-01 -9.33618301e-01 -6.10693534e-02 -2.56897080e+00] [-2.81983744e-01 -1.68408251e-01 9.44523070e-01 -7.98440268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43079213799999 meters Centerline goodness : 0.967458 Centerline is valid? [True, True] Translation: X:6.03, Y:-2.29, Z:-79.85 [[ -0.89783529 0.35541901 -0.2599406 6.03118523] [ -0.28306028 -0.91805681 -0.27757625 -2.29096531] [ -0.33729611 -0.1756389 0.92486881 -79.84506232] [ 0. 0. 0. 1. ]] SLAMing on 86.46079213799999 meters Centerline goodness : 0.968145 Centerline is valid? [True, True] Translation: X:5.85, Y:-2.12, Z:-79.85 [[ -0.59508406 0.79685435 -0.10439403 5.8527108 ] [ -0.70782688 -0.58119689 -0.40148634 -2.11904335] [ -0.38059962 -0.16502522 0.90989593 -79.85045823] [ 0. 0. 0. 1. ]] SLAMing on 86.49079213799999 meters Centerline goodness : 0.968604 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.06, Z:-79.85 [[ 2.68307976e-01 9.41454907e-01 2.04140856e-01 5.55265093e+00] [-8.43129518e-01 3.32001823e-01 -4.22974473e-01 -2.05663337e+00] [-4.65986530e-01 -5.86297568e-02 8.82847159e-01 -7.98539125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52079213799999 meters Centerline goodness : 0.969270 Centerline is valid? [True, True] Translation: X:5.33, Y:-2.28, Z:-79.90 [[ 8.85246680e-01 2.33793436e-01 4.02093205e-01 5.32650188e+00] [-1.78256162e-01 9.69015727e-01 -1.70977374e-01 -2.27523712e+00] [-4.29608027e-01 7.96815608e-02 8.99493075e-01 -7.99003785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55079213799999 meters Centerline goodness : 0.970092 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.58, Z:-79.99 [[ 0.63799561 -0.71529475 0.28515789 5.39857757] [ 0.71244189 0.6888356 0.13391071 -2.58401986] [ -0.29221253 0.11772398 0.94908003 -79.98585404] [ 0. 0. 0. 1. ]] SLAMing on 86.58079213799999 meters Centerline goodness : 0.970092 Centerline is valid? [True, True] Translation: X:5.92, Y:-2.52, Z:-80.03 [[-8.49102666e-01 -5.08988286e-01 -1.41264244e-01 5.91953601e+00] [ 5.02298871e-01 -8.60772726e-01 8.22566558e-02 -2.52409773e+00] [-1.63464083e-01 -1.11252479e-03 9.86548659e-01 -8.00344020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610792138 meters Centerline goodness : 0.970787 Centerline is valid? [True, True] Translation: X:5.92, Y:-2.53, Z:-80.04 [[-8.41802951e-01 -5.20716699e-01 -1.42203767e-01 5.91706653e+00] [ 5.13734751e-01 -8.53728212e-01 8.49985016e-02 -2.52779580e+00] [-1.65663507e-01 -1.50302753e-03 9.86181192e-01 -8.00391525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640792138 meters Centerline goodness : 0.971605 Centerline is valid? [True, True] Translation: X:5.91, Y:-2.53, Z:-80.05 [[-8.30940425e-01 -5.38434943e-01 -1.40092193e-01 5.91267741e+00] [ 5.31183126e-01 -8.42666192e-01 8.80805053e-02 -2.53341335e+00] [-1.65476576e-01 -1.22495634e-03 9.86212960e-01 -8.00451863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670792138 meters Centerline goodness : 0.972810 Centerline is valid? [True, True] Translation: X:5.91, Y:-2.54, Z:-80.05 [[-8.18035825e-01 -5.58503625e-01 -1.37444864e-01 5.90708377e+00] [ 5.51052482e-01 -8.29500980e-01 9.09356116e-02 -2.53940486e+00] [-1.64798518e-01 -1.35074556e-03 9.86326327e-01 -8.00538909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700792138 meters Centerline goodness : 0.973144 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.55, Z:-80.06 [[-8.04565532e-01 -5.77890690e-01 -1.36808827e-01 5.90240537e+00] [ 5.70036419e-01 -8.16112649e-01 9.49664414e-02 -2.54629350e+00] [-1.66531636e-01 -1.57928822e-03 9.86034847e-01 -8.00592930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73079213799998 meters Centerline goodness : 0.973168 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.55, Z:-80.07 [[-7.89069027e-01 -5.99567368e-01 -1.33749921e-01 5.89617110e+00] [ 5.91643453e-01 -8.00320553e-01 9.71855765e-02 -2.55322373e+00] [-1.65312111e-01 -2.44613707e-03 9.86238269e-01 -8.00674355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76079213799999 meters Centerline goodness : 0.973027 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.56, Z:-80.07 [[-7.67652961e-01 -6.27656259e-01 -1.29447099e-01 5.88776040e+00] [ 6.19442814e-01 -7.78486687e-01 1.01237737e-01 -2.56184045e+00] [-1.64315342e-01 -2.46962693e-03 9.86404770e-01 -8.00740076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79079213799999 meters Centerline goodness : 0.973169 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.57, Z:-80.09 [[-7.21761366e-01 -6.83883588e-01 -1.06600976e-01 5.86696920e+00] [ 6.79195258e-01 -7.29459758e-01 8.11311495e-02 -2.57091191e+00] [-1.33245384e-01 -1.38455480e-02 9.90986361e-01 -8.00906631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82079213799999 meters Centerline goodness : 0.974139 Centerline is valid? [True, True] Translation: X:5.86, Y:-2.59, Z:-80.09 [[-6.99634619e-01 -7.05547195e-01 -1.12758837e-01 5.86247346e+00] [ 6.95631332e-01 -7.08651200e-01 1.17942898e-01 -2.58670084e+00] [-1.63120966e-01 4.07835450e-03 9.86597647e-01 -8.00854931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85079213799999 meters Centerline goodness : 0.975482 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.58, Z:-80.09 [[-7.16219431e-01 -6.87378801e-01 -1.20582383e-01 5.86865887e+00] [ 6.77951816e-01 -7.26298934e-01 1.13451282e-01 -2.58069724e+00] [-1.65562863e-01 -4.93033064e-04 9.86199116e-01 -8.00895203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88079213799999 meters Centerline goodness : 0.977169 Centerline is valid? [True, True] Translation: X:5.86, Y:-2.59, Z:-80.10 [[-7.03837923e-01 -6.99966995e-01 -1.21071811e-01 5.86433585e+00] [ 6.89929430e-01 -7.14175082e-01 1.18115764e-01 -2.58541628e+00] [-1.69143607e-01 -3.96651424e-04 9.85591337e-01 -8.00952698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91079213799999 meters Centerline goodness : 0.979829 Centerline is valid? [True, True] Translation: X:5.86, Y:-2.59, Z:-80.09 [[-6.84444839e-01 -7.19601628e-01 -1.17084415e-01 5.85760822e+00] [ 7.09379853e-01 -6.94387057e-01 1.20858759e-01 -2.59170036e+00] [-1.68272062e-01 -3.36171749e-04 9.85740534e-01 -8.00926720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94079213799999 meters Centerline goodness : 0.981799 Centerline is valid? [True, True] Translation: X:5.83, Y:-2.59, Z:-80.34 [[-6.43074250e-01 -7.56873865e-01 -1.16608153e-01 5.82727889e+00] [ 7.45569527e-01 -6.53553587e-01 1.30360224e-01 -2.58572178e+00] [-1.74875923e-01 -3.10818189e-03 9.84585573e-01 -8.03383532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970792138 meters Centerline goodness : 0.983680 Centerline is valid? [True, True] Translation: X:5.94, Y:-2.24, Z:-80.33 [[ -0.94549413 0.26684324 -0.18664278 5.93606909] [ -0.2203925 -0.94631134 -0.23647832 -2.23563552] [ -0.23972482 -0.1824542 0.95354207 -80.33180262] [ 0. 0. 0. 1. ]] SLAMing on 87.000792138 meters Centerline goodness : 0.985273 Centerline is valid? [True, True] Translation: X:5.70, Y:-1.99, Z:-80.33 [[-2.81410340e-01 9.57456052e-01 6.39228314e-02 5.70190019e+00] [-8.62119631e-01 -2.23013054e-01 -4.54988922e-01 -1.98809361e+00] [-4.21376272e-01 -1.83147715e-01 8.88199838e-01 -8.03264804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030792138 meters Centerline goodness : 0.870308 Centerline is valid? [True, False] Translation: X:5.55, Y:-1.93, Z:-80.35 [[ 2.05377676e-01 9.71598456e-01 1.17543396e-01 5.55451391e+00] [-8.42918395e-01 2.36635614e-01 -4.83210271e-01 -1.92560133e+00] [-4.97301307e-01 1.61111407e-04 8.67577883e-01 -8.03469040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060792138 meters Centerline goodness : 0.987630 Centerline is valid? [False, True] Translation: X:5.49, Y:-1.93, Z:-80.35 [[ 3.96887089e-01 9.03593961e-01 1.61240792e-01 5.48619821e+00] [-7.68662403e-01 4.23209227e-01 -4.79637425e-01 -1.92962284e+00] [-5.01636071e-01 6.64221667e-02 8.62524984e-01 -8.03498653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.090792138 meters Centerline goodness : 0.941953 Centerline is valid? [True, False] Translation: X:5.43, Y:-1.94, Z:-80.36 [[ 0.5484033 0.81259903 0.19732368 5.42942008] [ -0.67799343 0.5702066 -0.46388504 -1.9425565 ] [ -0.4894678 0.12061193 0.86363999 -80.3617244 ] [ 0. 0. 0. 1. ]] SLAMing on 87.12079213799998 meters Centerline goodness : 0.927991 Centerline is valid? [False, False] Translation: X:5.37, Y:-1.96, Z:-80.37 [[ 0.68248031 0.69614498 0.22271684 5.36860857] [ -0.56629681 0.69627814 -0.44102685 -1.963036 ] [ -0.46209149 0.1748683 0.8694208 -80.3740222 ] [ 0. 0. 0. 1. ]] SLAMing on 87.15079213799999 meters Centerline goodness : 0.992001 Centerline is valid? [False, True] Translation: X:5.33, Y:-1.99, Z:-80.39 [[ 0.77158222 0.58569493 0.24823845 5.33195297] [ -0.45904416 0.78279884 -0.42012431 -1.98988192] [ -0.44038545 0.21020804 0.8728535 -80.39136188] [ 0. 0. 0. 1. ]] SLAMing on 87.18079213799999 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:5.26, Y:-2.17, Z:-80.48 [[ 9.52977420e-01 -8.64864857e-04 3.03040079e-01 5.25827368e+00] [ 6.52718464e-02 9.77110099e-01 -2.02473309e-01 -2.17063541e+00] [-2.95928410e-01 2.12732477e-01 9.31220312e-01 -8.04848337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21079213799999 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.51, Z:-80.57 [[-2.19936935e-01 -9.75448271e-01 -1.13320076e-02 5.67372386e+00] [ 9.73505894e-01 -2.20214354e-01 6.15785042e-02 -2.51263762e+00] [-6.25621162e-02 2.51161124e-03 9.98037912e-01 -8.05655940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24079213799999 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.52, Z:-80.58 [[-2.35779959e-01 -9.71583553e-01 -2.08136966e-02 5.67980568e+00] [ 9.66316514e-01 -2.36667549e-01 1.01098302e-01 -2.52421446e+00] [-1.03151374e-01 3.72433472e-03 9.94658697e-01 -8.05750645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27079213799999 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.19, Z:-80.73 [[ -0.95840357 -0.14632563 -0.24505387 5.94679716] [ 0.20382397 -0.95190707 -0.2287547 -2.18556545] [ -0.19979584 -0.26918718 0.94213581 -80.72550027] [ 0. 0. 0. 1. ]] SLAMing on 87.30079213799999 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:5.68, Y:-1.81, Z:-80.66 [[-4.13797613e-01 9.09656091e-01 -3.60184860e-02 5.67785436e+00] [-7.82650271e-01 -3.75675229e-01 -4.96313083e-01 -1.80618072e+00] [-4.65005472e-01 -1.77183291e-01 8.67396099e-01 -8.06594715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33079213799999 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:5.43, Y:-1.78, Z:-80.67 [[ 2.30020263e-01 9.50019648e-01 2.11076638e-01 5.43490193e+00] [-8.20809592e-01 3.05911407e-01 -4.82379337e-01 -1.78060127e+00] [-5.22840599e-01 -6.22967069e-02 8.50151062e-01 -8.06700089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360792138 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:5.37, Y:-1.84, Z:-80.55 [[ 4.47616665e-01 8.28654269e-01 3.36112220e-01 5.36809265e+00] [-7.04296777e-01 5.58297391e-01 -4.38486116e-01 -1.84201668e+00] [-5.51003967e-01 -4.04490600e-02 8.33521747e-01 -8.05521704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390792138 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:5.13, Y:-2.14, Z:-80.84 [[ 8.63972184e-01 -1.58112644e-01 4.78071603e-01 5.13109904e+00] [ 2.16668824e-01 9.73767395e-01 -6.95102984e-02 -2.14026948e+00] [-4.54540082e-01 1.63638176e-01 8.75566023e-01 -8.08427571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420792138 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] SLAMing on 87.450792138 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] SLAMing on 87.48079213799998 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] SLAMing on 87.51079213799999 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.46, Z:-80.53 [[ 0.18299291 -0.96644668 0.18026205 5.47175585] [ 0.96708884 0.20992979 0.14376597 -2.46208146] [ -0.17678452 0.14802126 0.97305547 -80.53028388] [ 0. 0. 0. 1. ]] SLAMing on 87.54079213799999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:5.81, Y:-2.36, Z:-80.56 [[-7.57445597e-01 -6.49210149e-01 -6.92989915e-02 5.80743850e+00] [ 6.46537489e-01 -7.60609052e-01 5.88485031e-02 -2.35796173e+00] [-9.09144857e-02 -2.29856416e-04 9.95858676e-01 -8.05630945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57079213799999 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:5.81, Y:-2.36, Z:-80.57 [[-7.56610370e-01 -6.50083324e-01 -7.02311834e-02 5.80700003e+00] [ 6.47578115e-01 -7.59859432e-01 5.70633707e-02 -2.35762832e+00] [-9.04617728e-02 -2.30543939e-03 9.95897260e-01 -8.05661527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60079213799999 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:5.80, Y:-2.36, Z:-80.57 [[-7.49677148e-01 -6.58284945e-01 -6.81550065e-02 5.80324751e+00] [ 6.55865967e-01 -7.52765035e-01 5.64325694e-02 -2.35930100e+00] [-8.84534167e-02 -2.39434154e-03 9.96077437e-01 -8.05731503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63079213799999 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:5.80, Y:-2.36, Z:-80.57 [[-7.43323920e-01 -6.65474107e-01 -6.79246800e-02 5.80150371e+00] [ 6.63049226e-01 -7.46415697e-01 5.68272013e-02 -2.36111683e+00] [-8.85170784e-02 -2.79638847e-03 9.96070734e-01 -8.05736586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66079213799999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:5.80, Y:-2.36, Z:-80.58 [[-7.30915245e-01 -6.79081138e-01 -6.79095944e-02 5.79632522e+00] [ 6.76526714e-01 -7.34057568e-01 5.89159720e-02 -2.36405081e+00] [-8.98582770e-02 -2.88007264e-03 9.95950398e-01 -8.05827375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69079213799999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.37, Z:-80.58 [[-7.21829052e-01 -6.88940190e-01 -6.57589020e-02 5.79336119e+00] [ 6.86383874e-01 -7.24814533e-01 5.93386059e-02 -2.36777807e+00] [-8.85437583e-02 -2.30352016e-03 9.96069624e-01 -8.05842143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720792138 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.37, Z:-80.59 [[-7.14165408e-01 -6.96911258e-01 -6.54405737e-02 5.78893678e+00] [ 6.94350922e-01 -7.17152028e-01 5.97475235e-02 -2.37022901e+00] [-8.85695619e-02 -2.76910817e-03 9.96066145e-01 -8.05876241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750792138 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.37, Z:-80.60 [[-7.04643457e-01 -7.06406210e-01 -6.68420963e-02 5.78502907e+00] [ 7.03848984e-01 -7.07791668e-01 6.02292435e-02 -2.37224158e+00] [-8.98565905e-02 -4.60659925e-03 9.95944061e-01 -8.05961426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780792138 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:5.78, Y:-2.38, Z:-80.60 [[-6.86427563e-01 -7.24306183e-01 -6.47900715e-02 5.77804186e+00] [ 7.21659387e-01 -6.89465711e-01 6.20061574e-02 -2.37752338e+00] [-8.95819760e-02 -4.19362775e-03 9.95970624e-01 -8.05998364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.810792138 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.77, Y:-2.38, Z:-80.61 [[-6.70204003e-01 -7.39448024e-01 -6.35862751e-02 5.77167318e+00] [ 7.36684519e-01 -6.73202030e-01 6.39917655e-02 -2.38183398e+00] [-9.01249941e-02 -3.95548712e-03 9.95922607e-01 -8.06061139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.38, Z:-80.67 [[-6.45011139e-01 -7.61590010e-01 -6.27796806e-02 5.75519658e+00] [ 7.58809754e-01 -6.48035388e-01 6.52525408e-02 -2.37968890e+00] [-9.03791379e-02 -5.54921834e-03 9.95891971e-01 -8.06698387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87079213799998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.39, Z:-80.61 [[-6.24350142e-01 -7.78796695e-01 -6.05194904e-02 5.75575418e+00] [ 7.75629566e-01 -6.27268805e-01 7.02326259e-02 -2.39381605e+00] [-9.26589254e-02 -3.09095619e-03 9.95693110e-01 -8.06132633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90079213799999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:5.75, Y:-2.39, Z:-80.65 [[-6.22399750e-01 -7.80579616e-01 -5.75674824e-02 5.74813760e+00] [ 7.77505152e-01 -6.25054140e-01 6.92319327e-02 -2.38762838e+00] [-9.00238286e-02 -1.66907658e-03 9.95938213e-01 -8.06535452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93079213799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:5.75, Y:-2.39, Z:-80.64 [[-6.14243587e-01 -7.86954041e-01 -5.83793887e-02 5.74687068e+00] [ 7.83830777e-01 -6.17005692e-01 7.00948524e-02 -2.39183337e+00] [-9.11818425e-02 -2.70424803e-03 9.95830587e-01 -8.06427220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96079213799999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:5.74, Y:-2.39, Z:-80.64 [[-6.08778122e-01 -7.91357776e-01 -5.60541539e-02 5.74482401e+00] [ 7.88181342e-01 -6.11352401e-01 7.08407630e-02 -2.39336237e+00] [-9.03292303e-02 -1.05453161e-03 9.95911401e-01 -8.06434282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99079213799999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:5.74, Y:-2.39, Z:-80.65 [[-6.03477921e-01 -7.95369146e-01 -5.65890503e-02 5.74270058e+00] [ 7.92202227e-01 -6.06121962e-01 7.09351684e-02 -2.39391773e+00] [-9.07195105e-02 -2.02216372e-03 9.95874430e-01 -8.06504743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02079213799999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:5.74, Y:-2.40, Z:-80.64 [[-5.96251900e-01 -8.00839855e-01 -5.60285494e-02 5.74189254e+00] [ 7.97611586e-01 -5.98875720e-01 7.18583989e-02 -2.39616328e+00] [-9.11012076e-02 -1.84331335e-03 9.95839933e-01 -8.06444338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05079213799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.74, Y:-2.40, Z:-80.66 [[-5.86245628e-01 -8.08213206e-01 -5.57447482e-02 5.73731142e+00] [ 8.04920648e-01 -5.88886143e-01 7.29099491e-02 -2.39619515e+00] [-9.17540935e-02 -2.12695996e-03 9.95779425e-01 -8.06607535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08079213799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:5.74, Y:-2.40, Z:-80.65 [[-5.77258945e-01 -8.14724807e-01 -5.47320644e-02 5.73527830e+00] [ 8.11430345e-01 -5.79843860e-01 7.32249501e-02 -2.40045076e+00] [-9.13942349e-02 -2.14150050e-03 9.95812486e-01 -8.06500518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.41, Z:-80.64 [[-5.59705148e-01 -8.26816560e-01 -5.57182540e-02 5.73279761e+00] [ 8.23315607e-01 -5.62462031e-01 7.60780777e-02 -2.40795987e+00] [-9.42420168e-02 -3.29241639e-03 9.95543873e-01 -8.06365720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140792138 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.41, Z:-80.64 [[-5.56415006e-01 -8.29271727e-01 -5.20648022e-02 5.72871323e+00] [ 8.25902210e-01 -5.58843744e-01 7.46941052e-02 -2.40738817e+00] [-9.10377987e-02 -1.43951418e-03 9.95846397e-01 -8.06416702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170792138 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:5.72, Y:-2.40, Z:-80.68 [[-5.50748538e-01 -8.33042653e-01 -5.21151272e-02 5.72339281e+00] [ 8.29700498e-01 -5.53204524e-01 7.45777343e-02 -2.40334094e+00] [-9.09567577e-02 -2.16636891e-03 9.95852487e-01 -8.06791068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:5.72, Y:-2.41, Z:-80.64 [[-5.34958551e-01 -8.43183697e-01 -5.34845866e-02 5.72340974e+00] [ 8.39596743e-01 -5.37615405e-01 7.77623612e-02 -2.41308268e+00] [-9.43220930e-02 -3.30584464e-03 9.95536245e-01 -8.06444535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23079213799998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:5.72, Y:-2.42, Z:-80.65 [[-5.24516683e-01 -8.49853275e-01 -5.12997086e-02 5.71920002e+00] [ 8.46240668e-01 -5.27014188e-01 7.83120536e-02 -2.41547066e+00] [-9.35894295e-02 -2.33592102e-03 9.95608137e-01 -8.06463193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26079213799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:5.72, Y:-2.42, Z:-80.65 [[-5.15602416e-01 -8.55317124e-01 -5.08602550e-02 5.71596681e+00] [ 8.51618698e-01 -5.18099597e-01 7.94883714e-02 -2.41673456e+00] [-9.43384429e-02 -2.32914777e-03 9.95537460e-01 -8.06480508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29079213799999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.71, Y:-2.42, Z:-80.65 [[-5.06870317e-01 -8.60549008e-01 -5.03774416e-02 5.71294682e+00] [ 8.56794593e-01 -5.09361788e-01 8.03342621e-02 -2.41809376e+00] [-9.47919133e-02 -2.44406672e-03 9.95494108e-01 -8.06516050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32079213799999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:5.71, Y:-2.42, Z:-80.65 [[-4.99120963e-01 -8.65108803e-01 -4.96489932e-02 5.71000932e+00] [ 8.61332703e-01 -5.01578285e-01 8.07787059e-02 -2.41924807e+00] [-9.47852264e-02 -2.44595598e-03 9.95494740e-01 -8.06540967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35079213799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:5.71, Y:-2.42, Z:-80.66 [[-4.92294829e-01 -8.69039437e-01 -4.91554462e-02 5.70769901e+00] [ 8.65217795e-01 -4.94736830e-01 8.14471359e-02 -2.41973603e+00] [-9.50997828e-02 -2.43416293e-03 9.95464769e-01 -8.06574551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38079213799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.42, Z:-80.66 [[-4.83994692e-01 -8.73754508e-01 -4.79812285e-02 5.70431904e+00] [ 8.69864187e-01 -4.86363631e-01 8.23815126e-02 -2.42124175e+00] [-9.53175425e-02 -1.86493750e-03 9.95445171e-01 -8.06607553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41079213799999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.42, Z:-80.66 [[-4.75677411e-01 -8.78329018e-01 -4.76354623e-02 5.70093423e+00] [ 8.74500606e-01 -4.78049169e-01 8.19614708e-02 -2.42279270e+00] [-9.47612313e-02 -2.67002040e-03 9.95496449e-01 -8.06635797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44079213799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.42, Z:-80.66 [[-4.74638432e-01 -8.78963220e-01 -4.62819173e-02 5.69911062e+00] [ 8.75158096e-01 -4.76886470e-01 8.17165975e-02 -2.42331046e+00] [-9.38971038e-02 -1.71815685e-03 9.95580425e-01 -8.06570677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.43, Z:-80.67 [[-4.62304273e-01 -8.85420915e-01 -4.80058530e-02 5.69533954e+00] [ 8.81338948e-01 -4.64780223e-01 8.49764842e-02 -2.42535785e+00] [-9.75521274e-02 -3.02443627e-03 9.95225821e-01 -8.06658721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:5.69, Y:-2.43, Z:-80.67 [[-4.51915164e-01 -8.90839560e-01 -4.66643727e-02 5.69145849e+00] [ 8.86711719e-01 -4.54310316e-01 8.56998525e-02 -2.42677559e+00] [-9.75449247e-02 -2.64878324e-03 9.95227598e-01 -8.06683597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:5.69, Y:-2.43, Z:-80.67 [[-4.46557883e-01 -8.93578083e-01 -4.58722808e-02 5.68980196e+00] [ 8.89413494e-01 -4.48901876e-01 8.62017572e-02 -2.42717462e+00] [-9.76201539e-02 -2.30535129e-03 9.95221076e-01 -8.06703868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:5.69, Y:-2.43, Z:-80.67 [[-4.38419531e-01 -8.97631351e-01 -4.52357477e-02 5.68677094e+00] [ 8.93386294e-01 -4.40741688e-01 8.72220912e-02 -2.42787581e+00] [-9.82305633e-02 -2.17312866e-03 9.95161311e-01 -8.06730397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.590792138 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.43, Z:-80.66 [[-4.33009253e-01 -9.00350081e-01 -4.32749040e-02 5.68486058e+00] [ 8.96249582e-01 -4.35163336e-01 8.58461261e-02 -2.43017453e+00] [-9.61232182e-02 -1.61294768e-03 9.95368136e-01 -8.06640987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62079213799998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.43, Z:-80.68 [[-4.23818983e-01 -9.04677756e-01 -4.39957669e-02 5.68147556e+00] [ 9.00459027e-01 -4.26088396e-01 8.73053282e-02 -2.43022487e+00] [-9.77292741e-02 -2.61472999e-03 9.95209602e-01 -8.06774582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65079213799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.43, Z:-80.68 [[-4.11541914e-01 -9.10383363e-01 -4.28414001e-02 5.67727215e+00] [ 9.06099822e-01 -4.13758230e-01 8.82453392e-02 -2.43223438e+00] [-9.80630705e-02 -2.50192913e-03 9.95177057e-01 -8.06791418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68079213799999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.43, Z:-80.68 [[-4.06186042e-01 -9.12846406e-01 -4.15251413e-02 5.67560707e+00] [ 9.08500612e-01 -4.08300054e-01 8.89814865e-02 -2.43297402e+00] [-9.81811476e-02 -1.58257842e-03 9.95167301e-01 -8.06787750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71079213799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.43, Z:-80.68 [[-3.98830237e-01 -9.16035344e-01 -4.25874566e-02 5.67230860e+00] [ 9.11462717e-01 -4.01090693e-01 9.14438151e-02 -2.43414291e+00] [-1.00847199e-01 -2.34632056e-03 9.94899159e-01 -8.06803358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74079213799999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.44, Z:-80.67 [[-3.81455094e-01 -9.23282345e-01 -4.51854331e-02 5.66722346e+00] [ 9.17873601e-01 -3.84107072e-01 9.98489330e-02 -2.43654847e+00] [-1.09544801e-01 -3.38663214e-03 9.93976090e-01 -8.06725353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77079213799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.44, Z:-80.68 [[-3.80348092e-01 -9.23766496e-01 -4.46182655e-02 5.66617358e+00] [ 9.18213573e-01 -3.82948112e-01 1.01166090e-01 -2.43658919e+00] [-1.10540325e-01 -2.49076752e-03 9.93868519e-01 -8.06757737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80079213799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:5.66, Y:-2.44, Z:-80.68 [[-3.73545389e-01 -9.26583117e-01 -4.36757348e-02 5.66366061e+00] [ 9.21006830e-01 -3.76083018e-01 1.01528235e-01 -2.43725656e+00] [-1.10500050e-01 -2.30024606e-03 9.93873457e-01 -8.06776440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83079213799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:5.66, Y:-2.44, Z:-80.68 [[-3.69459955e-01 -9.28303708e-01 -4.18517204e-02 5.66096136e+00] [ 9.22926750e-01 -3.71818678e-01 9.97851921e-02 -2.43656896e+00] [-1.08192215e-01 -1.75943968e-03 9.94128437e-01 -8.06798610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.66, Y:-2.44, Z:-80.68 [[-3.59381480e-01 -9.32229503e-01 -4.23450766e-02 5.65881387e+00] [ 9.26628116e-01 -3.61858569e-01 1.02072088e-01 -2.43809984e+00] [-1.10477541e-01 -2.55532055e-03 9.93875336e-01 -8.06823345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.44, Z:-80.69 [[-3.47186753e-01 -9.36919819e-01 -4.05291292e-02 5.65427410e+00] [ 9.31294814e-01 -3.49537762e-01 1.02534492e-01 -2.43884608e+00] [-1.10233059e-01 -2.14595032e-03 9.93903450e-01 -8.06861455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.44, Z:-80.69 [[-3.39161918e-01 -9.39897515e-01 -3.95202980e-02 5.65133719e+00] [ 9.34245415e-01 -3.41450771e-01 1.02941129e-01 -2.43982036e+00] [-1.10248348e-01 -2.00794625e-03 9.93902042e-01 -8.06881139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.950792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.44, Z:-80.69 [[-3.31554321e-01 -9.42642623e-01 -3.86861305e-02 5.64844014e+00] [ 9.36983592e-01 -3.33797388e-01 1.03155474e-01 -2.44048390e+00] [-1.10152076e-01 -2.04662615e-03 9.93912638e-01 -8.06909491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98079213799998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:5.64, Y:-2.44, Z:-80.69 [[-3.20878967e-01 -9.46377163e-01 -3.75093914e-02 5.64412981e+00] [ 9.40777691e-01 -3.23055724e-01 1.02821866e-01 -2.44187807e+00] [-1.09425890e-01 -2.29462437e-03 9.93992309e-01 -8.06946084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01079213799999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:5.64, Y:-2.44, Z:-80.70 [[-3.13658055e-01 -9.48837576e-01 -3.64126352e-02 5.64133595e+00] [ 9.43267964e-01 -3.15757299e-01 1.02678512e-01 -2.44258584e+00] [-1.08922786e-01 -2.14092987e-03 9.94047908e-01 -8.06978352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04079213799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:5.64, Y:-2.44, Z:-80.70 [[-3.06254826e-01 -9.51299008e-01 -3.51877641e-02 5.63850859e+00] [ 9.45771883e-01 -3.08263739e-01 1.02415884e-01 -2.44279625e+00] [-1.08275241e-01 -1.91423912e-03 9.94119112e-01 -8.07013732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07079213799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.44, Z:-80.70 [[-2.97239167e-01 -9.54189889e-01 -3.42130522e-02 5.63494736e+00] [ 9.48710065e-01 -2.99194333e-01 1.02136984e-01 -2.44354132e+00] [-1.07694429e-01 -2.09915499e-03 9.94181826e-01 -8.07034752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10079213799999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.44, Z:-80.71 [[-2.87281350e-01 -9.57282994e-01 -3.28434932e-02 5.63140901e+00] [ 9.51938611e-01 -2.89144008e-01 1.01037733e-01 -2.44465481e+00] [-1.06218202e-01 -2.23873302e-03 9.94340325e-01 -8.07081995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13079213799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.44, Z:-80.71 [[-2.79519479e-01 -9.59621650e-01 -3.15460098e-02 5.62880304e+00] [ 9.54358168e-01 -2.81286523e-01 1.00391134e-01 -2.44480230e+00] [-1.05210973e-01 -2.04491473e-03 9.94447821e-01 -8.07115189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16079213799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:5.63, Y:-2.45, Z:-80.71 [[-2.69921025e-01 -9.62394957e-01 -3.06363569e-02 5.62538815e+00] [ 9.57165913e-01 -2.71644571e-01 1.00212987e-01 -2.44541656e+00] [-1.04766674e-01 -2.27448425e-03 9.94494229e-01 -8.07146973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19079213799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.45, Z:-80.72 [[-2.61955191e-01 -9.64624798e-01 -2.96391067e-02 5.62244704e+00] [ 9.59369860e-01 -2.63618348e-01 1.00572551e-01 -2.44559120e+00] [-1.04828189e-01 -2.08936390e-03 9.94488152e-01 -8.07162552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220792138 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.45, Z:-80.72 [[-2.53298855e-01 -9.66962247e-01 -2.87002081e-02 5.61999032e+00] [ 9.61752620e-01 -2.54910074e-01 1.00263415e-01 -2.44652883e+00] [-1.04266910e-01 -2.20589200e-03 9.94546905e-01 -8.07188375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.45, Z:-80.72 [[-2.41084460e-01 -9.70112474e-01 -2.75693951e-02 5.61525444e+00] [ 9.64976331e-01 -2.42642182e-01 9.97268868e-02 -2.44771542e+00] [-1.03435795e-01 -2.56121113e-03 9.94632835e-01 -8.07237206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:5.61, Y:-2.45, Z:-80.73 [[-2.34473616e-01 -9.71759633e-01 -2.65582354e-02 5.61232208e+00] [ 9.66606475e-01 -2.35962364e-01 9.99684215e-02 -2.44802054e+00] [-1.03412021e-01 -2.23140499e-03 9.94636102e-01 -8.07269875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.310792138 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:5.61, Y:-2.45, Z:-80.73 [[-2.26259631e-01 -9.73724408e-01 -2.58332622e-02 5.60929216e+00] [ 9.68534422e-01 -2.27718023e-01 1.00426960e-01 -2.44906662e+00] [-1.03670882e-01 -2.29783668e-03 9.94609003e-01 -8.07304877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340792138 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.61, Y:-2.45, Z:-80.73 [[-2.16898778e-01 -9.75878109e-01 -2.48362121e-02 5.60651394e+00] [ 9.70701687e-01 -2.18303658e-01 1.00407904e-01 -2.44948825e+00] [-1.03407711e-01 -2.33020141e-03 9.94636323e-01 -8.07321468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37079213799998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:5.60, Y:-2.45, Z:-80.76 [[-2.07302661e-01 -9.77996161e-01 -2.34332412e-02 5.60152932e+00] [ 9.72963330e-01 -2.08610726e-01 9.91157058e-02 -2.44566887e+00] [-1.01823205e-01 -2.25273492e-03 9.94799960e-01 -8.07606484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40079213799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:5.60, Y:-2.45, Z:-80.74 [[-1.99195438e-01 -9.79698196e-01 -2.26411682e-02 5.59995012e+00] [ 9.74781421e-01 -2.00461992e-01 9.80620814e-02 -2.45009303e+00] [-1.00609938e-01 -2.53667085e-03 9.94922713e-01 -8.07405362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43079213799999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:5.60, Y:-2.45, Z:-80.74 [[-1.90731353e-01 -9.81414069e-01 -2.11654494e-02 5.59715746e+00] [ 9.76578363e-01 -1.91890565e-01 9.73278606e-02 -2.45075052e+00] [-9.95803818e-02 -2.10624539e-03 9.95027292e-01 -8.07441794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46079213799999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:5.60, Y:-2.45, Z:-80.75 [[-1.84903125e-01 -9.82550739e-01 -2.01216353e-02 5.59569140e+00] [ 9.77843315e-01 -1.85984943e-01 9.60835651e-02 -2.45089115e+00] [-9.81492991e-02 -1.90965511e-03 9.95169869e-01 -8.07481346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49079213799999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.45, Z:-80.75 [[-1.67195995e-01 -9.85745190e-01 -1.87595107e-02 5.58777613e+00] [ 9.81282645e-01 -1.68222855e-01 9.37306897e-02 -2.45351498e+00] [-9.55503550e-02 -2.73698633e-03 9.95420835e-01 -8.07539471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52079213799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.46, Z:-80.76 [[-1.52212890e-01 -9.88203608e-01 -1.68779547e-02 5.58175754e+00] [ 9.84226254e-01 -1.53113962e-01 8.86272857e-02 -2.45613070e+00] [-9.01660540e-02 -3.12151086e-03 9.95921854e-01 -8.07627071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55079213799999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.46, Z:-80.77 [[-1.60792674e-01 -9.86865810e-01 -1.55431141e-02 5.59033039e+00] [ 9.83215055e-01 -1.61533811e-01 8.48232507e-02 -2.45710871e+00] [-8.62199045e-02 -1.64326651e-03 9.96274775e-01 -8.07695305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58079213799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.46, Z:-80.77 [[-1.53921512e-01 -9.87976349e-01 -1.45224732e-02 5.58730525e+00] [ 9.84375851e-01 -1.54599430e-01 8.42804858e-02 -2.45731600e+00] [-8.55122927e-02 -1.32299208e-03 9.96336237e-01 -8.07735435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.58, Y:-2.46, Z:-80.78 [[-1.38054409e-01 -9.90333735e-01 -1.34191139e-02 5.57960509e+00] [ 9.86925565e-01 -1.38691936e-01 8.21125851e-02 -2.45669666e+00] [-8.31799860e-02 -1.90766219e-03 9.96532714e-01 -8.07795124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640792138 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.46, Z:-80.78 [[-1.23614628e-01 -9.92249543e-01 -1.26596716e-02 5.57454308e+00] [ 9.88898326e-01 -1.24237187e-01 8.15182341e-02 -2.45545835e+00] [-8.24592325e-02 -2.44228189e-03 9.96591446e-01 -8.07822217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.45, Z:-80.78 [[-1.13390907e-01 -9.93480777e-01 -1.17664273e-02 5.57078536e+00] [ 9.90175467e-01 -1.13973113e-01 8.10103366e-02 -2.45483519e+00] [-8.18232685e-02 -2.46499215e-03 9.96643806e-01 -8.07845075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.45, Z:-80.79 [[-1.01423744e-01 -9.94783999e-01 -1.08637213e-02 5.56543249e+00] [ 9.91541295e-01 -1.01970055e-01 8.02992469e-02 -2.45427400e+00] [-8.09881801e-02 -2.62757799e-03 9.96711598e-01 -8.07893141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73079213799998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.45, Z:-80.79 [[-9.11466763e-02 -9.95787704e-01 -9.95649751e-03 5.56159497e+00] [ 9.92546073e-01 -9.16530949e-02 8.03243565e-02 -2.45391531e+00] [-8.08985504e-02 -2.56098438e-03 9.96719051e-01 -8.07909317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76079213799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.45, Z:-80.79 [[-8.29772158e-02 -9.96508926e-01 -9.20551298e-03 5.55861598e+00] [ 9.93246097e-01 -8.34501991e-02 8.06117517e-02 -2.45373267e+00] [-8.10985320e-02 -2.45440112e-03 9.96703067e-01 -8.07927988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79079213799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.45, Z:-80.80 [[-7.34022795e-02 -9.97266463e-01 -8.46799102e-03 5.55515666e+00] [ 9.94066898e-01 -7.38449044e-02 7.98619609e-02 -2.45279620e+00] [-8.02689732e-02 -2.55569959e-03 9.96769964e-01 -8.07955232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82079213799999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.45, Z:-80.80 [[-6.40204839e-02 -9.97919283e-01 -7.64733992e-03 5.55148135e+00] [ 9.94736046e-01 -6.44268998e-02 7.96829612e-02 -2.45221959e+00] [-8.00098579e-02 -2.50574294e-03 9.96790923e-01 -8.07988498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85079213799999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.45, Z:-80.80 [[-5.38069816e-02 -9.98528071e-01 -6.81913740e-03 5.54779972e+00] [ 9.95379757e-01 -5.41786838e-02 7.92704838e-02 -2.45151985e+00] [-7.95232551e-02 -2.52232586e-03 9.96829820e-01 -8.08023088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88079213799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.45, Z:-80.81 [[-4.40024488e-02 -9.99013929e-01 -5.91218848e-03 5.54444791e+00] [ 9.95880623e-01 -4.43325404e-02 7.90974772e-02 -2.45109207e+00] [-7.92815838e-02 -2.40735125e-03 9.96849354e-01 -8.08058809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91079213799999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.45, Z:-80.81 [[-3.41692049e-02 -9.99405390e-01 -4.61863011e-03 5.54054904e+00] [ 9.96326051e-01 -3.44263184e-02 7.84170225e-02 -2.45069597e+00] [-7.85293974e-02 -1.92221419e-03 9.96909945e-01 -8.08082418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94079213799999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.45, Z:-80.81 [[-2.85297735e-02 -9.99584476e-01 -4.11421082e-03 5.53889263e+00] [ 9.96504615e-01 -2.87646778e-02 7.84292410e-02 -2.44972326e+00] [-7.85149957e-02 -1.86226159e-03 9.96911193e-01 -8.08103418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.45, Z:-80.81 [[-2.29161992e-02 -9.99728887e-01 -4.12303586e-03 5.53711176e+00] [ 9.96630924e-01 -2.31696598e-02 7.86763531e-02 -2.44930166e+00] [-7.87505523e-02 -2.30618205e-03 9.96891685e-01 -8.08124661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.45, Z:-80.82 [[-1.23863406e-02 -9.99917265e-01 -3.47007726e-03 5.53339141e+00] [ 9.96815878e-01 -1.26211532e-02 7.87325392e-02 -2.44799362e+00] [-7.87698217e-02 -2.48382005e-03 9.96889736e-01 -8.08150914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030792138 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.45, Z:-80.82 [[-1.33627770e-04 -9.99996681e-01 -2.57306012e-03 5.52906598e+00] [ 9.96904907e-01 -3.35499288e-04 7.86161167e-02 -2.44689715e+00] [-7.86167191e-02 -2.55459096e-03 9.96901643e-01 -8.08174204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060792138 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.45, Z:-80.82 [[ 8.09289082e-03 -9.99965401e-01 -1.92398860e-03 5.52596511e+00] [ 9.96935183e-01 7.91861719e-03 7.78301767e-02 -2.44532424e+00] [-7.78122485e-02 -2.54796305e-03 9.96964775e-01 -8.08212650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.090792138 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.44, Z:-80.85 [[ 1.52293776e-02 -9.99883766e-01 7.22067536e-04 5.52381786e+00] [ 9.96867391e-01 1.52394802e-02 7.76090400e-02 -2.43866526e+00] [-7.76110231e-02 -4.62131791e-04 9.96983608e-01 -8.08486074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12079213799998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.43, Z:-80.88 [[ 1.61736005e-02 -9.99869005e-01 6.21712955e-04 5.52278896e+00] [ 9.96879880e-01 1.61732883e-02 7.72588478e-02 -2.43381928e+00] [-7.72587825e-02 -6.29780601e-04 9.97010875e-01 -8.08756728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15079213799999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.43, Z:-80.90 [[ 1.52690326e-02 -9.99883283e-01 5.26648665e-04 5.52254336e+00] [ 9.96866885e-01 1.52638481e-02 7.76107477e-02 -2.42846548e+00] [-7.76097279e-02 -6.60042424e-04 9.96983598e-01 -8.09026829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18079213799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.42, Z:-80.93 [[ 1.12412155e-02 -9.99936724e-01 4.27826859e-04 5.52354445e+00] [ 9.96934247e-01 1.12405916e-02 7.74322629e-02 -2.42318897e+00] [-7.74321723e-02 -4.43917510e-04 9.96997523e-01 -8.09299652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21079213799999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.42, Z:-80.96 [[ 7.08688505e-03 -9.99974833e-01 3.31099558e-04 5.52522043e+00] [ 9.96936563e-01 7.09114338e-03 7.78922651e-02 -2.41768992e+00] [-7.78926526e-02 -2.21928273e-04 9.96961727e-01 -8.09570820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24079213799999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.41, Z:-80.98 [[ 7.24968073e-03 -9.99973694e-01 2.32485391e-04 5.52434739e+00] [ 9.96923806e-01 7.24571334e-03 7.80411759e-02 -2.41273672e+00] [-7.80408075e-02 -3.34003388e-04 9.96950109e-01 -8.09845161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27079213799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.41, Z:-80.99 [[ 6.23527439e-03 -9.99979238e-01 -1.62659596e-03 5.52478568e+00] [ 9.97031236e-01 6.09203757e-03 7.67567677e-02 -2.41199105e+00] [-7.67452648e-02 -2.10036649e-03 9.97048521e-01 -8.09880555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30079213799999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.41, Z:-81.02 [[ 1.76452266e-02 -9.99843929e-01 8.74353962e-04 5.52036544e+00] [ 9.96857277e-01 1.76600507e-02 7.72249393e-02 -2.40672284e+00] [-7.72283278e-02 -4.91045441e-04 9.97013312e-01 -8.10157037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33079213799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.40, Z:-81.05 [[ 1.21538208e-02 -9.99926029e-01 4.71210190e-04 5.52290120e+00] [ 9.96953076e-01 1.21539952e-02 7.70509231e-02 -2.40092003e+00] [-7.70509506e-02 -4.66688662e-04 9.97027047e-01 -8.10483058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.40, Z:-81.08 [[ 1.50133890e-02 -9.99887147e-01 5.40507480e-04 5.52191793e+00] [ 9.96868205e-01 1.50100308e-02 7.76432933e-02 -2.39541034e+00] [-7.76426440e-02 -6.26874241e-04 9.96981056e-01 -8.10800371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.39, Z:-81.11 [[ 1.54524812e-02 -9.99880238e-01 8.54758724e-04 5.52141252e+00] [ 9.96861345e-01 1.54721982e-02 7.76406441e-02 -2.39063414e+00] [-7.76445707e-02 -3.47664660e-04 9.96981043e-01 -8.11081171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.39, Z:-81.14 [[ 1.19128312e-02 -9.99928735e-01 7.81027240e-04 5.52262690e+00] [ 9.96860425e-01 1.19374147e-02 7.82738207e-02 -2.38574762e+00] [-7.82775659e-02 -1.53887666e-04 9.96931592e-01 -8.11354611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.450792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.38, Z:-81.17 [[ 1.15168627e-02 -9.99933608e-01 3.75731251e-04 5.52252984e+00] [ 9.96874030e-01 1.15109944e-02 7.81643473e-02 -2.38022881e+00] [-7.81634828e-02 -5.25651330e-04 9.96940416e-01 -8.11682273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48079213799998 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.38, Z:-81.20 [[ 1.12944505e-02 -9.99936117e-01 4.43400849e-04 5.52322419e+00] [ 9.96850173e-01 1.12944032e-02 7.84994797e-02 -2.37505451e+00] [-7.84994729e-02 -4.44604276e-04 9.96914056e-01 -8.11995492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51079213799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.37, Z:-81.23 [[ 3.85812708e-02 -9.99237146e-01 6.05077896e-03 5.51429830e+00] [ 9.96173628e-01 3.89367811e-02 7.82434005e-02 -2.36873832e+00] [-7.84193100e-02 3.00889661e-03 9.96915923e-01 -8.12297579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54079213799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.36, Z:-81.26 [[-1.76439834e-02 -9.99816923e-01 -7.40340555e-03 5.53446727e+00] [ 9.96621614e-01 -1.81806616e-02 8.00925884e-02 -2.36434288e+00] [-8.02125241e-02 -5.96524168e-03 9.96759934e-01 -8.12621004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.36, Z:-81.29 [[ 1.55030284e-02 -9.99879639e-01 6.02356775e-04 5.52304916e+00] [ 9.96582831e-01 1.55007880e-02 8.11319044e-02 -2.35875164e+00] [-8.11314763e-02 -6.57491798e-04 9.96703191e-01 -8.12939552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60079213799999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.35, Z:-81.32 [[ 1.72701423e-02 -9.99850312e-01 1.04687755e-03 5.52201253e+00] [ 9.96517033e-01 1.72979799e-02 8.15756217e-02 -2.35423202e+00] [-8.15815196e-02 -3.65591282e-04 9.96666605e-01 -8.13215619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63079213799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.35, Z:-81.35 [[ 1.52684317e-02 -9.99883225e-01 6.41536038e-04 5.52293720e+00] [ 9.96498207e-01 1.52694874e-02 8.22080627e-02 -2.34878700e+00] [-8.22082588e-02 -6.15898683e-04 9.96614982e-01 -8.13541946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66079213799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.34, Z:-81.39 [[ 1.38575116e-02 -9.99903741e-01 6.91343964e-04 5.52359300e+00] [ 9.96532788e-01 1.38675155e-02 8.20371490e-02 -2.34358330e+00] [-8.20388395e-02 -4.47883820e-04 9.96629032e-01 -8.13865108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69079213799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.34, Z:-81.42 [[ 1.30874129e-02 -9.99914076e-01 7.48800776e-04 5.52413417e+00] [ 9.96497901e-01 1.31045449e-02 8.25845229e-02 -2.33796878e+00] [-8.25872396e-02 -3.34639352e-04 9.96583783e-01 -8.14187462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720792138 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.33, Z:-81.45 [[ 1.35357445e-02 -9.99908068e-01 7.99795513e-04 5.52386048e+00] [ 9.96498993e-01 1.35555839e-02 8.24985077e-02 -2.33224154e+00] [-8.25017651e-02 -3.19683300e-04 9.96590867e-01 -8.14508359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750792138 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.33, Z:-81.48 [[ 1.17441073e-02 -9.99930656e-01 8.71404364e-04 5.52459531e+00] [ 9.96497698e-01 1.17759334e-02 8.27868633e-02 -2.32716506e+00] [-8.27913842e-02 -1.03905367e-04 9.96566895e-01 -8.14820447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780792138 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.32, Z:-81.51 [[ 1.41145252e-02 -9.99899671e-01 1.19536668e-03 5.52350130e+00] [ 9.96470067e-01 1.41650338e-02 8.27451377e-02 -2.32280325e+00] [-8.27537684e-02 2.32387822e-05 9.96570024e-01 -8.15097296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.810792138 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.32, Z:-81.54 [[ 1.00331299e-02 -9.99949061e-01 1.10049887e-03 5.52497886e+00] [ 9.96465686e-01 1.00899571e-02 8.33926228e-02 -2.31815702e+00] [-8.33994788e-02 2.59920347e-04 9.96516161e-01 -8.15369933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.31, Z:-81.57 [[ 9.69035038e-03 -9.99952772e-01 7.42303748e-04 5.52526115e+00] [ 9.96406713e-01 9.71844515e-03 8.41380696e-02 -2.31299081e+00] [-8.41413100e-02 -7.56909374e-05 9.96453829e-01 -8.15686158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87079213799998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.31, Z:-81.60 [[ 9.90086224e-03 -9.99950668e-01 7.96935830e-04 5.52551371e+00] [ 9.96368880e-01 9.93278992e-03 8.45600010e-02 -2.30758488e+00] [-8.45637452e-02 -4.31748601e-05 9.96418070e-01 -8.15996787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90079213799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.30, Z:-81.63 [[ 1.23581062e-02 -9.99923306e-01 8.12008867e-04 5.52542901e+00] [ 9.96298384e-01 1.23823852e-02 8.50658990e-02 -2.30211698e+00] [-8.50694296e-02 -2.42250293e-04 9.96374996e-01 -8.16312653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93079213799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.30, Z:-81.66 [[ 1.83361843e-02 -9.99831496e-01 8.73768272e-04 5.52259766e+00] [ 9.96111282e-01 1.83432665e-02 8.61733055e-02 -2.29704527e+00] [-8.61748127e-02 -7.09719180e-04 9.96279779e-01 -8.16619405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96079213799999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.29, Z:-81.69 [[ 9.77217685e-03 -9.99951861e-01 8.83577574e-04 5.52531817e+00] [ 9.96237376e-01 9.81196443e-03 8.61093237e-02 -2.29178317e+00] [-8.61138481e-02 3.87774649e-05 9.96285302e-01 -8.16941029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99079213799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.29, Z:-81.72 [[ 1.07318253e-02 -9.99942033e-01 8.70656404e-04 5.52560828e+00] [ 9.96262168e-01 1.07669574e-02 8.57074422e-02 -2.28605178e+00] [-8.57118483e-02 -5.23952624e-05 9.96319967e-01 -8.17249565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02079213799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.28, Z:-81.75 [[ 1.20347103e-02 -9.99926829e-01 1.22585589e-03 5.52524667e+00] [ 9.96312154e-01 1.20953445e-02 8.49458328e-02 -2.28204451e+00] [-8.49544443e-02 1.99036637e-04 9.96384817e-01 -8.17526887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05079213799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.28, Z:-81.78 [[ 1.14718698e-02 -9.99933570e-01 1.11899356e-03 5.52528674e+00] [ 9.96311036e-01 1.15254732e-02 8.50381325e-02 -2.27747276e+00] [-8.50453804e-02 1.39319245e-04 9.96377069e-01 -8.17803540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08079213799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.27, Z:-81.81 [[ 1.24128053e-02 -9.99922443e-01 1.01510551e-03 5.52441686e+00] [ 9.96275306e-01 1.24541515e-02 8.53253086e-02 -2.27274027e+00] [-8.53313333e-02 -4.78018898e-05 9.96352629e-01 -8.18077554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.27, Z:-81.84 [[ 8.58397380e-03 -9.99962744e-01 9.08743855e-04 5.52591702e+00] [ 9.96290669e-01 8.63025925e-03 8.56178815e-02 -2.26856375e+00] [-8.56225345e-02 1.70431372e-04 9.96327633e-01 -8.18357704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140792138 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.26, Z:-81.86 [[ 9.10110984e-03 -9.99958266e-01 7.96996390e-04 5.52509910e+00] [ 9.96326844e-01 9.13592009e-03 8.51431445e-02 -2.26389084e+00] [-8.51468725e-02 1.91717878e-05 9.96368411e-01 -8.18638042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.26, Z:-81.89 [[ 6.15124058e-03 -9.99980841e-01 6.92605036e-04 5.52610225e+00] [ 9.96352706e-01 6.18786845e-03 8.51057878e-02 -2.25938522e+00] [-8.51084430e-02 1.66572726e-04 9.96371680e-01 -8.18917807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200792138 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.26, Z:-81.92 [[ 6.84777277e-03 -9.99976452e-01 4.51409820e-04 5.52583890e+00] [ 9.96303109e-01 6.86127452e-03 8.56331574e-02 -2.25517680e+00] [-8.56342382e-02 -1.36655397e-04 9.96326632e-01 -8.19196275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23079213799998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.25, Z:-81.95 [[ 2.34624499e-02 -9.99724561e-01 5.61324534e-04 5.52132411e+00] [ 9.95720817e-01 2.34186803e-02 8.93958566e-02 -2.24992248e+00] [-8.93843790e-02 -1.53852328e-03 9.95996017e-01 -8.19476016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26079213799999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.25, Z:-81.97 [[ 2.18144056e-02 -9.99761927e-01 4.70958319e-04 5.52151821e+00] [ 9.95752919e-01 2.17690704e-02 8.94551917e-02 -2.24564375e+00] [-8.94441471e-02 -1.48245371e-03 9.95990736e-01 -8.19748733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29079213799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.24, Z:-82.00 [[ 1.82121668e-02 -9.99834122e-01 2.11438757e-04 5.52268041e+00] [ 9.95858145e-01 1.81585836e-02 8.90888338e-02 -2.24128754e+00] [-8.90778954e-02 -1.41193769e-03 9.96023662e-01 -8.20016574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32079213799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.24, Z:-82.03 [[ 1.81695173e-02 -9.99834920e-01 -4.71313049e-05 5.52252762e+00] [ 9.95839273e-01 1.80926962e-02 8.93129168e-02 -2.23556583e+00] [-8.92973203e-02 -1.66970779e-03 9.96003615e-01 -8.20346636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35079213799999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.23, Z:-82.07 [[ 2.00518013e-02 -9.99798942e-01 2.71543510e-05 5.52169653e+00] [ 9.95813474e-01 1.99742921e-02 8.91995087e-02 -2.23055013e+00] [-8.91821168e-02 -1.76157016e-03 9.96013778e-01 -8.20660230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38079213799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.23, Z:-82.09 [[ 1.94286249e-02 -9.99811213e-01 2.58400436e-04 5.52109812e+00] [ 9.95826339e-01 1.93742403e-02 8.91882349e-02 -2.22647762e+00] [-8.91764036e-02 -1.47548280e-03 9.96014755e-01 -8.20926307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41079213799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.22, Z:-82.12 [[ 1.97245093e-02 -9.99805399e-01 3.29764950e-04 5.52043679e+00] [ 9.95829355e-01 1.96754525e-02 8.90885602e-02 -2.22198357e+00] [-8.90777118e-02 -1.42883851e-03 9.96023654e-01 -8.21202420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44079213799999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.22, Z:-82.12 [[ 1.63674024e-02 -9.99864778e-01 -1.59149887e-03 5.52141751e+00] [ 9.95910461e-01 1.61611866e-02 8.88885295e-02 -2.22181947e+00] [-8.88507893e-02 -3.03986470e-03 9.96040309e-01 -8.21227994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470792138 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.22, Z:-82.15 [[ 2.43772900e-02 -9.99702279e-01 1.04970543e-03 5.51808569e+00] [ 9.95731379e-01 2.43739362e-02 8.90220853e-02 -2.21691477e+00] [-8.90211670e-02 -1.12489256e-03 9.96029099e-01 -8.21507963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.21, Z:-82.18 [[ 2.24140533e-02 -9.99748318e-01 9.54653010e-04 5.51823141e+00] [ 9.95776767e-01 2.24100269e-02 8.90304496e-02 -2.21214689e+00] [-8.90294360e-02 -1.04491195e-03 9.96028447e-01 -8.21787016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530792138 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.21, Z:-82.21 [[ 1.94170986e-02 -9.99811341e-01 5.09532660e-04 5.51879827e+00] [ 9.95823793e-01 1.93851235e-02 8.92142978e-02 -2.20676718e+00] [-8.92073440e-02 -1.22487807e-03 9.96012324e-01 -8.22116418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560792138 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.20, Z:-82.24 [[ 1.73510904e-02 -9.99849286e-01 5.86591886e-04 5.51988481e+00] [ 9.95808248e-01 1.73336520e-02 8.98080097e-02 -2.20160484e+00] [-8.98046422e-02 -9.74133857e-04 9.95958924e-01 -8.22432560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.590792138 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.20, Z:-82.28 [[ 1.93953473e-02 -9.99811699e-01 6.21828611e-04 5.51952039e+00] [ 9.95694360e-01 1.93718546e-02 9.06502815e-02 -2.19604376e+00] [-9.06452580e-02 -1.13904245e-03 9.95882593e-01 -8.22758664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62079213799998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.19, Z:-82.31 [[ 2.06223550e-02 -9.99787100e-01 6.87774491e-04 5.51963492e+00] [ 9.95566532e-01 2.05984337e-02 9.17768227e-02 -2.19025712e+00] [-9.17714505e-02 -1.20792896e-03 9.95779364e-01 -8.23087075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65079213799999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.18, Z:-82.34 [[ 2.04561910e-02 -9.99790463e-01 7.57699496e-04 5.52051172e+00] [ 9.95614360e-01 2.04399324e-02 9.12921389e-02 -2.18466661e+00] [-9.12884972e-02 -1.11311293e-03 9.95823866e-01 -8.23406970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68079213799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.18, Z:-82.37 [[ 1.50166167e-02 -9.99886648e-01 1.09164685e-03 5.52250356e+00] [ 9.95739144e-01 1.50536550e-02 9.09777175e-02 -2.17996013e+00] [-9.09838383e-02 -2.79182021e-04 9.95852330e-01 -8.23681472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71079213799999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.17, Z:-82.40 [[ 1.57587693e-02 -9.99875588e-01 6.84657051e-04 5.52095671e+00] [ 9.95561573e-01 1.57543107e-02 9.27844576e-02 -2.17475008e+00] [-9.27837005e-02 -7.80550611e-04 9.95685982e-01 -8.24012414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74079213799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.17, Z:-82.43 [[ 1.18066903e-02 -9.99930007e-01 7.64053115e-04 5.52247813e+00] [ 9.95561598e-01 1.18264519e-02 9.33661571e-02 -2.16880321e+00] [-9.33686581e-02 -3.41683359e-04 9.95631547e-01 -8.24324240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77079213799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.16, Z:-82.46 [[ 9.42916819e-03 -9.99955065e-01 9.79143155e-04 5.52382827e+00] [ 9.95635383e-01 9.47934868e-03 9.28457063e-02 -2.16499732e+00] [-9.28508160e-02 9.94117894e-05 9.95680027e-01 -8.24592905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80079213799999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.16, Z:-82.49 [[ 4.72832823e-03 -9.99988528e-01 7.65616609e-04 5.52582273e+00] [ 9.95734083e-01 4.77876054e-03 9.21455362e-02 -2.15940668e+00] [-9.21481378e-02 3.26656212e-04 9.95745256e-01 -8.24909595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83079213799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.15, Z:-82.52 [[-2.24086431e-03 -9.99997155e-01 8.17378177e-04 5.52899247e+00] [ 9.95585522e-01 -2.15428029e-03 9.38340409e-02 -2.15374481e+00] [-9.38320131e-02 1.02403923e-03 9.95587517e-01 -8.25222480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860792138 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.15, Z:-82.56 [[-2.87953948e-02 -9.99585011e-01 7.94256752e-04 5.54447632e+00] [ 9.95433044e-01 -2.86034196e-02 9.10763373e-02 -2.15097670e+00] [-9.10158231e-02 3.41320851e-03 9.95843597e-01 -8.25550024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890792138 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.15, Z:-82.59 [[-2.29389484e-02 -9.99736465e-01 8.97223519e-04 5.54068978e+00] [ 9.95475758e-01 -2.27583958e-02 9.22500393e-02 -2.14555303e+00] [-9.22053088e-02 3.00928316e-03 9.95735470e-01 -8.25865752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920792138 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.14, Z:-82.62 [[-2.50686603e-02 -9.99685291e-01 9.38321054e-04 5.54108515e+00] [ 9.95397184e-01 -2.48742593e-02 9.25511623e-02 -2.13956253e+00] [-9.24986957e-02 3.25413578e-03 9.95707488e-01 -8.26178625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.950792138 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.13, Z:-82.65 [[-2.46584119e-02 -9.99695457e-01 9.77569162e-04 5.54042260e+00] [ 9.95396964e-01 -2.44617731e-02 9.26634022e-02 -2.13368753e+00] [-9.26112692e-02 3.25800172e-03 9.95697011e-01 -8.26498673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98079213799998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.13, Z:-82.68 [[-2.77728247e-02 -9.99613784e-01 9.76501496e-04 5.54088281e+00] [ 9.95495239e-01 -2.75697797e-02 9.07145869e-02 -2.12717575e+00] [-9.06526295e-02 3.49150291e-03 9.95876453e-01 -8.26814523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01079213799999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.12, Z:-82.71 [[-2.52073756e-02 -9.99681395e-01 1.30252041e-03 5.53801271e+00] [ 9.95635590e-01 -2.49882008e-02 8.99186425e-02 -2.12253492e+00] [-8.98574463e-02 3.56344867e-03 9.95948262e-01 -8.27094639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04079213799999 meters Centerline goodness : 0.979461 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.13, Z:-82.74 [[ 1.75757862e-03 -9.99997607e-01 1.30255903e-03 5.53724353e+00] [ 9.95351397e-01 1.87483838e-03 9.62916505e-02 -2.12731179e+00] [-9.62938622e-02 1.12726380e-03 9.95352310e-01 -8.27389015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07079213799999 meters Centerline goodness : 0.977830 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.12, Z:-82.77 [[ 3.06350858e-03 -9.99994946e-01 8.50503176e-04 5.53697905e+00] [ 9.95419853e-01 3.13075738e-03 9.55484913e-02 -2.12241921e+00] [-9.55506711e-02 5.53894124e-04 9.95424413e-01 -8.27660510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10079213799999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.11, Z:-82.79 [[-4.25902778e-02 -9.99091697e-01 -1.35949635e-03 5.54103114e+00] [ 9.95236465e-01 -4.25452925e-02 8.77170274e-02 -2.10904344e+00] [-8.76951940e-02 2.38287222e-03 9.96144505e-01 -8.27945470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13079213799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:5.52, Y:-2.11, Z:-82.82 [[ 1.71023459e-02 -9.99817648e-01 8.49594147e-03 5.52413892e+00] [ 9.95530758e-01 1.78170902e-02 9.27419106e-02 -2.10809988e+00] [-9.28763718e-02 6.87186681e-03 9.95653934e-01 -8.28222346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16079213799999 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.10, Z:-82.85 [[-3.41571509e-02 -9.99399026e-01 -5.90556119e-03 5.54428670e+00] [ 9.94977293e-01 -3.45611594e-02 9.39452686e-02 -2.10194672e+00] [-9.40929130e-02 -2.66699657e-03 9.95559848e-01 -8.28513034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19079213799999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.10, Z:-82.88 [[-2.77664348e-02 -9.99609696e-01 -3.07907081e-03 5.54014256e+00] [ 9.95121256e-01 -2.79332213e-02 9.46225193e-02 -2.09756642e+00] [-9.46715961e-02 -4.36718804e-04 9.95508462e-01 -8.28781781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220792138 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:5.56, Y:-2.09, Z:-82.91 [[-8.34765002e-02 -9.96427420e-01 -1.28090078e-02 5.55589788e+00] [ 9.92344061e-01 -8.42947561e-02 9.02643783e-02 -2.08837905e+00] [-9.10216338e-02 -5.17598846e-03 9.95835464e-01 -8.29128668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250792138 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.08, Z:-82.94 [[-2.97839947e-02 -9.99555491e-01 1.31717439e-03 5.53578374e+00] [ 9.95408690e-01 -2.95404581e-02 9.10434042e-02 -2.08375536e+00] [-9.09640246e-02 4.02276310e-03 9.95846054e-01 -8.29402583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280792138 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.08, Z:-82.97 [[-1.11951364e-02 -9.99932168e-01 3.21388153e-03 5.53139064e+00] [ 9.95480406e-01 -1.08420567e-02 9.43462252e-02 -2.08084186e+00] [-9.43049804e-02 4.25557495e-03 9.95534259e-01 -8.29665683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.310792138 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.08, Z:-82.99 [[-2.68511331e-02 -9.99639102e-01 -8.26255763e-04 5.53689045e+00] [ 9.95167815e-01 -2.68091052e-02 9.44578860e-02 -2.07627106e+00] [-9.44459475e-02 1.71403813e-03 9.95528515e-01 -8.29946443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340792138 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.07, Z:-83.02 [[-3.18080701e-02 -9.99492671e-01 -1.62679559e-03 5.53816963e+00] [ 9.95041836e-01 -3.18197961e-02 9.42297487e-02 -2.07130912e+00] [-9.42337076e-02 1.37853678e-03 9.95549149e-01 -8.30231751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37079213799998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.07, Z:-83.05 [[ 4.75779551e-03 -9.99981857e-01 3.69454907e-03 5.52876840e+00] [ 9.95299599e-01 5.09282321e-03 9.67097315e-02 -2.06985683e+00] [-9.67267925e-02 3.21705808e-03 9.95305771e-01 -8.30492479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40079213799999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.07, Z:-83.08 [[-3.10148950e-02 -9.99504670e-01 -5.33766464e-03 5.54080024e+00] [ 9.94767229e-01 -3.13871110e-02 9.72265894e-02 -2.06562754e+00] [-9.73459641e-02 -2.29426140e-03 9.95247959e-01 -8.30780357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43079213799999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.06, Z:-83.11 [[-5.17388331e-02 -9.98635572e-01 -7.07726282e-03 5.54439622e+00] [ 9.94051345e-01 -5.21788347e-02 9.55996440e-02 -2.05812479e+00] [-9.58384884e-02 -2.08894860e-03 9.95394706e-01 -8.31079770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46079213799999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.06, Z:-83.13 [[ 8.57158122e-03 -9.99958374e-01 3.12703964e-03 5.53005944e+00] [ 9.94836838e-01 8.84384036e-03 1.01101201e-01 -2.06226135e+00] [-1.01124648e-01 2.24429707e-03 9.94871232e-01 -8.31347260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49079213799999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.06, Z:-83.16 [[-1.78958248e-02 -9.99831266e-01 -4.14464743e-03 5.54002953e+00] [ 9.94697464e-01 -1.82235147e-02 1.01216893e-01 -2.05775648e+00] [-1.01275345e-01 -2.31131050e-03 9.94855750e-01 -8.31627945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52079213799999 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.05, Z:-83.19 [[-3.97286352e-02 -9.99185443e-01 -7.07720405e-03 5.54479289e+00] [ 9.94133623e-01 -4.02388655e-02 1.00395089e-01 -2.05153596e+00] [-1.00598090e-01 -3.04712665e-03 9.94922479e-01 -8.31925549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55079213799999 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.05, Z:-83.22 [[-2.42263038e-02 -9.99702980e-01 -2.65284109e-03 5.53864436e+00] [ 9.94633240e-01 -2.43702753e-02 1.00552508e-01 -2.04715735e+00] [-1.00587292e-01 -2.02588336e-04 9.94928216e-01 -8.32206824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58079213799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.03, Z:-83.25 [[-6.47643993e-02 -9.97884887e-01 -5.59680149e-03 5.54436063e+00] [ 9.93642089e-01 -6.50045987e-02 9.19227970e-02 -2.03005808e+00] [-9.20921878e-02 3.92107203e-04 9.95750408e-01 -8.32495842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610792138 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.03, Z:-83.28 [[-4.23257010e-02 -9.99103797e-01 3.71770012e-04 5.53564321e+00] [ 9.94883208e-01 -4.21127287e-02 9.18363800e-02 -2.02528500e+00] [-9.17384197e-02 4.25690690e-03 9.95774041e-01 -8.32768214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640792138 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.02, Z:-83.30 [[-4.41099034e-02 -9.99026653e-01 2.52175632e-04 5.53622672e+00] [ 9.94831035e-01 -4.39015422e-02 9.15634569e-02 -2.02069443e+00] [-9.14632630e-02 4.28972738e-03 9.95799212e-01 -8.33039731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.02, Z:-83.33 [[-4.55727221e-02 -9.98961010e-01 1.65169553e-04 5.53561886e+00] [ 9.95138740e-01 -4.53838985e-02 8.74024607e-02 -2.01557127e+00] [-8.73041544e-02 4.14753468e-03 9.96173069e-01 -8.33275524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700792138 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.02, Z:-83.31 [[-4.34569685e-02 -9.99051778e-01 -2.65272743e-03 5.53549201e+00] [ 9.94917765e-01 -4.35182450e-02 9.08009031e-02 -2.01994735e+00] [-9.08302457e-02 1.30668634e-03 9.95865533e-01 -8.33086244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73079213799998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.02, Z:-83.34 [[-2.72405778e-02 -9.99628095e-01 1.27404308e-03 5.52913265e+00] [ 9.95489863e-01 -2.70119020e-02 9.09411314e-02 -2.01523318e+00] [-9.08728956e-02 3.74558594e-03 9.95855455e-01 -8.33364146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76079213799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.01, Z:-83.36 [[-2.81285946e-02 -9.99603633e-01 1.16555367e-03 5.52911342e+00] [ 9.95390101e-01 -2.79030328e-02 9.17603790e-02 -2.01050735e+00] [-9.16914858e-02 3.74127109e-03 9.95780435e-01 -8.33642519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79079213799999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.01, Z:-83.39 [[-3.07889069e-02 -9.99525360e-01 1.04788194e-03 5.52983260e+00] [ 9.95298751e-01 -3.05623622e-02 9.19039606e-02 -2.00590248e+00] [-9.18283136e-02 3.87257807e-03 9.95767324e-01 -8.33913612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82079213799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.00, Z:-83.42 [[-3.07173135e-02 -9.99527679e-01 9.30719803e-04 5.52955093e+00] [ 9.95280556e-01 -3.05010121e-02 9.21211324e-02 -2.00106643e+00] [-9.20492337e-02 3.75604102e-03 9.95747373e-01 -8.34190542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85079213799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.00, Z:-83.45 [[-3.18312238e-02 -9.99492931e-01 8.09172483e-04 5.52942615e+00] [ 9.95263130e-01 -3.16220898e-02 9.19311988e-02 -1.99646205e+00] [-9.18589956e-02 3.73162210e-03 9.95765032e-01 -8.34463973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88079213799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.99, Z:-83.47 [[-3.51018863e-02 -9.99383500e-01 6.91057509e-04 5.53041866e+00] [ 9.95137239e-01 -3.48890486e-02 9.21120513e-02 -1.99182874e+00] [-9.20311539e-02 3.92100382e-03 9.95748408e-01 -8.34744148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91079213799999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.99, Z:-83.50 [[-3.87708500e-02 -9.99247965e-01 5.71138797e-04 5.53188036e+00] [ 9.95012805e-01 -3.85539441e-02 9.19951753e-02 -1.98692744e+00] [-9.19039720e-02 4.13502156e-03 9.95759289e-01 -8.35024232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94079213799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.98, Z:-83.53 [[-3.82381595e-02 -9.99268552e-01 4.51206311e-04 5.53147821e+00] [ 9.95041881e-01 -3.80349263e-02 9.18966780e-02 -1.98259515e+00] [-9.18122988e-02 3.96292901e-03 9.95768445e-01 -8.35303738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.98, Z:-83.56 [[-3.54234155e-02 -9.99372339e-01 3.30858924e-04 5.52996997e+00] [ 9.95184445e-01 -3.52446920e-02 9.14643797e-02 -1.97862978e+00] [-9.13953100e-02 3.56924638e-03 9.95808294e-01 -8.35583935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000792138 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.97, Z:-83.59 [[-3.77417489e-02 -9.99287504e-01 2.12258577e-04 5.53075464e+00] [ 9.95055186e-01 -3.75623695e-02 9.19469654e-02 -1.97416320e+00] [-9.18734806e-02 3.68144827e-03 9.95763883e-01 -8.35860117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030792138 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.97, Z:-83.59 [[-3.44459690e-02 -9.99405168e-01 -1.66912342e-03 5.52969795e+00] [ 9.95109501e-01 -3.44525234e-02 9.25748642e-02 -1.97337130e+00] [-9.25773032e-02 1.52787033e-03 9.95704328e-01 -8.35875664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060792138 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.97, Z:-83.62 [[-2.80776790e-02 -9.99605233e-01 1.01139743e-03 5.52720321e+00] [ 9.95335123e-01 -2.78642808e-02 9.23665226e-02 -1.96843220e+00] [-9.23018775e-02 3.60011696e-03 9.95724562e-01 -8.36153774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.090792138 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.96, Z:-83.64 [[-3.28521434e-02 -9.99459940e-01 7.52173735e-04 5.52935478e+00] [ 9.95089311e-01 -3.26381562e-02 9.34452433e-02 -1.96353581e+00] [-9.33702276e-02 3.81835657e-03 9.95624136e-01 -8.36420779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12079213799998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.96, Z:-83.67 [[-3.00771312e-02 -9.99547264e-01 7.95300761e-04 5.52729237e+00] [ 9.95250549e-01 -2.98741224e-02 9.26492442e-02 -1.96054013e+00] [-9.25835397e-02 3.57814700e-03 9.95698491e-01 -8.36703392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15079213799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.96, Z:-83.70 [[-2.86644545e-02 -9.99588864e-01 6.72862919e-04 5.52639598e+00] [ 9.95337157e-01 -2.84804974e-02 9.21564136e-02 -1.95589464e+00] [-9.20993613e-02 3.31133879e-03 9.95744316e-01 -8.36974678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18079213799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.95, Z:-83.73 [[-3.03156153e-02 -9.99540222e-01 5.55781799e-04 5.52641394e+00] [ 9.95224774e-01 -3.01331060e-02 9.28420449e-02 -1.95163047e+00] [-9.27826107e-02 3.36769153e-03 9.95680695e-01 -8.37251013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21079213799999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.95, Z:-83.75 [[-3.45849406e-02 -9.99401667e-01 4.36140070e-04 5.52792783e+00] [ 9.95066335e-01 -3.43943025e-02 9.30592355e-02 -1.94678858e+00] [-9.29885544e-02 3.65243644e-03 9.95660479e-01 -8.37531104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24079213799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.94, Z:-83.78 [[-3.20242299e-02 -9.99487038e-01 3.30322439e-04 5.52661748e+00] [ 9.95121524e-01 -3.18534969e-02 9.33729489e-02 -1.94222233e+00] [-9.33145302e-02 3.31890775e-03 9.95631148e-01 -8.37808633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27079213799999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.94, Z:-83.78 [[-3.69791303e-02 -9.99315538e-01 -9.99224530e-04 5.52898742e+00] [ 9.94955740e-01 -3.69110671e-02 9.32772664e-02 -1.94202219e+00] [-9.32503041e-02 2.45512801e-03 9.95639670e-01 -8.37829094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30079213799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.94, Z:-83.81 [[-2.61262986e-02 -9.99658366e-01 7.54144733e-04 5.52506509e+00] [ 9.95248118e-01 -2.59402332e-02 9.38524837e-02 -1.93732174e+00] [-9.38008578e-02 3.20257914e-03 9.95585829e-01 -8.38110008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33079213799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.93, Z:-83.84 [[-2.87508241e-02 -9.99586403e-01 6.42758072e-04 5.52580558e+00] [ 9.95183079e-01 -2.85638695e-02 9.37803040e-02 -1.93259347e+00] [-9.37231571e-02 3.33592298e-03 9.95592709e-01 -8.38382798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360792138 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.93, Z:-83.87 [[-3.23688439e-02 -9.99475917e-01 3.85376046e-04 5.52912484e+00] [ 9.95181662e-01 -3.21940617e-02 9.26121009e-02 -1.92788529e+00] [-9.25511577e-02 3.38126581e-03 9.95702190e-01 -8.38650222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.92, Z:-83.89 [[-3.24007901e-02 -9.99474903e-01 3.26865023e-04 5.52954349e+00] [ 9.95164493e-01 -3.22307124e-02 9.27836868e-02 -1.92337490e+00] [-9.27244313e-02 3.33154923e-03 9.95686236e-01 -8.38912778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.92, Z:-83.92 [[-3.02416358e-02 -9.99542610e-01 1.16631224e-04 5.52905620e+00] [ 9.95203955e-01 -3.00995072e-02 9.30758217e-02 -1.91829808e+00] [-9.30297392e-02 2.93083696e-03 9.95659017e-01 -8.39229703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.450792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.91, Z:-83.95 [[-3.19045971e-02 -9.99490904e-01 1.69663328e-04 5.52983917e+00] [ 9.95213710e-01 -3.17523771e-02 9.24200055e-02 -1.91326132e+00] [-9.23675676e-02 3.11747431e-03 9.95720098e-01 -8.39532909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48079213799998 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.91, Z:-83.98 [[-3.13451690e-02 -9.99508516e-01 4.55175174e-04 5.52925048e+00] [ 9.95232291e-01 -3.11689768e-02 9.24185112e-02 -1.90864403e+00] [-9.23589016e-02 3.34987889e-03 9.95720147e-01 -8.39811939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51079213799999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.90, Z:-84.01 [[-3.26760961e-02 -9.99465937e-01 3.36803121e-04 5.52943173e+00] [ 9.95127063e-01 -3.25028732e-02 9.30896943e-02 -1.90402796e+00] [-9.30290314e-02 3.37696969e-03 9.95657670e-01 -8.40089564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54079213799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.90, Z:-84.04 [[-3.38567130e-02 -9.99426674e-01 2.14903476e-04 5.52927143e+00] [ 9.95104631e-01 -3.36903214e-02 9.29071308e-02 -1.89953571e+00] [-9.28466246e-02 3.35938151e-03 9.95674756e-01 -8.40368456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57079213799999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.90, Z:-84.04 [[-3.30544098e-02 -9.99452176e-01 -1.65963695e-03 5.52916894e+00] [ 9.95123273e-01 -3.30655598e-02 9.29319092e-02 -1.89928955e+00] [-9.29358756e-02 1.42026606e-03 9.95671083e-01 -8.40387626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60079213799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.89, Z:-84.07 [[-2.54956930e-02 -9.99674743e-01 6.14422451e-04 5.52663359e+00] [ 9.95354682e-01 -2.53284253e-02 9.28844902e-02 -1.89416214e+00] [-9.28387165e-02 2.97972271e-03 9.95676702e-01 -8.40703948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63079213799999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:5.54, Y:-1.89, Z:-84.10 [[-6.64945734e-02 -9.97750819e-01 -8.47195305e-03 5.53978097e+00] [ 9.92974284e-01 -6.70043926e-02 9.75319590e-02 -1.89141153e+00] [-9.78802501e-02 -1.92708549e-03 9.95196334e-01 -8.41045511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66079213799999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:5.51, Y:-1.88, Z:-84.13 [[ 3.18937779e-02 -9.99413652e-01 1.24554517e-02 5.50624016e+00] [ 9.95009852e-01 3.29270723e-02 9.41870639e-02 -1.88327825e+00] [-9.45419591e-02 9.38931582e-03 9.95476599e-01 -8.41328092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69079213799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.88, Z:-84.16 [[-1.26470873e-02 -9.99919361e-01 1.15048246e-03 5.52177954e+00] [ 9.95397359e-01 -1.24805677e-02 9.50175431e-02 -1.87869189e+00] [-9.49955223e-02 2.34688236e-03 9.95474933e-01 -8.41604991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.87, Z:-84.19 [[-1.40287246e-02 -9.99901057e-01 1.03498284e-03 5.52216457e+00] [ 9.95283177e-01 -1.38645500e-02 9.60165141e-02 -1.87412102e+00] [-9.59926643e-02 2.37709024e-03 9.95379203e-01 -8.41876372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750792138 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.87, Z:-84.21 [[-1.32778056e-02 -9.99911430e-01 9.11714478e-04 5.52045097e+00] [ 9.95255535e-01 -1.31280777e-02 9.64057795e-02 -1.86934018e+00] [-9.63852718e-02 2.18744608e-03 9.95341697e-01 -8.42149086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.86, Z:-84.25 [[-1.54833103e-02 -9.99879997e-01 5.08225722e-04 5.52100869e+00] [ 9.95201186e-01 -1.53617391e-02 9.66365190e-02 -1.86422560e+00] [-9.66171151e-02 2.00204005e-03 9.95319609e-01 -8.42467472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.810792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.86, Z:-84.28 [[-1.49151386e-02 -9.99888663e-01 4.48536671e-04 5.52132670e+00] [ 9.95230046e-01 -1.48023913e-02 9.64263742e-02 -1.85943877e+00] [-9.64089989e-02 1.88460991e-03 9.95340019e-01 -8.42786386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.85, Z:-84.31 [[-1.13181196e-02 -9.99935519e-01 9.26491402e-04 5.51914551e+00] [ 9.95233703e-01 -1.11751397e-02 9.68761753e-02 -1.85483952e+00] [-9.68595749e-02 2.01853161e-03 9.95296010e-01 -8.43065852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87079213799998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.85, Z:-84.33 [[-1.44502231e-02 -9.99895275e-01 7.93636293e-04 5.52003638e+00] [ 9.95275591e-01 -1.43072396e-02 9.60302080e-02 -1.85080787e+00] [-9.60087965e-02 2.17754476e-03 9.95378104e-01 -8.43341473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90079213799999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.85, Z:-84.37 [[-1.71907415e-02 -9.99852164e-01 3.58458053e-04 5.52111657e+00] [ 9.95179349e-01 -1.70757777e-02 9.65737115e-02 -1.84534634e+00] [-9.65533135e-02 2.01690376e-03 9.95325771e-01 -8.43669418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93079213799999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.84, Z:-84.40 [[-1.07475850e-02 -9.99942146e-01 4.39598087e-04 5.51922011e+00] [ 9.95212281e-01 -1.06540360e-02 9.71545570e-02 -1.83991811e+00] [-9.71442528e-02 1.48167027e-03 9.95269209e-01 -8.43985545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96079213799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.84, Z:-84.43 [[-1.05762773e-02 -9.99943762e-01 7.84320863e-04 5.51782494e+00] [ 9.95225061e-01 -1.04502489e-02 9.70457143e-02 -1.83571274e+00] [-9.70320603e-02 1.80695816e-03 9.95279616e-01 -8.44260593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99079213799999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.83, Z:-84.45 [[-1.74837730e-02 -9.99846931e-01 6.57127855e-04 5.51998302e+00] [ 9.95113870e-01 -1.73371261e-02 9.71998421e-02 -1.83147354e+00] [-9.71735711e-02 2.35333702e-03 9.95264668e-01 -8.44535605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02079213799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.83, Z:-84.49 [[-1.73910669e-02 -9.99848740e-01 2.18059923e-04 5.52026920e+00] [ 9.95102325e-01 -1.72872830e-02 9.73268307e-02 -1.82588001e+00] [-9.73083394e-02 1.90960937e-03 9.95252451e-01 -8.44860182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05079213799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.82, Z:-84.52 [[-2.18902677e-02 -9.99760322e-01 3.38320554e-04 5.52405460e+00] [ 9.94777979e-01 -2.17474317e-02 9.97187092e-02 -1.82054884e+00] [-9.96874512e-02 2.51942307e-03 9.95015610e-01 -8.45171056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08079213799999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.82, Z:-84.55 [[-2.08770449e-02 -9.99782000e-01 3.19493147e-04 5.52442069e+00] [ 9.94756884e-01 -2.07401105e-02 1.00142848e-01 -1.81523078e+00] [-1.00114391e-01 2.40850474e-03 9.94973019e-01 -8.45495453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110792138 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.81, Z:-84.58 [[-2.13024128e-02 -9.99772981e-01 4.40353734e-04 5.52477785e+00] [ 9.94600439e-01 -2.11474496e-02 1.01600948e-01 -1.80970512e+00] [-1.01568570e-01 2.60232135e-03 9.94825137e-01 -8.45806492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140792138 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.80, Z:-84.61 [[-2.23963583e-02 -9.99749065e-01 4.58386265e-04 5.52617108e+00] [ 9.94518284e-01 -2.22323325e-02 1.02171943e-01 -1.80438375e+00] [-1.02136114e-01 2.74415297e-03 9.94766648e-01 -8.46122999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170792138 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.80, Z:-84.64 [[-1.99669814e-02 -9.99800532e-01 4.63906260e-04 5.52497004e+00] [ 9.94602371e-01 -1.98159108e-02 1.01850151e-01 -1.79932183e+00] [-1.01820642e-01 2.49504233e-03 9.94799644e-01 -8.46445071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200792138 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.79, Z:-84.68 [[-1.93324586e-02 -9.99812980e-01 5.11645057e-04 5.52499799e+00] [ 9.94614865e-01 -1.91798267e-02 1.01849908e-01 -1.79375529e+00] [-1.01821046e-01 2.47789890e-03 9.94799645e-01 -8.46775480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23079213799998 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.79, Z:-84.71 [[-2.59579913e-02 -9.99662854e-01 6.01634461e-04 5.52900615e+00] [ 9.94458408e-01 -2.57615062e-02 1.01925561e-01 -1.78823970e+00] [-1.01875698e-01 3.24408327e-03 9.94791847e-01 -8.47100451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26079213799999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.78, Z:-84.74 [[-2.85368617e-02 -9.99592508e-01 6.82240066e-04 5.53176208e+00] [ 9.94434660e-01 -2.83203527e-02 1.01477405e-01 -1.78305919e+00] [-1.01416733e-01 3.57428985e-03 9.94837610e-01 -8.47420954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29079213799999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.78, Z:-84.77 [[-2.98941024e-02 -9.99552820e-01 7.09640825e-04 5.53265429e+00] [ 9.94546659e-01 -2.96733976e-02 9.99821643e-02 -1.77834789e+00] [-9.99163968e-02 3.69464797e-03 9.94988976e-01 -8.47748898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.77, Z:-84.81 [[-3.02630292e-02 -9.99541662e-01 7.84376118e-04 5.53284454e+00] [ 9.94599717e-01 -3.00354434e-02 9.93442279e-02 -1.77299282e+00] [-9.92751356e-02 3.78659754e-03 9.95052817e-01 -8.48063776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35079213799999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.77, Z:-84.84 [[-3.23937163e-02 -9.99474845e-01 8.24887514e-04 5.53398036e+00] [ 9.94664425e-01 -3.21569061e-02 9.80235439e-02 -1.76779960e+00] [-9.79455406e-02 3.99583314e-03 9.95183754e-01 -8.48380436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38079213799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.77, Z:-84.87 [[-2.85429839e-02 -9.99592526e-01 -2.84308341e-04 5.53427320e+00] [ 9.94576415e-01 -2.84282068e-02 1.00047948e-01 -1.76551485e+00] [-1.00015263e-01 2.57290060e-03 9.94982576e-01 -8.48691914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41079213799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.76, Z:-84.90 [[-1.60124104e-02 -9.99871792e-01 5.29363063e-05 5.52991364e+00] [ 9.95727951e-01 -1.59412339e-02 9.09490207e-02 -1.75793635e+00] [-9.09365164e-02 1.50902320e-03 9.95855548e-01 -8.49004377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.75, Z:-84.93 [[-8.75676930e-03 -9.99961268e-01 8.84161076e-04 5.52753927e+00] [ 9.95944264e-01 -8.64240669e-03 8.95563051e-02 -1.75251994e+00] [-8.95451952e-02 1.66479906e-03 9.95981369e-01 -8.49329398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.75, Z:-84.97 [[-4.25413243e-03 -9.99990523e-01 9.25572982e-04 5.52671625e+00] [ 9.96075579e-01 -4.15564772e-03 8.84091110e-02 -1.74697375e+00] [-8.84044268e-02 1.29804471e-03 9.96083818e-01 -8.49654708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.74, Z:-85.00 [[ 3.95803583e-04 -9.99999452e-01 9.69257911e-04 5.52582431e+00] [ 9.96169014e-01 4.79046717e-04 8.74475084e-02 -1.74165189e+00] [-8.74479247e-02 9.30932661e-04 9.96168657e-01 -8.49980635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.74, Z:-85.03 [[ 1.26218972e-02 -9.99919822e-01 1.01858691e-03 5.52210787e+00] [ 9.96244903e-01 1.26627570e-02 8.56489789e-02 -1.73650840e+00] [-8.56550098e-02 -6.62905964e-05 9.96324854e-01 -8.50291641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560792138 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.73, Z:-85.06 [[ 2.05036414e-02 -9.99789455e-01 8.03996611e-04 5.52078491e+00] [ 9.95911099e-01 2.04948573e-02 8.79831985e-02 -1.73262409e+00] [-8.79811519e-02 -1.00326680e-03 9.96121634e-01 -8.50600369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.590792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.73, Z:-85.09 [[ 1.16962779e-02 -9.99931591e-01 9.86622705e-05 5.52299300e+00] [ 9.96335089e-01 1.16625702e-02 8.47370949e-02 -1.72644597e+00] [-8.47324489e-02 -8.92807928e-04 9.96403340e-01 -8.50930859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62079213799998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.72, Z:-85.13 [[ 1.55796449e-02 -9.99877974e-01 1.14491867e-03 5.52214553e+00] [ 9.96283047e-01 1.56206303e-02 8.47117774e-02 -1.72083738e+00] [-8.47193248e-02 -1.79116352e-04 9.96404839e-01 -8.51254020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.72, Z:-85.16 [[ 1.96123041e-02 -9.99807328e-01 8.15232633e-04 5.52249118e+00] [ 9.95938102e-01 1.96080612e-02 8.78795853e-02 -1.71695040e+00] [-8.78786385e-02 -9.11599912e-04 9.96130771e-01 -8.51558592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68079213799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.71, Z:-85.19 [[ 1.02060890e-02 -9.99947879e-01 2.75195710e-04 5.52540056e+00] [ 9.96371309e-01 1.01928397e-02 8.45004178e-02 -1.71055353e+00] [-8.44988186e-02 -5.88221676e-04 9.96423406e-01 -8.51871596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71079213799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.70, Z:-85.22 [[ 1.48562788e-02 -9.99888734e-01 1.34544667e-03 5.52401453e+00] [ 9.96313115e-01 1.49168348e-02 8.44847003e-02 -1.70498273e+00] [-8.44953699e-02 8.53579016e-05 9.96423868e-01 -8.52202044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74079213799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.70, Z:-85.25 [[ 1.60071329e-02 -9.99870887e-01 1.40776170e-03 5.52444594e+00] [ 9.96355064e-01 1.60687990e-02 8.37757701e-02 -1.69962688e+00] [-8.37875746e-02 6.16206094e-05 9.96483637e-01 -8.52527063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77079213799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.69, Z:-85.29 [[ 1.66397181e-02 -9.99860508e-01 1.44385019e-03 5.52454605e+00] [ 9.96344700e-01 1.67021835e-02 8.37751457e-02 -1.69407149e+00] [-8.37875752e-02 4.45776735e-05 9.96483638e-01 -8.52857490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80079213799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.69, Z:-85.32 [[ 1.80467357e-02 -9.99835978e-01 1.52752553e-03 5.52460467e+00] [ 9.96372076e-01 1.81112548e-02 8.31544890e-02 -1.68869635e+00] [-8.31685152e-02 2.13166981e-05 9.96535497e-01 -8.53172606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83079213799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.68, Z:-85.35 [[ 1.81505662e-02 -9.99834069e-01 1.54644407e-03 5.52502799e+00] [ 9.96404410e-01 1.82162844e-02 8.27430912e-02 -1.68315805e+00] [-8.27575320e-02 3.90497418e-05 9.96569711e-01 -8.53499667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860792138 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.68, Z:-85.38 [[ 1.86403516e-02 -9.99824995e-01 1.58660938e-03 5.52522475e+00] [ 9.96439268e-01 1.87076906e-02 8.22119678e-02 -1.67770788e+00] [-8.22272620e-02 4.84999033e-05 9.96613604e-01 -8.53826346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.67, Z:-85.42 [[ 2.01795606e-02 -9.99795064e-01 1.61736147e-03 5.52527509e+00] [ 9.96489147e-01 2.02442525e-02 8.12376127e-02 -1.67209976e+00] [-8.12537064e-02 -2.76561750e-05 9.96693451e-01 -8.54152710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.67, Z:-85.45 [[ 3.07914725e-02 -9.99524562e-01 1.59219808e-03 5.52208227e+00] [ 9.96497460e-01 3.08220485e-02 7.77355295e-02 -1.66696793e+00] [-7.77476459e-02 -8.06970070e-04 9.96972744e-01 -8.54480432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.950792138 meters Centerline goodness : 0.975700 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.67, Z:-85.48 [[ 1.54395974e-02 -9.99867322e-01 -5.19210828e-03 5.52751174e+00] [ 9.96690390e-01 1.49756363e-02 7.98999164e-02 -1.67051115e+00] [-7.98115603e-02 -6.40854697e-03 9.96789369e-01 -8.54796282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98079213799998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:5.50, Y:-1.65, Z:-85.51 [[ 9.89642213e-02 -9.95015170e-01 1.22838821e-02 5.50335880e+00] [ 9.92339862e-01 9.96003954e-02 7.30846095e-02 -1.65322510e+00] [-7.39437746e-02 4.95702442e-03 9.97250092e-01 -8.55055918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01079213799999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:5.51, Y:-1.65, Z:-85.54 [[ 7.44230479e-02 -9.97225760e-01 1.41176687e-03 5.51473808e+00] [ 9.94790871e-01 7.43400726e-02 6.97472383e-02 -1.64924713e+00] [-6.96586936e-02 -3.78638926e-03 9.97563697e-01 -8.55382694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04079213799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:5.51, Y:-1.65, Z:-85.57 [[ 7.59809033e-02 -9.97100117e-01 -4.27299953e-03 5.51188389e+00] [ 9.94482362e-01 7.54691699e-02 7.28645112e-02 -1.65334501e+00] [-7.23307330e-02 -9.78573404e-03 9.97332695e-01 -8.55724441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07079213799999 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:5.50, Y:-1.65, Z:-85.61 [[ 1.17323193e-01 -9.93093640e-01 5.38696138e-04 5.49710258e+00] [ 9.90610097e-01 1.17068095e-01 7.06165487e-02 -1.65268949e+00] [-7.01919095e-02 -7.75132114e-03 9.97503390e-01 -8.56051939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10079213799999 meters Centerline goodness : 0.976134 Centerline is valid? [True, True] Translation: X:5.47, Y:-1.64, Z:-85.64 [[ 1.81462274e-01 -9.83360152e-01 8.61715025e-03 5.47439908e+00] [ 9.81036309e-01 1.81626462e-01 6.76726598e-02 -1.64098084e+00] [-6.81116996e-02 -3.82629748e-03 9.97670364e-01 -8.56354306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13079213799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:5.48, Y:-1.63, Z:-85.67 [[ 1.62171284e-01 -9.86759608e-01 2.43917969e-03 5.48100542e+00] [ 9.84451843e-01 1.61960090e-01 6.79963083e-02 -1.63269981e+00] [-6.74910603e-02 -8.62579370e-03 9.97682591e-01 -8.56651897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16079213799999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:5.48, Y:-1.63, Z:-85.70 [[ 1.50363706e-01 -9.88629161e-01 1.77130023e-03 5.48260584e+00] [ 9.86181341e-01 1.50116970e-01 7.00803616e-02 -1.62874765e+00] [-6.95493913e-02 -8.79071964e-03 9.97539776e-01 -8.56970352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19079213799999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:5.48, Y:-1.62, Z:-85.73 [[ 1.35362921e-01 -9.90775017e-01 6.46110521e-03 5.48232635e+00] [ 9.87701973e-01 1.35452294e-01 7.80864131e-02 -1.62068164e+00] [-7.82412387e-02 -4.18835861e-03 9.96925657e-01 -8.57275261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220792138 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:5.51, Y:-1.62, Z:-85.76 [[ 5.08433658e-02 -9.98705586e-01 -1.45083238e-03 5.50952966e+00] [ 9.94680876e-01 5.05080589e-02 8.97713244e-02 -1.61972387e+00] [-8.95818444e-02 -6.00739151e-03 9.95961347e-01 -8.57602095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250792138 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:5.52, Y:-1.61, Z:-85.79 [[ 2.33677286e-02 -9.99719786e-01 3.78135243e-03 5.51918592e+00] [ 9.94961584e-01 2.36250431e-02 9.74335878e-02 -1.61420745e+00] [-9.74956202e-02 1.48549877e-03 9.95234845e-01 -8.57912283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280792138 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:5.54, Y:-1.61, Z:-85.83 [[-2.19633139e-02 -9.99758746e-01 2.48974068e-04 5.53714297e+00] [ 9.94767496e-01 -2.18288081e-02 9.98054724e-02 -1.61007986e+00] [-9.97759591e-02 2.43973023e-03 9.95006938e-01 -8.58253731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.310792138 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:5.54, Y:-1.60, Z:-85.85 [[-1.32570284e-02 -9.99856423e-01 1.05538631e-02 5.54151564e+00] [ 9.94556504e-01 -1.20943347e-02 1.03494386e-01 -1.59927200e+00] [-1.03351884e-01 1.18684412e-02 9.94574044e-01 -8.58538777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340792138 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:5.57, Y:-1.59, Z:-85.88 [[-8.21863330e-02 -9.96612972e-01 2.82691269e-03 5.57473203e+00] [ 9.90771676e-01 -8.13972080e-02 1.08378875e-01 -1.58930127e+00] [-1.07781690e-01 1.17080873e-02 9.94105642e-01 -8.58808646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37079213799998 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:5.58, Y:-1.58, Z:-85.91 [[-1.01678086e-01 -9.94812889e-01 2.98051791e-03 5.58474458e+00] [ 9.88801678e-01 -1.00733798e-01 1.10108778e-01 -1.58133228e+00] [-1.09237393e-01 1.41427909e-02 9.93915074e-01 -8.59075657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40079213799999 meters Centerline goodness : 0.976348 Centerline is valid? [True, True] Translation: X:5.62, Y:-1.57, Z:-85.93 [[-1.64374973e-01 -9.86396670e-01 1.57423359e-03 5.61807768e+00] [ 9.78451681e-01 -1.62848423e-01 1.26935808e-01 -1.57277405e+00] [-1.24952697e-01 2.24053815e-02 9.91909685e-01 -8.59340561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43079213799999 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.55, Z:-85.96 [[-1.95792734e-01 -9.80640444e-01 3.08626659e-03 5.63496212e+00] [ 9.72839509e-01 -1.93836992e-01 1.26532646e-01 -1.55321920e+00] [-1.23484798e-01 2.77766148e-02 9.91957642e-01 -8.59589632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46079213799999 meters Centerline goodness : 0.963451 Centerline is valid? [True, True] Translation: X:5.66, Y:-1.55, Z:-85.99 [[-2.33813727e-01 -9.72279728e-01 1.80847329e-03 5.65528741e+00] [ 9.62715411e-01 -2.31252624e-01 1.40361181e-01 -1.54544446e+00] [-1.36052117e-01 3.45594160e-02 9.90098716e-01 -8.59856214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49079213799999 meters Centerline goodness : 0.984631 Centerline is valid? [True, True] Translation: X:5.66, Y:-1.53, Z:-86.01 [[-2.39704506e-01 -9.70840792e-01 3.14750117e-03 5.66101973e+00] [ 9.61583483e-01 -2.36969579e-01 1.38573529e-01 -1.53064530e+00] [-1.33786972e-01 3.62432844e-02 9.90347146e-01 -8.60126614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52079213799999 meters Centerline goodness : 0.988049 Centerline is valid? [True, True] Translation: X:5.74, Y:-1.53, Z:-86.08 [[-3.74933804e-01 -9.26026075e-01 -4.35930192e-02 5.73786899e+00] [ 9.12782011e-01 -3.76973008e-01 1.57227070e-01 -1.52809974e+00] [-1.62029758e-01 1.91588199e-02 9.86599867e-01 -8.60793986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55079213799999 meters Centerline goodness : 0.986862 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.83, Z:-85.95 [[ -0.66664294 0.71044749 -0.22550289 5.7383039 ] [ -0.54941694 -0.67280358 -0.49545571 -0.82738661] [ -0.50371442 -0.20639694 0.83885165 -85.95145774] [ 0. 0. 0. 1. ]] SLAMing on 95.58079213799999 meters Centerline goodness : 0.985886 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.11, Z:-86.02 [[ 0.81163358 0.35429512 0.46446303 5.07980032] [ -0.18172785 0.90876909 -0.37565106 -1.11475643] [ -0.55518098 0.22048515 0.8019728 -86.01937286] [ 0. 0. 0. 1. ]] SLAMing on 95.610792138 meters Centerline goodness : 0.981398 Centerline is valid? [True, True] Translation: X:5.77, Y:-1.26, Z:-86.38 [[-7.77468901e-01 -6.27246340e-01 -4.58708662e-02 5.77121677e+00] [ 6.25983546e-01 -7.78817630e-01 3.98459519e-02 -1.25661504e+00] [-6.07182668e-02 2.26458093e-03 9.98152375e-01 -8.63845564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640792138 meters Centerline goodness : 0.987505 Centerline is valid? [True, True] Translation: X:5.82, Y:-1.37, Z:-86.26 [[-6.51902566e-01 -7.55709162e-01 -6.26634432e-02 5.82205091e+00] [ 7.48722254e-01 -6.54559181e-01 1.04724708e-01 -1.37011573e+00] [-1.20158353e-01 2.13527915e-02 9.92525077e-01 -8.62597195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670792138 meters Centerline goodness : 0.986629 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.73, Z:-86.11 [[-3.07820607e-01 9.51394374e-01 -9.75799713e-03 5.52677017e+00] [-7.85125260e-01 -2.59791148e-01 -5.62216049e-01 -7.33656127e-01] [-5.37424227e-01 -1.65400435e-01 8.26932824e-01 -8.61069275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700792138 meters Centerline goodness : 0.984587 Centerline is valid? [True, True] Translation: X:5.16, Y:-1.31, Z:-86.36 [[ 0.80158666 -0.33412607 0.49580096 5.15622018] [ 0.44565164 0.88672549 -0.12293302 -1.31088455] [ -0.39856422 0.31949598 0.85969116 -86.3608617 ] [ 0. 0. 0. 1. ]] SLAMing on 95.73079213799998 meters Centerline goodness : 0.984285 Centerline is valid? [True, True] Translation: X:5.88, Y:-1.24, Z:-86.38 [[-8.38579829e-01 -5.35938556e-01 -9.77432066e-02 5.88247242e+00] [ 5.30191969e-01 -8.44123522e-01 7.96991527e-02 -1.23892762e+00] [-1.25221189e-01 1.50114387e-02 9.92015277e-01 -8.63827389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76079213799999 meters Centerline goodness : 0.978924 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.73, Z:-86.39 [[ 0.08821659 0.98032046 0.17660584 5.33424107] [ -0.85289699 0.16592671 -0.49501016 -0.72656202] [ -0.51457221 -0.10695849 0.85074986 -86.38797632] [ 0. 0. 0. 1. ]] SLAMing on 95.79079213799999 meters Centerline goodness : 0.972423 Centerline is valid? [True, True] Translation: X:5.33, Y:-1.38, Z:-86.59 [[ 3.61633134e-01 -8.47609173e-01 3.88304218e-01 5.32543875e+00] [ 9.01829841e-01 4.23666027e-01 8.49119275e-02 -1.38004469e+00] [-2.36483434e-01 3.19477365e-01 9.17610919e-01 -8.65906694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82079213799999 meters Centerline goodness : 0.978526 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.89, Z:-86.44 [[ 7.23689778e-01 5.21347878e-01 4.52183034e-01 5.09074826e+00] [-4.22524321e-01 8.52776997e-01 -3.06992821e-01 -8.94028396e-01] [-5.45661345e-01 3.11092374e-02 8.37428153e-01 -8.64374461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85079213799999 meters Centerline goodness : 0.974672 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.39, Z:-86.72 [[-1.64987540e-02 -9.72996160e-01 2.30230894e-01 5.41141129e+00] [ 9.81755070e-01 2.78605251e-02 1.88097777e-01 -1.39487722e+00] [-1.89432768e-01 2.29133726e-01 9.54784249e-01 -8.67151021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88079213799999 meters Centerline goodness : 0.974384 Centerline is valid? [True, True] Translation: X:5.77, Y:-1.10, Z:-86.72 [[-9.70632260e-01 -2.22818108e-01 -9.06923742e-02 5.76637952e+00] [ 2.19858267e-01 -9.74646950e-01 4.15411243e-02 -1.09673104e+00] [-9.76491607e-02 2.03816871e-02 9.95012175e-01 -8.67171993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91079213799999 meters Centerline goodness : 0.973027 Centerline is valid? [True, True] Translation: X:5.77, Y:-1.10, Z:-86.69 [[-9.69765385e-01 -2.27717365e-01 -8.77490689e-02 5.76868578e+00] [ 2.25036942e-01 -9.73551355e-01 3.94478566e-02 -1.09725802e+00] [-9.44111869e-02 1.85083837e-02 9.95361225e-01 -8.66898469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94079213799999 meters Centerline goodness : 0.976299 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.12, Z:-86.76 [[-9.59841500e-01 -2.67283025e-01 -8.52295671e-02 5.75591285e+00] [ 2.64799691e-01 -9.63496943e-01 3.94305015e-02 -1.11506125e+00] [-9.26575311e-02 1.52782687e-02 9.95580814e-01 -8.67563596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970792138 meters Centerline goodness : 0.981247 Centerline is valid? [True, True] Translation: X:5.73, Y:-1.13, Z:-86.80 [[-9.49865597e-01 -3.00260989e-01 -8.71704455e-02 5.73341979e+00] [ 2.98035374e-01 -9.53805231e-01 3.78219240e-02 -1.12928818e+00] [-9.45000752e-02 9.94586812e-03 9.95475171e-01 -8.68008774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000792138 meters Centerline goodness : 0.982439 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.14, Z:-86.83 [[-9.38299722e-01 -3.33584394e-01 -9.11870862e-02 5.72174282e+00] [ 3.31435355e-01 -9.42703358e-01 3.82228103e-02 -1.13915790e+00] [-9.87129054e-02 5.64182793e-03 9.95099961e-01 -8.68315557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030792138 meters Centerline goodness : 0.982209 Centerline is valid? [True, True] Translation: X:5.71, Y:-1.15, Z:-86.85 [[-9.26892493e-01 -3.64696867e-01 -8.86933011e-02 5.71415221e+00] [ 3.62074948e-01 -9.31080408e-01 4.46206935e-02 -1.14812264e+00] [-9.88536220e-02 9.24496345e-03 9.95059039e-01 -8.68537054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060792138 meters Centerline goodness : 0.982403 Centerline is valid? [True, True] Translation: X:5.70, Y:-1.16, Z:-86.86 [[-9.10929429e-01 -4.03752672e-01 -8.48018631e-02 5.70431209e+00] [ 4.00802894e-01 -9.14794169e-01 5.00866187e-02 -1.16122127e+00] [-9.77988559e-02 1.16365429e-02 9.95138169e-01 -8.68647729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.090792138 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:5.70, Y:-1.16, Z:-86.88 [[-9.04956834e-01 -4.15971330e-01 -8.95599302e-02 5.70013713e+00] [ 4.13024270e-01 -9.09339140e-01 5.01326363e-02 -1.16113778e+00] [-1.02294089e-01 8.37744702e-03 9.94718924e-01 -8.68769479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12079213799998 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:5.69, Y:-1.17, Z:-86.88 [[-8.88115074e-01 -4.51429183e-01 -8.63904436e-02 5.69308357e+00] [ 4.48184440e-01 -8.92249850e-01 5.49628318e-02 -1.17283646e+00] [-1.01893687e-01 1.00944667e-02 9.94744077e-01 -8.68837479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15079213799999 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:5.68, Y:-1.18, Z:-86.91 [[-8.71173133e-01 -4.83674788e-01 -8.43568110e-02 5.68180341e+00] [ 4.80355867e-01 -8.75196913e-01 5.73463546e-02 -1.18079245e+00] [-1.01565807e-01 9.43731429e-03 9.94784059e-01 -8.69121530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18079213799999 meters Centerline goodness : 0.983716 Centerline is valid? [True, True] Translation: X:5.67, Y:-1.18, Z:-86.97 [[-8.56988485e-01 -5.08334411e-01 -8.46573225e-02 5.67382226e+00] [ 5.05547456e-01 -8.61155137e-01 5.32315558e-02 -1.18272121e+00] [-9.99625198e-02 2.82053626e-03 9.94987206e-01 -8.69674896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21079213799999 meters Centerline goodness : 0.984275 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.21, Z:-87.07 [[-7.95035453e-01 -6.01367464e-01 -7.92199499e-02 5.63016928e+00] [ 5.98054924e-01 -7.98967722e-01 6.30942779e-02 -1.20766819e+00] [-1.01237029e-01 2.78430681e-03 9.94858438e-01 -8.70670572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24079213799999 meters Centerline goodness : 0.985001 Centerline is valid? [True, True] Translation: X:5.28, Y:-1.33, Z:-87.10 [[ 0.14061565 -0.98059266 0.1366209 5.28395786] [ 0.97219226 0.16285728 0.16828465 -1.32558477] [ -0.1872684 0.10915833 0.97622487 -87.10116093] [ 0. 0. 0. 1. ]] SLAMing on 96.27079213799999 meters Centerline goodness : 0.985700 Centerline is valid? [True, True] Translation: X:5.03, Y:-1.05, Z:-86.71 [[ 9.29554032e-01 -1.52472176e-01 3.35680707e-01 5.03224894e+00] [ 1.69933571e-01 9.85185096e-01 -2.30847952e-02 -1.05348845e+00] [-3.27187841e-01 7.85019857e-02 9.41692920e-01 -8.67097176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30079213799999 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:5.64, Y:-1.18, Z:-87.23 [[-8.20897151e-01 -5.46075467e-01 -1.67121071e-01 5.64252049e+00] [ 5.32304565e-01 -8.37656737e-01 1.22405233e-01 -1.17716449e+00] [-2.06832586e-01 1.15227982e-02 9.78308493e-01 -8.72343295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33079213799999 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:5.64, Y:-1.24, Z:-86.78 [[-7.43831387e-01 -6.53198844e-01 -1.41584383e-01 5.63649525e+00] [ 6.39136373e-01 -7.57119555e-01 1.35183861e-01 -1.23832270e+00] [-1.95498247e-01 1.00622699e-02 9.80652429e-01 -8.67827808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360792138 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.27, Z:-86.79 [[-6.39357295e-01 -7.60930594e-01 -1.10484748e-01 5.60296524e+00] [ 7.45068972e-01 -6.48607887e-01 1.55499312e-01 -1.27068206e+00] [-1.89985463e-01 1.71008616e-02 9.81637960e-01 -8.67922866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390792138 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.28, Z:-86.80 [[-6.12229168e-01 -7.83645036e-01 -1.05242120e-01 5.59064948e+00] [ 7.68381004e-01 -6.21056883e-01 1.54528250e-01 -1.28365907e+00] [-1.86456639e-01 1.37406564e-02 9.82367098e-01 -8.67996330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420792138 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.29, Z:-86.80 [[-6.11898241e-01 -7.84316496e-01 -1.02118447e-01 5.58967422e+00] [ 7.68693739e-01 -6.20116627e-01 1.56733226e-01 -1.29054783e+00] [-1.86253801e-01 1.74069745e-02 9.82347453e-01 -8.68007269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.450792138 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.29, Z:-86.79 [[-6.52555420e-01 -7.50955101e-01 -1.01182316e-01 5.59404151e+00] [ 7.33827435e-01 -6.59583718e-01 1.62624151e-01 -1.28627657e+00] [-1.88861644e-01 3.18709118e-02 9.81486385e-01 -8.67923071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48079213799998 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.28, Z:-86.79 [[-6.72290141e-01 -7.33670339e-01 -9.87613285e-02 5.60211848e+00] [ 7.16009484e-01 -6.78315349e-01 1.64980924e-01 -1.28043602e+00] [-1.88032935e-01 4.02010007e-02 9.81339643e-01 -8.67947448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51079213799999 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.79 [[-7.02786106e-01 -7.04854867e-01 -9.62876168e-02 5.60794808e+00] [ 6.85542030e-01 -7.07168881e-01 1.73044211e-01 -1.27424320e+00] [-1.90062660e-01 5.56038587e-02 9.80196101e-01 -8.67852408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54079213799999 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.79 [[-7.09261577e-01 -6.98936697e-01 -9.18450302e-02 5.60997216e+00] [ 6.79677829e-01 -7.12579932e-01 1.73976695e-01 -1.27233386e+00] [-1.87045622e-01 6.09699540e-02 9.80457342e-01 -8.67890483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57079213799999 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.28, Z:-86.79 [[-7.03429906e-01 -7.05003369e-01 -9.03139864e-02 5.60567390e+00] [ 6.85659519e-01 -7.06556333e-01 1.75069053e-01 -1.27523618e+00] [-1.87236191e-01 6.12241633e-02 9.80405126e-01 -8.67905958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60079213799999 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.28, Z:-86.79 [[-6.90255147e-01 -7.18280152e-01 -8.73009419e-02 5.59964969e+00] [ 6.98682202e-01 -6.93017348e-01 1.77679870e-01 -1.27896362e+00] [-1.88124991e-01 6.16488306e-02 9.80208350e-01 -8.67920533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63079213799999 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.28, Z:-86.80 [[-6.86583015e-01 -7.22232133e-01 -8.35733794e-02 5.60234605e+00] [ 7.02851196e-01 -6.88740625e-01 1.77866658e-01 -1.27987766e+00] [-1.86021397e-01 6.33805767e-02 9.80499333e-01 -8.67955316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66079213799999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.28, Z:-86.80 [[-6.78219483e-01 -7.30461921e-01 -8.02727548e-02 5.59937106e+00] [ 7.10981230e-01 -6.79874875e-01 1.79654794e-01 -1.28218677e+00] [-1.85806415e-01 6.47729598e-02 9.80449101e-01 -8.67981278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69079213799999 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.29, Z:-86.80 [[-6.69245789e-01 -7.39021491e-01 -7.71836034e-02 5.59536804e+00] [ 7.19278550e-01 -6.70398165e-01 1.82221483e-01 -1.28548431e+00] [-1.86409338e-01 6.64344501e-02 9.80223455e-01 -8.67983851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720792138 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.29, Z:-86.80 [[-6.63663602e-01 -7.44361102e-01 -7.40079212e-02 5.59384971e+00] [ 7.24581517e-01 -6.64282962e-01 1.83602211e-01 -1.28691091e+00] [-1.85828545e-01 6.82253327e-02 9.80210720e-01 -8.68007218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750792138 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.28, Z:-86.80 [[-6.79642015e-01 -7.30025560e-01 -7.17594154e-02 5.60043647e+00] [ 7.09470011e-01 -6.79040433e-01 1.88564032e-01 -1.28144668e+00] [-1.86384107e-01 7.72448851e-02 9.79435650e-01 -8.67989120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780792138 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.79 [[-7.09852485e-01 -7.00825143e-01 -7.03815888e-02 5.61169851e+00] [ 6.79178987e-01 -7.07533262e-01 1.95224453e-01 -1.27156838e+00] [-1.86615521e-01 9.07788672e-02 9.78229955e-01 -8.67945957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.810792138 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.79 [[-7.28719502e-01 -6.81326359e-01 -6.90092681e-02 5.61233501e+00] [ 6.58326198e-01 -7.24723770e-01 2.03425846e-01 -1.26740682e+00] [-1.88612048e-01 1.02809772e-01 9.76655336e-01 -8.67879497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840792138 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.79 [[-7.26661362e-01 -6.83786972e-01 -6.63222555e-02 5.60651395e+00] [ 6.60115073e-01 -7.21708000e-01 2.08292230e-01 -1.27016333e+00] [-1.90292815e-01 1.07577595e-01 9.75815405e-01 -8.67870056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87079213799998 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.27, Z:-86.78 [[-7.47109692e-01 -6.61502896e-01 -6.51231672e-02 5.60710433e+00] [ 6.36425348e-01 -7.40158680e-01 2.17089624e-01 -1.26573775e+00] [-1.91806892e-01 1.20743728e-01 9.73976934e-01 -8.67809081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90079213799999 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.26, Z:-86.77 [[-7.73111397e-01 -6.31051406e-01 -6.38192101e-02 5.61229848e+00] [ 6.04348659e-01 -7.63441255e-01 2.27859931e-01 -1.25824127e+00] [-1.92513547e-01 1.37592055e-01 9.71600206e-01 -8.67718444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93079213799999 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.25, Z:-86.76 [[-7.86744752e-01 -6.14404154e-01 -5.94998392e-02 5.61345985e+00] [ 5.87301543e-01 -7.74725767e-01 2.34258156e-01 -1.25383695e+00] [-1.90025242e-01 1.49357027e-01 9.70351939e-01 -8.67564761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96079213799999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.24, Z:-86.76 [[-8.14089703e-01 -5.76794560e-01 -6.75721169e-02 5.62685592e+00] [ 5.47811676e-01 -8.01338288e-01 2.40331678e-01 -1.24221181e+00] [-1.92770129e-01 1.58634750e-01 9.68336044e-01 -8.67590924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99079213799999 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.24, Z:-86.75 [[-8.18300620e-01 -5.71587719e-01 -6.05935155e-02 5.62649896e+00] [ 5.41828725e-01 -8.02262055e-01 2.50593748e-01 -1.24163242e+00] [-1.91848187e-01 1.72229713e-01 9.66194183e-01 -8.67538816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02079213799999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.24, Z:-86.75 [[-8.28052322e-01 -5.57663294e-01 -5.78014071e-02 5.62840493e+00] [ 5.27338708e-01 -8.09709752e-01 2.57456801e-01 -1.23804780e+00] [-1.90376570e-01 1.82706782e-01 9.64559481e-01 -8.67518650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05079213799999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.23, Z:-86.74 [[-8.45003731e-01 -5.31829625e-01 -5.59101534e-02 5.63052469e+00] [ 4.99711115e-01 -8.22521014e-01 2.71565801e-01 -1.23229968e+00] [-1.90414014e-01 2.01535190e-01 9.60794500e-01 -8.67402859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08079213799999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.23, Z:-86.74 [[-8.48613118e-01 -5.26187077e-01 -5.46162614e-02 5.62960803e+00] [ 4.93358077e-01 -8.24448235e-01 2.77277688e-01 -1.23181790e+00] [-1.90928217e-01 2.08356110e-01 9.59236231e-01 -8.67379736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110792138 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:5.62, Y:-1.24, Z:-86.74 [[-8.40995220e-01 -5.38668542e-01 -5.06284758e-02 5.62138362e+00] [ 5.05835200e-01 -8.16023458e-01 2.79707825e-01 -1.23771486e+00] [-1.91983830e-01 2.09623279e-01 9.58749336e-01 -8.67403242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140792138 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.24, Z:-86.74 [[-8.30199694e-01 -5.55525077e-01 -4.64796398e-02 5.61211737e+00] [ 5.22744720e-01 -8.04745995e-01 2.81286049e-01 -1.24419753e+00] [-1.93665758e-01 2.09226606e-01 9.58497680e-01 -8.67410638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170792138 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.25, Z:-86.74 [[-8.25542775e-01 -5.62738795e-01 -4.24755881e-02 5.61134004e+00] [ 5.30039565e-01 -7.99007595e-01 2.83980497e-01 -1.24565511e+00] [-1.93745160e-01 2.11924305e-01 9.57888773e-01 -8.67415720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:5.62, Y:-1.24, Z:-86.75 [[-8.25021971e-01 -5.63806348e-01 -3.82249737e-02 5.61510893e+00] [ 5.31761829e-01 -7.97460672e-01 2.85106707e-01 -1.24474983e+00] [-1.91227885e-01 2.14892716e-01 9.57733270e-01 -8.67450089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23079213799998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.25, Z:-86.75 [[-8.18625364e-01 -5.73309025e-01 -3.41946690e-02 5.61149571e+00] [ 5.41195633e-01 -7.89961267e-01 2.88216036e-01 -1.24733372e+00] [-1.92249318e-01 2.17434951e-01 9.56954671e-01 -8.67466469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26079213799999 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:5.61, Y:-1.24, Z:-86.75 [[-8.20528952e-01 -5.70801715e-01 -3.02925735e-02 5.61376163e+00] [ 5.38577106e-01 -7.89785004e-01 2.93554677e-01 -1.24496854e+00] [-1.91486133e-01 2.24555225e-01 9.55462198e-01 -8.67455954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29079213799999 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:5.65, Y:-1.19, Z:-86.70 [[-8.90811850e-01 -4.53266365e-01 -3.16836115e-02 5.65393577e+00] [ 4.12033447e-01 -8.35231541e-01 3.64165775e-01 -1.18788776e+00] [-1.91527249e-01 3.11348480e-01 9.30795056e-01 -8.66991823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32079213799999 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:5.65, Y:-1.18, Z:-86.69 [[-8.97546410e-01 -4.40036964e-01 -2.78910743e-02 5.65496270e+00] [ 3.96380224e-01 -8.32969470e-01 3.86062922e-01 -1.18046963e+00] [-1.93114370e-01 3.35453919e-01 9.22050708e-01 -8.66881987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35079213799999 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:5.65, Y:-1.19, Z:-86.69 [[-8.94373843e-01 -4.46753020e-01 -2.25203732e-02 5.65073003e+00] [ 4.04844743e-01 -8.29834243e-01 3.84025863e-01 -1.18596752e+00] [-1.90252891e-01 3.34345433e-01 9.23047653e-01 -8.66945640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38079213799999 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.19, Z:-87.36 [[-8.95662076e-01 -4.44471012e-01 -1.53285873e-02 5.63449189e+00] [ 4.05151057e-01 -8.29672584e-01 3.84052111e-01 -1.18661562e+00] [-1.83417739e-01 3.37770518e-01 9.23184169e-01 -8.73573271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41079213799999 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] SLAMing on 97.44079213799999 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] SLAMing on 97.470792138 meters Centerline goodness : 0.987216 Centerline is valid? [True, True] SLAMing on 97.500792138 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] SLAMing on 97.530792138 meters Centerline goodness : 0.987217 Centerline is valid? [True, True] SLAMing on 97.560792138 meters Centerline goodness : 0.986506 Centerline is valid? [True, True] SLAMing on 97.590792138 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] SLAMing on 97.62079213799998 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] SLAMing on 97.65079213799999 meters Centerline goodness : 0.979810 Centerline is valid? [True, True] SLAMing on 97.68079213799999 meters Centerline goodness : 0.960347 Centerline is valid? [True, True] SLAMing on 97.71079213799999 meters Centerline goodness : 0.964883 Centerline is valid? [True, True] SLAMing on 97.74079213799999 meters Centerline goodness : 0.944810 Centerline is valid? [True, False] Translation: X:5.30, Y:-0.96, Z:-86.61 [[ 9.48990254e-01 1.82382698e-01 2.57204293e-01 5.30297601e+00] [-2.48725195e-02 8.56490158e-01 -5.15563738e-01 -9.63783317e-01] [-3.14322851e-01 4.82867644e-01 8.17337130e-01 -8.66132937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77079213799999 meters Centerline goodness : 0.899098 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.96, Z:-86.59 [[ 9.43915439e-01 2.12218826e-01 2.52956149e-01 5.31468978e+00] [-5.80158578e-02 8.60777088e-01 -5.05664875e-01 -9.56820174e-01] [-3.25050464e-01 4.62629414e-01 8.24812840e-01 -8.65901053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80079213799999 meters Centerline goodness : 0.963388 Centerline is valid? [False, True] Translation: X:5.32, Y:-0.95, Z:-86.57 [[ 9.39002235e-01 2.30347630e-01 2.55371831e-01 5.32196851e+00] [-7.71218808e-02 8.64678388e-01 -4.96370326e-01 -9.53940140e-01] [-3.35152231e-01 4.46398090e-01 8.29699781e-01 -8.65666434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83079213799999 meters Centerline goodness : 0.976246 Centerline is valid? [True, True] Translation: X:5.87, Y:-1.30, Z:-86.69 [[ -0.97816141 0.13310816 -0.15963232 5.86835831] [ -0.1529362 -0.98103249 0.11910403 -1.29933995] [ -0.14075077 0.14091653 0.97996518 -86.6871093 ] [ 0. 0. 0. 1. ]] SLAMing on 97.860792138 meters Centerline goodness : 0.980237 Centerline is valid? [True, True] Translation: X:5.31, Y:-1.36, Z:-86.65 [[ 2.14273227e-01 -8.74789179e-01 4.34546748e-01 5.30727781e+00] [ 9.65294374e-01 2.57650643e-01 4.26956459e-02 -1.36101585e+00] [-1.49310938e-01 4.10316998e-01 8.99636707e-01 -8.66542525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890792138 meters Centerline goodness : 0.915776 Centerline is valid? [True, False] Translation: X:5.27, Y:-1.32, Z:-86.62 [[ 3.82560666e-01 -8.10381017e-01 4.43767895e-01 5.26642695e+00] [ 9.07986974e-01 4.18596986e-01 -1.83362746e-02 -1.31757427e+00] [-1.70900535e-01 4.09950205e-01 8.95954149e-01 -8.66238142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920792138 meters Centerline goodness : 0.917905 Centerline is valid? [False, False] Translation: X:5.24, Y:-1.27, Z:-86.60 [[ 5.27275367e-01 -7.25283803e-01 4.42655726e-01 5.23842309e+00] [ 8.28248244e-01 5.55019531e-01 -7.71891537e-02 -1.26631397e+00] [-1.89698531e-01 4.07328767e-01 8.93363164e-01 -8.66011218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.950792138 meters Centerline goodness : 0.919494 Centerline is valid? [False, False] Translation: X:5.22, Y:-1.21, Z:-86.59 [[ 0.64887745 -0.62442094 0.43480633 5.22036985] [ 0.73268128 0.66691458 -0.13565796 -1.20677314] [ -0.20527101 0.40659985 0.89024737 -86.5882654 ] [ 0. 0. 0. 1. ]] SLAMing on 97.98079213799998 meters Centerline goodness : 0.919494 Centerline is valid? [False, False] Translation: X:5.22, Y:-1.16, Z:-86.57 [[ 0.74633082 -0.51863487 0.41714288 5.21635599] [ 0.62872412 0.75501445 -0.18616972 -1.16466244] [ -0.21839479 0.40121199 0.8895688 -86.5737111 ] [ 0. 0. 0. 1. ]] SLAMing on 98.01079213799999 meters Centerline goodness : 0.919494 Centerline is valid? [False, False] Translation: X:5.22, Y:-1.13, Z:-86.56 [[ 0.82200806 -0.4109694 0.39421682 5.21893851] [ 0.52112599 0.8219829 -0.22972116 -1.12613923] [ -0.22963112 0.39426927 0.88984341 -86.55810978] [ 0. 0. 0. 1. ]] SLAMing on 98.04079213799999 meters Centerline goodness : 0.926609 Centerline is valid? [False, False] Translation: X:5.23, Y:-1.09, Z:-86.54 [[ 0.8771214 -0.30748207 0.36893472 5.22803009] [ 0.41670039 0.8691664 -0.26629034 -1.08510913] [ -0.23878616 0.38730419 0.89049235 -86.54474145] [ 0. 0. 0. 1. ]] SLAMing on 98.07079213799999 meters Centerline goodness : 0.693699 Centerline is valid? [False, False] Translation: X:5.24, Y:-1.05, Z:-86.53 [[ 0.91465508 -0.2134238 0.34330216 5.24368569] [ 0.32121694 0.89931814 -0.29672639 -1.04702045] [ -0.24540938 0.38167677 0.89112125 -86.53189462] [ 0. 0. 0. 1. ]] SLAMing on 98.10079213799999 meters Centerline goodness : 0.733897 Centerline is valid? [False, False] Translation: X:5.26, Y:-1.02, Z:-86.51 [[ 0.93831791 -0.13003814 0.32038974 5.26196843] [ 0.23514128 0.91932252 -0.31552287 -1.02064207] [ -0.25351149 0.37139761 0.89319412 -86.51142392] [ 0. 0. 0. 1. ]] SLAMing on 98.13079213799999 meters Centerline goodness : 0.745774 Centerline is valid? [False, False] Translation: X:5.28, Y:-1.00, Z:-86.49 [[ 9.49755732e-01 -5.83508261e-02 3.07504847e-01 5.28126899e+00] [ 1.63187715e-01 9.30681253e-01 -3.27417433e-01 -9.99546407e-01] [-2.67083919e-01 3.61147597e-01 8.93441992e-01 -8.64881488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16079213799999 meters Centerline goodness : 0.723788 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.99, Z:-86.47 [[ 9.57938110e-01 2.56738054e-03 2.86963388e-01 5.28922058e+00] [ 9.96853093e-02 9.34715163e-01 -3.41131066e-01 -9.93704204e-01] [-2.69104843e-01 3.55388483e-01 8.95143346e-01 -8.64664088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19079213799999 meters Centerline goodness : 0.752767 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.99, Z:-86.44 [[ 9.61442419e-01 4.34342830e-02 2.71554667e-01 5.29682483e+00] [ 5.55292432e-02 9.36447980e-01 -3.46383723e-01 -9.92052723e-01] [-2.69341748e-01 3.48107230e-01 8.97928939e-01 -8.64429832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220792138 meters Centerline goodness : 0.738466 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.99, Z:-86.42 [[ 9.61760177e-01 7.43185899e-02 2.63617352e-01 5.30301084e+00] [ 2.30220700e-02 9.37141498e-01 -3.48189313e-01 -9.90893140e-01] [-2.72923699e-01 3.40943633e-01 8.99594405e-01 -8.64208444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250792138 meters Centerline goodness : 0.883761 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.95, Z:-86.42 [[ 9.62324621e-01 1.10806528e-01 2.48300698e-01 5.32812440e+00] [-2.09392170e-02 9.40684315e-01 -3.38636336e-01 -9.52452659e-01] [-2.71095689e-01 3.20678862e-01 9.07563879e-01 -8.64235315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280792138 meters Centerline goodness : 0.316963 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.94, Z:-86.44 [[ 9.65779646e-01 1.14247727e-01 2.32845726e-01 5.33203841e+00] [-3.14360549e-02 9.42700492e-01 -3.32155921e-01 -9.40330089e-01] [-2.57451839e-01 3.13469677e-01 9.14032446e-01 -8.64395090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.310792138 meters Centerline goodness : 0.304619 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.44 [[ 9.65845255e-01 1.20958609e-01 2.29154881e-01 5.33863056e+00] [-4.38743085e-02 9.47930754e-01 -3.15439899e-01 -9.28816981e-01] [-2.55378130e-01 2.94612118e-01 9.20861396e-01 -8.64439151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340792138 meters Centerline goodness : 0.844031 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.44 [[ 9.67640582e-01 1.26843464e-01 2.18133994e-01 5.33873321e+00] [-5.40698515e-02 9.48620223e-01 -3.11762929e-01 -9.33732184e-01] [-2.46471408e-01 2.89879989e-01 9.24781832e-01 -8.64415506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37079213799998 meters Centerline goodness : 0.817361 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.45 [[ 9.67103919e-01 1.32539849e-01 2.17124846e-01 5.34396943e+00] [-6.10432774e-02 9.49516832e-01 -3.07719847e-01 -9.27683480e-01] [-2.46948837e-01 2.84343058e-01 9.26372116e-01 -8.64462813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40079213799999 meters Centerline goodness : 0.765001 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.92, Z:-86.45 [[ 9.65801662e-01 1.42082081e-01 2.16886681e-01 5.34906394e+00] [-7.28497464e-02 9.51493438e-01 -2.98919975e-01 -9.22074533e-01] [-2.48837426e-01 2.72897269e-01 9.29304587e-01 -8.64507717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43079213799999 meters Centerline goodness : 0.754778 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.45 [[ 9.66011080e-01 1.38717193e-01 2.18128709e-01 5.34369399e+00] [-6.86787766e-02 9.51221059e-01 -3.00768552e-01 -9.26912171e-01] [-2.49210390e-01 2.75564941e-01 9.28417010e-01 -8.64474591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46079213799999 meters Centerline goodness : 0.746804 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.45 [[ 9.65505474e-01 1.42357021e-01 2.18022149e-01 5.34535350e+00] [-7.33113994e-02 9.52062434e-01 -2.96989159e-01 -9.25141095e-01] [-2.49849190e-01 2.70761150e-01 9.29657884e-01 -8.64480771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49079213799999 meters Centerline goodness : 0.809147 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.92, Z:-86.45 [[ 9.65587042e-01 1.44059831e-01 2.16537363e-01 5.34970017e+00] [-7.67499071e-02 9.53334462e-01 -2.91998040e-01 -9.24071294e-01] [-2.48497719e-01 2.65330301e-01 9.31583982e-01 -8.64484186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52079213799999 meters Centerline goodness : 0.803637 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.45 [[ 9.65403998e-01 1.43853757e-01 2.17488429e-01 5.34638273e+00] [-7.64362087e-02 9.53539426e-01 -2.91410481e-01 -9.26861256e-01] [-2.49304285e-01 2.64704853e-01 9.31546410e-01 -8.64450527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55079213799999 meters Centerline goodness : 0.795732 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.44 [[ 9.65354877e-01 1.43749320e-01 2.17775329e-01 5.34568932e+00] [-7.62840755e-02 9.53587596e-01 -2.91292701e-01 -9.27294458e-01] [-2.49540980e-01 2.64588040e-01 9.31516220e-01 -8.64449402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58079213799999 meters Centerline goodness : 0.727158 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.44 [[ 9.65063332e-01 1.45725643e-01 2.17753993e-01 5.34611150e+00] [-7.91380812e-02 9.54369182e-01 -2.87952478e-01 -9.27304334e-01] [-2.49779760e-01 2.60659745e-01 9.32559150e-01 -8.64434321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610792138 meters Centerline goodness : 0.753587 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.44 [[ 9.65043138e-01 1.45427074e-01 2.18042903e-01 5.34529133e+00] [-7.87711480e-02 9.54408773e-01 -2.87921866e-01 -9.27951629e-01] [-2.49973695e-01 2.60681532e-01 9.32501094e-01 -8.64425982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640792138 meters Centerline goodness : 0.725318 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.44 [[ 9.65030722e-01 1.45219928e-01 2.18235832e-01 5.34476879e+00] [-7.85153746e-02 9.54432592e-01 -2.87912771e-01 -9.28405825e-01] [-2.50102062e-01 2.60709802e-01 9.32458770e-01 -8.64421413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670792138 meters Centerline goodness : 0.795908 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.44 [[ 9.65001016e-01 1.45498294e-01 2.18181772e-01 5.34496273e+00] [-7.88273958e-02 9.54431345e-01 -2.87831633e-01 -9.28087863e-01] [-2.50118533e-01 2.60559118e-01 9.32496469e-01 -8.64421808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700792138 meters Centerline goodness : 0.704039 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.45 [[ 9.64471957e-01 1.48402121e-01 2.18564989e-01 5.34367477e+00] [-8.39522129e-02 9.56598302e-01 -2.79055040e-01 -9.29400080e-01] [-2.50491258e-01 2.50791746e-01 9.35070922e-01 -8.64466792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73079213799998 meters Centerline goodness : 0.697761 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.93, Z:-86.46 [[ 9.64915125e-01 1.43293652e-01 2.20013025e-01 5.34728171e+00] [-8.09021442e-02 9.59437480e-01 -2.70064002e-01 -9.27051241e-01] [-2.49787199e-01 2.42789315e-01 9.37368499e-01 -8.64560028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76079213799999 meters Centerline goodness : 0.738682 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.93, Z:-86.46 [[ 9.66789206e-01 1.29734017e-01 2.20199265e-01 5.33611268e+00] [-7.23563178e-02 9.65272659e-01 -2.51024416e-01 -9.28861940e-01] [-2.45118736e-01 2.26754888e-01 9.42602263e-01 -8.64626617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79079213799999 meters Centerline goodness : 0.775953 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.94, Z:-86.48 [[ 9.68620997e-01 1.14792698e-01 2.20445006e-01 5.31979346e+00] [-6.19214982e-02 9.70440820e-01 -2.33260248e-01 -9.35674315e-01] [-2.40705406e-01 2.12290489e-01 9.47097490e-01 -8.64823266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82079213799999 meters Centerline goodness : 0.758508 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.94, Z:-86.49 [[ 9.68438319e-01 1.14437901e-01 2.21429873e-01 5.31908783e+00] [-6.33854274e-02 9.72238089e-01 -2.25245170e-01 -9.38708678e-01] [-2.41059140e-01 2.04100626e-01 9.48806316e-01 -8.64926565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85079213799999 meters Centerline goodness : 0.687576 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.94, Z:-86.52 [[ 9.67953910e-01 1.02658800e-01 2.29186386e-01 5.31485350e+00] [-5.39613410e-02 9.76334738e-01 -2.09424574e-01 -9.35470546e-01] [-2.45261906e-01 1.90346131e-01 9.50586634e-01 -8.65219790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88079213799999 meters Centerline goodness : 0.687576 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.94, Z:-86.52 [[ 9.67953910e-01 1.02658800e-01 2.29186386e-01 5.31485350e+00] [-5.39613410e-02 9.76334738e-01 -2.09424574e-01 -9.35470546e-01] [-2.45261906e-01 1.90346131e-01 9.50586634e-01 -8.65219790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91079213799999 meters Centerline goodness : 0.720603 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.94, Z:-86.52 [[ 9.67941016e-01 9.99026801e-02 2.30455299e-01 5.30994062e+00] [-5.23074203e-02 9.77556913e-01 -2.04074535e-01 -9.42797161e-01] [-2.45670764e-01 1.85477591e-01 9.51443082e-01 -8.65237183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94079213799999 meters Centerline goodness : 0.875470 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.95, Z:-86.52 [[ 9.67638484e-01 1.00229316e-01 2.31581191e-01 5.30682706e+00] [-5.36773531e-02 9.78486123e-01 -1.99207551e-01 -9.48191849e-01] [-2.46565419e-01 1.80330228e-01 9.52200873e-01 -8.65237187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970792138 meters Centerline goodness : 0.228268 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.95, Z:-86.53 [[ 9.67884001e-01 9.67322304e-02 2.32041885e-01 5.30596415e+00] [-5.11830222e-02 9.79499616e-01 -1.94835317e-01 -9.49316843e-01] [-2.46131792e-01 1.76701381e-01 9.52993055e-01 -8.65323945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000792138 meters Centerline goodness : 0.228268 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.95, Z:-86.53 [[ 9.67884001e-01 9.67322304e-02 2.32041885e-01 5.30596415e+00] [-5.11830222e-02 9.79499616e-01 -1.94835317e-01 -9.49316843e-01] [-2.46131792e-01 1.76701381e-01 9.52993055e-01 -8.65323945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030792138 meters Centerline goodness : 0.228724 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.95, Z:-86.54 [[ 9.67856168e-01 9.40622864e-02 2.33252489e-01 5.30270598e+00] [-4.95549075e-02 9.80570290e-01 -1.89805737e-01 -9.51071573e-01] [-2.46574022e-01 1.72145848e-01 9.53712252e-01 -8.65368429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060792138 meters Centerline goodness : 0.232240 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.95, Z:-86.54 [[ 9.67767252e-01 9.34322371e-02 2.33873819e-01 5.30120653e+00] [-4.91695945e-02 9.80862675e-01 -1.88389923e-01 -9.53700790e-01] [-2.46999792e-01 1.70818117e-01 9.53840801e-01 -8.65374318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.090792138 meters Centerline goodness : 0.606736 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.96, Z:-86.54 [[ 9.67665818e-01 9.20044637e-02 2.34857496e-01 5.29805538e+00] [-4.78431076e-02 9.81149041e-01 -1.87236738e-01 -9.58251690e-01] [-2.47656823e-01 1.69946279e-01 9.53826169e-01 -8.65361128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12079213799998 meters Centerline goodness : 0.609559 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.96, Z:-86.54 [[ 9.67604411e-01 9.18389259e-02 2.35175074e-01 5.29743794e+00] [-4.78565234e-02 9.81323161e-01 -1.86318563e-01 -9.59207763e-01] [-2.47894044e-01 1.69028002e-01 9.53927711e-01 -8.65373945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15079213799999 meters Centerline goodness : 0.584673 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.96, Z:-86.54 [[ 9.67618174e-01 9.04849780e-02 2.35642820e-01 5.29762150e+00] [-4.73494865e-02 9.82034793e-01 -1.82662782e-01 -9.57415509e-01] [-2.47937685e-01 1.65590261e-01 9.54519130e-01 -8.65445556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18079213799999 meters Centerline goodness : 0.584673 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.96, Z:-86.54 [[ 9.67618174e-01 9.04849780e-02 2.35642820e-01 5.29762150e+00] [-4.73494865e-02 9.82034793e-01 -1.82662782e-01 -9.57415509e-01] [-2.47937685e-01 1.65590261e-01 9.54519130e-01 -8.65445556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21079213799999 meters Centerline goodness : 0.991550 Centerline is valid? [False, True] Translation: X:5.29, Y:-0.96, Z:-86.55 [[ 9.68006453e-01 8.39839751e-02 2.36453376e-01 5.29245123e+00] [-4.16946317e-02 9.83060896e-01 -1.78473617e-01 -9.61774321e-01] [-2.47436991e-01 1.62904777e-01 9.55110972e-01 -8.65498555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24079213799999 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:5.69, Y:-1.41, Z:-86.71 [[-5.78240885e-01 -6.99925059e-01 -4.19216401e-01 5.68816215e+00] [ 8.12159668e-01 -5.42737176e-01 -2.14086507e-01 -1.40585520e+00] [-7.76798142e-02 -4.64264224e-01 8.82283728e-01 -8.67076445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27079213799999 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:5.69, Y:-1.38, Z:-86.73 [[-5.49735176e-01 -7.21132128e-01 -4.21615573e-01 5.68665911e+00] [ 8.33879080e-01 -5.03573550e-01 -2.25963184e-01 -1.37855616e+00] [-4.93651391e-02 -4.75796316e-01 8.78169089e-01 -8.67258728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30079213799999 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:5.73, Y:-1.34, Z:-86.70 [[-4.86491267e-01 -7.41705057e-01 -4.61735698e-01 5.72509386e+00] [ 8.73683665e-01 -4.14065350e-01 -2.55395261e-01 -1.34336134e+00] [-1.76079700e-03 -5.27658501e-01 8.49454770e-01 -8.67003605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33079213799999 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.31, Z:-86.72 [[-4.32811193e-01 -7.78232289e-01 -4.55004369e-01 5.72059379e+00] [ 8.99863086e-01 -3.42705368e-01 -2.69813747e-01 -1.31264790e+00] [ 5.40453302e-02 -5.26220045e-01 8.48629228e-01 -8.67168803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360792138 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:5.71, Y:-1.28, Z:-86.74 [[ -0.36614272 -0.81887678 -0.44201848 5.71290648] [ 0.92412621 -0.26421831 -0.27600621 -1.28491713] [ 0.1092257 -0.50953853 0.8534871 -86.73747999] [ 0. 0. 0. 1. ]] SLAMing on 99.390792138 meters Centerline goodness : 0.985068 Centerline is valid? [True, True] Translation: X:5.71, Y:-1.26, Z:-86.76 [[ -0.32877455 -0.83837613 -0.43477898 5.71264119] [ 0.93414275 -0.22099462 -0.28024757 -1.26357196] [ 0.13886906 -0.4982839 0.85582039 -86.75622765] [ 0. 0. 0. 1. ]] SLAMing on 99.420792138 meters Centerline goodness : 0.985949 Centerline is valid? [True, True] Translation: X:5.73, Y:-1.25, Z:-86.78 [[ -0.33922837 -0.83204235 -0.43889592 5.72662884] [ 0.93175822 -0.23299967 -0.27845607 -1.25240379] [ 0.12942464 -0.50340508 0.8543024 -86.77563668] [ 0. 0. 0. 1. ]] SLAMing on 99.450792138 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.25, Z:-86.81 [[-4.41344894e-01 -7.74546973e-01 -4.53091240e-01 5.75585798e+00] [ 8.96122835e-01 -3.54172292e-01 -2.67443176e-01 -1.25477388e+00] [ 4.66749392e-02 -5.24060086e-01 8.50401362e-01 -8.68149215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48079213799998 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.23, Z:-86.85 [[-4.35393803e-01 -7.82950495e-01 -4.44320558e-01 5.75936247e+00] [ 8.98340393e-01 -3.45821528e-01 -2.70909597e-01 -1.23397838e+00] [ 5.84531893e-02 -5.17103464e-01 8.53924606e-01 -8.68474091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51079213799999 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.22, Z:-86.87 [[-4.04576185e-01 -8.01930126e-01 -4.39575002e-01 5.75998059e+00] [ 9.10592633e-01 -3.08845484e-01 -2.74655282e-01 -1.21677205e+00] [ 8.44935905e-02 -5.11392745e-01 8.55183193e-01 -8.68709780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54079213799999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.20, Z:-86.90 [[ -0.39232059 -0.81180543 -0.43250029 5.76342826] [ 0.91484625 -0.29549891 -0.27520307 -1.20121818] [ 0.09560798 -0.5036391 0.85860746 -86.89921472] [ 0. 0. 0. 1. ]] SLAMing on 99.57079213799999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:5.77, Y:-1.19, Z:-86.92 [[ -0.37150493 -0.82190072 -0.43181394 5.7656546 ] [ 0.92175873 -0.27085432 -0.27748654 -1.18631929] [ 0.11110772 -0.50111589 0.85821788 -86.92030188] [ 0. 0. 0. 1. ]] SLAMing on 99.60079213799999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:5.77, Y:-1.17, Z:-86.95 [[ -0.37750828 -0.82198801 -0.42640734 5.77024691] [ 0.91958313 -0.27863618 -0.27699956 -1.1718 ] [ 0.1088778 -0.49668662 0.86107376 -86.9469077 ] [ 0. 0. 0. 1. ]] SLAMing on 99.63079213799999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:5.76, Y:-1.15, Z:-86.98 [[ -0.34466357 -0.84200973 -0.41500197 5.76267338] [ 0.92988782 -0.24571928 -0.27373467 -1.15401387] [ 0.12851327 -0.48025165 0.86766508 -86.98222786] [ 0. 0. 0. 1. ]] SLAMing on 99.66079213799999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:5.75, Y:-1.13, Z:-87.01 [[ -0.28384332 -0.86992377 -0.40331824 5.74938945] [ 0.94512052 -0.18284427 -0.27076775 -1.13484399] [ 0.16180288 -0.45803996 0.87408193 -87.0123744 ] [ 0. 0. 0. 1. ]] SLAMing on 99.69079213799999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:5.75, Y:-1.12, Z:-87.03 [[ -0.24247686 -0.8847353 -0.3980558 5.74550191] [ 0.9522752 -0.13863714 -0.27194059 -1.11681286] [ 0.18541012 -0.44499796 0.87612779 -87.03380498] [ 0. 0. 0. 1. ]] SLAMing on 99.720792138 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:5.74, Y:-1.10, Z:-87.06 [[ -0.21833077 -0.89380638 -0.39171651 5.74419564] [ 0.9560798 -0.1154757 -0.26940077 -1.09954862] [ 0.19555839 -0.43333072 0.87976213 -87.06165821] [ 0. 0. 0. 1. ]] SLAMing on 99.750792138 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:5.73, Y:-1.08, Z:-87.09 [[-1.40891082e-01 -9.14692245e-01 -3.78797834e-01 5.73015802e+00] [ 9.61923261e-01 -3.59613508e-02 -2.70943577e-01 -1.07635576e+00] [ 2.34207907e-01 -4.02547981e-01 8.84930381e-01 -8.70887924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780792138 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.06, Z:-87.11 [[-1.02685286e-01 -9.25672192e-01 -3.64124601e-01 5.72424317e+00] [ 9.63148349e-01 -1.04036154e-03 -2.68968727e-01 -1.06040267e+00] [ 2.48598050e-01 -3.78325139e-01 8.91666473e-01 -8.71138903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.810792138 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:5.71, Y:-1.03, Z:-87.13 [[-2.79595223e-02 -9.34904837e-01 -3.53795437e-01 5.71315154e+00] [ 9.59064672e-01 7.46897208e-02 -2.73160027e-01 -1.03374274e+00] [ 2.81803513e-01 -3.46950129e-01 8.94545912e-01 -8.71334873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840792138 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:5.71, Y:-1.01, Z:-87.15 [[ 5.06478038e-02 -9.38194169e-01 -3.42383559e-01 5.70604918e+00] [ 9.48375200e-01 1.52649522e-01 -2.77997490e-01 -1.01265363e+00] [ 3.13080310e-01 -3.10628114e-01 8.97491445e-01 -8.71498637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87079213799998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.99, Z:-87.16 [[ 0.15780986 -0.93226679 -0.32553754 5.6945997 ] [ 0.92170927 0.25735888 -0.29020411 -0.98902602] [ 0.35432763 -0.2542539 0.89989271 -87.16256674] [ 0. 0. 0. 1. ]] SLAMing on 99.90079213799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.98, Z:-87.18 [[ 0.15126807 -0.93190308 -0.32965836 5.70598609] [ 0.9232516 0.25234565 -0.28970358 -0.97668656] [ 0.35316351 -0.2605347 0.89855284 -87.18220069] [ 0. 0. 0. 1. ]] SLAMing on 99.93079213799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.96, Z:-87.21 [[ 0.13682726 -0.93396837 -0.33012329 5.71663551] [ 0.92715362 0.23808898 -0.28930917 -0.96270438] [ 0.34880433 -0.26648962 0.89850922 -87.20509625] [ 0. 0. 0. 1. ]] SLAMing on 99.96079213799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.93, Z:-87.22 [[ 0.24946818 -0.91900391 -0.30528256 5.69331853] [ 0.89180578 0.34089331 -0.29744613 -0.93451323] [ 0.37742294 -0.1980494 0.90461503 -87.22323502] [ 0. 0. 0. 1. ]] SLAMing on 99.99079213799999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.94, Z:-87.25 [[ 0.17750163 -0.93123477 -0.31826873 5.7228981 ] [ 0.91746867 0.2735807 -0.28879896 -0.93646284] [ 0.35601182 -0.2407393 0.90293974 -87.24621446] [ 0. 0. 0. 1. ]] SLAMing on 100.02079213799999 meters Centerline goodness : 0.975576 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.91, Z:-87.26 [[ 0.24790734 -0.91481471 -0.31883538 5.73901378] [ 0.89150204 0.34423001 -0.29449926 -0.90612016] [ 0.37916496 -0.21123386 0.90089633 -87.26073517] [ 0. 0. 0. 1. ]] SLAMing on 100.05079213799999 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.88, Z:-87.28 [[ 0.30513033 -0.90211485 -0.30509717 5.73137732] [ 0.86917847 0.39472643 -0.29785874 -0.88232683] [ 0.38913271 -0.17429816 0.90454181 -87.27975159] [ 0. 0. 0. 1. ]] SLAMing on 100.08079213799999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.86, Z:-87.30 [[ 0.16277067 -0.93024369 -0.3288653 5.75721277] [ 0.91198644 0.26905072 -0.30966506 -0.85937122] [ 0.37654541 -0.24951631 0.89216319 -87.30013183] [ 0. 0. 0. 1. ]] SLAMing on 100.110792138 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.83, Z:-87.32 [[ 0.35204339 -0.89074169 -0.28747989 5.73283569] [ 0.84582428 0.43427973 -0.30981026 -0.83434447] [ 0.4008076 -0.13409082 0.90629626 -87.3229822 ] [ 0. 0. 0. 1. ]] SLAMing on 100.140792138 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.80, Z:-87.33 [[ 4.46055781e-01 -8.57208709e-01 -2.57346982e-01 5.70406371e+00] [ 7.95471079e-01 5.11490113e-01 -3.24967115e-01 -8.00696072e-01] [ 4.10195078e-01 -5.97586212e-02 9.10037859e-01 -8.73331234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170792138 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.82, Z:-87.36 [[ 0.30661699 -0.90397836 -0.29800863 5.769566 ] [ 0.86588755 0.39491915 -0.30704661 -0.82106886] [ 0.39525281 -0.16389625 0.90383253 -87.36371757] [ 0. 0. 0. 1. ]] SLAMing on 100.200792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.76, Z:-87.37 [[ 5.13260444e-01 -8.22842049e-01 -2.43915312e-01 5.71270606e+00] [ 7.49758967e-01 5.68201755e-01 -3.39128673e-01 -7.57447047e-01] [ 4.17642441e-01 -8.81635925e-03 9.08568689e-01 -8.73672078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23079213799998 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.70, Z:-87.36 [[ 0.70258996 -0.68139549 -0.20510371 5.66630481] [ 0.59135616 0.71941612 -0.36433274 -0.70245228] [ 0.3958096 0.13468719 0.90840196 -87.35580764] [ 0. 0. 0. 1. ]] SLAMing on 100.26079213799999 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.71, Z:-87.39 [[ 6.33212376e-01 -7.40139672e-01 -2.26352275e-01 5.69898110e+00] [ 6.55375198e-01 6.68315129e-01 -3.51906575e-01 -7.14814753e-01] [ 4.11734667e-01 7.44859314e-02 9.08254595e-01 -8.73865395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29079213799999 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.70, Z:-87.41 [[ 6.32879697e-01 -7.40474152e-01 -2.26188681e-01 5.70882659e+00] [ 6.55694670e-01 6.67946246e-01 -3.52011806e-01 -6.99156994e-01] [ 4.11737524e-01 7.44704123e-02 9.08254573e-01 -8.74081631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32079213799999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.68, Z:-87.43 [[ 6.32847253e-01 -7.40621597e-01 -2.25796377e-01 5.71917033e+00] [ 6.55977150e-01 6.67776929e-01 -3.51806697e-01 -6.82874106e-01] [ 4.11337249e-01 7.45226376e-02 9.08431640e-01 -8.74290902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35079213799999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.68, Z:-87.45 [[ 6.22713712e-01 -7.48309554e-01 -2.28605433e-01 5.73384236e+00] [ 6.61682838e-01 6.59561996e-01 -3.56586309e-01 -6.75110132e-01] [ 4.17616398e-01 7.07868922e-02 9.05861888e-01 -8.74530685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38079213799999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.66, Z:-87.47 [[ 6.16686823e-01 -7.52964844e-01 -2.29654754e-01 5.74485470e+00] [ 6.65746263e-01 6.54531778e-01 -3.58287683e-01 -6.63851571e-01] [ 4.20094364e-01 6.80594991e-02 9.04924654e-01 -8.74747712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41079213799999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.65, Z:-87.50 [[ 6.18027288e-01 -7.51954779e-01 -2.29360593e-01 5.75314211e+00] [ 6.64672675e-01 6.55591972e-01 -3.58342575e-01 -6.46433509e-01] [ 4.19824375e-01 6.90157709e-02 9.04977523e-01 -8.74951925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44079213799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.63, Z:-87.52 [[ 6.17451462e-01 -7.52707382e-01 -2.28440998e-01 5.76168867e+00] [ 6.66021294e-01 6.54784273e-01 -3.57313856e-01 -6.28544490e-01] [ 4.18532350e-01 6.84773941e-02 9.05616651e-01 -8.75154316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470792138 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.63, Z:-87.54 [[ 6.07530962e-01 -7.60070889e-01 -2.30647729e-01 5.77854279e+00] [ 6.72036706e-01 6.46660031e-01 -3.60828866e-01 -6.25696992e-01] [ 4.23406184e-01 6.42109684e-02 9.03661527e-01 -8.75409987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500792138 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.61, Z:-87.56 [[ 6.11931578e-01 -7.56405714e-01 -2.31063064e-01 5.78547231e+00] [ 6.67554257e-01 6.50633957e-01 -3.62003824e-01 -6.09374549e-01] [ 4.24159236e-01 6.72744393e-02 9.03085318e-01 -8.75632167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530792138 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.59, Z:-87.58 [[ 6.23722561e-01 -7.47591379e-01 -2.28204508e-01 5.78935415e+00] [ 6.60489234e-01 6.60210286e-01 -3.57598028e-01 -5.86388380e-01] [ 4.18000167e-01 7.23153376e-02 9.05564107e-01 -8.75809995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560792138 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.58, Z:-87.60 [[ 6.10168553e-01 -7.58093748e-01 -2.30191673e-01 5.80532172e+00] [ 6.69784564e-01 6.48774115e-01 -3.61221241e-01 -5.78984355e-01] [ 4.23181963e-01 6.62270130e-02 9.03621054e-01 -8.76046027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59079213799998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.57, Z:-87.63 [[ 5.95480413e-01 -7.69093005e-01 -2.32161642e-01 5.82138611e+00] [ 6.79715448e-01 6.36372845e-01 -3.64714289e-01 -5.71524921e-01] [ 4.28240573e-01 5.93763613e-02 9.01711960e-01 -8.76291254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62079213799998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.56, Z:-87.65 [[ 5.90475326e-01 -7.73470229e-01 -2.30396817e-01 5.83372452e+00] [ 6.85631135e-01 6.31354407e-01 -3.62355570e-01 -5.56245772e-01] [ 4.25733292e-01 5.59947917e-02 9.03114471e-01 -8.76487715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65079213799999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.55, Z:-87.67 [[ 5.75858690e-01 -7.83941395e-01 -2.31997107e-01 5.85039431e+00] [ 6.95369423e-01 6.18896099e-01 -3.65279324e-01 -5.48661568e-01] [ 4.29939687e-01 4.90255788e-02 9.01525573e-01 -8.76726282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68079213799999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.53, Z:-87.69 [[ 5.79517413e-01 -7.81590054e-01 -2.30817149e-01 5.85844530e+00] [ 6.93601588e-01 6.21724275e-01 -3.63834802e-01 -5.31025250e-01] [ 4.27874287e-01 5.07534618e-02 9.02412146e-01 -8.76926097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71079213799999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.52, Z:-87.71 [[ 5.72234607e-01 -7.86577374e-01 -2.32042214e-01 5.87080273e+00] [ 6.97775267e-01 6.15652593e-01 -3.66171493e-01 -5.18208060e-01] [ 4.30879602e-01 4.76226829e-02 9.01151956e-01 -8.77145036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74079213799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.51, Z:-87.74 [[ 5.66068824e-01 -7.91078434e-01 -2.31864180e-01 5.88285846e+00] [ 7.02731409e-01 6.10114172e-01 -3.65963475e-01 -5.05984720e-01] [ 4.30969434e-01 4.42222721e-02 9.01282274e-01 -8.77351845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77079213799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.49, Z:-87.76 [[ 5.66661259e-01 -7.90729760e-01 -2.31606269e-01 5.89227250e+00] [ 7.02318874e-01 6.10525657e-01 -3.66069148e-01 -4.90034700e-01] [ 4.30863340e-01 4.47757506e-02 9.01305672e-01 -8.77563209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80079213799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.48, Z:-87.78 [[ 5.63340537e-01 -7.93027744e-01 -2.31850030e-01 5.90241598e+00] [ 7.04494889e-01 6.07650134e-01 -3.66671877e-01 -4.75238613e-01] [ 4.31664674e-01 4.32239709e-02 9.00997946e-01 -8.77763365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83079213799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.46, Z:-87.80 [[ 5.59739260e-01 -7.95416918e-01 -2.32387365e-01 5.91377060e+00] [ 7.06406985e-01 6.04617657e-01 -3.68003614e-01 -4.60743420e-01] [ 4.33221804e-01 4.18260127e-02 9.00316307e-01 -8.77979633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860792138 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.45, Z:-87.82 [[ 5.47640988e-01 -8.03644403e-01 -2.32905606e-01 5.92834149e+00] [ 7.14659436e-01 5.94032039e-01 -3.69307226e-01 -4.48974882e-01] [ 4.35145077e-01 3.57995846e-02 8.99648349e-01 -8.78196986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890792138 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.43, Z:-87.84 [[ 5.49805533e-01 -8.02357955e-01 -2.32240365e-01 5.93746699e+00] [ 7.13580948e-01 5.95695260e-01 -3.68713152e-01 -4.32351779e-01] [ 4.34184415e-01 3.69982313e-02 9.00063900e-01 -8.78397964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920792138 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.42, Z:-87.86 [[ 5.38073334e-01 -8.10146058e-01 -2.32681009e-01 5.95175220e+00] [ 7.21458760e-01 5.85400027e-01 -3.69870338e-01 -4.21028677e-01] [ 4.35860465e-01 3.11476136e-02 8.99475114e-01 -8.78614468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.950792138 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.41, Z:-87.88 [[ 5.36353284e-01 -8.11204502e-01 -2.32964399e-01 5.96215388e+00] [ 7.22158859e-01 5.83959724e-01 -3.70779751e-01 -4.05762560e-01] [ 4.36820029e-01 3.06316330e-02 8.99027233e-01 -8.78824762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98079213799998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.39, Z:-87.90 [[ 5.36731820e-01 -8.10910973e-01 -2.33114450e-01 5.97151459e+00] [ 7.21495729e-01 5.84337662e-01 -3.71474642e-01 -3.90102719e-01] [ 4.37450417e-01 3.11911806e-02 8.98701420e-01 -8.79037707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01079213799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.37, Z:-87.92 [[ 5.41064414e-01 -8.08202973e-01 -2.32502161e-01 5.97928352e+00] [ 7.18822299e-01 5.87945408e-01 -3.70964554e-01 -3.72201701e-01] [ 4.36513234e-01 3.35879813e-02 8.99070656e-01 -8.79237668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04079213799999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.36, Z:-87.94 [[ 5.32761216e-01 -8.13715847e-01 -2.32447858e-01 5.99251282e+00] [ 7.26563404e-01 5.80643273e-01 -3.67367676e-01 -3.59438685e-01] [ 4.33902185e-01 2.68311432e-02 9.00560372e-01 -8.79444471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07079213799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.34, Z:-87.97 [[ 5.37387551e-01 -8.11239784e-01 -2.30444423e-01 6.00137420e+00] [ 7.21796611e-01 5.83754887e-01 -3.71806246e-01 -3.41735777e-01] [ 4.36147076e-01 3.34700447e-02 8.99252736e-01 -8.79659659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10079213799999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.33, Z:-87.99 [[ 5.33030110e-01 -8.14017014e-01 -2.30770888e-01 6.01295835e+00] [ 7.26048689e-01 5.80103492e-01 -3.69233313e-01 -3.25444556e-01] [ 4.34433197e-01 2.92615735e-02 9.00228614e-01 -8.79860252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13079213799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.31, Z:-88.01 [[ 5.28314092e-01 -8.17180487e-01 -2.30434963e-01 6.02481499e+00] [ 7.29726283e-01 5.75764290e-01 -3.68775046e-01 -3.11394393e-01] [ 4.34031995e-01 2.66746043e-02 9.00502467e-01 -8.80062175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16079213799999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.29, Z:-88.02 [[ 5.39185529e-01 -8.10498270e-01 -2.28848244e-01 6.02905737e+00] [ 7.23645728e-01 5.84868177e-01 -3.66423356e-01 -2.89920797e-01] [ 4.30831551e-01 3.19651171e-02 9.01866069e-01 -8.80244729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19079213799999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.27, Z:-88.05 [[ 5.40677502e-01 -8.09527441e-01 -2.28764424e-01 6.03715538e+00] [ 7.22406503e-01 5.86149859e-01 -3.66820375e-01 -2.73196395e-01] [ 4.31041394e-01 3.30706166e-02 9.01725929e-01 -8.80461073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.26, Z:-88.07 [[ 5.31993451e-01 -8.15076368e-01 -2.29419882e-01 6.05185504e+00] [ 7.27702882e-01 5.78628343e-01 -3.68290315e-01 -2.62871165e-01] [ 4.32933578e-01 2.89785257e-02 9.00959911e-01 -8.80684367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250792138 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.26, Z:-88.09 [[ 5.13591795e-01 -8.25895103e-01 -2.32638663e-01 6.06921737e+00] [ 7.36680888e-01 5.63444708e-01 -3.73940275e-01 -2.56789039e-01] [ 4.39914466e-01 2.06722002e-02 8.97801717e-01 -8.80923726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.24, Z:-88.11 [[ 5.19617514e-01 -8.22287539e-01 -2.32036295e-01 6.07489471e+00] [ 7.33174370e-01 5.68577402e-01 -3.73061766e-01 -2.38423123e-01] [ 4.38694635e-01 2.37263635e-02 8.98322924e-01 -8.81123991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.310792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.22, Z:-88.13 [[ 5.19409027e-01 -8.22478787e-01 -2.31825165e-01 6.08445465e+00] [ 7.33325618e-01 5.68296107e-01 -3.73193077e-01 -2.22538561e-01] [ 4.38688728e-01 2.38365212e-02 8.98322893e-01 -8.81340153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34079213799998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.21, Z:-88.16 [[ 5.18617231e-01 -8.23025063e-01 -2.31659046e-01 6.09209069e+00] [ 7.34015247e-01 5.67522415e-01 -3.73014644e-01 -2.07244825e-01] [ 4.38472103e-01 2.34105500e-02 8.98439848e-01 -8.81554880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37079213799998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.19, Z:-88.18 [[ 5.18427351e-01 -8.23204067e-01 -2.31447934e-01 6.10163243e+00] [ 7.34153174e-01 5.67257763e-01 -3.73145746e-01 -1.91349341e-01] [ 4.38465733e-01 2.35307252e-02 8.98439818e-01 -8.81771035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40079213799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.18, Z:-88.20 [[ 5.14853174e-01 -8.25412157e-01 -2.31562044e-01 6.11278334e+00] [ 7.36222641e-01 5.64101828e-01 -3.73852043e-01 -1.77000108e-01] [ 4.39206594e-01 2.19976910e-02 8.98116735e-01 -8.81989481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43079213799999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.16, Z:-88.22 [[ 5.10612113e-01 -8.28100546e-01 -2.31354177e-01 6.12395804e+00] [ 7.39213129e-01 5.60228609e-01 -3.73775140e-01 -1.63757388e-01] [ 4.39134627e-01 1.98340683e-02 8.98202310e-01 -8.82193420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46079213799999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.15, Z:-88.24 [[ 5.09155036e-01 -8.29070371e-01 -2.31091907e-01 6.13394197e+00] [ 7.40227521e-01 5.58810833e-01 -3.73889918e-01 -1.48924665e-01] [ 4.39117714e-01 1.93073453e-02 8.98222055e-01 -8.82412054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49079213799999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.13, Z:-88.26 [[ 5.10172716e-01 -8.28465401e-01 -2.31017055e-01 6.14241516e+00] [ 7.39393958e-01 5.59678904e-01 -3.74240698e-01 -1.32724080e-01] [ 4.39340842e-01 2.01147784e-02 8.98095218e-01 -8.82625308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52079213799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.12, Z:-88.28 [[ 5.09224737e-01 -8.29092334e-01 -2.30859414e-01 6.15137974e+00] [ 7.39980534e-01 5.58759213e-01 -3.74455539e-01 -1.17649993e-01] [ 4.39453041e-01 1.98505508e-02 8.98046202e-01 -8.82838205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55079213799999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.10, Z:-88.31 [[ 5.09409422e-01 -8.29023529e-01 -2.30699003e-01 6.16091613e+00] [ 7.39802086e-01 5.58849102e-01 -3.74673931e-01 -1.01888546e-01] [ 4.39539435e-01 2.01908271e-02 8.97996334e-01 -8.83051332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58079213799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.09, Z:-88.33 [[ 5.02137367e-01 -8.33546507e-01 -2.30343842e-01 6.17268159e+00] [ 7.46961727e-01 5.52276226e-01 -3.70187991e-01 -9.06545041e-02] [ 4.35782335e-01 1.38271895e-02 8.99945868e-01 -8.83281090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610792138 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.07, Z:-88.35 [[ 5.06803060e-01 -8.31296545e-01 -2.28247043e-01 6.18037514e+00] [ 7.43764268e-01 5.55516026e-01 -3.71775011e-01 -7.32994711e-02] [ 4.35850172e-01 1.86547184e-02 8.99825888e-01 -8.83499226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640792138 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.05, Z:-88.37 [[ 5.12951443e-01 -8.27629237e-01 -2.27839118e-01 6.18862998e+00] [ 7.37597280e-01 5.60721298e-01 -3.76220518e-01 -5.34577136e-02] [ 4.39125347e-01 2.49293440e-02 8.98079873e-01 -8.83705066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.04, Z:-88.39 [[ 5.03474879e-01 -8.32834213e-01 -2.30000478e-01 6.20135912e+00] [ 7.43979736e-01 5.53244343e-01 -3.74719696e-01 -4.01212752e-02] [ 4.39325846e-01 1.75462591e-02 8.98156406e-01 -8.83918919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700792138 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.03, Z:-88.41 [[ 5.01716072e-01 -8.33956403e-01 -2.29777502e-01 6.21052341e+00] [ 7.45664167e-01 5.51592268e-01 -3.73805992e-01 -2.51324539e-02] [ 4.38481394e-01 1.62076242e-02 8.98594113e-01 -8.84140123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73079213799998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.01, Z:-88.44 [[ 5.11916682e-01 -8.28847724e-01 -2.25727182e-01 6.21438722e+00] [ 7.40395558e-01 5.58959745e-01 -3.73334194e-01 -9.03158536e-03] [ 4.35609605e-01 2.39885992e-02 8.99815992e-01 -8.84361525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76079213799999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:6.23, Y:0.01, Z:-88.45 [[ 5.00496211e-01 -8.34816101e-01 -2.29315547e-01 6.22986256e+00] [ 7.45531700e-01 5.50258936e-01 -3.76028706e-01 7.37777986e-03] [ 4.40097747e-01 1.72389325e-02 8.97784380e-01 -8.84548618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79079213799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:6.25, Y:0.02, Z:-88.48 [[ 4.71304644e-01 -8.50119133e-01 -2.34881655e-01 6.25070016e+00] [ 7.65061351e-01 5.26566742e-01 -3.70686655e-01 1.61957266e-02] [ 4.38808686e-01 -4.99253402e-03 8.98566643e-01 -8.84771161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82079213799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:6.25, Y:0.04, Z:-88.50 [[ 4.84790834e-01 -8.43644711e-01 -2.30741086e-01 6.25497771e+00] [ 7.56802337e-01 5.36866820e-01 -3.72859546e-01 3.51759682e-02] [ 4.38438217e-01 6.13349717e-03 8.98740402e-01 -8.84987127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85079213799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:6.26, Y:0.05, Z:-88.52 [[ 4.98216354e-01 -8.36782523e-01 -2.27102342e-01 6.26020176e+00] [ 7.48096349e-01 5.47268767e-01 -3.75298215e-01 5.33976410e-02] [ 4.38329006e-01 1.70852752e-02 8.98652200e-01 -8.85197551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88079213799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:6.27, Y:0.07, Z:-88.54 [[ 4.98083611e-01 -8.36862585e-01 -2.27098503e-01 6.26994686e+00] [ 7.46302602e-01 5.47070616e-01 -3.79138717e-01 7.04258197e-02] [ 4.41525925e-01 1.93585771e-02 8.97039633e-01 -8.85404435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91079213799999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:6.28, Y:0.08, Z:-88.56 [[ 4.92796393e-01 -8.39247050e-01 -2.29817544e-01 6.28058945e+00] [ 7.49673360e-01 5.43576474e-01 -3.77510887e-01 8.47293306e-02] [ 4.41748308e-01 1.37479134e-02 8.97033682e-01 -8.85607912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94079213799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:6.30, Y:0.09, Z:-88.58 [[ 4.70793433e-01 -8.50706497e-01 -2.33777672e-01 6.29848424e+00] [ 7.64649419e-01 5.25631140e-01 -3.72858110e-01 9.49888942e-02] [ 4.40073641e-01 -3.21881215e-03 8.97955918e-01 -8.85832087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970792138 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:6.30, Y:0.12, Z:-88.60 [[ 4.95863576e-01 -8.38230748e-01 -2.26910837e-01 6.29853281e+00] [ 7.49056926e-01 5.45057718e-01 -3.76597670e-01 1.16234109e-01] [ 4.39355249e-01 1.67719333e-02 8.98156817e-01 -8.86039321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:6.31, Y:0.13, Z:-88.63 [[ 4.86278895e-01 -8.43072381e-01 -2.29699360e-01 6.31157031e+00] [ 7.54970685e-01 5.37723131e-01 -3.75330653e-01 1.30369100e-01] [ 4.39945567e-01 9.09909246e-03 8.97978343e-01 -8.86259607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:6.32, Y:0.15, Z:-88.65 [[ 5.04345298e-01 -8.32995323e-01 -2.27496400e-01 6.31528855e+00] [ 7.41571693e-01 5.52801744e-01 -3.80107428e-01 1.50859240e-01] [ 4.42388116e-01 2.30005035e-02 8.96528712e-01 -8.86452279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:6.33, Y:0.16, Z:-88.67 [[ 4.96624403e-01 -8.36977562e-01 -2.29853788e-01 6.32657242e+00] [ 7.46240114e-01 5.46976438e-01 -3.79397508e-01 1.64345423e-01] [ 4.43271808e-01 1.68919438e-02 8.96228077e-01 -8.86668261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09079213799998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:6.34, Y:0.18, Z:-88.69 [[ 4.95214518e-01 -8.37905071e-01 -2.29516171e-01 6.33602277e+00] [ 7.47303403e-01 5.45571643e-01 -3.79327308e-01 1.79714543e-01] [ 4.43057790e-01 1.63301741e-02 8.96344309e-01 -8.86879985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12079213799998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:6.35, Y:0.19, Z:-88.71 [[ 4.81158391e-01 -8.45528365e-01 -2.31448452e-01 6.34958218e+00] [ 7.58100748e-01 5.33909681e-01 -3.74464563e-01 1.91768777e-01] [ 4.40192980e-01 4.71552204e-03 8.97890809e-01 -8.87111762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15079213799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:6.35, Y:0.21, Z:-88.73 [[ 4.96521821e-01 -8.37630341e-01 -2.27687269e-01 6.35244585e+00] [ 7.48373245e-01 5.45985159e-01 -3.76613451e-01 2.11334288e-01] [ 4.39776724e-01 1.66017362e-02 8.97953682e-01 -8.87317293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18079213799999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:6.36, Y:0.23, Z:-88.75 [[ 5.06482310e-01 -8.32029946e-01 -2.26278232e-01 6.35814802e+00] [ 7.40640336e-01 5.54174552e-01 -3.79924281e-01 2.30116507e-01] [ 4.41506017e-01 2.48341416e-02 8.96914546e-01 -8.87508235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21079213799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:6.37, Y:0.24, Z:-88.77 [[ 4.97250934e-01 -8.37054679e-01 -2.28212560e-01 6.37061667e+00] [ 7.46644812e-01 5.46823879e-01 -3.78820763e-01 2.43412356e-01] [ 4.41885769e-01 1.79752539e-02 8.96891218e-01 -8.87719504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24079213799999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:6.38, Y:0.26, Z:-88.79 [[ 4.85965150e-01 -8.43288023e-01 -2.29571739e-01 6.38305611e+00] [ 7.55388159e-01 5.37389777e-01 -3.74967941e-01 2.55861752e-01] [ 4.39575480e-01 8.80557852e-03 8.98162491e-01 -8.87946624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27079213799999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:6.39, Y:0.27, Z:-88.82 [[ 4.88003766e-01 -8.42551474e-01 -2.27945908e-01 6.39117534e+00] [ 7.54897272e-01 5.38511379e-01 -3.74346902e-01 2.72356734e-01] [ 4.38157999e-01 1.06069538e-02 8.98835391e-01 -8.88164339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30079213799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:6.40, Y:0.29, Z:-88.84 [[ 4.97529977e-01 -8.37613014e-01 -2.25540154e-01 6.39706111e+00] [ 7.48795998e-01 5.45964482e-01 -3.75802260e-01 2.89674049e-01] [ 4.37913777e-01 1.80893246e-02 8.98834968e-01 -8.88364799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33079213799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:6.41, Y:0.31, Z:-88.86 [[ 5.00426283e-01 -8.36090994e-01 -2.24778525e-01 6.40608352e+00] [ 7.46088809e-01 5.48171665e-01 -3.77967345e-01 3.06425090e-01] [ 4.39232312e-01 2.14400516e-02 8.98117643e-01 -8.88564915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360792138 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:6.42, Y:0.32, Z:-88.88 [[ 4.82637516e-01 -8.45694075e-01 -2.27733529e-01 6.42102991e+00] [ 7.58858505e-01 5.33617066e-01 -3.73345144e-01 3.17172718e-01] [ 4.37258274e-01 7.37284749e-03 8.99305756e-01 -8.88789098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:6.42, Y:0.34, Z:-88.90 [[ 5.02654853e-01 -8.34966766e-01 -2.23983477e-01 6.42373981e+00] [ 7.44834759e-01 5.49810994e-01 -3.78059588e-01 3.38550692e-01] [ 4.38815770e-01 2.32028072e-02 8.98277435e-01 -8.88994672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:6.44, Y:0.35, Z:-88.92 [[ 4.85105987e-01 -8.44412249e-01 -2.27244660e-01 6.43799571e+00] [ 7.57854916e-01 5.35626683e-01 -3.72505010e-01 3.50446228e-01] [ 4.36266096e-01 8.48592799e-03 8.99777685e-01 -8.89222341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.450792138 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:6.44, Y:0.37, Z:-88.94 [[ 4.94996655e-01 -8.39593530e-01 -2.23743190e-01 6.44341605e+00] [ 7.51998580e-01 5.42956691e-01 -3.73759504e-01 3.67712205e-01] [ 4.35288924e-01 1.67551431e-02 9.00134889e-01 -8.89423150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48079213799998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:6.46, Y:0.38, Z:-88.97 [[ 4.84871305e-01 -8.45310274e-01 -2.24388853e-01 6.45651447e+00] [ 7.59134634e-01 5.34181785e-01 -3.71973693e-01 3.80854634e-01] [ 4.34297623e-01 1.00180199e-02 9.00713725e-01 -8.89651125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51079213799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:6.46, Y:0.40, Z:-88.99 [[ 4.88128239e-01 -8.43504172e-01 -2.24123926e-01 6.46372234e+00] [ 7.57241030e-01 5.36993810e-01 -3.71784441e-01 3.96925426e-01] [ 4.33954888e-01 1.17626520e-02 9.00857811e-01 -8.89872722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54079213799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:6.47, Y:0.41, Z:-89.01 [[ 4.94463578e-01 -8.40449607e-01 -2.21698508e-01 6.47117086e+00] [ 7.53467315e-01 5.41614523e-01 -3.72747519e-01 4.13521856e-01] [ 4.33350638e-01 1.72674922e-02 9.01059964e-01 -8.90083157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57079213799999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:6.48, Y:0.43, Z:-89.03 [[ 4.87802580e-01 -8.43909650e-01 -2.23305050e-01 6.48261777e+00] [ 7.57625297e-01 5.36345437e-01 -3.71937469e-01 4.29021807e-01] [ 4.33650264e-01 1.22505026e-02 9.00997988e-01 -8.90300306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60079213799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:6.49, Y:0.45, Z:-89.05 [[ 4.96955198e-01 -8.39362040e-01 -2.20242816e-01 6.48958764e+00] [ 7.50943804e-01 5.43156909e-01 -3.75584845e-01 4.47647136e-01] [ 4.34878068e-01 2.12588628e-02 9.00238372e-01 -8.90498816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:6.51, Y:0.46, Z:-89.07 [[ 4.73739740e-01 -8.51385538e-01 -2.25196190e-01 6.50647985e+00] [ 7.66240315e-01 5.24530248e-01 -3.71138518e-01 4.57131995e-01] [ 4.34104180e-01 3.26866528e-03 9.00856746e-01 -8.90723333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66079213799999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:6.51, Y:0.47, Z:-89.09 [[ 4.85482924e-01 -8.45499690e-01 -2.22343439e-01 6.51170698e+00] [ 7.59813584e-01 5.33858460e-01 -3.71050485e-01 4.74487788e-01] [ 4.32422996e-01 1.11991094e-02 9.01601316e-01 -8.90941577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69079213799999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:6.52, Y:0.49, Z:-89.11 [[ 4.93099401e-01 -8.41722893e-01 -2.19898959e-01 6.51817141e+00] [ 7.55152181e-01 5.39626590e-01 -3.72220803e-01 4.91933843e-01] [ 4.31970096e-01 1.74846766e-02 9.01718427e-01 -8.91144349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720792138 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:6.53, Y:0.51, Z:-89.13 [[ 4.89938067e-01 -8.43895478e-01 -2.18634658e-01 6.52811319e+00] [ 7.57342261e-01 5.36238122e-01 -3.72667917e-01 5.07346529e-01] [ 4.31733008e-01 1.70029323e-02 9.01841178e-01 -8.91347986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750792138 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:6.54, Y:0.52, Z:-89.16 [[ 4.88443210e-01 -8.44383911e-01 -2.20088712e-01 6.53806491e+00] [ 7.58256551e-01 5.35536085e-01 -3.71817300e-01 5.22602713e-01] [ 4.31821993e-01 1.47279283e-02 9.01838597e-01 -8.91560276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780792138 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:6.55, Y:0.54, Z:-89.18 [[ 4.88040228e-01 -8.44664187e-01 -2.19907131e-01 6.54732401e+00] [ 7.58515633e-01 5.35094374e-01 -3.71924785e-01 5.38604327e-01] [ 4.31822615e-01 1.47112604e-02 9.01838571e-01 -8.91776905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.810792138 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:6.56, Y:0.55, Z:-89.20 [[ 4.72832258e-01 -8.52904732e-01 -2.21321426e-01 6.56207041e+00] [ 7.69835304e-01 5.22056613e-01 -3.67165492e-01 5.49379603e-01] [ 4.28699499e-01 3.22664103e-03 9.03441381e-01 -8.92010594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84079213799998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:6.56, Y:0.57, Z:-89.22 [[ 4.96430862e-01 -8.40600416e-01 -2.16673348e-01 6.56325605e+00] [ 7.53571384e-01 5.41210761e-01 -3.73123412e-01 5.72651480e-01] [ 4.30913643e-01 2.19511426e-02 9.02126144e-01 -8.92211017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87079213799998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:6.58, Y:0.59, Z:-89.24 [[ 4.85407606e-01 -8.46233302e-01 -2.19701285e-01 6.57551553e+00] [ 7.59896332e-01 5.32630323e-01 -3.72642596e-01 5.85414529e-01] [ 4.32362141e-01 1.39333497e-02 9.01592392e-01 -8.92426429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90079213799999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:6.58, Y:0.60, Z:-89.26 [[ 4.83664135e-01 -8.47374874e-01 -2.19145676e-01 6.58448364e+00] [ 7.61568681e-01 5.30837803e-01 -3.71785383e-01 6.00188125e-01] [ 4.31372401e-01 1.29247721e-02 9.02081372e-01 -8.92630255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93079213799999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:6.59, Y:0.61, Z:-89.28 [[ 4.81384156e-01 -8.48399737e-01 -2.20198051e-01 6.59464701e+00] [ 7.62870899e-01 5.29246003e-01 -3.71384787e-01 6.14442197e-01] [ 4.31621694e-01 1.07960674e-02 9.01990110e-01 -8.92847736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96079213799999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:6.60, Y:0.63, Z:-89.31 [[ 4.89595823e-01 -8.43163407e-01 -2.22196756e-01 6.59872468e+00] [ 7.53452207e-01 5.37352946e-01 -3.78895215e-01 6.31561622e-01] [ 4.38868661e-01 1.80908786e-02 8.98369088e-01 -8.93069177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99079213799999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:6.61, Y:0.65, Z:-89.33 [[ 4.94984635e-01 -8.40002821e-01 -2.22228423e-01 6.60548527e+00] [ 7.48307167e-01 5.42096582e-01 -3.82318819e-01 6.49623859e-01] [ 4.41618155e-01 2.29468193e-02 8.96909610e-01 -8.93278780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02079213799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:6.62, Y:0.66, Z:-89.35 [[ 4.87224513e-01 -8.44106401e-01 -2.23822829e-01 6.61711168e+00] [ 7.53176136e-01 5.35896629e-01 -3.81497720e-01 6.63132980e-01] [ 4.41970567e-01 1.72970276e-02 8.96862772e-01 -8.93491464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05079213799999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:6.63, Y:0.68, Z:-89.37 [[ 4.88186466e-01 -8.43634704e-01 -2.23504945e-01 6.62507701e+00] [ 7.52884447e-01 5.36624087e-01 -3.81050652e-01 6.79201084e-01] [ 4.41405691e-01 1.77503743e-02 8.97132064e-01 -8.93697735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08079213799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:6.63, Y:0.70, Z:-89.39 [[ 4.88295974e-01 -8.43615635e-01 -2.23337642e-01 6.63379384e+00] [ 7.52717427e-01 5.36642253e-01 -3.81354909e-01 6.95531756e-01] [ 4.41569379e-01 1.81039314e-02 8.97044442e-01 -8.93914131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110792138 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:6.64, Y:0.71, Z:-89.41 [[ 4.87718501e-01 -8.44073249e-01 -2.22869948e-01 6.64275449e+00] [ 7.53577907e-01 5.35935705e-01 -3.80648471e-01 7.10693127e-01] [ 4.40739154e-01 1.76994330e-02 8.97460711e-01 -8.94119637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:6.65, Y:0.73, Z:-89.43 [[ 4.88364840e-01 -8.43772573e-01 -2.22592964e-01 6.65152968e+00] [ 7.53194990e-01 5.36388884e-01 -3.80768003e-01 7.26195308e-01] [ 4.40677989e-01 1.82978001e-02 8.97478746e-01 -8.94331359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170792138 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:6.66, Y:0.74, Z:-89.45 [[ 4.91418126e-01 -8.41947370e-01 -2.22784317e-01 6.65776477e+00] [ 7.50899229e-01 5.39184568e-01 -3.81353313e-01 7.42407849e-01] [ 4.41201285e-01 2.01153583e-02 8.97182701e-01 -8.94543689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200792138 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:6.67, Y:0.76, Z:-89.48 [[ 4.94513137e-01 -8.40181601e-01 -2.22601965e-01 6.66525897e+00] [ 7.49045741e-01 5.41868146e-01 -3.81194688e-01 7.58656255e-01] [ 4.40893677e-01 2.17667268e-02 8.97295367e-01 -8.94752152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23079213799998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:6.67, Y:0.77, Z:-89.50 [[ 4.92553970e-01 -8.41299490e-01 -2.22723494e-01 6.67467649e+00] [ 7.50067065e-01 5.40165016e-01 -3.81603398e-01 7.73486089e-01] [ 4.41350184e-01 2.09027112e-02 8.97091463e-01 -8.94958605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26079213799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:6.68, Y:0.79, Z:-89.52 [[ 4.92857031e-01 -8.41115367e-01 -2.22748480e-01 6.68277463e+00] [ 7.49554546e-01 5.40431261e-01 -3.82232958e-01 7.88863642e-01] [ 4.41882257e-01 2.14240651e-02 8.96817194e-01 -8.95175968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29079213799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:6.69, Y:0.81, Z:-89.54 [[ 4.94245733e-01 -8.40384675e-01 -2.22429209e-01 6.69158651e+00] [ 7.48796439e-01 5.41530276e-01 -3.82163386e-01 8.05209460e-01] [ 4.41616404e-01 2.23284235e-02 8.96926080e-01 -8.95387466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32079213799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:6.70, Y:0.82, Z:-89.56 [[ 4.95505641e-01 -8.39681244e-01 -2.22282632e-01 6.69982220e+00] [ 7.48108660e-01 5.42592586e-01 -3.82003559e-01 8.21182636e-01] [ 4.41370131e-01 2.29933562e-02 8.97030497e-01 -8.95595653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35079213799999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:6.71, Y:0.84, Z:-89.58 [[ 4.91520308e-01 -8.41988048e-01 -2.22404841e-01 6.71012382e+00] [ 7.50431747e-01 5.39084806e-01 -3.82413082e-01 8.35315838e-01] [ 4.41882315e-01 2.10641424e-02 8.96825692e-01 -8.95801700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38079213799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:6.72, Y:0.85, Z:-89.60 [[ 4.85189539e-01 -8.45542696e-01 -2.22819793e-01 6.72106038e+00] [ 7.55536713e-01 5.33668023e-01 -3.79950941e-01 8.48537070e-01] [ 4.40176541e-01 1.59996882e-02 8.97768691e-01 -8.96016054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41079213799999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:6.73, Y:0.87, Z:-89.62 [[ 4.98022620e-01 -8.38813508e-01 -2.19921278e-01 6.72535182e+00] [ 7.46317747e-01 5.43746932e-01 -3.83860775e-01 8.67929415e-01] [ 4.41569124e-01 2.70401962e-02 8.96819679e-01 -8.96221382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44079213799999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:6.74, Y:0.88, Z:-89.64 [[ 4.93897859e-01 -8.40728809e-01 -2.21900822e-01 6.73513095e+00] [ 7.49041700e-01 5.40981083e-01 -3.82460455e-01 8.82333930e-01] [ 4.41589670e-01 2.26834311e-02 8.96930335e-01 -8.96422673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470792138 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:6.74, Y:0.90, Z:-89.66 [[ 4.92606333e-01 -8.41546130e-01 -2.21673433e-01 6.74406701e+00] [ 7.49850789e-01 5.39725878e-01 -3.82648364e-01 8.98205304e-01] [ 4.41659139e-01 2.22730093e-02 8.96906416e-01 -8.96635316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500792138 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:6.75, Y:0.91, Z:-89.68 [[ 4.91881152e-01 -8.42315465e-01 -2.20357869e-01 6.75273682e+00] [ 7.51612368e-01 5.38547494e-01 -3.80848324e-01 9.14176866e-01] [ 4.39467611e-01 2.17084131e-02 8.97996082e-01 -8.96845846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530792138 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:6.76, Y:0.93, Z:-89.71 [[ 4.95688576e-01 -8.40747276e-01 -2.17800033e-01 6.75983604e+00] [ 7.50868486e-01 5.40880872e-01 -3.79004484e-01 9.29164424e-01] [ 4.36450859e-01 2.43290120e-02 8.99399103e-01 -8.97075324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:6.77, Y:0.95, Z:-89.73 [[ 4.99116718e-01 -8.38903032e-01 -2.17081101e-01 6.76764223e+00] [ 7.48908773e-01 5.43632279e-01 -3.78945373e-01 9.45247563e-01] [ 4.35910716e-01 2.65640299e-02 8.99597799e-01 -8.97287014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59079213799998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:6.78, Y:0.96, Z:-89.75 [[ 4.91617018e-01 -8.42799580e-01 -2.19092619e-01 6.77987352e+00] [ 7.52405888e-01 5.37771406e-01 -3.80377831e-01 9.60073683e-01] [ 4.38404022e-01 2.21536384e-02 8.98504941e-01 -8.97492939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62079213799998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:6.79, Y:0.98, Z:-89.77 [[ 4.90180097e-01 -8.43609764e-01 -2.19194065e-01 6.78868361e+00] [ 7.53449024e-01 5.36540381e-01 -3.80051296e-01 9.75465271e-01] [ 4.38221452e-01 2.11420268e-02 8.98618369e-01 -8.97706444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65079213799999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:6.80, Y:0.99, Z:-89.79 [[ 4.92694165e-01 -8.43083125e-01 -2.15553482e-01 6.79911487e+00] [ 7.54090664e-01 5.37266673e-01 -3.77745673e-01 9.90921725e-01] [ 4.34280705e-01 2.35662206e-02 9.00469268e-01 -8.97913837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68079213799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:6.81, Y:1.01, Z:-89.81 [[ 4.86618005e-01 -8.47003817e-01 -2.13980026e-01 6.81221356e+00] [ 7.60514902e-01 5.31249127e-01 -3.73351642e-01 1.00690233e+00] [ 4.29906968e-01 1.89446328e-02 9.02674415e-01 -8.98104132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71079213799999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:6.83, Y:1.02, Z:-89.83 [[ 4.79016655e-01 -8.51223274e-01 -2.14387456e-01 6.82532201e+00] [ 7.65365389e-01 5.24603074e-01 -3.72837010e-01 1.02287432e+00] [ 4.29835858e-01 1.45103989e-02 9.02790443e-01 -8.98293627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74079213799999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:6.83, Y:1.04, Z:-89.85 [[ 4.78435531e-01 -8.51582624e-01 -2.14257970e-01 6.83442761e+00] [ 7.65725782e-01 5.24023928e-01 -3.72911449e-01 1.03893071e+00] [ 4.29841213e-01 1.43512352e-02 9.02790437e-01 -8.98510503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77079213799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:6.84, Y:1.06, Z:-89.87 [[ 4.78962903e-01 -8.51614964e-01 -2.12947153e-01 6.84387840e+00] [ 7.66028802e-01 5.23946238e-01 -3.72397924e-01 1.05508078e+00] [ 4.28712505e-01 1.52411381e-02 9.03312402e-01 -8.98721752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80079213799999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:6.85, Y:1.07, Z:-89.89 [[ 4.76375568e-01 -8.53047166e-01 -2.13018427e-01 6.85283678e+00] [ 7.67422879e-01 5.21643324e-01 -3.72760469e-01 1.07112421e+00] [ 4.29101902e-01 1.40987661e-02 9.03146047e-01 -8.98936936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83079213799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:6.86, Y:1.09, Z:-89.92 [[ 4.71804821e-01 -8.55534194e-01 -2.13216917e-01 6.86291512e+00] [ 7.70399201e-01 5.17621752e-01 -3.72226803e-01 1.08619962e+00] [ 4.28818472e-01 1.13562580e-02 9.03319297e-01 -8.99151319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860792138 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:6.87, Y:1.10, Z:-89.94 [[ 4.71727208e-01 -8.55581137e-01 -2.13200281e-01 6.87128781e+00] [ 7.70243113e-01 5.17539201e-01 -3.72664356e-01 1.10189557e+00] [ 4.29184096e-01 1.15798682e-02 9.03142801e-01 -8.99372083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890792138 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:6.88, Y:1.12, Z:-89.96 [[ 4.70922503e-01 -8.56077978e-01 -2.12984720e-01 6.88003799e+00] [ 7.70932297e-01 5.16726198e-01 -3.72367331e-01 1.11734354e+00] [ 4.28830257e-01 1.11593566e-02 9.03316157e-01 -8.99576456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:6.89, Y:1.13, Z:-89.98 [[ 4.78547387e-01 -8.52394673e-01 -2.10750373e-01 6.88668948e+00] [ 7.67142181e-01 5.22644436e-01 -3.71935032e-01 1.13368994e+00] [ 4.27182950e-01 1.63130374e-02 9.04018037e-01 -8.99794109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.950792138 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:6.90, Y:1.15, Z:-90.00 [[ 4.68158515e-01 -8.57839330e-01 -2.11988889e-01 6.89844303e+00] [ 7.73008416e-01 5.13814161e-01 -3.72092727e-01 1.14811799e+00] [ 4.28118668e-01 1.03291837e-02 9.03663496e-01 -9.00006816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98079213799998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:6.91, Y:1.16, Z:-90.02 [[ 4.67391891e-01 -8.58280360e-01 -2.11895360e-01 6.90707998e+00] [ 7.73704087e-01 5.13088242e-01 -3.71648277e-01 1.16312075e+00] [ 4.27699435e-01 9.76108446e-03 9.03868306e-01 -9.00221265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01079213799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:6.92, Y:1.18, Z:-90.04 [[ 4.65826434e-01 -8.59283002e-01 -2.11278149e-01 6.91621337e+00] [ 7.75210356e-01 5.11422230e-01 -3.70804810e-01 1.17799797e+00] [ 4.26678612e-01 8.94567334e-03 9.04359075e-01 -9.00424883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04079213799999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:6.93, Y:1.19, Z:-90.06 [[ 4.63160153e-01 -8.60862211e-01 -2.10710527e-01 6.92643109e+00] [ 7.77173889e-01 5.08778910e-01 -3.70330619e-01 1.19322590e+00] [ 4.26008708e-01 7.76366610e-03 9.04685750e-01 -9.00642493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07079213799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:6.94, Y:1.21, Z:-90.09 [[ 4.61357427e-01 -8.61816013e-01 -2.10766423e-01 6.93532678e+00] [ 7.78139925e-01 5.07173688e-01 -3.70503856e-01 1.20801143e+00] [ 4.26201340e-01 6.92893739e-03 9.04601795e-01 -9.00852413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10079213799999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:6.94, Y:1.22, Z:-90.11 [[ 4.63836868e-01 -8.60555266e-01 -2.10475635e-01 6.94272781e+00] [ 7.76729282e-01 5.09287834e-01 -3.70563792e-01 1.22409968e+00] [ 4.26083303e-01 8.39855999e-03 9.04644948e-01 -9.01063252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13079213799999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:6.95, Y:1.24, Z:-90.13 [[ 4.62057907e-01 -8.61509050e-01 -2.10486690e-01 6.95146914e+00] [ 7.77732165e-01 5.07685878e-01 -3.70658508e-01 1.23870110e+00] [ 4.26186779e-01 7.56342577e-03 9.04603573e-01 -9.01269869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16079213799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:6.96, Y:1.25, Z:-90.15 [[ 4.60193644e-01 -8.62610247e-01 -2.10060400e-01 6.96091724e+00] [ 7.79033833e-01 5.05822806e-01 -3.70472100e-01 1.25387315e+00] [ 4.25826371e-01 6.84474715e-03 9.04779007e-01 -9.01482352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19079213799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:6.97, Y:1.27, Z:-90.17 [[ 4.60151143e-01 -8.62701827e-01 -2.09777222e-01 6.96932909e+00] [ 7.79161688e-01 5.05664492e-01 -3.70419337e-01 1.26969843e+00] [ 4.25638332e-01 6.99850731e-03 9.04866306e-01 -9.01696475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220792138 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:6.98, Y:1.28, Z:-90.19 [[ 4.56385130e-01 -8.64692978e-01 -2.09806259e-01 6.97889337e+00] [ 7.81292240e-01 5.02273935e-01 -3.70544639e-01 1.28371877e+00] [ 4.25787563e-01 5.19106114e-03 9.04808269e-01 -9.01903198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250792138 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:6.99, Y:1.30, Z:-90.21 [[ 4.60994343e-01 -8.62376265e-01 -2.09263933e-01 6.98532723e+00] [ 7.79036594e-01 5.06212138e-01 -3.69934125e-01 1.29952892e+00] [ 4.24954352e-01 7.51327722e-03 9.05183600e-01 -9.02112776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280792138 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:7.00, Y:1.31, Z:-90.23 [[ 4.57322384e-01 -8.64113659e-01 -2.10151901e-01 6.99546010e+00] [ 7.82124666e-01 5.03283424e-01 -3.67405500e-01 1.31480129e+00] [ 4.23246080e-01 3.65777422e-03 9.06007382e-01 -9.02340301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.310792138 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:7.00, Y:1.33, Z:-90.25 [[ 4.77587841e-01 -8.54436547e-01 -2.04567938e-01 6.99576687e+00] [ 7.70073900e-01 5.19189089e-01 -3.70714011e-01 1.33411743e+00] [ 4.22961041e-01 1.95160743e-02 9.05937680e-01 -9.02543698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34079213799998 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:7.01, Y:1.35, Z:-90.27 [[ 4.67969563e-01 -8.59622595e-01 -2.05069456e-01 7.00724647e+00] [ 7.77109381e-01 5.10771235e-01 -3.67714231e-01 1.34709919e+00] [ 4.20839041e-01 1.27176699e-02 9.07046174e-01 -9.02748699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37079213799998 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:7.02, Y:1.36, Z:-90.30 [[ 4.63242425e-01 -8.61875753e-01 -2.06341081e-01 7.01758573e+00] [ 7.79544062e-01 5.07030512e-01 -3.67737836e-01 1.36420137e+00] [ 4.21565549e-01 9.49980221e-03 9.06748169e-01 -9.02970169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40079213799999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:7.03, Y:1.38, Z:-90.32 [[ 4.62389524e-01 -8.62164939e-01 -2.07044792e-01 7.02635817e+00] [ 7.79604839e-01 5.06550013e-01 -3.68270796e-01 1.37924066e+00] [ 4.22388711e-01 8.87143599e-03 9.06371378e-01 -9.03179186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43079213799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:7.04, Y:1.39, Z:-90.34 [[ 4.60695972e-01 -8.63177676e-01 -2.06599908e-01 7.03561335e+00] [ 7.80831767e-01 5.04833214e-01 -3.68028772e-01 1.39465670e+00] [ 4.21972715e-01 8.22960165e-03 9.06571178e-01 -9.03395551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46079213799999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:7.04, Y:1.41, Z:-90.36 [[ 4.64905128e-01 -8.60896935e-01 -2.06687419e-01 7.04238630e+00] [ 7.78060826e-01 5.08669889e-01 -3.68614020e-01 1.41110844e+00] [ 4.22474347e-01 1.05551641e-02 9.06313420e-01 -9.03608223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.05, Y:1.43, Z:-90.38 [[ 4.66940074e-01 -8.59783819e-01 -2.06733527e-01 7.04904418e+00] [ 7.76772048e-01 5.10526268e-01 -3.68765664e-01 1.42670397e+00] [ 4.22601647e-01 1.16066412e-02 9.06241212e-01 -9.03821337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.06, Y:1.44, Z:-90.40 [[ 4.70589910e-01 -8.58185808e-01 -2.05090850e-01 7.05677135e+00] [ 7.75071112e-01 5.13132681e-01 -3.68727029e-01 1.44267081e+00] [ 4.21675121e-01 1.45592264e-02 9.06630091e-01 -9.04041664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.06, Y:1.46, Z:-90.43 [[ 4.72025767e-01 -8.57537038e-01 -2.04504042e-01 7.06494714e+00] [ 7.74884329e-01 5.14201639e-01 -3.67628823e-01 1.45848182e+00] [ 4.20411646e-01 1.50632994e-02 9.07208435e-01 -9.04258857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58079213799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:7.07, Y:1.47, Z:-90.45 [[ 4.71501106e-01 -8.58066036e-01 -2.03492960e-01 7.07332972e+00] [ 7.75676121e-01 5.13311639e-01 -3.67202555e-01 1.47321980e+00] [ 4.19539345e-01 1.52917813e-02 9.07608340e-01 -9.04486131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:7.08, Y:1.49, Z:-90.47 [[ 4.78463414e-01 -8.54448168e-01 -2.02462562e-01 7.07921514e+00] [ 7.70521613e-01 5.19112997e-01 -3.69889362e-01 1.49136144e+00] [ 4.21152236e-01 2.09767472e-02 9.06747358e-01 -9.04689786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640792138 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:7.09, Y:1.51, Z:-90.49 [[ 4.64177828e-01 -8.61434131e-01 -2.06082950e-01 7.09296486e+00] [ 7.78281415e-01 5.07748321e-01 -3.69418032e-01 1.50656470e+00] [ 4.22867573e-01 1.10851298e-02 9.06123687e-01 -9.04916479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670792138 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:7.10, Y:1.52, Z:-90.51 [[ 4.73964573e-01 -8.56816610e-01 -2.03034183e-01 7.09786266e+00] [ 7.73565519e-01 5.15315350e-01 -3.68844789e-01 1.52253288e+00] [ 4.20658973e-01 1.77591195e-02 9.07045006e-01 -9.05117823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700792138 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:7.11, Y:1.54, Z:-90.53 [[ 4.75338908e-01 -8.56189191e-01 -2.02467259e-01 7.10517526e+00] [ 7.72902950e-01 5.16319121e-01 -3.68830035e-01 1.53736083e+00] [ 4.20326006e-01 1.88317240e-02 9.07177719e-01 -9.05325986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73079213799998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:7.12, Y:1.55, Z:-90.55 [[ 4.72959275e-01 -8.57412680e-01 -2.02862071e-01 7.11507179e+00] [ 7.74187129e-01 5.14334352e-01 -3.68909831e-01 1.55306443e+00] [ 4.20646899e-01 1.74261218e-02 9.07057064e-01 -9.05534481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76079213799999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:7.13, Y:1.57, Z:-90.58 [[ 4.62625495e-01 -8.62471200e-01 -2.05234206e-01 7.12737902e+00] [ 7.80322193e-01 5.06010032e-01 -3.67493022e-01 1.56665406e+00] [ 4.20802716e-01 9.86283543e-03 9.07098561e-01 -9.05761594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79079213799999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.13, Y:1.58, Z:-90.60 [[ 4.73350645e-01 -8.57303433e-01 -2.02410450e-01 7.13188565e+00] [ 7.73853390e-01 5.14489036e-01 -3.69394047e-01 1.58453644e+00] [ 4.20820742e-01 1.82168979e-02 9.06960885e-01 -9.05970402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82079213799999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:7.14, Y:1.60, Z:-90.62 [[ 4.67344048e-01 -8.60338295e-01 -2.03488473e-01 7.14261971e+00] [ 7.77736086e-01 5.09537459e-01 -3.68100744e-01 1.59880474e+00] [ 4.20376166e-01 1.37693628e-02 9.07245437e-01 -9.06191978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85079213799999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:7.16, Y:1.61, Z:-90.64 [[ 4.53756652e-01 -8.66598220e-01 -2.07635320e-01 7.15620008e+00] [ 7.85623459e-01 4.98998384e-01 -3.65781894e-01 1.61154289e+00] [ 4.20595627e-01 2.85278922e-03 9.07243727e-01 -9.06419763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88079213799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:7.16, Y:1.63, Z:-90.66 [[ 4.74588820e-01 -8.56814360e-01 -2.01580267e-01 7.15716854e+00] [ 7.73130174e-01 5.15249380e-01 -3.69848360e-01 1.63148307e+00] [ 4.20755494e-01 1.96781093e-02 9.06960631e-01 -9.06621352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91079213799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:7.17, Y:1.64, Z:-90.68 [[ 4.52913081e-01 -8.67395148e-01 -2.06144118e-01 7.17432196e+00] [ 7.87073889e-01 4.97611778e-01 -3.64550698e-01 1.64269223e+00] [ 4.18789248e-01 2.85912662e-03 9.08078956e-01 -9.06845474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94079213799999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.18, Y:1.66, Z:-90.71 [[ 4.62208426e-01 -8.63128953e-01 -2.03400543e-01 7.17906455e+00] [ 7.81251152e-01 5.04868828e-01 -3.67088686e-01 1.66022535e+00] [ 4.19535467e-01 1.07645748e-02 9.07675116e-01 -9.07060371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970792138 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:7.18, Y:1.68, Z:-90.73 [[ 4.78227897e-01 -8.55144426e-01 -2.00065214e-01 7.18155135e+00] [ 7.70702268e-01 5.17863353e-01 -3.71262120e-01 1.67893682e+00] [ 4.21089175e-01 2.33571885e-02 9.06718451e-01 -9.07266972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000792138 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:7.20, Y:1.69, Z:-90.75 [[ 4.61026560e-01 -8.63723242e-01 -2.03559998e-01 7.19641921e+00] [ 7.81329654e-01 5.03851624e-01 -3.68317136e-01 1.69203436e+00] [ 4.20688106e-01 1.07565197e-02 9.07141562e-01 -9.07486298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:7.21, Y:1.71, Z:-90.77 [[ 4.53746802e-01 -8.67382897e-01 -2.04354470e-01 7.20792567e+00] [ 7.86140319e-01 4.97608980e-01 -3.66563366e-01 1.70614691e+00] [ 4.19639413e-01 5.67566641e-03 9.07673151e-01 -9.07710667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060792138 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.21, Y:1.72, Z:-90.79 [[ 4.64236931e-01 -8.62383195e-01 -2.01938846e-01 7.21249602e+00] [ 7.79276335e-01 5.06055897e-01 -3.69642831e-01 1.72404908e+00] [ 4.20966110e-01 1.42356895e-02 9.06964652e-01 -9.07915766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09079213799998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:7.22, Y:1.74, Z:-90.81 [[ 4.56790769e-01 -8.65859913e-01 -2.04031378e-01 7.22343928e+00] [ 7.83500450e-01 5.00213568e-01 -3.68664389e-01 1.73831097e+00] [ 4.21270979e-01 8.54381322e-03 9.06894572e-01 -9.08133978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12079213799998 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.23, Y:1.76, Z:-90.83 [[ 4.70195601e-01 -8.59235334e-01 -2.01570676e-01 7.22686610e+00] [ 7.75683575e-01 5.11276858e-01 -3.70014819e-01 1.75714127e+00] [ 4.20988228e-01 1.76242769e-02 9.06894865e-01 -9.08341107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15079213799999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:7.24, Y:1.77, Z:-90.86 [[ 4.63473976e-01 -8.62653773e-01 -2.02534789e-01 7.23744877e+00] [ 7.79894734e-01 5.05626991e-01 -3.68924857e-01 1.77136137e+00] [ 4.20661476e-01 1.30312549e-02 9.07124087e-01 -9.08563748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18079213799999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.24, Y:1.79, Z:-90.88 [[ 4.67771945e-01 -8.60635642e-01 -2.01235430e-01 7.24433942e+00] [ 7.77053768e-01 5.08941645e-01 -3.70359073e-01 1.78833878e+00] [ 4.21161310e-01 1.68728353e-02 9.06828792e-01 -9.08775307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21079213799999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:7.25, Y:1.81, Z:-90.90 [[ 4.68977705e-01 -8.59706567e-01 -2.02396961e-01 7.25363206e+00] [ 7.74175963e-01 5.10440348e-01 -3.74302323e-01 1.80795896e+00] [ 4.25101740e-01 1.88485819e-02 9.04949303e-01 -9.08986024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24079213799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:7.27, Y:1.82, Z:-90.92 [[ 4.54400248e-01 -8.66587326e-01 -2.06268808e-01 7.26749120e+00] [ 7.83615019e-01 4.98982706e-01 -3.70086155e-01 1.81995819e+00] [ 4.23636539e-01 6.53190462e-03 9.05808709e-01 -9.09208250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27079213799999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.27, Y:1.84, Z:-90.94 [[ 4.66296769e-01 -8.60880032e-01 -2.03599837e-01 7.27078131e+00] [ 7.76393017e-01 5.08571703e-01 -3.72248178e-01 1.83805108e+00] [ 4.24006139e-01 1.55046307e-02 9.05526587e-01 -9.09422819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30079213799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:7.28, Y:1.85, Z:-90.96 [[ 4.62887498e-01 -8.62737381e-01 -2.03517508e-01 7.28000672e+00] [ 7.78660134e-01 5.05469286e-01 -3.71738075e-01 1.85294475e+00] [ 4.23584183e-01 1.36019375e-02 9.05754618e-01 -9.09634638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33079213799999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:7.28, Y:1.87, Z:-90.98 [[ 4.72503592e-01 -8.57896664e-01 -2.01875380e-01 7.28462674e+00] [ 7.71402492e-01 5.13353052e-01 -3.76041009e-01 1.87182834e+00] [ 4.26237670e-01 2.19535562e-02 9.04344785e-01 -9.09836792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:7.30, Y:1.89, Z:-91.01 [[ 4.61125024e-01 -8.63313903e-01 -2.05067836e-01 7.29753604e+00] [ 7.77576378e-01 5.04483570e-01 -3.75328262e-01 1.88502868e+00] [ 4.27479461e-01 1.36173485e-02 9.03922496e-01 -9.10052256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:7.31, Y:1.90, Z:-91.03 [[ 4.60388338e-01 -8.63260722e-01 -2.06938407e-01 7.30576375e+00] [ 7.75653321e-01 5.04562475e-01 -3.79181533e-01 1.90123188e+00] [ 4.31745879e-01 1.40582931e-02 9.01885725e-01 -9.10269058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:7.31, Y:1.92, Z:-91.05 [[ 4.60148321e-01 -8.63302238e-01 -2.07298742e-01 7.31408927e+00] [ 7.75166756e-01 5.04484833e-01 -3.80278257e-01 1.91755910e+00] [ 4.32874142e-01 1.42933078e-02 9.01341045e-01 -9.10486006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.450792138 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:7.32, Y:1.93, Z:-91.07 [[ 4.58276913e-01 -8.64234912e-01 -2.07557913e-01 7.32273414e+00] [ 7.75743876e-01 5.02902404e-01 -3.81196289e-01 1.93319166e+00] [ 4.33824515e-01 1.36816786e-02 9.00893502e-01 -9.10704350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48079213799998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:7.33, Y:1.95, Z:-91.09 [[ 4.58834566e-01 -8.63817522e-01 -2.08062804e-01 7.33086036e+00] [ 7.74605796e-01 5.03599612e-01 -3.82587626e-01 1.94972316e+00] [ 4.35266242e-01 1.43777734e-02 9.00186968e-01 -9.10918959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51079213799999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:7.34, Y:1.96, Z:-91.11 [[ 4.57539563e-01 -8.64387007e-01 -2.08548914e-01 7.33995233e+00] [ 7.74748910e-01 5.02634296e-01 -3.83566019e-01 1.96464036e+00] [ 4.36373320e-01 1.39235845e-02 8.99657968e-01 -9.11124956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54079213799999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:7.35, Y:1.98, Z:-91.13 [[ 4.54642074e-01 -8.66116083e-01 -2.07710171e-01 7.34970635e+00] [ 7.77135577e-01 4.99686032e-01 -3.82588768e-01 1.97997995e+00] [ 4.35156156e-01 1.25219872e-02 9.00267915e-01 -9.11333944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57079213799999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:7.36, Y:2.00, Z:-91.15 [[ 4.60149352e-01 -8.63176103e-01 -2.07821049e-01 7.35576778e+00] [ 7.73766750e-01 5.04668816e-01 -3.82876485e-01 1.99635307e+00] [ 4.35370635e-01 1.53753488e-02 9.00119997e-01 -9.11536974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60079213799999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:7.36, Y:2.01, Z:-91.18 [[ 4.59782439e-01 -8.63471578e-01 -2.07405263e-01 7.36468111e+00] [ 7.74197873e-01 5.04163182e-01 -3.82671059e-01 2.01268379e+00] [ 4.34991681e-01 1.53727195e-02 9.00303236e-01 -9.11751095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63079213799999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:7.37, Y:2.03, Z:-91.20 [[ 4.59426030e-01 -8.63681949e-01 -2.07319114e-01 7.37334238e+00] [ 7.74407608e-01 5.03805501e-01 -3.82717746e-01 2.02892252e+00] [ 4.34994919e-01 1.52809955e-02 9.00303233e-01 -9.11968534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66079213799999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:7.38, Y:2.05, Z:-91.22 [[ 4.62408492e-01 -8.62298049e-01 -2.06447235e-01 7.38095474e+00] [ 7.73432164e-01 5.06122458e-01 -3.81631688e-01 2.04585826e+00] [ 4.33567842e-01 1.67968014e-02 9.00964369e-01 -9.12184237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69079213799999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:7.39, Y:2.06, Z:-91.24 [[ 4.49962858e-01 -8.68900283e-01 -2.06266150e-01 7.39378408e+00] [ 7.84154505e-01 4.94941865e-01 -3.74345111e-01 2.05583631e+00] [ 4.27358326e-01 6.69686511e-03 9.04057528e-01 -9.12423534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720792138 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:7.39, Y:2.08, Z:-91.26 [[ 4.74005744e-01 -8.57213858e-01 -2.01253464e-01 7.39449424e+00] [ 7.67920521e-01 5.14280601e-01 -3.81855389e-01 2.08152711e+00] [ 4.30832483e-01 2.64549832e-02 9.02044071e-01 -9.12621643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750792138 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:7.41, Y:2.09, Z:-91.28 [[ 4.57438846e-01 -8.65400900e-01 -2.04526246e-01 7.40922526e+00] [ 7.78112610e-01 5.00877801e-01 -3.79027960e-01 2.09382772e+00] [ 4.30453794e-01 1.42376616e-02 9.02500316e-01 -9.12840782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780792138 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.42, Y:2.11, Z:-91.31 [[ 4.56261288e-01 -8.66066968e-01 -2.04337087e-01 7.41778033e+00] [ 7.78802030e-01 4.99736420e-01 -3.79118595e-01 2.11011714e+00] [ 4.30456776e-01 1.38390006e-02 9.02505095e-01 -9.13052046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.810792138 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:7.43, Y:2.13, Z:-91.33 [[ 4.52216597e-01 -8.68195533e-01 -2.04295535e-01 7.42771513e+00] [ 7.80962322e-01 4.96075647e-01 -3.79482285e-01 2.12588093e+00] [ 4.30810864e-01 1.20610723e-02 9.02361640e-01 -9.13267784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84079213799998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:7.44, Y:2.14, Z:-91.35 [[ 4.45537278e-01 -8.71628727e-01 -2.04352385e-01 7.43823090e+00] [ 7.88037167e-01 4.90141910e-01 -3.72502795e-01 2.13762104e+00] [ 4.24845805e-01 4.92660707e-03 9.05252324e-01 -9.13501729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87079213799998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:7.44, Y:2.16, Z:-91.37 [[ 4.68908868e-01 -8.60505200e-01 -1.99136322e-01 7.43965913e+00] [ 7.72642725e-01 5.08870197e-01 -3.79571260e-01 2.16217284e+00] [ 4.27957583e-01 2.41230997e-02 9.03476831e-01 -9.13692167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90079213799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:7.45, Y:2.18, Z:-91.39 [[ 4.54445012e-01 -8.67387043e-01 -2.02779311e-01 7.45329771e+00] [ 7.81005251e-01 4.97458567e-01 -3.77578829e-01 2.17544020e+00] [ 4.28381290e-01 1.32171085e-02 9.03501399e-01 -9.13911708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93079213799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:7.46, Y:2.19, Z:-91.41 [[ 4.49373045e-01 -8.70183363e-01 -2.02100916e-01 7.46357753e+00] [ 7.84450327e-01 4.92610040e-01 -3.76793090e-01 2.19023716e+00] [ 4.27436019e-01 1.07825283e-02 9.03981298e-01 -9.14122605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96079213799999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:7.47, Y:2.21, Z:-91.43 [[ 4.50841681e-01 -8.69568312e-01 -2.01476373e-01 7.47098281e+00] [ 7.84297777e-01 4.93681831e-01 -3.75706331e-01 2.20609115e+00] [ 4.26167545e-01 1.13666017e-02 9.04572841e-01 -9.14326682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99079213799999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:7.48, Y:2.22, Z:-91.45 [[ 4.52107294e-01 -8.69053568e-01 -2.00860376e-01 7.47886539e+00] [ 7.84032624e-01 4.94569992e-01 -3.75091146e-01 2.22232706e+00] [ 4.25313813e-01 1.21003554e-02 9.04965050e-01 -9.14546488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02079213799999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:7.49, Y:2.24, Z:-91.48 [[ 4.49032949e-01 -8.70619451e-01 -2.00975577e-01 7.48780853e+00] [ 7.85434069e-01 4.91836934e-01 -3.75752249e-01 2.23746814e+00] [ 4.25984428e-01 1.08720755e-02 9.04665167e-01 -9.14761612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05079213799999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:7.49, Y:2.25, Z:-91.50 [[ 4.51598980e-01 -8.69422950e-01 -2.00404829e-01 7.49444744e+00] [ 7.84598650e-01 4.93922704e-01 -3.74760351e-01 2.25282718e+00] [ 4.24809745e-01 1.20040337e-02 9.05203062e-01 -9.14974840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08079213799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:7.50, Y:2.27, Z:-91.52 [[ 4.54251869e-01 -8.67997551e-01 -2.00587862e-01 7.50084414e+00] [ 7.82788849e-01 4.96386068e-01 -3.75289874e-01 2.26857938e+00] [ 4.25319711e-01 1.34581854e-02 9.04943103e-01 -9.15184260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110792138 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:7.51, Y:2.28, Z:-91.54 [[ 4.54250316e-01 -8.68050948e-01 -2.00360179e-01 7.50882003e+00] [ 7.82791880e-01 4.96286281e-01 -3.75415503e-01 2.28447815e+00] [ 4.25315791e-01 1.36922898e-02 9.04941434e-01 -9.15403529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140792138 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:7.52, Y:2.30, Z:-91.56 [[ 4.51813354e-01 -8.69396594e-01 -2.00035635e-01 7.51806583e+00] [ 7.84518606e-01 4.93958190e-01 -3.74881133e-01 2.29925444e+00] [ 4.24729620e-01 1.24446247e-02 9.05234710e-01 -9.15608841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170792138 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:7.53, Y:2.31, Z:-91.58 [[ 4.44514382e-01 -8.73442645e-01 -1.98758423e-01 7.53012430e+00] [ 7.89830673e-01 4.86846986e-01 -3.73024824e-01 2.31441886e+00] [ 4.22580728e-01 8.82939969e-03 9.06282279e-01 -9.15812264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200792138 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:7.54, Y:2.33, Z:-91.60 [[ 4.42762272e-01 -8.74786718e-01 -1.96747985e-01 7.54018102e+00] [ 7.92872873e-01 4.84447263e-01 -3.69680208e-01 2.33324527e+00] [ 4.18705359e-01 7.68430848e-03 9.08089629e-01 -9.15996501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23079213799998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:7.55, Y:2.35, Z:-91.62 [[ 4.42292150e-01 -8.75157764e-01 -1.96154383e-01 7.54876818e+00] [ 7.93598178e-01 4.83778953e-01 -3.68998449e-01 2.34969047e+00] [ 4.17827220e-01 7.53735617e-03 9.08495241e-01 -9.16201531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26079213799999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:7.56, Y:2.37, Z:-91.64 [[ 4.39890491e-01 -8.76488501e-01 -1.95612536e-01 7.55825449e+00] [ 7.95331797e-01 4.81379176e-01 -3.68403882e-01 2.36580804e+00] [ 4.17065568e-01 6.48049486e-03 9.08853297e-01 -9.16416106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29079213799999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:7.57, Y:2.38, Z:-91.66 [[ 4.33499571e-01 -8.79604612e-01 -1.95892440e-01 7.56840670e+00] [ 7.98472742e-01 4.75692296e-01 -3.68996097e-01 2.38010337e+00] [ 4.17755193e-01 3.54487585e-03 9.08552713e-01 -9.16616502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32079213799999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:7.58, Y:2.40, Z:-91.68 [[ 4.32025415e-01 -8.80470482e-01 -1.95258214e-01 7.57718190e+00] [ 7.99722096e-01 4.74091577e-01 -3.68350031e-01 2.39619776e+00] [ 4.16891604e-01 2.98426708e-03 9.08951310e-01 -9.16832375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35079213799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:7.59, Y:2.41, Z:-91.70 [[ 4.33008864e-01 -8.80217952e-01 -1.94215552e-01 7.58570606e+00] [ 8.00246292e-01 4.74558015e-01 -3.66606822e-01 2.41117399e+00] [ 4.14860453e-01 3.32372776e-03 9.09878980e-01 -9.17046465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38079213799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:7.59, Y:2.42, Z:-91.73 [[ 4.33037282e-01 -8.80084717e-01 -1.94755238e-01 7.59266617e+00] [ 7.99575381e-01 4.74803581e-01 -3.67750961e-01 2.42394117e+00] [ 4.16122485e-01 3.52838291e-03 9.09301725e-01 -9.17271335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:7.61, Y:2.44, Z:-91.75 [[ 4.18288365e-01 -8.87072967e-01 -1.95285418e-01 7.60513835e+00] [ 8.06551251e-01 4.61619267e-01 -3.69300326e-01 2.43567010e+00] [ 4.17743848e-01 -3.03366879e-03 9.08559780e-01 -9.17503087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44079213799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:7.61, Y:2.45, Z:-91.77 [[ 4.23730228e-01 -8.84544017e-01 -1.95024553e-01 7.61118547e+00] [ 8.03795389e-01 4.66456631e-01 -3.69230529e-01 2.45275678e+00] [ 4.17571151e-01 -3.05700023e-04 9.08644177e-01 -9.17723847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:7.62, Y:2.47, Z:-91.79 [[ 4.18629569e-01 -8.86886026e-01 -1.95403329e-01 7.62031955e+00] [ 8.06017377e-01 4.61980970e-01 -3.70012935e-01 2.46624210e+00] [ 4.18431921e-01 -2.60012300e-03 9.08244442e-01 -9.17938108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500792138 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:7.63, Y:2.48, Z:-91.82 [[ 4.17184587e-01 -8.87553992e-01 -1.95460820e-01 7.62868476e+00] [ 8.06463239e-01 4.60693918e-01 -3.70645596e-01 2.48134909e+00] [ 4.19015590e-01 -3.00433613e-03 9.07974069e-01 -9.18153501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530792138 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:7.64, Y:2.50, Z:-91.84 [[ 4.18558677e-01 -8.87010019e-01 -1.94991947e-01 7.63603200e+00] [ 8.06076099e-01 4.61744761e-01 -3.70179819e-01 2.49708097e+00] [ 4.18389719e-01 -2.23637245e-03 9.08264852e-01 -9.18367380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560792138 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:7.64, Y:2.51, Z:-91.86 [[ 4.18106567e-01 -8.87035762e-01 -1.95842936e-01 7.64375782e+00] [ 8.06148026e-01 4.61690040e-01 -3.70091432e-01 2.51258764e+00] [ 4.18703068e-01 -3.14073867e-03 9.08117766e-01 -9.18579995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59079213799998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.65, Y:2.53, Z:-91.88 [[ 4.06444785e-01 -8.92439779e-01 -1.95841461e-01 7.65357425e+00] [ 8.09789362e-01 4.51125050e-01 -3.75136481e-01 2.52728597e+00] [ 4.23135707e-01 -6.11806505e-03 9.06045663e-01 -9.18807385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62079213799998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.66, Y:2.54, Z:-91.90 [[ 4.01662671e-01 -8.94378493e-01 -1.96860891e-01 7.66359000e+00] [ 8.12206448e-01 4.47211563e-01 -3.74596454e-01 2.54281060e+00] [ 4.23069479e-01 -9.43027303e-03 9.06048170e-01 -9.19024806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65079213799999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.67, Y:2.56, Z:-91.92 [[ 3.89626310e-01 -8.99475440e-01 -1.97826368e-01 7.67199539e+00] [ 8.17014746e-01 4.36716332e-01 -3.76517928e-01 2.55866655e+00] [ 4.25062635e-01 -1.49257685e-02 9.05040871e-01 -9.19229408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68079213799999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.68, Y:2.58, Z:-91.94 [[ 3.89421564e-01 -8.99607991e-01 -1.97626689e-01 7.68030277e+00] [ 8.17110361e-01 4.36446900e-01 -3.76622836e-01 2.57508942e+00] [ 4.25066469e-01 -1.48177614e-02 9.05040845e-01 -9.19446839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71079213799999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.69, Y:2.59, Z:-91.96 [[ 3.80445881e-01 -9.03322575e-01 -1.98164722e-01 7.68856449e+00] [ 8.20606544e-01 4.28550887e-01 -3.78086019e-01 2.59272487e+00] [ 4.26457304e-01 -1.87739991e-02 9.04312836e-01 -9.19647191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74079213799999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:7.70, Y:2.60, Z:-91.99 [[ 3.63815707e-01 -9.09991984e-01 -1.98878657e-01 7.70238657e+00] [ 8.27424785e-01 4.13782863e-01 -3.79673502e-01 2.60462760e+00] [ 4.27792423e-01 -2.64259463e-02 9.03490626e-01 -9.19855567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77079213799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:7.71, Y:2.62, Z:-92.01 [[ 3.58544859e-01 -9.12065979e-01 -1.98950331e-01 7.71110564e+00] [ 8.29490662e-01 4.09039869e-01 -3.80304651e-01 2.62042319e+00] [ 4.28241552e-01 -2.86711642e-02 9.03209354e-01 -9.20070897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80079213799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:7.72, Y:2.64, Z:-92.03 [[ 3.55527572e-01 -9.13319090e-01 -1.98616176e-01 7.72064062e+00] [ 8.31006696e-01 4.06144399e-01 -3.80098145e-01 2.63548769e+00] [ 4.27817739e-01 -2.99160022e-02 9.03369811e-01 -9.20281219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83079213799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:7.73, Y:2.65, Z:-92.05 [[ 3.50666853e-01 -9.15463199e-01 -1.97382597e-01 7.73061708e+00] [ 8.34580211e-01 4.01102105e-01 -3.77614848e-01 2.64877330e+00] [ 4.24863071e-01 -3.23145990e-02 9.04680682e-01 -9.20492126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860792138 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.73, Y:2.67, Z:-92.07 [[ 3.65360343e-01 -9.10290313e-01 -1.94636497e-01 7.73390234e+00] [ 8.28208594e-01 4.13334990e-01 -3.78450408e-01 2.66646639e+00] [ 4.24949814e-01 -2.29288488e-02 9.04926474e-01 -9.20703952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890792138 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:7.74, Y:2.68, Z:-92.09 [[ 3.66920167e-01 -9.09648579e-01 -1.94702477e-01 7.74094359e+00] [ 8.28448059e-01 4.14730616e-01 -3.76393850e-01 2.68255047e+00] [ 4.23135209e-01 -2.31943950e-02 9.05769626e-01 -9.20926430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920792138 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:7.73, Y:2.71, Z:-92.11 [[ 4.08525079e-01 -8.92731515e-01 -1.90099187e-01 7.73355002e+00] [ 8.12042532e-01 4.50579994e-01 -3.70897015e-01 2.70872439e+00] [ 4.16766345e-01 -2.84789285e-03 9.09009188e-01 -9.21129599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.950792138 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:7.75, Y:2.72, Z:-92.14 [[ 3.92226954e-01 -8.99276374e-01 -1.93545910e-01 7.74783670e+00] [ 8.16775544e-01 4.37256103e-01 -3.76410429e-01 2.72151664e+00] [ 4.23126136e-01 -1.04452505e-02 9.06010579e-01 -9.21358780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98079213799998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:7.76, Y:2.73, Z:-92.16 [[ 3.68563362e-01 -9.09153115e-01 -1.93911481e-01 7.76076605e+00] [ 8.27900460e-01 4.15888889e-01 -3.76320689e-01 2.73322174e+00] [ 4.22778757e-01 -2.18413859e-02 9.05969688e-01 -9.21563983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01079213799999 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:7.76, Y:2.76, Z:-92.18 [[ 3.99294900e-01 -8.96797254e-01 -1.90573522e-01 7.75678120e+00] [ 8.14377669e-01 4.42410807e-01 -3.75581803e-01 2.75748346e+00] [ 4.21132515e-01 -5.23092212e-03 9.06984036e-01 -9.21758275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04079213799999 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:7.78, Y:2.77, Z:-92.20 [[ 3.84922647e-01 -9.02421979e-01 -1.93569439e-01 7.78072462e+00] [ 8.21144814e-01 4.30600170e-01 -3.74572674e-01 2.76541278e+00] [ 4.21373647e-01 -1.47670360e-02 9.06766885e-01 -9.21998874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07079213799999 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:7.77, Y:2.79, Z:-92.22 [[ 4.42385228e-01 -8.77643536e-01 -1.84491555e-01 7.76581395e+00] [ 7.97492323e-01 4.79075804e-01 -3.66732012e-01 2.78766873e+00] [ 4.10245420e-01 1.51062257e-02 9.11850041e-01 -9.22194371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10079213799999 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:7.77, Y:2.81, Z:-92.24 [[ 4.53534373e-01 -8.72373512e-01 -1.82403477e-01 7.76799745e+00] [ 7.90875790e-01 4.88296303e-01 -3.68893216e-01 2.80710176e+00] [ 4.10879614e-01 2.30472588e-02 9.11398248e-01 -9.22397156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13079213799999 meters Centerline goodness : 0.978265 Centerline is valid? [True, True] Translation: X:7.78, Y:2.82, Z:-92.26 [[ 4.42186290e-01 -8.77726983e-01 -1.84571473e-01 7.78073834e+00] [ 7.97091291e-01 4.78909529e-01 -3.67819436e-01 2.81840315e+00] [ 4.11238081e-01 1.55243988e-02 9.11395761e-01 -9.22638102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16079213799999 meters Centerline goodness : 0.972758 Centerline is valid? [True, True] Translation: X:7.78, Y:2.84, Z:-92.29 [[ 4.58904319e-01 -8.69699532e-01 -1.81740336e-01 7.78032719e+00] [ 7.88389527e-01 4.92915794e-01 -3.68070610e-01 2.83817673e+00] [ 4.09693519e-01 2.56270153e-02 9.11863189e-01 -9.22855919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19079213799999 meters Centerline goodness : 0.969695 Centerline is valid? [True, True] Translation: X:7.79, Y:2.85, Z:-92.31 [[ 4.49710669e-01 -8.73898215e-01 -1.84559542e-01 7.79382663e+00] [ 7.93157546e-01 4.85744462e-01 -3.67360076e-01 2.85259462e+00] [ 4.10684090e-01 1.88209518e-02 9.11583430e-01 -9.23090412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220792138 meters Centerline goodness : 0.965086 Centerline is valid? [True, True] Translation: X:7.80, Y:2.87, Z:-92.33 [[ 4.54997728e-01 -8.71845134e-01 -1.81281908e-01 7.79750472e+00] [ 7.89535527e-01 4.89115955e-01 -3.70674027e-01 2.86807282e+00] [ 4.11838220e-01 2.55273332e-02 9.10899356e-01 -9.23308254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250792138 meters Centerline goodness : 0.965086 Centerline is valid? [True, True] Translation: X:7.81, Y:2.88, Z:-92.35 [[ 4.51809744e-01 -8.73341493e-01 -1.82051067e-01 7.80700785e+00] [ 7.91428148e-01 4.86560914e-01 -3.69999950e-01 2.88335224e+00] [ 4.11715243e-01 2.30892445e-02 9.11020003e-01 -9.23528403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280792138 meters Centerline goodness : 0.962923 Centerline is valid? [True, True] Translation: X:7.82, Y:2.90, Z:-92.38 [[ 4.47222971e-01 -8.75572988e-01 -1.82656937e-01 7.81537311e+00] [ 7.93912905e-01 4.82656403e-01 -3.69790611e-01 2.89775345e+00] [ 4.11939210e-01 2.03651566e-02 9.10983725e-01 -9.23760461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.310792138 meters Centerline goodness : 0.962595 Centerline is valid? [True, True] Translation: X:7.80, Y:2.93, Z:-92.39 [[ 4.79355672e-01 -8.59825931e-01 -1.75833754e-01 7.80448957e+00] [ 7.77950873e-01 5.09035564e-01 -3.68341192e-01 2.92548803e+00] [ 4.06214942e-01 3.97764170e-02 9.12911418e-01 -9.23948931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34079213799998 meters Centerline goodness : 0.960705 Centerline is valid? [True, True] Translation: X:7.81, Y:2.95, Z:-92.41 [[ 4.87075671e-01 -8.54398832e-01 -1.80997033e-01 7.80982454e+00] [ 7.77006605e-01 5.18556763e-01 -3.56874794e-01 2.95037344e+00] [ 3.98770643e-01 3.31891400e-02 9.16449920e-01 -9.24146050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37079213799998 meters Centerline goodness : 0.960705 Centerline is valid? [True, True] Translation: X:7.81, Y:2.97, Z:-92.44 [[ 4.97654497e-01 -8.49004248e-01 -1.77571923e-01 7.81416557e+00] [ 7.70769673e-01 5.26754761e-01 -3.58390196e-01 2.96891585e+00] [ 3.97811655e-01 4.14874399e-02 9.16528603e-01 -9.24361665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40079213799999 meters Centerline goodness : 0.959311 Centerline is valid? [True, True] Translation: X:7.82, Y:2.99, Z:-92.45 [[ 5.11446450e-01 -8.41147338e-01 -1.75765990e-01 7.81641224e+00] [ 7.65050443e-01 5.38857302e-01 -3.52605485e-01 2.99481854e+00] [ 3.91305953e-01 4.58689754e-02 9.19116798e-01 -9.24536286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43079213799999 meters Centerline goodness : 0.959311 Centerline is valid? [True, True] Translation: X:7.82, Y:3.01, Z:-92.48 [[ 5.10862282e-01 -8.41506407e-01 -1.75746110e-01 7.82478531e+00] [ 7.65541769e-01 5.38331295e-01 -3.52342471e-01 3.01065168e+00] [ 3.91108078e-01 4.54574912e-02 9.19221458e-01 -9.24756558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46079213799999 meters Centerline goodness : 0.958358 Centerline is valid? [True, True] Translation: X:7.83, Y:3.03, Z:-92.50 [[ 5.10812943e-01 -8.41675801e-01 -1.75077077e-01 7.83207025e+00] [ 7.65535892e-01 5.38001724e-01 -3.52858246e-01 3.02859928e+00] [ 3.91184017e-01 4.62167726e-02 9.19151280e-01 -9.24965218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49079213799999 meters Centerline goodness : 0.958114 Centerline is valid? [True, True] Translation: X:7.84, Y:3.05, Z:-92.52 [[ 5.08655705e-01 -8.42852311e-01 -1.75696769e-01 7.83976269e+00] [ 7.67291539e-01 5.36341739e-01 -3.51569671e-01 3.04547442e+00] [ 3.90554821e-01 4.40172746e-02 9.19526732e-01 -9.25173033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52079213799999 meters Centerline goodness : 0.958634 Centerline is valid? [True, True] Translation: X:7.84, Y:3.06, Z:-92.54 [[ 5.18905718e-01 -8.36643178e-01 -1.75399679e-01 7.84337318e+00] [ 7.61477859e-01 5.45641073e-01 -3.49896113e-01 3.06376692e+00] [ 3.88443465e-01 4.80001221e-02 9.20221529e-01 -9.25374321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55079213799999 meters Centerline goodness : 0.958634 Centerline is valid? [True, True] Translation: X:7.85, Y:3.08, Z:-92.56 [[ 5.21216051e-01 -8.35402792e-01 -1.74459172e-01 7.85071458e+00] [ 7.60112945e-01 5.47368064e-01 -3.50166408e-01 3.08042219e+00] [ 3.88023374e-01 4.99036770e-02 9.20297497e-01 -9.25592637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58079213799999 meters Centerline goodness : 0.958634 Centerline is valid? [True, True] Translation: X:7.86, Y:3.10, Z:-92.58 [[ 5.21163368e-01 -8.35473047e-01 -1.74280035e-01 7.85888170e+00] [ 7.60254534e-01 5.47258836e-01 -3.50029727e-01 3.09644892e+00] [ 3.87816692e-01 4.99254845e-02 9.20383431e-01 -9.25812435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610792138 meters Centerline goodness : 0.959406 Centerline is valid? [True, True] Translation: X:7.87, Y:3.11, Z:-92.61 [[ 5.08934978e-01 -8.42365291e-01 -1.77217109e-01 7.87130462e+00] [ 7.66149611e-01 5.37123239e-01 -3.52864563e-01 3.10581563e+00] [ 3.92428288e-01 4.38102994e-02 9.18738644e-01 -9.26061990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640792138 meters Centerline goodness : 0.960868 Centerline is valid? [True, True] Translation: X:7.87, Y:3.13, Z:-92.63 [[ 5.29720517e-01 -8.29873122e-01 -1.75233490e-01 7.87039834e+00] [ 7.53585182e-01 5.55304656e-01 -3.51775656e-01 3.12887655e+00] [ 3.89237134e-01 5.42894208e-02 9.19536357e-01 -9.26269703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670792138 meters Centerline goodness : 0.961689 Centerline is valid? [True, True] Translation: X:7.88, Y:3.14, Z:-92.65 [[ 5.10808657e-01 -8.41094687e-01 -1.77860178e-01 7.88435712e+00] [ 7.63836166e-01 5.38969881e-01 -3.55057429e-01 3.13576992e+00] [ 3.94498197e-01 4.55103718e-02 9.17769023e-01 -9.26524761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700792138 meters Centerline goodness : 0.963367 Centerline is valid? [True, True] Translation: X:7.88, Y:3.16, Z:-92.67 [[ 5.31739644e-01 -8.28444717e-01 -1.75875814e-01 7.88119051e+00] [ 7.52839531e-01 5.57495249e-01 -3.49902397e-01 3.16028275e+00] [ 3.87924723e-01 5.36507111e-02 9.20128258e-01 -9.26732950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73079213799998 meters Centerline goodness : 0.965993 Centerline is valid? [True, True] Translation: X:7.89, Y:3.18, Z:-92.69 [[ 5.34863171e-01 -8.26402583e-01 -1.76011813e-01 7.88811969e+00] [ 7.50036313e-01 5.60291749e-01 -3.51452251e-01 3.17828799e+00] [ 3.89059015e-01 5.59636143e-02 9.19511368e-01 -9.26940282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76079213799999 meters Centerline goodness : 0.966464 Centerline is valid? [True, True] Translation: X:7.91, Y:3.18, Z:-92.72 [[ 5.18644246e-01 -8.35570100e-01 -1.81192590e-01 7.91000366e+00] [ 7.53952647e-01 5.46903620e-01 -3.63939332e-01 3.17949100e+00] [ 4.03191707e-01 5.21444077e-02 9.13628704e-01 -9.27200120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79079213799999 meters Centerline goodness : 0.966704 Centerline is valid? [True, True] Translation: X:7.94, Y:3.17, Z:-92.75 [[ 4.80764658e-01 -8.56167495e-01 -1.89321325e-01 7.93768980e+00] [ 7.69857119e-01 5.15501658e-01 -3.76268596e-01 3.16846966e+00] [ 4.19744398e-01 3.51462728e-02 9.06961620e-01 -9.27537856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82079213799999 meters Centerline goodness : 0.968287 Centerline is valid? [True, True] Translation: X:7.94, Y:3.18, Z:-92.78 [[ 4.88654534e-01 -8.52152731e-01 -1.87223049e-01 7.94057668e+00] [ 7.65709746e-01 5.21727517e-01 -3.76150214e-01 3.18305543e+00] [ 4.18216848e-01 4.04489941e-02 9.07446167e-01 -9.27775833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85079213799999 meters Centerline goodness : 0.969968 Centerline is valid? [True, True] Translation: X:7.95, Y:3.20, Z:-92.80 [[ 4.76825327e-01 -8.58204909e-01 -1.90057733e-01 7.95176803e+00] [ 7.73397321e-01 5.12370549e-01 -3.73273365e-01 3.19635379e+00] [ 4.17725019e-01 3.09960530e-02 9.08044632e-01 -9.28002262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88079213799999 meters Centerline goodness : 0.969863 Centerline is valid? [True, True] Translation: X:7.97, Y:3.22, Z:-92.82 [[ 4.71792269e-01 -8.59653575e-01 -1.95979044e-01 7.96725583e+00] [ 7.73207439e-01 5.10207644e-01 -3.76614414e-01 3.21574863e+00] [ 4.23747934e-01 2.61513140e-02 9.05402561e-01 -9.28156900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91079213799999 meters Centerline goodness : 0.972165 Centerline is valid? [True, True] Translation: X:7.96, Y:3.23, Z:-92.84 [[ 5.02991350e-01 -8.44738610e-01 -1.82801481e-01 7.95672159e+00] [ 7.56291530e-01 5.32559437e-01 -3.80004693e-01 3.23329881e+00] [ 4.18357291e-01 5.28878616e-02 9.06741447e-01 -9.28428275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94079213799999 meters Centerline goodness : 0.972358 Centerline is valid? [True, True] Translation: X:7.97, Y:3.24, Z:-92.86 [[ 4.77370378e-01 -8.57967212e-01 -1.89762445e-01 7.97467601e+00] [ 7.71307913e-01 5.12595874e-01 -3.77265919e-01 3.24397630e+00] [ 4.20953235e-01 3.37302990e-02 9.06454986e-01 -9.28641786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970792138 meters Centerline goodness : 0.973595 Centerline is valid? [True, True] Translation: X:7.98, Y:3.26, Z:-92.89 [[ 4.73697705e-01 -8.59948493e-01 -1.89997564e-01 7.98373989e+00] [ 7.73599681e-01 5.09404573e-01 -3.76895892e-01 3.25877572e+00] [ 4.20896682e-01 3.15526642e-02 9.06559657e-01 -9.28864664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000792138 meters Centerline goodness : 0.973595 Centerline is valid? [True, True] Translation: X:7.99, Y:3.28, Z:-92.91 [[ 4.73699772e-01 -8.59996876e-01 -1.89773287e-01 7.99174538e+00] [ 7.73622122e-01 5.09309909e-01 -3.76977756e-01 3.27515892e+00] [ 4.20853107e-01 3.17614639e-02 9.06572596e-01 -9.29083252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030792138 meters Centerline goodness : 0.974900 Centerline is valid? [True, True] Translation: X:8.00, Y:3.29, Z:-92.93 [[ 4.66421855e-01 -8.63772367e-01 -1.90651385e-01 8.00080603e+00] [ 7.78980006e-01 5.03211732e-01 -3.74123112e-01 3.28651589e+00] [ 4.19095220e-01 2.59855793e-02 9.07570353e-01 -9.29325530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060792138 meters Centerline goodness : 0.974900 Centerline is valid? [True, True] Translation: X:8.01, Y:3.30, Z:-92.95 [[ 4.72107562e-01 -8.61067581e-01 -1.88883747e-01 8.00655259e+00] [ 7.75783289e-01 5.07578338e-01 -3.74866001e-01 3.30403999e+00] [ 4.18658259e-01 3.04442193e-02 9.07633412e-01 -9.29543688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09079213799998 meters Centerline goodness : 0.976354 Centerline is valid? [True, True] Translation: X:8.03, Y:3.31, Z:-92.97 [[ 4.37369927e-01 -8.76728077e-01 -2.00138517e-01 8.03145418e+00] [ 7.93407182e-01 4.80966460e-01 -3.73063410e-01 3.31489922e+00] [ 4.23335080e-01 4.37537994e-03 9.05962619e-01 -9.29730667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12079213799998 meters Centerline goodness : 0.976354 Centerline is valid? [True, True] Translation: X:8.03, Y:3.34, Z:-92.99 [[ 4.60076293e-01 -8.66493106e-01 -1.93699514e-01 8.03042264e+00] [ 7.81109790e-01 4.98723888e-01 -3.75688674e-01 3.33551000e+00] [ 4.22134220e-01 2.15448658e-02 9.06277286e-01 -9.29948262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15079213799999 meters Centerline goodness : 0.976805 Centerline is valid? [True, True] Translation: X:8.04, Y:3.35, Z:-93.02 [[ 4.68485225e-01 -8.62369098e-01 -1.91940442e-01 8.03503149e+00] [ 7.76234776e-01 5.05533611e-01 -3.76689980e-01 3.35281351e+00] [ 4.21878143e-01 2.74828443e-02 9.06235911e-01 -9.30158970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18079213799999 meters Centerline goodness : 0.977742 Centerline is valid? [True, True] Translation: X:8.05, Y:3.36, Z:-93.04 [[ 4.49122945e-01 -8.71901835e-01 -1.95130137e-01 8.04935372e+00] [ 7.87736648e-01 4.89472803e-01 -3.74015172e-01 3.36319909e+00] [ 4.21615409e-01 1.42676358e-02 9.06662496e-01 -9.30386016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21079213799999 meters Centerline goodness : 0.978524 Centerline is valid? [True, True] Translation: X:8.05, Y:3.38, Z:-93.06 [[ 4.59769495e-01 -8.66921939e-01 -1.92505489e-01 8.05350663e+00] [ 7.81845708e-01 4.97958927e-01 -3.75172223e-01 3.38169201e+00] [ 4.21104857e-01 2.19831532e-02 9.06745521e-01 -9.30602136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24079213799999 meters Centerline goodness : 0.978524 Centerline is valid? [True, True] Translation: X:8.06, Y:3.40, Z:-93.08 [[ 4.58082170e-01 -8.67794629e-01 -1.92595967e-01 8.06154604e+00] [ 7.83083763e-01 4.96489600e-01 -3.74536910e-01 3.39627642e+00] [ 4.20643014e-01 2.07499057e-02 9.06988918e-01 -9.30818325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27079213799999 meters Centerline goodness : 0.979135 Centerline is valid? [True, True] Translation: X:8.07, Y:3.41, Z:-93.11 [[ 4.45000389e-01 -8.73944088e-01 -1.95438955e-01 8.07390230e+00] [ 7.90308937e-01 4.85886941e-01 -3.73263533e-01 3.40911267e+00] [ 4.21172694e-01 1.16452646e-02 9.06905701e-01 -9.31051070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30079213799999 meters Centerline goodness : 0.980213 Centerline is valid? [True, True] Translation: X:8.08, Y:3.43, Z:-93.13 [[ 4.57009296e-01 -8.68500664e-01 -1.91961195e-01 8.07758473e+00] [ 7.83843877e-01 4.95254772e-01 -3.74581749e-01 3.42680057e+00] [ 4.20394196e-01 2.07197343e-02 9.07104962e-01 -9.31255781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33079213799999 meters Centerline goodness : 0.981495 Centerline is valid? [True, True] Translation: X:8.09, Y:3.44, Z:-93.15 [[ 4.50649205e-01 -8.71464415e-01 -1.93558951e-01 8.08800815e+00] [ 7.87699786e-01 4.90207902e-01 -3.73129012e-01 3.44217966e+00] [ 4.20052784e-01 1.56839482e-02 9.07364134e-01 -9.31470516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360792138 meters Centerline goodness : 0.982423 Centerline is valid? [True, True] Translation: X:8.09, Y:3.46, Z:-93.17 [[ 4.64054878e-01 -8.64987975e-01 -1.90915880e-01 8.09079506e+00] [ 7.80194460e-01 5.01181731e-01 -3.74317348e-01 3.46146485e+00] [ 4.19463556e-01 2.47522792e-02 9.07434653e-01 -9.31674649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390792138 meters Centerline goodness : 0.983085 Centerline is valid? [True, True] Translation: X:8.10, Y:3.48, Z:-93.19 [[ 4.58034282e-01 -8.68217898e-01 -1.90793811e-01 8.10117042e+00] [ 7.83995139e-01 4.95714223e-01 -3.73656301e-01 3.47660136e+00] [ 4.18994294e-01 2.15659756e-02 9.07732720e-01 -9.31877282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420792138 meters Centerline goodness : 0.983765 Centerline is valid? [True, True] Translation: X:8.11, Y:3.49, Z:-93.21 [[ 4.56573158e-01 -8.68916222e-01 -1.91116591e-01 8.10976810e+00] [ 7.85142222e-01 4.94548751e-01 -3.72791126e-01 3.49200541e+00] [ 4.18440729e-01 2.01527169e-02 9.08020498e-01 -9.32093785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.450792138 meters Centerline goodness : 0.984469 Centerline is valid? [True, True] Translation: X:8.12, Y:3.51, Z:-93.23 [[ 4.58350043e-01 -8.68170728e-01 -1.90249378e-01 8.11716301e+00] [ 7.84208588e-01 4.95785659e-01 -3.73113213e-01 3.50858583e+00] [ 4.18248883e-01 2.18212609e-02 9.08070319e-01 -9.32306139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48079213799998 meters Centerline goodness : 0.985292 Centerline is valid? [True, True] Translation: X:8.12, Y:3.54, Z:-93.24 [[ 4.95804972e-01 -8.48277970e-01 -1.86015901e-01 8.11597129e+00] [ 7.57280665e-01 5.27158908e-01 -3.85524940e-01 3.53966384e+00] [ 4.25092253e-01 5.02789370e-02 9.03752513e-01 -9.32432842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51079213799999 meters Centerline goodness : 0.985787 Centerline is valid? [True, True] Translation: X:8.13, Y:3.55, Z:-93.27 [[ 4.66364601e-01 -8.63355633e-01 -1.92668395e-01 8.13412418e+00] [ 7.75217364e-01 5.03798080e-01 -3.81084680e-01 3.54918637e+00] [ 4.26077572e-01 2.83645192e-02 9.04241868e-01 -9.32658008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54079213799999 meters Centerline goodness : 0.986314 Centerline is valid? [True, True] Translation: X:8.14, Y:3.57, Z:-93.29 [[ 4.69194361e-01 -8.61843001e-01 -1.92570230e-01 8.14029145e+00] [ 7.73568892e-01 5.06295679e-01 -3.81124461e-01 3.56517139e+00] [ 4.25966925e-01 2.98551091e-02 9.04246013e-01 -9.32862778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57079213799999 meters Centerline goodness : 0.986672 Centerline is valid? [True, True] Translation: X:8.15, Y:3.58, Z:-93.31 [[ 4.66584664e-01 -8.63296566e-01 -1.92400077e-01 8.14909729e+00] [ 7.75061735e-01 5.03875368e-01 -3.81298991e-01 3.58044726e+00] [ 4.26119769e-01 2.87863236e-02 9.04208654e-01 -9.33077641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60079213799999 meters Centerline goodness : 0.986828 Centerline is valid? [True, True] Translation: X:8.16, Y:3.60, Z:-93.33 [[ 4.66775794e-01 -8.63250949e-01 -1.92140980e-01 8.15667359e+00] [ 7.75224368e-01 5.03951158e-01 -3.80867968e-01 3.59588261e+00] [ 4.25614305e-01 2.88275783e-02 9.04445374e-01 -9.33288820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63079213799999 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:8.16, Y:3.61, Z:-93.35 [[ 4.64516080e-01 -8.64458331e-01 -1.92188981e-01 8.16497480e+00] [ 7.76393266e-01 5.01933166e-01 -3.81151667e-01 3.61086758e+00] [ 4.25955758e-01 2.78368473e-02 9.04315654e-01 -9.33495137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66079213799999 meters Centerline goodness : 0.987956 Centerline is valid? [True, True] Translation: X:8.17, Y:3.63, Z:-93.37 [[ 4.66839981e-01 -8.63258247e-01 -1.91952161e-01 8.17159298e+00] [ 7.75066731e-01 5.03917256e-01 -3.81233473e-01 3.62751288e+00] [ 4.25830946e-01 2.91992935e-02 9.04331470e-01 -9.33712269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69079213799999 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:8.19, Y:3.63, Z:-93.40 [[ 4.31103520e-01 -8.80643241e-01 -1.96512687e-01 8.18850959e+00] [ 8.00033193e-01 4.73777733e-01 -3.68078184e-01 3.62866417e+00] [ 4.17248900e-01 1.46312828e-03 9.08791073e-01 -9.34014943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720792138 meters Centerline goodness : 0.988648 Centerline is valid? [True, True] Translation: X:8.18, Y:3.67, Z:-93.42 [[ 4.90932756e-01 -8.51465785e-01 -1.84366605e-01 8.17977035e+00] [ 7.61481335e-01 5.22197128e-01 -3.84000438e-01 3.66515429e+00] [ 4.23238946e-01 4.81266646e-02 9.04738978e-01 -9.34151965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750792138 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:8.20, Y:3.67, Z:-93.44 [[ 4.51601165e-01 -8.71607457e-01 -1.90674665e-01 8.20431964e+00] [ 7.84816486e-01 4.89716424e-01 -3.79790610e-01 3.67205583e+00] [ 4.24404843e-01 2.18692610e-02 9.05208410e-01 -9.34370742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780792138 meters Centerline goodness : 0.989170 Centerline is valid? [True, True] Translation: X:8.22, Y:3.68, Z:-93.46 [[ 4.18039889e-01 -8.87224865e-01 -1.95127367e-01 8.22292050e+00] [ 8.06898602e-01 4.61325923e-01 -3.68907901e-01 3.67573446e+00] [ 4.17321575e-01 -3.22978150e-03 9.08753141e-01 -9.34640343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.810792138 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:8.21, Y:3.71, Z:-93.48 [[ 4.72584078e-01 -8.62045406e-01 -1.83144773e-01 8.21485618e+00] [ 7.74135769e-01 5.05376795e-01 -3.81193003e-01 3.70887295e+00] [ 4.21162795e-01 3.83668242e-02 9.06173210e-01 -9.34788382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84079213799998 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:8.23, Y:3.72, Z:-93.50 [[ 4.48618159e-01 -8.73529377e-01 -1.88913144e-01 8.23136615e+00] [ 7.88086080e-01 4.86343583e-01 -3.77346325e-01 3.71961642e+00] [ 4.21499796e-01 2.04045948e-02 9.06598905e-01 -9.35004734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87079213799998 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:8.24, Y:3.74, Z:-93.52 [[ 4.47683573e-01 -8.74051777e-01 -1.88713832e-01 8.23946475e+00] [ 7.88639023e-01 4.85415891e-01 -3.77385617e-01 3.73604989e+00] [ 4.21459262e-01 2.01222496e-02 9.06624060e-01 -9.35222564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90079213799999 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:8.25, Y:3.75, Z:-93.54 [[ 4.47320342e-01 -8.74272162e-01 -1.88554233e-01 8.24732577e+00] [ 7.88844721e-01 4.85019440e-01 -3.77465427e-01 3.75225740e+00] [ 4.21459984e-01 2.01079528e-02 9.06624041e-01 -9.35443156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93079213799999 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:8.25, Y:3.77, Z:-93.57 [[ 4.49877718e-01 -8.73135187e-01 -1.87736477e-01 8.25387970e+00] [ 7.88530651e-01 4.87029661e-01 -3.75528322e-01 3.76652097e+00] [ 4.19320224e-01 2.09058582e-02 9.07597650e-01 -9.35679446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96079213799999 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:8.26, Y:3.79, Z:-93.59 [[ 4.50583350e-01 -8.73052912e-01 -1.86422256e-01 8.26329813e+00] [ 7.87733877e-01 4.87079032e-01 -3.77133073e-01 3.78632511e+00] [ 4.20059500e-01 2.30787568e-02 9.07203057e-01 -9.35877893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99079213799999 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:8.27, Y:3.80, Z:-93.61 [[ 4.46372086e-01 -8.75267563e-01 -1.86168348e-01 8.27317481e+00] [ 7.91887681e-01 4.83256937e-01 -3.73331801e-01 3.79969658e+00] [ 4.16732361e-01 1.92204734e-02 9.08826008e-01 -9.36099438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02079213799999 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:8.28, Y:3.82, Z:-93.63 [[ 4.46519809e-01 -8.75455994e-01 -1.84923938e-01 8.28245562e+00] [ 7.91370453e-01 4.82837588e-01 -3.74967558e-01 3.81846196e+00] [ 4.17555825e-01 2.10871023e-02 9.08406554e-01 -9.36295358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05079213799999 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:8.29, Y:3.83, Z:-93.65 [[ 4.42944825e-01 -8.77012189e-01 -1.86143769e-01 8.29146530e+00] [ 7.93526729e-01 4.80134649e-01 -3.73879725e-01 3.83328446e+00] [ 4.17271149e-01 1.78980333e-02 9.08605772e-01 -9.36503683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08079213799999 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:8.30, Y:3.85, Z:-93.67 [[ 4.43360953e-01 -8.76952043e-01 -1.85435107e-01 8.29874018e+00] [ 7.93971856e-01 4.80238636e-01 -3.72799604e-01 3.84932854e+00] [ 4.15980477e-01 1.80545322e-02 9.09194301e-01 -9.36703678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110792138 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:8.31, Y:3.86, Z:-93.69 [[ 4.40627092e-01 -8.78438248e-01 -1.84916228e-01 8.30799243e+00] [ 7.95840698e-01 4.77558256e-01 -3.72257566e-01 3.86496862e+00] [ 4.15313555e-01 1.68629091e-02 9.09522014e-01 -9.36911551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140792138 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:8.32, Y:3.88, Z:-93.71 [[ 4.39646364e-01 -8.79011241e-01 -1.84527269e-01 8.31628538e+00] [ 7.96793655e-01 4.76521698e-01 -3.71546691e-01 3.87984577e+00] [ 4.14524965e-01 1.63189945e-02 9.09891611e-01 -9.37122127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170792138 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:8.32, Y:3.90, Z:-93.73 [[ 4.37218698e-01 -8.80300763e-01 -1.84147707e-01 8.32486006e+00] [ 7.98295477e-01 4.74167629e-01 -3.71334607e-01 3.89552239e+00] [ 4.14203019e-01 1.53501519e-02 9.10055071e-01 -9.37342724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200792138 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:8.33, Y:3.91, Z:-93.76 [[ 4.32913248e-01 -8.82612249e-01 -1.83253206e-01 8.33461875e+00] [ 8.01441235e-01 4.69913660e-01 -3.69963645e-01 3.91078921e+00] [ 4.12647629e-01 1.32954870e-02 9.10793700e-01 -9.37560511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23079213799998 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:8.34, Y:3.93, Z:-93.78 [[ 4.28739518e-01 -8.84720907e-01 -1.82897082e-01 8.34364275e+00] [ 8.03868322e-01 4.65980035e-01 -3.69673273e-01 3.92581054e+00] [ 4.12284062e-01 1.14683702e-02 9.10983166e-01 -9.37782888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26079213799999 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:8.35, Y:3.94, Z:-93.80 [[ 4.27357557e-01 -8.85468916e-01 -1.82511142e-01 8.35140039e+00] [ 8.04937278e-01 4.64572263e-01 -3.69118667e-01 3.94146387e+00] [ 4.11632721e-01 1.08356295e-02 9.11285407e-01 -9.37994007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29079213799999 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:8.36, Y:3.96, Z:-93.82 [[ 4.26317874e-01 -8.86038465e-01 -1.82178235e-01 8.35959404e+00] [ 8.05641522e-01 4.63492469e-01 -3.68939654e-01 3.95673218e+00] [ 4.11332965e-01 1.05152184e-02 9.11424502e-01 -9.38209881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32079213799999 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:8.38, Y:3.96, Z:-93.85 [[ 3.87619391e-01 -9.01463137e-01 -1.92653626e-01 8.37811996e+00] [ 8.26368860e-01 4.32421942e-01 -3.60729498e-01 3.95814529e+00] [ 4.08492000e-01 -1.93772090e-02 9.12556195e-01 -9.38511105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35079213799999 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:8.36, Y:4.00, Z:-93.87 [[ 4.58197756e-01 -8.72036657e-01 -1.72066514e-01 8.36291034e+00] [ 7.89721787e-01 4.88236776e-01 -3.71435526e-01 3.99578724e+00] [ 4.07914595e-01 3.43062498e-02 9.12375342e-01 -9.38651045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38079213799999 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:8.37, Y:4.01, Z:-93.89 [[ 4.48269755e-01 -8.76288469e-01 -1.76558053e-01 8.37338167e+00] [ 7.94024373e-01 4.81063174e-01 -3.71622817e-01 4.00523575e+00] [ 4.10584367e-01 2.63958716e-02 9.11440473e-01 -9.38870365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41079213799999 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:8.38, Y:4.02, Z:-93.91 [[ 4.44382713e-01 -8.77852120e-01 -1.78604761e-01 8.38228788e+00] [ 7.96625358e-01 4.78431036e-01 -3.69447942e-01 4.02027105e+00] [ 4.09770720e-01 2.18951969e-02 9.11925741e-01 -9.39093868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44079213799999 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:8.39, Y:4.04, Z:-93.93 [[ 4.48928458e-01 -8.75805130e-01 -1.77281174e-01 8.38816512e+00] [ 7.94237326e-01 4.82002577e-01 -3.69946733e-01 4.03657122e+00] [ 4.09451229e-01 2.52762908e-02 9.11981798e-01 -9.39307487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470792138 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:8.40, Y:4.05, Z:-93.95 [[ 4.44431454e-01 -8.77890419e-01 -1.78294966e-01 8.39652795e+00] [ 7.96549442e-01 4.78342178e-01 -3.69726584e-01 4.05057826e+00] [ 4.09865429e-01 2.22973676e-02 9.11873433e-01 -9.39529934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500792138 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:8.41, Y:4.07, Z:-93.98 [[ 4.32501202e-01 -8.84036621e-01 -1.77262410e-01 8.40836456e+00] [ 8.05528890e-01 4.67181390e-01 -3.64506182e-01 4.06906566e+00] [ 4.05050512e-01 1.48593691e-02 9.14173551e-01 -9.39754006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530792138 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:8.41, Y:4.08, Z:-94.00 [[ 4.42781580e-01 -8.78344697e-01 -1.80152893e-01 8.41314455e+00] [ 7.97575238e-01 4.77632003e-01 -3.68431011e-01 4.08230716e+00] [ 4.09656212e-01 1.94489791e-02 9.12032634e-01 -9.39984168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560792138 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:8.42, Y:4.10, Z:-94.02 [[ 4.35138710e-01 -8.82897380e-01 -1.76483766e-01 8.42199104e+00] [ 8.04169246e-01 4.69264284e-01 -3.64832640e-01 4.10152069e+00] [ 4.04927310e-01 1.68299871e-02 9.14193976e-01 -9.40200552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59079213799998 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:8.42, Y:4.12, Z:-94.04 [[ 4.53991853e-01 -8.73150308e-01 -1.77482216e-01 8.42448621e+00] [ 7.91106838e-01 4.86656288e-01 -3.70561234e-01 4.11682893e+00] [ 4.09928492e-01 2.78243863e-02 9.11693169e-01 -9.40414982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62079213799998 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:8.44, Y:4.13, Z:-94.06 [[ 4.31274291e-01 -8.84792160e-01 -1.76480364e-01 8.43797976e+00] [ 8.06907105e-01 4.65767519e-01 -3.63265112e-01 4.13219780e+00] [ 4.03612944e-01 1.42636445e-02 9.14818638e-01 -9.40637534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65079213799999 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:8.45, Y:4.15, Z:-94.09 [[ 4.25519584e-01 -8.87399502e-01 -1.77356160e-01 8.44770019e+00] [ 8.10104749e-01 4.60881113e-01 -3.62379491e-01 4.14704238e+00] [ 4.03315484e-01 1.05225022e-02 9.15000490e-01 -9.40856956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68079213799999 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:8.46, Y:4.16, Z:-94.11 [[ 4.24827674e-01 -8.87830742e-01 -1.76855936e-01 8.45554130e+00] [ 8.11001055e-01 4.60059086e-01 -3.61417939e-01 4.16230655e+00] [ 4.02242137e-01 1.01099921e-02 9.15477499e-01 -9.41066109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71079213799999 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:8.46, Y:4.18, Z:-94.13 [[ 4.24597222e-01 -8.87962682e-01 -1.76746924e-01 8.46257946e+00] [ 8.11167324e-01 4.59805377e-01 -3.61367664e-01 4.17762391e+00] [ 4.02150186e-01 1.00643771e-02 9.15518398e-01 -9.41281978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74079213799999 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:8.47, Y:4.19, Z:-94.15 [[ 4.28204492e-01 -8.86227333e-01 -1.76754143e-01 8.46739160e+00] [ 8.09044368e-01 4.63095770e-01 -3.61924742e-01 4.19474442e+00] [ 4.02601695e-01 1.19758566e-02 9.15296921e-01 -9.41498098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77079213799999 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:8.48, Y:4.21, Z:-94.17 [[ 4.23890365e-01 -8.88353221e-01 -1.76480915e-01 8.47710849e+00] [ 8.11568192e-01 4.59052272e-01 -3.61425070e-01 4.20907430e+00] [ 4.02087090e-01 9.97830731e-03 9.15547053e-01 -9.41706622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80079213799999 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:8.48, Y:4.22, Z:-94.19 [[ 4.24861533e-01 -8.87897029e-01 -1.76441333e-01 8.48375326e+00] [ 8.11034416e-01 4.59922525e-01 -3.61516869e-01 4.22480427e+00] [ 4.02139097e-01 1.04946173e-02 9.15518438e-01 -9.41917366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83079213799999 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:8.49, Y:4.24, Z:-94.21 [[ 4.23073864e-01 -8.88744809e-01 -1.76468608e-01 8.49122070e+00] [ 8.11851594e-01 4.58297980e-01 -3.61745700e-01 4.24046109e+00] [ 4.02374820e-01 9.77883076e-03 9.15422787e-01 -9.42129919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860792138 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:8.50, Y:4.26, Z:-94.23 [[ 4.21089145e-01 -8.89713429e-01 -1.76334756e-01 8.49949156e+00] [ 8.12792010e-01 4.56428557e-01 -3.61997405e-01 4.25591810e+00] [ 4.02558170e-01 9.10969741e-03 9.15349077e-01 -9.42349545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890792138 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:8.51, Y:4.27, Z:-94.26 [[ 4.20733228e-01 -8.89910530e-01 -1.76189670e-01 8.50717857e+00] [ 8.12976133e-01 4.56044417e-01 -3.62068082e-01 4.27220431e+00] [ 4.02558514e-01 9.09607630e-03 9.15349061e-01 -9.42570209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920792138 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:8.52, Y:4.29, Z:-94.28 [[ 4.16757621e-01 -8.91748636e-01 -1.76344707e-01 8.51626315e+00] [ 8.14640071e-01 4.52468116e-01 -3.62814220e-01 4.28808851e+00] [ 4.03329443e-01 7.54812641e-03 9.15023708e-01 -9.42787345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.950792138 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:8.52, Y:4.30, Z:-94.30 [[ 4.16417667e-01 -8.91921261e-01 -1.76274761e-01 8.52401401e+00] [ 8.14813133e-01 4.52129111e-01 -3.62848213e-01 4.30434872e+00] [ 4.03330986e-01 7.46541650e-03 9.15023706e-01 -9.43008059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98079213799998 meters Centerline goodness : 0.972327 Centerline is valid? [True, True] Translation: X:8.52, Y:4.32, Z:-94.32 [[ 4.57336019e-01 -8.72612691e-01 -1.71437622e-01 8.52193451e+00] [ 7.92956662e-01 4.87412035e-01 -3.65580689e-01 4.31708356e+00] [ 4.02571109e-01 3.12506121e-02 9.14855126e-01 -9.43239748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01079213799999 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:8.54, Y:4.34, Z:-94.35 [[ 4.16562086e-01 -8.91950630e-01 -1.75784250e-01 8.53939639e+00] [ 8.14771395e-01 4.52062048e-01 -3.63025452e-01 4.33665658e+00] [ 4.03266168e-01 7.99866027e-03 9.15047769e-01 -9.43450868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04079213799999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:8.55, Y:4.35, Z:-94.37 [[ 4.15971894e-01 -8.92189186e-01 -1.75971133e-01 8.54700354e+00] [ 8.15067055e-01 4.51598879e-01 -3.62938217e-01 4.35184704e+00] [ 4.03277919e-01 7.54382481e-03 9.15046453e-01 -9.43657179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07079213799999 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:8.54, Y:4.37, Z:-94.39 [[ 4.54766211e-01 -8.74164656e-01 -1.70363871e-01 8.54202316e+00] [ 7.94378382e-01 4.84626322e-01 -3.66197098e-01 4.36998670e+00] [ 4.02679376e-01 3.12006904e-02 9.14809181e-01 -9.43852411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10079213799999 meters Centerline goodness : 0.976005 Centerline is valid? [True, True] Translation: X:8.54, Y:4.40, Z:-94.40 [[ 5.03651896e-01 -8.48801878e-01 -1.60841972e-01 8.53775830e+00] [ 7.64199137e-01 5.24563640e-01 -3.75276786e-01 4.39709592e+00] [ 4.02907491e-01 6.60935687e-02 9.12851134e-01 -9.44010073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13079213799999 meters Centerline goodness : 0.967986 Centerline is valid? [True, True] Translation: X:8.56, Y:4.40, Z:-94.43 [[ 4.47332384e-01 -8.77745347e-01 -1.71629963e-01 8.56259140e+00] [ 7.98347024e-01 4.78388503e-01 -3.65768329e-01 4.40222974e+00] [ 4.03157250e-01 2.65997486e-02 9.14744054e-01 -9.44280046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16079213799999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:8.56, Y:4.43, Z:-94.44 [[ 5.02048676e-01 -8.49294377e-01 -1.63236600e-01 8.55625790e+00] [ 7.65376521e-01 5.24205148e-01 -3.73373465e-01 4.42780607e+00] [ 4.02673451e-01 6.25141926e-02 9.13206476e-01 -9.44442231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19079213799999 meters Centerline goodness : 0.967821 Centerline is valid? [True, True] Translation: X:8.58, Y:4.43, Z:-94.47 [[ 4.47818281e-01 -8.77332494e-01 -1.72471687e-01 8.57726592e+00] [ 7.98047472e-01 4.79178879e-01 -3.65387239e-01 4.43458750e+00] [ 4.03210887e-01 2.59864911e-02 9.14738040e-01 -9.44730439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220792138 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:8.59, Y:4.45, Z:-94.50 [[ 4.13867839e-01 -8.93609864e-01 -1.73709015e-01 8.58903596e+00] [ 8.18628073e-01 4.48802914e-01 -3.58362977e-01 4.44784128e+00] [ 3.98197803e-01 6.11183441e-03 9.17279213e-01 -9.44980897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250792138 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:8.57, Y:4.48, Z:-94.51 [[ 5.11820819e-01 -8.45082178e-01 -1.54517187e-01 8.56533950e+00] [ 7.60602233e-01 5.29373586e-01 -3.75829549e-01 4.47960957e+00] [ 3.99404171e-01 7.48312701e-02 9.13715814e-01 -9.45088953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280792138 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:8.61, Y:4.48, Z:-94.54 [[ 3.98320834e-01 -8.99846313e-01 -1.77812054e-01 8.60925264e+00] [ 8.26070809e-01 4.36181339e-01 -3.56865322e-01 4.47688206e+00] [ 3.98682244e-01 -4.73845451e-03 9.17076886e-01 -9.45422388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.310792138 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:8.58, Y:4.51, Z:-94.55 [[ 5.19400713e-01 -8.40724337e-01 -1.52988524e-01 8.57846161e+00] [ 7.56430355e-01 5.35632672e-01 -3.75380819e-01 4.51116614e+00] [ 3.97537442e-01 7.92479017e-02 9.14157400e-01 -9.45529626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34079213799998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:8.59, Y:4.52, Z:-94.58 [[ 4.96841571e-01 -8.53205640e-01 -1.58709137e-01 8.59421400e+00] [ 7.70394155e-01 5.17811223e-01 -3.71973632e-01 4.52202437e+00] [ 3.99551372e-01 6.25433720e-02 9.14574780e-01 -9.45751499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37079213799998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:8.62, Y:4.53, Z:-94.60 [[ 4.52584042e-01 -8.75641102e-01 -1.68583348e-01 8.61689042e+00] [ 7.95907003e-01 4.81922837e-01 -3.66445659e-01 4.53138493e+00] [ 4.02119046e-01 3.16707903e-02 9.15039471e-01 -9.46008229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40079213799999 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:8.64, Y:4.54, Z:-94.63 [[ 4.02368315e-01 -8.98557202e-01 -1.75199015e-01 8.64045150e+00] [ 8.23882823e-01 4.38856416e-01 -3.58639290e-01 4.54265419e+00] [ 3.99145129e-01 -3.83722102e-05 9.16887760e-01 -9.46279257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43079213799999 meters Centerline goodness : 0.967498 Centerline is valid? [True, True] Translation: X:8.62, Y:4.57, Z:-94.64 [[ 5.17854800e-01 -8.40983502e-01 -1.56758274e-01 8.61525093e+00] [ 7.56080369e-01 5.35666576e-01 -3.76036959e-01 4.57173582e+00] [ 4.00211047e-01 7.62106905e-02 9.13248624e-01 -9.46438943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46079213799999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:8.63, Y:4.58, Z:-94.67 [[ 4.95932125e-01 -8.52459186e-01 -1.65422683e-01 8.63433120e+00] [ 7.69834622e-01 5.19746990e-01 -3.70429103e-01 4.57882130e+00] [ 4.01753634e-01 5.63595834e-02 9.14011824e-01 -9.46686181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49079213799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:8.64, Y:4.59, Z:-94.69 [[ 4.99861473e-01 -8.50395176e-01 -1.64214956e-01 8.64054771e+00] [ 7.68029906e-01 5.22856876e-01 -3.69798256e-01 4.59479165e+00] [ 4.00335572e-01 5.87259034e-02 9.14484936e-01 -9.46905939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52079213799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:8.66, Y:4.60, Z:-94.72 [[ 4.52563863e-01 -8.74697475e-01 -1.73465493e-01 8.66384683e+00] [ 7.96744005e-01 4.83994822e-01 -3.61867383e-01 4.60262049e+00] [ 4.00480887e-01 2.55605092e-02 9.15948535e-01 -9.47176917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55079213799999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:8.65, Y:4.63, Z:-94.73 [[ 5.16280578e-01 -8.41753631e-01 -1.57813781e-01 8.65035060e+00] [ 7.59626027e-01 5.35186548e-01 -3.69518142e-01 4.62810592e+00] [ 3.95503051e-01 7.08955843e-02 9.15724387e-01 -9.47348526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58079213799999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:8.69, Y:4.63, Z:-94.77 [[ 4.10940185e-01 -8.93819974e-01 -1.79482641e-01 8.69155305e+00] [ 8.18206639e-01 4.48424857e-01 -3.59795835e-01 4.63272227e+00] [ 4.02077182e-01 1.00067859e-03 9.15605231e-01 -9.47656543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610792138 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:8.68, Y:4.66, Z:-94.78 [[ 4.81744966e-01 -8.60555844e-01 -1.65424991e-01 8.67614749e+00] [ 7.80017481e-01 5.07129802e-01 -3.66595271e-01 4.65618298e+00] [ 3.99367646e-01 4.75710422e-02 9.15555831e-01 -9.47820525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640792138 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:8.70, Y:4.67, Z:-94.81 [[ 4.15304596e-01 -8.92088266e-01 -1.78046673e-01 8.70483363e+00] [ 8.16250854e-01 4.51841997e-01 -3.59962988e-01 4.66579645e+00] [ 4.01567722e-01 4.16353431e-03 9.15819867e-01 -9.48092857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670792138 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:8.71, Y:4.68, Z:-94.83 [[ 4.14944236e-01 -8.92654019e-01 -1.76040006e-01 8.71265120e+00] [ 8.18031680e-01 4.50722378e-01 -3.57314300e-01 4.67958611e+00] [ 3.98303217e-01 4.25920706e-03 9.17243919e-01 -9.48325577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700792138 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:8.72, Y:4.70, Z:-94.85 [[ 4.21479720e-01 -8.90042694e-01 -1.73720602e-01 8.71768175e+00] [ 8.14717549e-01 4.55777018e-01 -3.58472628e-01 4.69574453e+00] [ 3.98233802e-01 9.55571997e-03 9.17234172e-01 -9.48544471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73079213799998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:8.72, Y:4.71, Z:-94.88 [[ 4.50387955e-01 -8.76612731e-01 -1.69413132e-01 8.71621932e+00] [ 7.99586625e-01 4.80448359e-01 -3.60320139e-01 4.71197686e+00] [ 3.97255483e-01 2.68233762e-02 9.17315969e-01 -9.48751620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76079213799999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:8.73, Y:4.73, Z:-94.90 [[ 4.22133393e-01 -8.89698047e-01 -1.73898773e-01 8.73258001e+00] [ 8.12601584e-01 4.56399579e-01 -3.62461156e-01 4.72973974e+00] [ 4.01848310e-01 1.16965393e-02 9.15631545e-01 -9.48978018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79079213799999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:8.74, Y:4.74, Z:-94.92 [[ 4.14342042e-01 -8.92874262e-01 -1.76341217e-01 8.74262672e+00] [ 8.16405993e-01 4.50268043e-01 -3.61579790e-01 4.74439834e+00] [ 4.02246103e-01 5.85168175e-03 9.15512879e-01 -9.49199146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82079213799999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:8.75, Y:4.76, Z:-94.94 [[ 4.12179300e-01 -8.93949684e-01 -1.75960755e-01 8.75063642e+00] [ 8.17778899e-01 4.48140006e-01 -3.61120767e-01 4.76018677e+00] [ 4.01678849e-01 4.94951282e-03 9.15767222e-01 -9.49415046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85079213799999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:8.76, Y:4.78, Z:-94.96 [[ 4.11897250e-01 -8.94102109e-01 -1.75846733e-01 8.75824294e+00] [ 8.17920922e-01 4.47835937e-01 -3.61176328e-01 4.77640386e+00] [ 4.01679003e-01 4.93881470e-03 9.15767212e-01 -9.49636514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88079213799999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:8.77, Y:4.79, Z:-94.99 [[ 4.09396674e-01 -8.95315964e-01 -1.75509793e-01 8.76623731e+00] [ 8.19401883e-01 4.45414518e-01 -3.60813611e-01 4.79174882e+00] [ 4.01216795e-01 3.90283715e-03 9.15974809e-01 -9.49850806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91079213799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:8.77, Y:4.81, Z:-95.01 [[ 4.09153540e-01 -8.95479123e-01 -1.75244173e-01 8.77373586e+00] [ 8.19680019e-01 4.45086507e-01 -3.60586562e-01 4.80746618e+00] [ 4.00896555e-01 3.89112102e-03 9.16115064e-01 -9.50067895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94079213799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:8.78, Y:4.82, Z:-95.03 [[ 4.08871679e-01 -8.95630042e-01 -1.75130748e-01 8.78132619e+00] [ 8.19820591e-01 4.44782836e-01 -3.60641689e-01 4.82369114e+00] [ 4.00896681e-01 3.88037978e-03 9.16115055e-01 -9.50289362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:8.79, Y:4.84, Z:-95.05 [[ 4.10811287e-01 -8.94765851e-01 -1.75009023e-01 8.78735515e+00] [ 8.18805719e-01 4.46508434e-01 -3.60814930e-01 4.83971620e+00] [ 4.00987882e-01 4.92845686e-03 9.16070100e-01 -9.50508247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000792138 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:8.79, Y:4.85, Z:-95.07 [[ 4.10705811e-01 -8.94811049e-01 -1.75025493e-01 8.79346028e+00] [ 8.18815951e-01 4.46418037e-01 -3.60903553e-01 4.85390749e+00] [ 4.01075024e-01 4.91152103e-03 9.16032042e-01 -9.50724623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:8.80, Y:4.87, Z:-95.09 [[ 4.09237579e-01 -8.95554034e-01 -1.74664182e-01 8.80097953e+00] [ 8.19739977e-01 4.44930929e-01 -3.60642259e-01 4.86893166e+00] [ 4.00688126e-01 4.40915254e-03 9.16203899e-01 -9.50944316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060792138 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:8.81, Y:4.88, Z:-95.12 [[ 4.10398291e-01 -8.95051784e-01 -1.74515177e-01 8.80738807e+00] [ 8.19165514e-01 4.45933314e-01 -3.60709496e-01 4.88494545e+00] [ 4.00675809e-01 5.07774602e-03 9.16205824e-01 -9.51166163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09079213799998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:8.81, Y:4.90, Z:-95.14 [[ 4.08620196e-01 -8.95852812e-01 -1.74577416e-01 8.81483910e+00] [ 8.19956170e-01 4.44329901e-01 -3.60891699e-01 4.89979846e+00] [ 4.00875809e-01 4.32180719e-03 9.16122212e-01 -9.51383911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12079213799998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:8.82, Y:4.92, Z:-95.16 [[ 4.17521142e-01 -8.92147033e-01 -1.72481210e-01 8.81862413e+00] [ 8.16464947e-01 4.51648034e-01 -3.59720786e-01 4.91553758e+00] [ 3.98824631e-01 9.36617143e-03 9.16979383e-01 -9.51611797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15079213799999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:8.83, Y:4.93, Z:-95.18 [[ 4.05707282e-01 -8.97233460e-01 -1.74280580e-01 8.83007841e+00] [ 8.21656772e-01 4.41546046e-01 -3.60440338e-01 4.93017363e+00] [ 4.00352032e-01 3.03445126e-03 9.16356395e-01 -9.51828091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18079213799999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:8.84, Y:4.95, Z:-95.21 [[ 4.04750917e-01 -8.97726660e-01 -1.73964188e-01 8.83817621e+00] [ 8.22176641e-01 4.40543496e-01 -3.60481620e-01 4.94548743e+00] [ 4.00252753e-01 2.87597443e-03 9.16400274e-01 -9.52051539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21079213799999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:8.85, Y:4.96, Z:-95.22 [[ 3.98943657e-01 -9.00797106e-01 -1.71489162e-01 8.85068036e+00] [ 8.27602026e-01 4.34240226e-01 -3.55682883e-01 4.96259884e+00] [ 3.94865604e-01 -2.73474987e-05 9.18738893e-01 -9.52246794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24079213799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:8.86, Y:4.98, Z:-95.25 [[ 3.98277770e-01 -9.01167365e-01 -1.71091197e-01 8.85915114e+00] [ 8.28204241e-01 4.33471257e-01 -3.55218812e-01 4.97859968e+00] [ 3.94274717e-01 -2.22698750e-04 9.18992599e-01 -9.52465948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:8.87, Y:4.99, Z:-95.27 [[ 3.97327800e-01 -9.01556769e-01 -1.71248393e-01 8.86649041e+00] [ 8.28468750e-01 4.32660429e-01 -3.55590332e-01 4.99342229e+00] [ 3.94677274e-01 -5.88017908e-04 9.18819625e-01 -9.52682092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30079213799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:8.87, Y:5.01, Z:-95.29 [[ 3.96158062e-01 -9.02084438e-01 -1.71179604e-01 8.87393786e+00] [ 8.28927724e-01 4.31558597e-01 -3.55859531e-01 5.00876471e+00] [ 3.94889375e-01 -9.18897231e-04 9.18728217e-01 -9.52899331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33079213799999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:8.88, Y:5.03, Z:-95.31 [[ 3.99372202e-01 -9.00650750e-01 -1.71260244e-01 8.87969161e+00] [ 8.27156615e-01 4.34543203e-01 -3.56348338e-01 5.02511313e+00] [ 3.95365373e-01 6.56576984e-04 9.18523702e-01 -9.53114115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:8.89, Y:5.04, Z:-95.33 [[ 3.99100651e-01 -9.00781247e-01 -1.71206940e-01 8.88729589e+00] [ 8.27287622e-01 4.34272721e-01 -3.56373953e-01 5.04133548e+00] [ 3.95365477e-01 5.91694004e-04 9.18523701e-01 -9.53335632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390792138 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:8.90, Y:5.06, Z:-95.36 [[ 3.94750972e-01 -9.02691455e-01 -1.71230272e-01 8.89694260e+00] [ 8.29180705e-01 4.30286949e-01 -3.56808772e-01 5.05612473e+00] [ 3.95766381e-01 -1.13022828e-03 9.18350529e-01 -9.53551552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:8.89, Y:5.07, Z:-95.38 [[ 4.24524369e-01 -8.90190907e-01 -1.65345726e-01 8.89457626e+00] [ 8.16186490e-01 4.55304568e-01 -3.55720906e-01 5.07134555e+00] [ 3.91942181e-01 1.60592456e-02 9.19849677e-01 -9.53766062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.450792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:8.91, Y:5.09, Z:-95.40 [[ 3.95653021e-01 -9.02210931e-01 -1.71680295e-01 8.91050459e+00] [ 8.28117520e-01 4.31294774e-01 -3.58058920e-01 5.08762431e+00] [ 3.97089486e-01 -5.04366860e-04 9.17779759e-01 -9.53984078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48079213799998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:8.92, Y:5.10, Z:-95.42 [[ 3.97379277e-01 -9.01488893e-01 -1.71486111e-01 8.91680420e+00] [ 8.27305338e-01 4.32802016e-01 -3.58117708e-01 5.10411680e+00] [ 3.97058671e-01 4.37181070e-04 9.17793125e-01 -9.54197302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51079213799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:8.93, Y:5.12, Z:-95.44 [[ 3.95168956e-01 -9.02411736e-01 -1.71739788e-01 8.92507677e+00] [ 8.27941733e-01 4.30874628e-01 -3.58970113e-01 5.11942772e+00] [ 3.97937160e-01 -3.36692991e-04 9.17412614e-01 -9.54415478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54079213799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:8.93, Y:5.13, Z:-95.46 [[ 3.92646867e-01 -9.03509262e-01 -1.71754045e-01 8.93327313e+00] [ 8.28985283e-01 4.28566611e-01 -3.59324451e-01 5.13483187e+00] [ 3.98261018e-01 -1.29395522e-03 9.17271218e-01 -9.54630141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57079213799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:8.94, Y:5.15, Z:-95.49 [[ 3.91243583e-01 -9.04091365e-01 -1.71893174e-01 8.94122808e+00] [ 8.29354015e-01 4.27335687e-01 -3.59939062e-01 5.15048975e+00] [ 3.98873885e-01 -1.73644570e-03 9.17004149e-01 -9.54850814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:8.95, Y:5.17, Z:-95.51 [[ 3.91399810e-01 -9.04062457e-01 -1.71689438e-01 8.94855992e+00] [ 8.29358223e-01 4.27397577e-01 -3.59855873e-01 5.16648152e+00] [ 3.98711835e-01 -1.54452641e-03 9.17074963e-01 -9.55066099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63079213799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:8.96, Y:5.18, Z:-95.53 [[ 3.91771211e-01 -9.03901406e-01 -1.71690320e-01 8.95594157e+00] [ 8.29036114e-01 4.27739113e-01 -3.60192133e-01 5.18282716e+00] [ 3.99016841e-01 -1.22456695e-03 9.16942780e-01 -9.55285504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:8.96, Y:5.20, Z:-95.55 [[ 3.90952500e-01 -9.04266846e-01 -1.71632205e-01 8.96354787e+00] [ 8.29467599e-01 4.26964860e-01 -3.60117356e-01 5.19759056e+00] [ 3.98923106e-01 -1.57457242e-03 9.16983029e-01 -9.55493993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:8.97, Y:5.21, Z:-95.57 [[ 3.92759437e-01 -9.03508237e-01 -1.71501869e-01 8.96999051e+00] [ 8.28575559e-01 4.28570298e-01 -3.60263852e-01 5.21385693e+00] [ 3.99001964e-01 -6.05229820e-04 9.16949871e-01 -9.55707325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:8.98, Y:5.23, Z:-95.59 [[ 3.91326374e-01 -9.04120462e-01 -1.71551332e-01 8.97791410e+00] [ 8.29057066e-01 4.27276292e-01 -3.60692877e-01 5.22963199e+00] [ 3.99409627e-01 -1.07720839e-03 9.16771940e-01 -9.55927146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:8.99, Y:5.25, Z:-95.61 [[ 3.83950785e-01 -9.07266231e-01 -1.71609388e-01 8.98792097e+00] [ 8.34171963e-01 4.20511833e-01 -3.56828998e-01 5.24663031e+00] [ 3.95902678e-01 -6.14696632e-03 9.18271901e-01 -9.56142550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:8.99, Y:5.26, Z:-95.64 [[ 3.97252228e-01 -9.01870428e-01 -1.69765713e-01 8.99025899e+00] [ 8.26838834e-01 4.31998161e-01 -3.60159869e-01 5.26332033e+00] [ 3.98156011e-01 2.70542651e-03 9.17313726e-01 -9.56357270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.810792138 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:9.00, Y:5.28, Z:-95.66 [[ 3.89673462e-01 -9.04990889e-01 -1.70722239e-01 9.00047166e+00] [ 8.30560248e-01 4.25427390e-01 -3.59417878e-01 5.27705575e+00] [ 3.97899821e-01 -1.73949662e-03 9.17427221e-01 -9.56562712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84079213799998 meters Centerline goodness : 0.974660 Centerline is valid? [True, True] Translation: X:9.00, Y:5.29, Z:-95.68 [[ 4.15654080e-01 -8.94442362e-01 -1.64938006e-01 8.99767000e+00] [ 8.20932319e-01 4.47014477e-01 -3.55314206e-01 5.28987086e+00] [ 3.91537755e-01 1.22848597e-02 9.20080034e-01 -9.56804222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87079213799998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:9.01, Y:5.31, Z:-95.70 [[ 3.95209513e-01 -9.02437742e-01 -1.71509659e-01 9.01066940e+00] [ 8.27273583e-01 4.30819849e-01 -3.60572706e-01 5.30965873e+00] [ 3.99284184e-01 6.16353431e-04 9.16827007e-01 -9.56996636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90079213799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:9.02, Y:5.33, Z:-95.72 [[ 3.96814637e-01 -9.01826885e-01 -1.71015827e-01 9.01725492e+00] [ 8.26355947e-01 4.32092936e-01 -3.61153074e-01 5.32616993e+00] [ 3.99592283e-01 1.99088025e-03 9.16690811e-01 -9.57217044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93079213799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:9.02, Y:5.34, Z:-95.74 [[ 3.97666526e-01 -9.01458159e-01 -1.70981054e-01 9.02379998e+00] [ 8.25966756e-01 4.32859688e-01 -3.61125198e-01 5.34208650e+00] [ 3.99550062e-01 2.38273674e-03 9.16708280e-01 -9.57431207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.03, Y:5.36, Z:-95.76 [[ 3.97546108e-01 -9.01512807e-01 -1.70972955e-01 9.03114771e+00] [ 8.25973867e-01 4.32745809e-01 -3.61245395e-01 5.35765772e+00] [ 3.99655180e-01 2.39250832e-03 9.16662431e-01 -9.57644255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.04, Y:5.37, Z:-95.79 [[ 3.96453336e-01 -9.02028603e-01 -1.70789790e-01 9.03845108e+00] [ 8.26644882e-01 4.31671929e-01 -3.60995269e-01 5.37267529e+00] [ 3.99353216e-01 1.93527276e-03 9.16795104e-01 -9.57851120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02079213799999 meters Centerline goodness : 0.966117 Centerline is valid? [True, True] Translation: X:9.04, Y:5.38, Z:-95.81 [[ 4.03020546e-01 -9.00052615e-01 -1.65770109e-01 9.04230967e+00] [ 8.27442707e-01 4.35745405e-01 -3.54209694e-01 5.38294767e+00] [ 3.91040925e-01 5.58851669e-03 9.20356324e-01 -9.58116205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05079213799999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.05, Y:5.40, Z:-95.83 [[ 3.92208955e-01 -9.03923251e-01 -1.70572248e-01 9.05479431e+00] [ 8.29251643e-01 4.27694556e-01 -3.59748635e-01 5.40336313e+00] [ 3.98137977e-01 -3.50680429e-04 9.17325476e-01 -9.58278242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08079213799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:9.06, Y:5.42, Z:-95.85 [[ 3.98790870e-01 -9.01592807e-01 -1.67619364e-01 9.05888387e+00] [ 8.29099346e-01 4.32579690e-01 -3.54216157e-01 5.41649754e+00] [ 3.91867472e-01 2.28506454e-03 9.20018838e-01 -9.58519206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:9.07, Y:5.44, Z:-95.87 [[ 4.00853841e-01 -9.00393191e-01 -1.69139883e-01 9.06598433e+00] [ 8.24851114e-01 4.35045898e-01 -3.61048065e-01 5.43695789e+00] [ 3.98668832e-01 5.21228272e-03 9.17080146e-01 -9.58721777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:9.07, Y:5.45, Z:-95.89 [[ 3.96936240e-01 -9.01956927e-01 -1.70045063e-01 9.07472750e+00] [ 8.26732848e-01 4.31818417e-01 -3.60618432e-01 5.45261652e+00] [ 3.98690882e-01 2.56068527e-03 9.17081797e-01 -9.58943400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170792138 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:9.08, Y:5.47, Z:-95.92 [[ 3.97487288e-01 -9.01687296e-01 -1.70187769e-01 9.08105860e+00] [ 8.26170452e-01 4.32378452e-01 -3.61235738e-01 5.46831880e+00] [ 3.99307199e-01 2.98250740e-03 9.16812339e-01 -9.59160968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.09, Y:5.48, Z:-95.94 [[ 3.98795425e-01 -9.01145228e-01 -1.69998493e-01 9.08809957e+00] [ 8.25714954e-01 4.33502660e-01 -3.60929713e-01 5.48423641e+00] [ 3.98944887e-01 3.56682009e-03 9.16967968e-01 -9.59370295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23079213799998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:9.10, Y:5.50, Z:-95.96 [[ 3.97666856e-01 -9.01666624e-01 -1.69877518e-01 9.09588774e+00] [ 8.26213885e-01 4.32419727e-01 -3.61086964e-01 5.49982466e+00] [ 3.99038454e-01 3.23715389e-03 9.16928478e-01 -9.59588811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:9.10, Y:5.52, Z:-95.98 [[ 3.96221606e-01 -9.02265119e-01 -1.70076730e-01 9.10302962e+00] [ 8.26536434e-01 4.31172644e-01 -3.61839294e-01 5.51523138e+00] [ 3.99807407e-01 2.79393275e-03 9.16594911e-01 -9.59809717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:9.11, Y:5.53, Z:-96.00 [[ 3.97744113e-01 -9.01620112e-01 -1.69943505e-01 9.10939881e+00] [ 8.25814830e-01 4.32513863e-01 -3.61886206e-01 5.53174393e+00] [ 3.99786803e-01 3.59624154e-03 9.16601102e-01 -9.60024209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:9.12, Y:5.55, Z:-96.02 [[ 3.97473643e-01 -9.01749665e-01 -1.69888918e-01 9.11685654e+00] [ 8.25944764e-01 4.32244224e-01 -3.61911837e-01 5.54803377e+00] [ 3.99787381e-01 3.53155460e-03 9.16601101e-01 -9.60245725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35079213799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:9.13, Y:5.56, Z:-96.05 [[ 3.95047492e-01 -9.02773817e-01 -1.70108536e-01 9.12510351e+00] [ 8.26751651e-01 4.30107673e-01 -3.62614255e-01 5.56305573e+00] [ 4.00523641e-01 2.61233913e-03 9.16282701e-01 -9.60457013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38079213799999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:9.13, Y:5.58, Z:-96.07 [[ 3.94940550e-01 -9.02817544e-01 -1.70124791e-01 9.13209624e+00] [ 8.26615703e-01 4.30015030e-01 -3.63033818e-01 5.57864354e+00] [ 4.00909518e-01 2.74895162e-03 9.16113531e-01 -9.60674136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:9.14, Y:5.59, Z:-96.09 [[ 3.94077395e-01 -9.03244159e-01 -1.69861698e-01 9.13968802e+00] [ 8.27181373e-01 4.29119920e-01 -3.62804451e-01 5.59465891e+00] [ 4.00592040e-01 2.46660019e-03 9.16253204e-01 -9.60890377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:9.14, Y:5.61, Z:-96.11 [[ 4.05112557e-01 -8.99056289e-01 -1.66077107e-01 9.14279003e+00] [ 8.25017856e-01 4.37764369e-01 -3.57362413e-01 5.60828209e+00] [ 3.93991564e-01 7.75542191e-03 9.19081335e-01 -9.61122393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:9.15, Y:5.63, Z:-96.13 [[ 3.96208884e-01 -9.02431924e-01 -1.69219214e-01 9.15369180e+00] [ 8.25951332e-01 4.30811063e-01 -3.63601739e-01 5.62717372e+00] [ 4.01027327e-01 4.29540381e-03 9.16056021e-01 -9.61332685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:9.16, Y:5.64, Z:-96.16 [[ 3.92737686e-01 -9.03825858e-01 -1.69870327e-01 9.16179934e+00] [ 8.27495889e-01 4.27894789e-01 -3.63533497e-01 5.64277190e+00] [ 4.01257603e-01 2.20630754e-03 9.15962591e-01 -9.61553353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:9.17, Y:5.66, Z:-96.18 [[ 3.93287983e-01 -9.03656019e-01 -1.69500332e-01 9.16805776e+00] [ 8.27512632e-01 4.28251564e-01 -3.63074981e-01 5.65923357e+00] [ 4.00683674e-01 2.52936139e-03 9.16212964e-01 -9.61765400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560792138 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:9.18, Y:5.68, Z:-96.20 [[ 3.92391470e-01 -9.04078184e-01 -1.69326820e-01 9.17605628e+00] [ 8.27989586e-01 4.27361168e-01 -3.63036744e-01 5.67556910e+00] [ 4.00577308e-01 2.25167763e-03 9.16260198e-01 -9.61983449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59079213799998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:9.18, Y:5.69, Z:-96.22 [[ 3.92164975e-01 -9.04214137e-01 -1.69125477e-01 9.18323018e+00] [ 8.28181042e-01 4.27073369e-01 -3.62938698e-01 5.69152708e+00] [ 4.00403289e-01 2.26533202e-03 9.16336223e-01 -9.62195643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62079213799998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:9.19, Y:5.71, Z:-96.24 [[ 3.95041308e-01 -9.02912091e-01 -1.69387487e-01 9.18870834e+00] [ 8.26371438e-01 4.29808885e-01 -3.63833160e-01 5.70764106e+00] [ 4.01313606e-01 3.75214625e-03 9.15933027e-01 -9.62412772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.19, Y:5.72, Z:-96.26 [[ 3.96395999e-01 -9.02283563e-01 -1.69571764e-01 9.19460443e+00] [ 8.25367189e-01 4.31119069e-01 -3.64561863e-01 5.72385184e+00] [ 4.02043798e-01 4.55189414e-03 9.15609122e-01 -9.62629958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:9.20, Y:5.74, Z:-96.28 [[ 3.96501903e-01 -9.02218586e-01 -1.69669867e-01 9.20173680e+00] [ 8.25056526e-01 4.31252584e-01 -3.65106749e-01 5.73999940e+00] [ 4.02576664e-01 4.77828955e-03 9.15373802e-01 -9.62846435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71079213799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:9.21, Y:5.76, Z:-96.31 [[ 3.95481452e-01 -9.02650965e-01 -1.69751751e-01 9.20878873e+00] [ 8.25302253e-01 4.30349863e-01 -3.65616174e-01 5.75592035e+00] [ 4.03076435e-01 4.49791272e-03 9.15155264e-01 -9.63062698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:9.22, Y:5.77, Z:-96.33 [[ 3.95356650e-01 -9.02669410e-01 -1.69944269e-01 9.21579021e+00] [ 8.24991623e-01 4.30309644e-01 -3.66363797e-01 5.77199986e+00] [ 4.03834051e-01 4.64176486e-03 9.14820482e-01 -9.63283506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:9.22, Y:5.79, Z:-96.35 [[ 3.97227776e-01 -9.01832430e-01 -1.70024594e-01 9.22174438e+00] [ 8.23856599e-01 4.32048939e-01 -3.66870573e-01 5.78829130e+00] [ 4.04314726e-01 5.65529800e-03 9.14602438e-01 -9.63497178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:9.23, Y:5.80, Z:-96.37 [[ 3.95215827e-01 -9.02683757e-01 -1.70195433e-01 9.22965364e+00] [ 8.24470672e-01 4.30276114e-01 -3.67573907e-01 5.80405285e+00] [ 4.05034024e-01 4.94988264e-03 9.14288214e-01 -9.63718395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83079213799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:9.24, Y:5.82, Z:-96.39 [[ 3.95077684e-01 -9.02791979e-01 -1.69941951e-01 9.23645952e+00] [ 8.24684027e-01 4.30048560e-01 -3.67361528e-01 5.82005435e+00] [ 4.04734332e-01 4.98792938e-03 9.14420713e-01 -9.63933559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:9.24, Y:5.84, Z:-96.41 [[ 3.96184608e-01 -9.02307540e-01 -1.69937809e-01 9.24332122e+00] [ 8.24012039e-01 4.31055998e-01 -3.67688572e-01 5.83615524e+00] [ 4.05020883e-01 5.64175215e-03 9.14290028e-01 -9.64146086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:9.25, Y:5.85, Z:-96.44 [[ 3.91981315e-01 -9.04227742e-01 -1.69478139e-01 9.25259942e+00] [ 8.27914646e-01 4.27044890e-01 -3.63579430e-01 5.84922947e+00] [ 4.01133380e-01 2.20290994e-03 9.16017008e-01 -9.64382549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:9.26, Y:5.87, Z:-96.46 [[ 4.02553889e-01 -8.99835133e-01 -1.68068735e-01 9.25654397e+00] [ 8.21085892e-01 4.36109663e-01 -3.68274789e-01 5.86962534e+00] [ 4.04682993e-01 1.02515820e-02 9.14399574e-01 -9.64587331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.950792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:9.27, Y:5.89, Z:-96.48 [[ 3.98236167e-01 -9.01471361e-01 -1.69579894e-01 9.26512888e+00] [ 8.23109735e-01 4.32784701e-01 -3.67678891e-01 5.88501440e+00] [ 4.04843575e-01 6.84017058e-03 9.14360373e-01 -9.64809179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98079213799998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:9.27, Y:5.90, Z:-96.50 [[ 3.91982021e-01 -9.03990666e-01 -1.70736552e-01 9.27302326e+00] [ 8.24651915e-01 4.27529787e-01 -3.70361311e-01 5.90024329e+00] [ 4.07798130e-01 4.37675064e-03 9.13061624e-01 -9.65020275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:9.28, Y:5.91, Z:-96.52 [[ 3.83128455e-01 -9.07583575e-01 -1.71769151e-01 9.28345540e+00] [ 8.29653319e-01 4.19868658e-01 -3.67947931e-01 5.91324937e+00] [ 4.06063982e-01 -1.53752404e-03 9.13843356e-01 -9.65247509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04079213799999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:9.28, Y:5.93, Z:-96.55 [[ 3.99027259e-01 -9.01311078e-01 -1.68569237e-01 9.28468582e+00] [ 8.20730874e-01 4.33048787e-01 -3.72652090e-01 5.93387589e+00] [ 4.08874161e-01 1.03483650e-02 9.12532099e-01 -9.65458501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07079213799999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:9.30, Y:5.95, Z:-96.57 [[ 3.88885630e-01 -9.05332324e-01 -1.70708377e-01 9.29638739e+00] [ 8.25745907e-01 4.24690359e-01 -3.71189705e-01 5.94801363e+00] [ 4.08548240e-01 3.38859922e-03 9.12730438e-01 -9.65674033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:9.30, Y:5.96, Z:-96.59 [[ 3.89445095e-01 -9.05200632e-01 -1.70130343e-01 9.30328626e+00] [ 8.26014965e-01 4.24968640e-01 -3.70271430e-01 5.96445612e+00] [ 4.07469993e-01 3.67018270e-03 9.13211221e-01 -9.65892534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:9.31, Y:5.98, Z:-96.61 [[ 3.81246515e-01 -9.08516730e-01 -1.71021771e-01 9.31382302e+00] [ 8.31193683e-01 4.17842039e-01 -3.66776623e-01 5.97803373e+00] [ 4.04682784e-01 -2.31990598e-03 9.14454188e-01 -9.66112213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16079213799999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:9.31, Y:6.00, Z:-96.63 [[ 3.98595164e-01 -9.01759098e-01 -1.67189786e-01 9.31397350e+00] [ 8.21732994e-01 4.32106339e-01 -3.71535998e-01 5.99803953e+00] [ 4.07279733e-01 1.07070884e-02 9.13240701e-01 -9.66324810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:9.33, Y:6.01, Z:-96.65 [[ 3.86616259e-01 -9.06499493e-01 -1.69665962e-01 9.32585127e+00] [ 8.27477207e-01 4.22198134e-01 -3.70175915e-01 6.01197480e+00] [ 4.07196931e-01 2.72131082e-03 9.13336331e-01 -9.66547824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:9.33, Y:6.03, Z:-96.68 [[ 3.85090295e-01 -9.07187484e-01 -1.69458943e-01 9.33362503e+00] [ 8.28279339e-01 4.20721110e-01 -3.70063621e-01 6.02838100e+00] [ 4.07012040e-01 2.14856741e-03 9.13420266e-01 -9.66762588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:9.34, Y:6.04, Z:-96.70 [[ 3.84822152e-01 -9.07311758e-01 -1.69402730e-01 9.34092216e+00] [ 8.28403789e-01 4.20453360e-01 -3.70089360e-01 6.04474194e+00] [ 4.07012374e-01 2.08472048e-03 9.13420265e-01 -9.66984118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:9.35, Y:6.06, Z:-96.72 [[ 3.81473641e-01 -9.08742904e-01 -1.69305039e-01 9.34932168e+00] [ 8.29884630e-01 4.17355694e-01 -3.70277902e-01 6.05992740e+00] [ 4.07147838e-01 7.47609864e-04 9.13361965e-01 -9.67200276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.310792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:9.36, Y:6.08, Z:-96.74 [[ 3.82246275e-01 -9.08453182e-01 -1.69117126e-01 9.35556437e+00] [ 8.29599083e-01 4.17984868e-01 -3.70208066e-01 6.07626043e+00] [ 4.07005095e-01 1.21124099e-03 9.13425085e-01 -9.67416970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34079213799998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:9.36, Y:6.09, Z:-96.76 [[ 3.82054453e-01 -9.08604854e-01 -1.68735338e-01 9.36299218e+00] [ 8.29985838e-01 4.17655089e-01 -3.69713044e-01 6.09225524e+00] [ 4.06396239e-01 1.20257357e-03 9.13696148e-01 -9.67637398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37079213799998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:9.37, Y:6.11, Z:-96.79 [[ 3.83970455e-01 -9.07851866e-01 -1.68438947e-01 9.36910482e+00] [ 8.29299640e-01 4.19285517e-01 -3.69407312e-01 6.10937644e+00] [ 4.05991128e-01 2.15513542e-03 9.13874477e-01 -9.67855352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40079213799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:9.38, Y:6.13, Z:-96.81 [[ 3.84920106e-01 -9.07492257e-01 -1.68209139e-01 9.37590701e+00] [ 8.28980068e-01 4.20060209e-01 -3.69244454e-01 6.12550845e+00] [ 4.05744450e-01 2.68759098e-03 9.13982614e-01 -9.68067944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43079213799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:9.38, Y:6.14, Z:-96.83 [[ 3.85573418e-01 -9.07288745e-01 -1.67810231e-01 9.38253788e+00] [ 8.28995445e-01 4.20497112e-01 -3.68712260e-01 6.14168290e+00] [ 4.05092201e-01 3.05172935e-03 9.14270745e-01 -9.68281886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46079213799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:9.39, Y:6.16, Z:-96.85 [[ 3.85380221e-01 -9.07438667e-01 -1.67442977e-01 9.38974788e+00] [ 8.29364862e-01 4.20173527e-01 -3.68250096e-01 6.15824941e+00] [ 4.04519483e-01 3.04498223e-03 9.14524311e-01 -9.68499385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49079213799999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:9.40, Y:6.17, Z:-96.87 [[ 3.84487743e-01 -9.07910857e-01 -1.66934270e-01 9.39696862e+00] [ 8.30222905e-01 4.19154622e-01 -3.67476979e-01 6.17440704e+00] [ 4.03607610e-01 2.69773947e-03 9.14928204e-01 -9.68713917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52079213799999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:9.40, Y:6.19, Z:-96.89 [[ 3.83244098e-01 -9.08474113e-01 -1.66729562e-01 9.40467670e+00] [ 8.30884361e-01 4.17935018e-01 -3.67371065e-01 6.19063609e+00] [ 4.03429224e-01 2.25980714e-03 9.15008062e-01 -9.68933978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55079213799999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:9.41, Y:6.21, Z:-96.92 [[ 3.86662233e-01 -9.07083272e-01 -1.66409899e-01 9.41036827e+00] [ 8.29528722e-01 4.20933462e-01 -3.67011063e-01 6.20737210e+00] [ 4.02957091e-01 3.86752694e-03 9.15210700e-01 -9.69151380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58079213799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:9.42, Y:6.22, Z:-96.94 [[ 3.85698177e-01 -9.07460204e-01 -1.66592001e-01 9.41710148e+00] [ 8.29610223e-01 4.20122311e-01 -3.67755518e-01 6.22342458e+00] [ 4.03712514e-01 3.63620566e-03 9.14878672e-01 -9.69364475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:9.42, Y:6.24, Z:-96.96 [[ 3.88109820e-01 -9.06486575e-01 -1.66291480e-01 9.42321959e+00] [ 8.28692209e-01 4.22207335e-01 -3.67437328e-01 6.24016850e+00] [ 4.03286487e-01 4.80158172e-03 9.15061175e-01 -9.69579574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640792138 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:9.43, Y:6.26, Z:-96.98 [[ 3.84917346e-01 -9.07880929e-01 -1.66104950e-01 9.43093306e+00] [ 8.30240041e-01 4.19213507e-01 -3.67371079e-01 6.25567305e+00] [ 4.03162636e-01 3.50052016e-03 9.15121651e-01 -9.69797209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:9.44, Y:6.27, Z:-97.00 [[ 3.85355263e-01 -9.07817458e-01 -1.65435135e-01 9.43778318e+00] [ 8.30672213e-01 4.19349144e-01 -3.66237588e-01 6.27176080e+00] [ 4.01851958e-01 3.70921225e-03 9.15697136e-01 -9.70020643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:9.45, Y:6.29, Z:-97.02 [[ 3.82152907e-01 -9.09204682e-01 -1.65245276e-01 9.44663664e+00] [ 8.32215985e-01 4.16342449e-01 -3.66163242e-01 6.28735132e+00] [ 4.01715957e-01 2.41058728e-03 9.15761147e-01 -9.70238978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73079213799998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:9.45, Y:6.30, Z:-97.05 [[ 3.81148527e-01 -9.09736617e-01 -1.64636229e-01 9.45435454e+00] [ 8.33235366e-01 4.15181028e-01 -3.65162346e-01 6.30303535e+00] [ 4.00555396e-01 2.00036223e-03 9.16270360e-01 -9.70458083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76079213799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:9.46, Y:6.32, Z:-97.07 [[ 3.76885729e-01 -9.11600406e-01 -1.64139717e-01 9.46387927e+00] [ 8.35541527e-01 4.11077415e-01 -3.64534930e-01 6.31848017e+00] [ 3.99784320e-01 2.42463064e-04 9.16609207e-01 -9.70675050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79079213799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:9.47, Y:6.33, Z:-97.09 [[ 3.75997252e-01 -9.12041761e-01 -1.63725052e-01 9.47152723e+00] [ 8.36397467e-01 4.10097290e-01 -3.63674980e-01 6.33340636e+00] [ 3.98829969e-01 -1.98426034e-04 9.17024872e-01 -9.70884064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82079213799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:9.47, Y:6.36, Z:-97.11 [[ 3.90842869e-01 -9.06062005e-01 -1.62152691e-01 9.47060163e+00] [ 8.31226963e-01 4.23100093e-01 -3.60621752e-01 6.35546290e+00] [ 3.95352486e-01 6.16075159e-03 9.18508822e-01 -9.71088086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85079213799999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:9.48, Y:6.37, Z:-97.13 [[ 3.88041478e-01 -9.07247326e-01 -1.62253202e-01 9.47884557e+00] [ 8.32263587e-01 4.20566364e-01 -3.61194207e-01 6.37074448e+00] [ 3.95930717e-01 5.12090233e-03 9.18266107e-01 -9.71307214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88079213799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:9.49, Y:6.39, Z:-97.15 [[ 3.86090980e-01 -9.08105966e-01 -1.62102774e-01 9.48670330e+00] [ 8.33188946e-01 4.18717349e-01 -3.61209029e-01 6.38617742e+00] [ 3.95891318e-01 4.39730864e-03 9.18286844e-01 -9.71528898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91079213799999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:9.49, Y:6.40, Z:-97.17 [[ 3.86901981e-01 -9.07807060e-01 -1.61843130e-01 9.49345878e+00] [ 8.32964703e-01 4.19359960e-01 -3.60980648e-01 6.40141834e+00] [ 3.95571309e-01 4.85451316e-03 9.18422437e-01 -9.71747593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94079213799999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:9.50, Y:6.42, Z:-97.20 [[ 3.88304930e-01 -9.07215621e-01 -1.61799563e-01 9.49964362e+00] [ 8.32215265e-01 4.20628424e-01 -3.61233279e-01 6.41793015e+00] [ 3.95773969e-01 5.61659750e-03 9.18330779e-01 -9.71966064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970792138 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:9.51, Y:6.43, Z:-97.22 [[ 3.88558957e-01 -9.07095012e-01 -1.61865919e-01 9.50567572e+00] [ 8.31869417e-01 4.20884543e-01 -3.61731219e-01 6.43394130e+00] [ 3.96251448e-01 5.90259801e-03 9.18123058e-01 -9.72191856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000792138 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:9.51, Y:6.45, Z:-97.24 [[ 3.86923315e-01 -9.07756262e-01 -1.62076885e-01 9.51308131e+00] [ 8.32230510e-01 4.19463316e-01 -3.62550554e-01 6.44944686e+00] [ 3.97092843e-01 5.39393345e-03 9.17762594e-01 -9.72415333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:9.52, Y:6.47, Z:-97.26 [[ 3.86380948e-01 -9.07975138e-01 -1.62144725e-01 9.51993803e+00] [ 8.32250220e-01 4.18990125e-01 -3.63052126e-01 6.46528051e+00] [ 3.97579343e-01 5.33144161e-03 9.17552310e-01 -9.72634056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:9.53, Y:6.48, Z:-97.29 [[ 3.84356590e-01 -9.08803604e-01 -1.62314574e-01 9.52753369e+00] [ 8.32831778e-01 4.17198359e-01 -3.63781196e-01 6.48046171e+00] [ 3.98323036e-01 4.64096454e-03 9.17233460e-01 -9.72855406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09079213799998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:9.53, Y:6.50, Z:-97.31 [[ 3.86313237e-01 -9.08044299e-01 -1.61918601e-01 9.53387382e+00] [ 8.32242627e-01 4.18837095e-01 -3.63246057e-01 6.49645588e+00] [ 3.97661028e-01 5.57119847e-03 9.17515487e-01 -9.73081401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12079213799998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:9.54, Y:6.51, Z:-97.33 [[ 3.85129290e-01 -9.08546956e-01 -1.61919298e-01 9.54145774e+00] [ 8.32635016e-01 4.17750233e-01 -3.63598231e-01 6.51259810e+00] [ 3.97987890e-01 5.21265101e-03 9.17375859e-01 -9.73300963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15079213799999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:9.55, Y:6.53, Z:-97.35 [[ 3.87003497e-01 -9.07819898e-01 -1.61528095e-01 9.54747562e+00] [ 8.32078162e-01 4.19315817e-01 -3.63070487e-01 6.52857573e+00] [ 3.97333898e-01 6.10554732e-03 9.17653800e-01 -9.73522121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18079213799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:9.56, Y:6.54, Z:-97.37 [[ 3.82991565e-01 -9.09610286e-01 -1.61017357e-01 9.55614799e+00] [ 8.34366575e-01 4.15439242e-01 -3.62274281e-01 6.54413062e+00] [ 3.96421341e-01 4.40049335e-03 9.18058144e-01 -9.73744438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21079213799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:9.56, Y:6.56, Z:-97.40 [[ 3.81663818e-01 -9.10244588e-01 -1.60584930e-01 9.56348303e+00] [ 8.35323788e-01 4.14052720e-01 -3.61655243e-01 6.56038416e+00] [ 3.95685355e-01 3.89030848e-03 9.18377899e-01 -9.73963636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24079213799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:9.57, Y:6.58, Z:-97.42 [[ 3.84005006e-01 -9.09284058e-01 -1.60445188e-01 9.56899572e+00] [ 8.34267372e-01 4.16145562e-01 -3.61691613e-01 6.57660746e+00] [ 3.95648971e-01 5.03720493e-03 9.18388000e-01 -9.74183471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27079213799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:9.57, Y:6.59, Z:-97.44 [[ 3.86013518e-01 -9.08410048e-01 -1.60576304e-01 9.57406112e+00] [ 8.33041010e-01 4.18035844e-01 -3.62337838e-01 6.59308189e+00] [ 3.96277984e-01 6.10065676e-03 9.18110310e-01 -9.74400524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30079213799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:9.58, Y:6.61, Z:-97.46 [[ 3.87393009e-01 -9.07809333e-01 -1.60651397e-01 9.58032458e+00] [ 8.32165121e-01 4.19326693e-01 -3.62858563e-01 6.60953211e+00] [ 3.96771809e-01 6.88038144e-03 9.17891492e-01 -9.74617684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33079213799999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:9.59, Y:6.63, Z:-97.48 [[ 3.85936977e-01 -9.08411592e-01 -1.60751452e-01 9.58738118e+00] [ 8.32566924e-01 4.18027602e-01 -3.63435332e-01 6.62564466e+00] [ 3.97347412e-01 6.42679182e-03 9.17645754e-01 -9.74838758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:9.59, Y:6.64, Z:-97.51 [[ 3.87682585e-01 -9.07634753e-01 -1.60939024e-01 9.59283500e+00] [ 8.31388642e-01 4.19695692e-01 -3.64209352e-01 6.64138950e+00] [ 3.98114480e-01 7.39474615e-03 9.17305935e-01 -9.75059139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:9.60, Y:6.66, Z:-97.53 [[ 3.89547477e-01 -9.06858997e-01 -1.60808961e-01 9.59874440e+00] [ 8.30525137e-01 4.21351567e-01 -3.64267558e-01 6.65837069e+00] [ 3.98096420e-01 8.34362355e-03 9.17305633e-01 -9.75279654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:9.61, Y:6.67, Z:-97.55 [[ 3.87106902e-01 -9.07884345e-01 -1.60916944e-01 9.60664553e+00] [ 8.31374897e-01 4.19154364e-01 -3.64863535e-01 6.67416680e+00] [ 3.98702931e-01 7.45888504e-03 9.17049801e-01 -9.75497795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.450792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:9.61, Y:6.69, Z:-97.57 [[ 3.86726974e-01 -9.08072348e-01 -1.60769582e-01 9.61331746e+00] [ 8.31571879e-01 4.18747635e-01 -3.64881664e-01 6.69051729e+00] [ 3.98660831e-01 7.41811829e-03 9.17068434e-01 -9.75713135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48079213799998 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.62, Y:6.71, Z:-97.59 [[ 3.81761037e-01 -9.10235186e-01 -1.60407036e-01 9.62243911e+00] [ 8.34122113e-01 4.14057494e-01 -3.64412805e-01 6.70523447e+00] [ 3.98119093e-01 5.31955452e-03 9.17318315e-01 -9.75929653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51079213799999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:9.63, Y:6.72, Z:-97.61 [[ 3.82763794e-01 -9.09856163e-01 -1.60167540e-01 9.62919362e+00] [ 8.33794608e-01 4.14882351e-01 -3.64224088e-01 6.72135421e+00] [ 3.97842216e-01 5.86496261e-03 9.17435106e-01 -9.76143783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:9.64, Y:6.74, Z:-97.64 [[ 3.82716809e-01 -9.09871482e-01 -1.60192791e-01 9.63556619e+00] [ 8.33632968e-01 4.14846681e-01 -3.64634483e-01 6.73751261e+00] [ 3.98225965e-01 6.00975433e-03 9.17267662e-01 -9.76360740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:9.64, Y:6.75, Z:-97.66 [[ 3.81978503e-01 -9.10261213e-01 -1.59740253e-01 9.64229245e+00] [ 8.35925624e-01 4.14014165e-01 -3.60306290e-01 6.75155064e+00] [ 3.94107568e-01 4.09828647e-03 9.19055183e-01 -9.76591532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60079213799999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:9.65, Y:6.77, Z:-97.68 [[ 3.88741252e-01 -9.07621438e-01 -1.58441047e-01 9.64671503e+00] [ 8.30778403e-01 4.19658012e-01 -3.65642447e-01 6.77144947e+00] [ 3.98355978e-01 1.05109021e-02 9.17170669e-01 -9.76803031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63079213799999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:9.66, Y:6.79, Z:-97.70 [[ 3.82374014e-01 -9.10056010e-01 -1.59963034e-01 9.65616800e+00] [ 8.33713714e-01 4.14439370e-01 -3.64912937e-01 6.78637272e+00] [ 3.98386190e-01 6.16984901e-03 9.17197021e-01 -9.77017604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66079213799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:9.66, Y:6.80, Z:-97.72 [[ 3.80774756e-01 -9.10782417e-01 -1.59643273e-01 9.66390516e+00] [ 8.34665508e-01 4.12849235e-01 -3.64539434e-01 6.80247918e+00] [ 3.97924709e-01 5.55868087e-03 9.17401235e-01 -9.77234690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69079213799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:9.67, Y:6.82, Z:-97.75 [[ 3.81192422e-01 -9.10613094e-01 -1.59612435e-01 9.67003201e+00] [ 8.34358460e-01 4.13217919e-01 -3.64824495e-01 6.81901801e+00] [ 3.98168681e-01 5.89434728e-03 9.17293278e-01 -9.77450851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:9.68, Y:6.83, Z:-97.77 [[ 3.79009559e-01 -9.11515139e-01 -1.59661845e-01 9.67750868e+00] [ 8.35132316e-01 4.11234757e-01 -3.65294387e-01 6.83497682e+00] [ 3.98629864e-01 5.11129842e-03 9.17097654e-01 -9.77674445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750792138 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:9.69, Y:6.85, Z:-97.79 [[ 3.76710262e-01 -9.12455867e-01 -1.59729987e-01 9.68531687e+00] [ 8.35930634e-01 4.09152753e-01 -3.65805960e-01 6.85116641e+00] [ 3.99135759e-01 4.27966971e-03 9.16881852e-01 -9.77894078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:9.69, Y:6.86, Z:-97.81 [[ 3.80354455e-01 -9.11286980e-01 -1.57754646e-01 9.69094712e+00] [ 8.37286001e-01 4.11744479e-01 -3.59748018e-01 6.86225416e+00] [ 3.92788290e-01 4.74600462e-03 9.19616678e-01 -9.78140378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.810792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:9.70, Y:6.89, Z:-97.83 [[ 3.82476695e-01 -9.10449127e-01 -1.57460994e-01 9.69701681e+00] [ 8.33071458e-01 4.13515303e-01 -3.67419432e-01 6.88522277e+00] [ 3.99629232e-01 9.35310989e-03 9.16629149e-01 -9.78334798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84079213799998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:9.71, Y:6.90, Z:-97.86 [[ 3.73822459e-01 -9.13604086e-01 -1.59951063e-01 9.70705663e+00] [ 8.36612144e-01 4.06590601e-01 -3.67102444e-01 6.89987939e+00] [ 4.00420892e-01 3.41413637e-03 9.16324971e-01 -9.78555597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87079213799998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:9.71, Y:6.92, Z:-97.88 [[ 3.73847702e-01 -9.13621016e-01 -1.59795289e-01 9.71382920e+00] [ 8.36631569e-01 4.06551392e-01 -3.67101597e-01 6.91620424e+00] [ 4.00356732e-01 3.55030554e-03 9.16352488e-01 -9.78776146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.72, Y:6.93, Z:-97.90 [[ 3.73531778e-01 -9.13752483e-01 -1.59782388e-01 9.72069247e+00] [ 8.36631637e-01 4.06255677e-01 -3.67428672e-01 6.93227709e+00] [ 4.00651363e-01 3.56728431e-03 9.16223641e-01 -9.78997557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:9.73, Y:6.95, Z:-97.92 [[ 3.73469137e-01 -9.13778030e-01 -1.59782716e-01 9.72749435e+00] [ 8.36503265e-01 4.06197044e-01 -3.67785602e-01 6.94875269e+00] [ 4.00977669e-01 3.69780777e-03 9.16080365e-01 -9.79218598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96079213799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:9.73, Y:6.96, Z:-97.95 [[ 3.76885420e-01 -9.12605619e-01 -1.58456194e-01 9.73300401e+00] [ 8.37528702e-01 4.08822317e-01 -3.62505155e-01 6.96103091e+00] [ 3.95604669e-01 3.91129713e-03 9.18412569e-01 -9.79457345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99079213799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:9.74, Y:6.98, Z:-97.97 [[ 3.84474469e-01 -9.09754746e-01 -1.56606784e-01 9.73695101e+00] [ 8.31556476e-01 4.14980694e-01 -3.69194868e-01 6.98288139e+00] [ 4.00865575e-01 1.17186154e-02 9.16061933e-01 -9.79654968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:9.75, Y:7.00, Z:-97.99 [[ 3.75482800e-01 -9.12966196e-01 -1.59704077e-01 9.74688627e+00] [ 8.35285402e-01 4.08004732e-01 -3.68551809e-01 6.99739517e+00] [ 4.01635362e-01 4.98638091e-03 9.15786095e-01 -9.79872190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05079213799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:9.75, Y:7.01, Z:-98.01 [[ 3.72679521e-01 -9.14132261e-01 -1.59600074e-01 9.75466471e+00] [ 8.36501828e-01 4.05397431e-01 -3.68670063e-01 7.01356715e+00] [ 4.01714658e-01 3.89002892e-03 9.15756628e-01 -9.80093262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08079213799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:9.76, Y:7.03, Z:-98.03 [[ 3.71869944e-01 -9.14538979e-01 -1.59157787e-01 9.76131181e+00] [ 8.37235305e-01 4.04481768e-01 -3.68010249e-01 7.03003495e+00] [ 4.00936141e-01 3.59943241e-03 9.16098933e-01 -9.80307020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:9.77, Y:7.05, Z:-98.05 [[ 3.71115516e-01 -9.14861654e-01 -1.59064225e-01 9.76841047e+00] [ 8.37524110e-01 4.03753074e-01 -3.68153257e-01 7.04599667e+00] [ 4.01031967e-01 3.40726292e-03 9.16057723e-01 -9.80521912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.78, Y:7.06, Z:-98.07 [[ 3.70950953e-01 -9.14919319e-01 -1.59116407e-01 9.77502140e+00] [ 8.37376829e-01 4.03621558e-01 -3.68632180e-01 7.06261460e+00] [ 4.01491515e-01 3.50406632e-03 9.15856040e-01 -9.80739446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.78, Y:7.08, Z:-98.10 [[ 3.70657065e-01 -9.15059019e-01 -1.58997898e-01 9.78188013e+00] [ 8.37506901e-01 4.03304834e-01 -3.68683335e-01 7.07915915e+00] [ 4.01491632e-01 3.49324647e-03 9.15856029e-01 -9.80960945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20079213799998 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:9.79, Y:7.10, Z:-98.12 [[ 3.71591618e-01 -9.14656166e-01 -1.59134434e-01 9.78773388e+00] [ 8.36766796e-01 4.04211973e-01 -3.69369747e-01 7.09518226e+00] [ 4.02170360e-01 4.09629146e-03 9.15555690e-01 -9.81181373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23079213799998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:9.79, Y:7.11, Z:-98.14 [[ 3.73179246e-01 -9.13989177e-01 -1.59251482e-01 9.79341216e+00] [ 8.35763873e-01 4.05708009e-01 -3.69999676e-01 7.11177506e+00] [ 4.02785301e-01 4.97956472e-03 9.15280943e-01 -9.81398822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26079213799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:9.80, Y:7.13, Z:-98.16 [[ 3.72260453e-01 -9.14336786e-01 -1.59406390e-01 9.80034674e+00] [ 8.35824236e-01 4.04926545e-01 -3.70718681e-01 7.12810702e+00] [ 4.03509606e-01 4.76817983e-03 9.14962984e-01 -9.81613751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:9.81, Y:7.15, Z:-98.18 [[ 3.74922973e-01 -9.13230460e-01 -1.59508279e-01 9.80570819e+00] [ 8.34357555e-01 4.07397323e-01 -3.71315085e-01 7.14529011e+00] [ 4.04079492e-01 6.12761780e-03 9.14703349e-01 -9.81831684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:9.81, Y:7.16, Z:-98.21 [[ 3.74762304e-01 -9.13280187e-01 -1.59601112e-01 9.81211665e+00] [ 8.34156467e-01 4.07284155e-01 -3.71890583e-01 7.16186077e+00] [ 4.04643306e-01 6.23827210e-03 9.14453323e-01 -9.82051606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:9.82, Y:7.18, Z:-98.23 [[ 3.73924009e-01 -9.13641697e-01 -1.59498230e-01 9.81904389e+00] [ 8.34496809e-01 4.06476091e-01 -3.72011106e-01 7.17804764e+00] [ 4.04717075e-01 6.00312066e-03 9.14422250e-01 -9.82268995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38079213799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.83, Y:7.19, Z:-98.25 [[ 3.73180080e-01 -9.13940318e-01 -1.59529696e-01 9.82609533e+00] [ 8.34628732e-01 4.05806574e-01 -3.72445841e-01 7.19469911e+00] [ 4.05131470e-01 5.84130110e-03 9.14239778e-01 -9.82489016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41079213799999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:9.83, Y:7.21, Z:-98.27 [[ 3.72061521e-01 -9.14425096e-01 -1.59364264e-01 9.83302325e+00] [ 8.35167949e-01 4.04718233e-01 -3.72421332e-01 7.21121576e+00] [ 4.05049035e-01 5.46772168e-03 9.14278613e-01 -9.82708464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44079213799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:9.84, Y:7.23, Z:-98.29 [[ 3.72415880e-01 -9.14285618e-01 -1.59336814e-01 9.83965298e+00] [ 8.34884717e-01 4.05028910e-01 -3.72718516e-01 7.22742555e+00] [ 4.05307195e-01 5.77842296e-03 9.14162287e-01 -9.82928432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:9.85, Y:7.24, Z:-98.31 [[ 3.70306141e-01 -9.15163830e-01 -1.59212208e-01 9.84766901e+00] [ 8.35809798e-01 4.03051380e-01 -3.72788904e-01 7.24372869e+00] [ 4.05333621e-01 4.97489742e-03 9.14155296e-01 -9.83143017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:9.85, Y:7.26, Z:-98.34 [[ 3.73068882e-01 -9.14034942e-01 -1.59247400e-01 9.85299443e+00] [ 8.34384288e-01 4.05585466e-01 -3.73233559e-01 7.26096841e+00] [ 4.05736945e-01 6.36829780e-03 9.13967711e-01 -9.83363952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.86, Y:7.28, Z:-98.36 [[ 3.73359786e-01 -9.13948935e-01 -1.59059151e-01 9.85895514e+00] [ 8.34326986e-01 4.05775308e-01 -3.73155302e-01 7.27748063e+00] [ 4.05587167e-01 6.61384239e-03 9.14032443e-01 -9.83583194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:9.86, Y:7.29, Z:-98.38 [[ 3.74832025e-01 -9.13342778e-01 -1.59078354e-01 9.86457892e+00] [ 8.33487884e-01 4.07123718e-01 -3.73561541e-01 7.29383487e+00] [ 4.05954307e-01 7.43294800e-03 9.13863147e-01 -9.83800128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59079213799998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.87, Y:7.31, Z:-98.40 [[ 3.73158960e-01 -9.14021113e-01 -1.59115667e-01 9.87157909e+00] [ 8.34024319e-01 4.05608617e-01 -3.74012145e-01 7.31005365e+00] [ 4.06393683e-01 6.85964751e-03 9.13672326e-01 -9.84015850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62079213799998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:9.88, Y:7.33, Z:-98.42 [[ 3.70832444e-01 -9.15021913e-01 -1.58802386e-01 9.87844754e+00] [ 8.35280597e-01 4.03360800e-01 -3.73639384e-01 7.32571512e+00] [ 4.05942881e-01 5.91305390e-03 9.13879321e-01 -9.84233022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65079213799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:9.89, Y:7.34, Z:-98.44 [[ 3.52582873e-01 -9.22173154e-01 -1.59003119e-01 9.89147731e+00] [ 8.42719473e-01 3.86772318e-01 -3.74474385e-01 7.33987404e+00] [ 4.06828230e-01 -1.96177051e-03 9.13502569e-01 -9.84442506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68079213799999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:9.90, Y:7.36, Z:-98.47 [[ 3.57900820e-01 -9.20052483e-01 -1.59406500e-01 9.89551889e+00] [ 8.39810804e-01 3.91794642e-01 -3.75785539e-01 7.35702184e+00] [ 4.08197031e-01 6.22651205e-04 9.12893639e-01 -9.84659600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71079213799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.90, Y:7.37, Z:-98.49 [[ 3.56318602e-01 -9.20619262e-01 -1.59678513e-01 9.90237854e+00] [ 8.39982462e-01 3.90461467e-01 -3.76788145e-01 7.37321362e+00] [ 4.09226731e-01 1.29474711e-04 9.12432719e-01 -9.84876539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:9.91, Y:7.39, Z:-98.51 [[ 3.54622062e-01 -9.21272554e-01 -1.59687429e-01 9.90926409e+00] [ 8.40526225e-01 3.88917296e-01 -3.77172376e-01 7.38883011e+00] [ 4.09583761e-01 -4.67826442e-04 9.12272395e-01 -9.85092119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77079213799999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.92, Y:7.41, Z:-98.53 [[ 3.55460755e-01 -9.20950663e-01 -1.59679455e-01 9.91541341e+00] [ 8.39954480e-01 3.89679179e-01 -3.77659381e-01 7.40556492e+00] [ 4.10029417e-01 1.19615109e-04 9.12072291e-01 -9.85310240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80079213799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:9.92, Y:7.42, Z:-98.55 [[ 3.49928342e-01 -9.22997307e-01 -1.60081627e-01 9.92459930e+00] [ 8.41740901e-01 3.84799917e-01 -3.78683614e-01 7.42058420e+00] [ 4.11123353e-01 -2.23512383e-03 9.11576981e-01 -9.85521104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83079213799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:9.93, Y:7.44, Z:-98.57 [[ 3.49905183e-01 -9.23038153e-01 -1.59896624e-01 9.93098088e+00] [ 8.41847091e-01 3.84702393e-01 -3.78546621e-01 7.43646764e+00] [ 4.10925588e-01 -2.15308301e-03 9.11666346e-01 -9.85731039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:9.94, Y:7.45, Z:-98.59 [[ 3.48948461e-01 -9.23366996e-01 -1.60088606e-01 9.93818493e+00] [ 8.41803367e-01 3.83911239e-01 -3.79445979e-01 7.45239128e+00] [ 4.11827709e-01 -2.35603689e-03 9.11258683e-01 -9.85945868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:9.95, Y:7.47, Z:-98.62 [[ 3.47907713e-01 -9.23702818e-01 -1.60416107e-01 9.94535064e+00] [ 8.41794056e-01 3.83100032e-01 -3.80285594e-01 7.46797039e+00] [ 4.12726290e-01 -2.73303400e-03 9.10850998e-01 -9.86158134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:9.95, Y:7.48, Z:-98.64 [[ 3.49670414e-01 -9.23029393e-01 -1.60459782e-01 9.95080642e+00] [ 8.40930816e-01 3.84724909e-01 -3.80555000e-01 7.48413256e+00] [ 4.12996325e-01 -1.86675076e-03 9.10730778e-01 -9.86367041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95079213799998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:9.96, Y:7.50, Z:-98.66 [[ 3.46263326e-01 -9.24395056e-01 -1.59985904e-01 9.95854474e+00] [ 8.42734424e-01 3.81422333e-01 -3.79889055e-01 7.50027337e+00] [ 4.12189761e-01 -3.28398060e-03 9.11092101e-01 -9.86576779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98079213799998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:9.96, Y:7.52, Z:-98.68 [[ 3.49129454e-01 -9.23325065e-01 -1.59935761e-01 9.96374899e+00] [ 8.41445620e-01 3.84014791e-01 -3.80134067e-01 7.51705499e+00] [ 4.12405010e-01 -1.86124673e-03 9.10998707e-01 -9.86789022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01079213799999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:9.97, Y:7.53, Z:-98.70 [[ 3.47115748e-01 -9.24054543e-01 -1.60105772e-01 9.97123158e+00] [ 8.41900841e-01 3.82251965e-01 -3.80902098e-01 7.53380280e+00] [ 4.13175060e-01 -2.57606774e-03 9.10647974e-01 -9.87006631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04079213799999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:9.98, Y:7.55, Z:-98.72 [[ 3.49211174e-01 -9.23286783e-01 -1.59978351e-01 9.97695936e+00] [ 8.41027356e-01 3.84108369e-01 -3.80964234e-01 7.55063505e+00] [ 4.13188266e-01 -1.50920192e-03 9.10644376e-01 -9.87219953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:9.98, Y:7.57, Z:-98.74 [[ 3.47838599e-01 -9.23810124e-01 -1.59947378e-01 9.98336432e+00] [ 8.41471095e-01 3.82845858e-01 -3.81255094e-01 7.56698472e+00] [ 4.13442506e-01 -1.97585734e-03 9.10528083e-01 -9.87435941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10079213799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:9.99, Y:7.58, Z:-98.77 [[ 3.45999571e-01 -9.24523044e-01 -1.59816892e-01 9.99077205e+00] [ 8.42231606e-01 3.81116794e-01 -3.81308158e-01 7.58270401e+00] [ 4.13437080e-01 -2.67037866e-03 9.10528775e-01 -9.87653985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13079213799999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:10.00, Y:7.60, Z:-98.79 [[ 3.46506567e-01 -9.24339068e-01 -1.59782621e-01 9.99694905e+00] [ 8.41900945e-01 3.81565207e-01 -3.81589821e-01 7.59979988e+00] [ 4.13685869e-01 -2.29776126e-03 9.10416785e-01 -9.87872918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16079213799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:10.00, Y:7.62, Z:-98.81 [[ 3.44076464e-01 -9.25301760e-01 -1.59461718e-01 1.00046599e+01] [ 8.43144293e-01 3.79217368e-01 -3.81184848e-01 7.61608403e+00] [ 4.13181664e-01 -3.29250293e-03 9.10642670e-01 -9.88092401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19079213799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:10.01, Y:7.63, Z:-98.83 [[ 3.40699057e-01 -9.26606959e-01 -1.59134208e-01 1.00130287e+01] [ 8.44702035e-01 3.76002657e-01 -3.80920561e-01 7.63183784e+00] [ 4.12798528e-01 -4.64171381e-03 9.10810535e-01 -9.88308920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220792138 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:10.02, Y:7.65, Z:-98.85 [[ 3.37525094e-01 -9.27754715e-01 -1.59210549e-01 1.00211408e+01] [ 8.45852563e-01 3.73142143e-01 -3.81180249e-01 7.64680593e+00] [ 4.13049939e-01 -6.01075130e-03 9.10688541e-01 -9.88519372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:10.03, Y:7.66, Z:-98.87 [[ 3.37993146e-01 -9.27543681e-01 -1.59447022e-01 1.00271026e+01] [ 8.46675690e-01 3.73650092e-01 -3.78848103e-01 7.66153591e+00] [ 4.10975558e-01 -6.95185499e-03 9.11619856e-01 -9.88745684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:10.03, Y:7.68, Z:-98.90 [[ 3.49130140e-01 -9.23691585e-01 -1.57803678e-01 1.00275096e+01] [ 8.41047769e-01 3.83136375e-01 -3.81896804e-01 7.68193427e+00] [ 4.13215193e-01 6.11253291e-04 9.10633203e-01 -9.88965983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.310792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:10.03, Y:7.70, Z:-98.92 [[ 3.55657295e-01 -9.20941647e-01 -1.59293349e-01 1.00286879e+01] [ 8.37727643e-01 3.89691722e-01 -3.82560790e-01 7.70051991e+00] [ 4.14391464e-01 2.61609411e-03 9.10094979e-01 -9.89184721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34079213799998 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:10.04, Y:7.72, Z:-98.94 [[ 3.48513107e-01 -9.23536670e-01 -1.60058217e-01 1.00401777e+01] [ 8.43008592e-01 3.83494371e-01 -3.77185074e-01 7.71667533e+00] [ 4.09725673e-01 -3.47651013e-03 9.12202163e-01 -9.89404771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37079213799998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:10.04, Y:7.74, Z:-98.96 [[ 3.62158562e-01 -9.18962072e-01 -1.56044504e-01 1.00406588e+01] [ 8.36350483e-01 3.94275953e-01 -3.80873131e-01 7.73613832e+00] [ 4.11532557e-01 7.42856858e-03 9.11364785e-01 -9.89599361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40079213799999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:10.06, Y:7.75, Z:-98.98 [[ 3.41648668e-01 -9.25932510e-01 -1.61012964e-01 1.00552112e+01] [ 8.45655781e-01 3.77618534e-01 -3.77187676e-01 7.74804117e+00] [ 4.10051811e-01 -7.29587653e-03 9.12033049e-01 -9.89824988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43079213799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:10.06, Y:7.77, Z:-99.00 [[ 3.48946904e-01 -9.23573590e-01 -1.58895821e-01 1.00595406e+01] [ 8.42359842e-01 3.83417450e-01 -3.78709594e-01 7.76554360e+00] [ 4.10689610e-01 -1.69791849e-03 9.11773635e-01 -9.90038848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46079213799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:10.06, Y:7.79, Z:-99.02 [[ 3.61488249e-01 -9.19302773e-01 -1.55591316e-01 1.00619098e+01] [ 8.35769986e-01 3.93461251e-01 -3.82984040e-01 7.78531096e+00] [ 4.13297444e-01 8.40567837e-03 9.10557284e-01 -9.90247987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:10.07, Y:7.80, Z:-99.05 [[ 3.55436524e-01 -9.21240685e-01 -1.58052137e-01 1.00705013e+01] [ 8.38386279e-01 3.88979800e-01 -3.81841802e-01 7.80091072e+00] [ 4.13247292e-01 3.21177997e-03 9.10613178e-01 -9.90464275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52079213799999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:10.08, Y:7.82, Z:-99.07 [[ 3.54605099e-01 -9.21600342e-01 -1.57822791e-01 1.00777029e+01] [ 8.38814696e-01 3.88128658e-01 -3.81767012e-01 7.81695791e+00] [ 4.13092156e-01 2.99245279e-03 9.10684312e-01 -9.90686423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55079213799999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:10.08, Y:7.83, Z:-99.09 [[ 3.56956838e-01 -9.20715520e-01 -1.57685594e-01 1.00837678e+01] [ 8.37783949e-01 3.90211661e-01 -3.81906945e-01 7.83379415e+00] [ 4.13158409e-01 4.21783556e-03 9.10649405e-01 -9.90904050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58079213799999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:10.10, Y:7.85, Z:-99.11 [[ 3.31146946e-01 -9.29664215e-01 -1.61450136e-01 1.00996853e+01] [ 8.49381114e-01 3.68215044e-01 -3.78112952e-01 7.84592096e+00] [ 4.10966450e-01 -1.19217469e-02 9.11572514e-01 -9.91141054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:10.09, Y:7.87, Z:-99.13 [[ 3.67207346e-01 -9.17236628e-01 -1.54388257e-01 1.00940982e+01] [ 8.33674071e-01 3.98167479e-01 -3.82688126e-01 7.86840934e+00] [ 4.12487949e-01 1.18164045e-02 9.10886417e-01 -9.91347639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640792138 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:10.11, Y:7.88, Z:-99.16 [[ 3.55848532e-01 -9.21187842e-01 -1.57431831e-01 1.01051776e+01] [ 8.38257876e-01 3.89097961e-01 -3.82003284e-01 7.88222710e+00] [ 4.13153186e-01 3.96683602e-03 9.10652903e-01 -9.91559916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670792138 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:10.11, Y:7.90, Z:-99.18 [[ 3.55658301e-01 -9.21293896e-01 -1.57240995e-01 1.01117216e+01] [ 8.38339073e-01 3.88845726e-01 -3.82081929e-01 7.89889281e+00] [ 4.13152237e-01 4.06933949e-03 9.10652881e-01 -9.91781459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70079213799998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:10.12, Y:7.92, Z:-99.20 [[ 3.58623460e-01 -9.20223650e-01 -1.56772597e-01 1.01166177e+01] [ 8.37464868e-01 3.91354282e-01 -3.81437309e-01 7.91542128e+00] [ 4.12361260e-01 5.50082532e-03 9.11003805e-01 -9.91998907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73079213799998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:10.12, Y:7.93, Z:-99.22 [[ 3.58271762e-01 -9.20435831e-01 -1.56330503e-01 1.01239443e+01] [ 8.37973669e-01 3.90855841e-01 -3.80830463e-01 7.93222933e+00] [ 4.11632694e-01 5.43995619e-03 9.11333601e-01 -9.92211844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76079213799999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:10.13, Y:7.95, Z:-99.24 [[ 3.55632343e-01 -9.21479208e-01 -1.56210452e-01 1.01312495e+01] [ 8.39028018e-01 3.88402336e-01 -3.81019173e-01 7.94817172e+00] [ 4.11773750e-01 4.43779452e-03 9.11275307e-01 -9.92433520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79079213799999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:10.14, Y:7.96, Z:-99.26 [[ 3.58119843e-01 -9.20535274e-01 -1.56092878e-01 1.01361348e+01] [ 8.37913076e-01 3.90617489e-01 -3.81208152e-01 7.96491344e+00] [ 4.11888159e-01 5.72594007e-03 9.11216417e-01 -9.92648014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:10.14, Y:7.98, Z:-99.29 [[ 3.60009209e-01 -9.19783973e-01 -1.56175579e-01 1.01415163e+01] [ 8.36784905e-01 3.92366185e-01 -3.81889775e-01 7.98154989e+00] [ 4.12534111e-01 6.79846855e-03 9.10916785e-01 -9.92865483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85079213799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:10.15, Y:8.00, Z:-99.31 [[ 3.59644395e-01 -9.19952602e-01 -1.56022817e-01 1.01480821e+01] [ 8.36941638e-01 3.91970884e-01 -3.81952250e-01 7.99820360e+00] [ 4.12534368e-01 6.78499400e-03 9.10916769e-01 -9.93087033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88079213799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:10.16, Y:8.01, Z:-99.33 [[ 3.55555013e-01 -9.21418752e-01 -1.56742199e-01 1.01552647e+01] [ 8.39213003e-01 3.88553143e-01 -3.80457606e-01 8.01265228e+00] [ 4.11463447e-01 3.73351773e-03 9.11418616e-01 -9.93316314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91079213799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:10.16, Y:8.03, Z:-99.35 [[ 3.64178254e-01 -9.18338064e-01 -1.55014193e-01 1.01590757e+01] [ 8.34664946e-01 3.95667019e-01 -3.83121441e-01 8.03160965e+00] [ 4.13169005e-01 1.01395845e-02 9.10597914e-01 -9.93529065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94079213799999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:10.17, Y:8.05, Z:-99.37 [[ 3.63692745e-01 -9.18402353e-01 -1.55771322e-01 1.01652327e+01] [ 8.35027042e-01 3.95544796e-01 -3.82458041e-01 8.04778890e+00] [ 4.12864901e-01 9.02394878e-03 9.10747573e-01 -9.93747911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:10.17, Y:8.06, Z:-99.40 [[ 3.58330429e-01 -9.20505170e-01 -1.55786826e-01 1.01733673e+01] [ 8.38679189e-01 3.90694300e-01 -3.79440617e-01 8.06003551e+00] [ 4.10142075e-01 5.30995006e-03 9.12006186e-01 -9.93991984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000792138 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:10.18, Y:8.08, Z:-99.42 [[ 3.60382465e-01 -9.19951416e-01 -1.54317440e-01 1.01787052e+01] [ 8.38448862e-01 3.91968705e-01 -3.78634442e-01 8.07644597e+00] [ 4.08812898e-01 7.06593144e-03 9.12590865e-01 -9.94221870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:10.18, Y:8.09, Z:-99.44 [[ 3.66190041e-01 -9.17973220e-01 -1.52413979e-01 1.01828107e+01] [ 8.36167118e-01 3.96480339e-01 -3.78982707e-01 8.09413556e+00] [ 4.08325122e-01 1.13361355e-02 9.12766173e-01 -9.94432867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:10.19, Y:8.11, Z:-99.46 [[ 3.63104704e-01 -9.19084933e-01 -1.53094282e-01 1.01901972e+01] [ 8.37544908e-01 3.93951149e-01 -3.78577626e-01 8.10951900e+00] [ 4.08256661e-01 9.23998066e-03 9.12820421e-01 -9.94648089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09079213799998 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:10.20, Y:8.12, Z:-99.49 [[ 3.63493934e-01 -9.18979622e-01 -1.52802536e-01 1.01968427e+01] [ 8.37888333e-01 3.94197469e-01 -3.77559925e-01 8.12451365e+00] [ 4.07204250e-01 9.20928001e-03 9.13290692e-01 -9.94874899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12079213799998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:10.20, Y:8.14, Z:-99.51 [[ 3.61682395e-01 -9.19693517e-01 -1.52806018e-01 1.02028956e+01] [ 8.39256662e-01 3.92558931e-01 -3.76225651e-01 8.13924925e+00] [ 4.05997659e-01 7.83072602e-03 9.13840566e-01 -9.95097242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15079213799999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:10.21, Y:8.16, Z:-99.53 [[ 3.72780902e-01 -9.15703021e-01 -1.50074571e-01 1.02054300e+01] [ 8.34017935e-01 4.01541327e-01 -3.78389544e-01 8.15769680e+00] [ 4.06753591e-01 1.58915114e-02 9.13399680e-01 -9.95306205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18079213799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:10.22, Y:8.17, Z:-99.55 [[ 3.63566851e-01 -9.18979618e-01 -1.52628981e-01 1.02152561e+01] [ 8.37490629e-01 3.94184016e-01 -3.78455293e-01 8.17349632e+00] [ 4.07956605e-01 9.76845801e-03 9.12949060e-01 -9.95524183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21079213799999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:10.22, Y:8.19, Z:-99.58 [[ 3.63151048e-01 -9.19133139e-01 -1.52694432e-01 1.02212904e+01] [ 8.39085850e-01 3.93862814e-01 -3.75242615e-01 8.18781594e+00] [ 4.05038582e-01 8.14601153e-03 9.14263304e-01 -9.95755673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24079213799999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:10.23, Y:8.21, Z:-99.60 [[ 3.67780620e-01 -9.17542063e-01 -1.51175327e-01 1.02265838e+01] [ 8.36020694e-01 3.97434341e-01 -3.78305886e-01 8.20616595e+00] [ 4.07193829e-01 1.27478712e-02 9.13252800e-01 -9.95961886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27079213799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:10.23, Y:8.22, Z:-99.62 [[ 3.61037383e-01 -9.19994815e-01 -1.52517369e-01 1.02348856e+01] [ 8.40318976e-01 3.91866731e-01 -3.74572401e-01 8.21956660e+00] [ 4.04371150e-01 7.07140008e-03 9.14567640e-01 -9.96186921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30079213799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:10.24, Y:8.24, Z:-99.64 [[ 3.68071936e-01 -9.17479454e-01 -1.50845952e-01 1.02387392e+01] [ 8.36152877e-01 3.97572235e-01 -3.77868606e-01 8.23862998e+00] [ 4.06658845e-01 1.29525529e-02 9.13488268e-01 -9.96391580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33079213799999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.24, Y:8.25, Z:-99.66 [[ 3.68471639e-01 -9.17225218e-01 -1.51415159e-01 1.02439414e+01] [ 8.36945204e-01 3.98199686e-01 -3.75446048e-01 8.25193300e+00] [ 4.04662052e-01 1.16150295e-02 9.14392539e-01 -9.96617478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360792138 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:10.25, Y:8.27, Z:-99.68 [[ 3.70917033e-01 -9.16514871e-01 -1.49736590e-01 1.02501906e+01] [ 8.35629313e-01 3.99733460e-01 -3.76745022e-01 8.26953151e+00] [ 4.05147140e-01 1.46168622e-02 9.14134641e-01 -9.96834951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:10.26, Y:8.28, Z:-99.71 [[ 3.55236147e-01 -9.22214722e-01 -1.52732729e-01 1.02618127e+01] [ 8.42725754e-01 3.86653661e-01 -3.74582768e-01 8.28203629e+00] [ 4.04500412e-01 4.35353494e-03 9.14527454e-01 -9.97078062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:10.26, Y:8.30, Z:-99.73 [[ 3.76515223e-01 -9.14573503e-01 -1.47619759e-01 1.02614685e+01] [ 8.33466018e-01 4.03977182e-01 -3.77010389e-01 8.30324347e+00] [ 4.04438727e-01 1.89140978e-02 9.14369495e-01 -9.97294282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45079213799998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:10.27, Y:8.32, Z:-99.75 [[ 3.63958425e-01 -9.19090164e-01 -1.51021637e-01 1.02715492e+01] [ 8.39404618e-01 3.93932323e-01 -3.74455887e-01 8.31713002e+00] [ 4.03651027e-01 9.51811562e-03 9.14863517e-01 -9.97523689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48079213799998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:10.28, Y:8.33, Z:-99.77 [[ 3.69547665e-01 -9.17152237e-01 -1.49218960e-01 1.02763697e+01] [ 8.36892407e-01 3.98295585e-01 -3.75462017e-01 8.33480802e+00] [ 4.03789081e-01 1.38708969e-02 9.14746946e-01 -9.97740911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51079213799999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:10.28, Y:8.35, Z:-99.80 [[ 3.71987162e-01 -9.16251080e-01 -1.48692669e-01 1.02823744e+01] [ 8.35593153e-01 4.00296527e-01 -3.76227023e-01 8.35092665e+00] [ 4.04239575e-01 1.57050465e-02 9.14518298e-01 -9.97950723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54079213799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:10.29, Y:8.37, Z:-99.82 [[ 3.71256691e-01 -9.16486249e-01 -1.49068521e-01 1.02891813e+01] [ 8.36108080e-01 3.99791831e-01 -3.75619182e-01 8.36588279e+00] [ 4.03846193e-01 1.48137394e-02 9.14706951e-01 -9.98161054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57079213799999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:10.30, Y:8.38, Z:-99.84 [[ 3.69936455e-01 -9.17117032e-01 -1.48470097e-01 1.02955665e+01] [ 8.36790175e-01 3.98346051e-01 -3.75636296e-01 8.38178063e+00] [ 4.03644922e-01 1.47232415e-02 9.14797247e-01 -9.98378366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60079213799999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:10.30, Y:8.40, Z:-99.86 [[ 3.62252915e-01 -9.20070398e-01 -1.49141838e-01 1.03047208e+01] [ 8.41245506e-01 3.91636466e-01 -3.72728959e-01 8.39710154e+00] [ 4.01346264e-01 9.55725080e-03 9.15876539e-01 -9.98604518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63079213799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:10.31, Y:8.41, Z:-99.88 [[ 3.62140682e-01 -9.20101866e-01 -1.49220248e-01 1.03101473e+01] [ 8.39967493e-01 3.91532444e-01 -3.75708605e-01 8.41488294e+00] [ 4.04114757e-01 1.07192125e-02 9.14645484e-01 -9.98814504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66079213799999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:10.32, Y:8.43, Z:-99.90 [[ 3.56431216e-01 -9.22149678e-01 -1.50322187e-01 1.03183597e+01] [ 8.42298606e-01 3.86766296e-01 -3.75426279e-01 8.43049498e+00] [ 4.04338778e-01 7.19747669e-03 9.14580969e-01 -9.99033695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:10.32, Y:8.45, Z:-99.92 [[ 3.59837413e-01 -9.20793514e-01 -1.50520234e-01 1.03225611e+01] [ 8.40575336e-01 3.89951719e-01 -3.75993033e-01 8.44716071e+00] [ 4.04907570e-01 8.77276362e-03 9.14315535e-01 -9.99248552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720792138 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:10.32, Y:8.46, Z:-99.95 [[ 3.72425745e-01 -9.16145521e-01 -1.48244556e-01 1.03238881e+01] [ 8.35705728e-01 4.00524617e-01 -3.75733905e-01 8.46420792e+00] [ 4.03602528e-01 1.60441547e-02 9.14793739e-01 -9.99465103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:10.33, Y:8.48, Z:-99.97 [[ 3.74096800e-01 -9.15665228e-01 -1.46999235e-01 1.03296685e+01] [ 8.34564805e-01 4.01518976e-01 -3.77205644e-01 8.48051191e+00] [ 4.04417074e-01 1.84310359e-02 9.14388937e-01 -9.99681530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:10.34, Y:8.50, Z:-99.99 [[ 3.57385458e-01 -9.21800157e-01 -1.50200217e-01 1.03413866e+01] [ 8.41043615e-01 3.87571025e-01 -3.77404741e-01 8.49622449e+00] [ 4.06105001e-01 8.55403307e-03 9.13786385e-01 -9.99895986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.810792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:10.35, Y:8.51, Z:-100.01 [[ 3.58940309e-01 -9.21253915e-01 -1.49843512e-01 1.03468075e+01] [ 8.40425398e-01 3.88844279e-01 -3.77472221e-01 8.51295312e+00] [ 4.06013554e-01 9.55770237e-03 9.13817074e-01 -1.00011262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84079213799998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:10.35, Y:8.53, Z:-100.03 [[ 3.65956481e-01 -9.18846370e-01 -1.47638756e-01 1.03507906e+01] [ 8.38374697e-01 3.94369420e-01 -3.76298590e-01 8.52863825e+00] [ 4.03984804e-01 1.39323102e-02 9.14659592e-01 -1.00032266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87079213799998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:10.36, Y:8.55, Z:-100.05 [[ 3.59545842e-01 -9.21182305e-01 -1.48828589e-01 1.03593680e+01] [ 8.40394724e-01 3.88986463e-01 -3.77394011e-01 8.54561038e+00] [ 4.05540992e-01 1.06156867e-02 9.14015214e-01 -1.00054650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90079213799999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:10.36, Y:8.56, Z:-100.08 [[ 3.65465645e-01 -9.19066256e-01 -1.47485862e-01 1.03638197e+01] [ 8.38330127e-01 3.93850125e-01 -3.76941211e-01 8.56152844e+00] [ 4.04521273e-01 1.41172217e-02 9.14419621e-01 -1.00076216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93079213799999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.37, Y:8.58, Z:-100.10 [[ 3.68910682e-01 -9.17744416e-01 -1.47139718e-01 1.03681243e+01] [ 8.36684866e-01 3.96843474e-01 -3.77456874e-01 8.57827710e+00] [ 4.04800375e-01 1.61382975e-02 9.14262660e-01 -1.00097831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96079213799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:10.38, Y:8.60, Z:-100.12 [[ 3.60811658e-01 -9.20725692e-01 -1.48590535e-01 1.03766229e+01] [ 8.39424328e-01 3.90031172e-01 -3.78473887e-01 8.59501490e+00] [ 4.06425572e-01 1.18272807e-02 9.13607339e-01 -1.00120005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99079213799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:10.38, Y:8.61, Z:-100.14 [[ 3.55959091e-01 -9.22499742e-01 -1.49289488e-01 1.03845484e+01] [ 8.41498291e-01 3.85893588e-01 -3.78109461e-01 8.61027275e+00] [ 4.06415736e-01 8.96465096e-03 9.13644288e-01 -1.00141513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02079213799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:10.39, Y:8.63, Z:-100.16 [[ 3.66636178e-01 -9.18637472e-01 -1.47251851e-01 1.03875500e+01] [ 8.37602891e-01 3.94813429e-01 -3.77549669e-01 8.62616932e+00] [ 4.04968282e-01 1.50847914e-02 9.14206290e-01 -1.00162969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05079213799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:10.39, Y:8.64, Z:-100.18 [[ 3.69874023e-01 -9.17518250e-01 -1.46128258e-01 1.03924704e+01] [ 8.36354578e-01 3.97309074e-01 -3.77698979e-01 8.64306503e+00] [ 4.04603790e-01 1.74860030e-02 9.14324895e-01 -1.00184575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08079213799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:10.40, Y:8.66, Z:-100.21 [[ 3.62518275e-01 -9.20044216e-01 -1.48657799e-01 1.04004491e+01] [ 8.38206575e-01 3.91599204e-01 -3.79552107e-01 8.65979845e+00] [ 4.07418996e-01 1.29886309e-02 9.13148979e-01 -1.00206795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:10.41, Y:8.67, Z:-100.23 [[ 3.47217423e-01 -9.25672434e-01 -1.50235167e-01 1.04118664e+01] [ 8.43132656e-01 3.78278103e-01 -3.82142644e-01 8.67401897e+00] [ 4.10569586e-01 6.01840853e-03 9.11809407e-01 -1.00229248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:10.42, Y:8.69, Z:-100.25 [[ 3.55351918e-01 -9.22745041e-01 -1.49219983e-01 1.04158485e+01] [ 8.40080049e-01 3.85272089e-01 -3.81878160e-01 8.68917072e+00] [ 4.09866473e-01 1.03444055e-02 9.12086875e-01 -1.00251488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.42, Y:8.71, Z:-100.27 [[ 3.62134623e-01 -9.20399371e-01 -1.47388987e-01 1.04199731e+01] [ 8.37966491e-01 3.90711901e-01 -3.80993925e-01 8.70629978e+00] [ 4.08253200e-01 1.44640589e-02 9.12754138e-01 -1.00273232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20079213799998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:10.43, Y:8.72, Z:-100.30 [[ 3.56396101e-01 -9.22407498e-01 -1.48816085e-01 1.04276752e+01] [ 8.39595233e-01 3.86054110e-01 -3.82154510e-01 8.72412399e+00] [ 4.09953246e-01 1.12531019e-02 9.12037117e-01 -1.00295073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23079213799998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:10.44, Y:8.74, Z:-100.32 [[ 3.53768974e-01 -9.23309669e-01 -1.49488354e-01 1.04351597e+01] [ 8.41025961e-01 3.83948305e-01 -3.81128629e-01 8.73913297e+00] [ 4.09295548e-01 9.10789720e-03 9.12356400e-01 -1.00316062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26079213799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:10.44, Y:8.75, Z:-100.34 [[ 3.52672292e-01 -9.23756662e-01 -1.49318063e-01 1.04416115e+01] [ 8.41452433e-01 3.82878426e-01 -3.81263575e-01 8.75494076e+00] [ 4.09365432e-01 8.81705157e-03 9.12327903e-01 -1.00337865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29079213799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:10.45, Y:8.77, Z:-100.36 [[ 3.52522626e-01 -9.23835596e-01 -1.49183074e-01 1.04479641e+01] [ 8.41470483e-01 3.82685423e-01 -3.81417480e-01 8.77144796e+00] [ 4.09457233e-01 8.92513827e-03 9.12285655e-01 -1.00360142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32079213799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:10.45, Y:8.79, Z:-100.38 [[ 3.52717340e-01 -9.23757421e-01 -1.49206922e-01 1.04537791e+01] [ 8.41321656e-01 3.82871122e-01 -3.81559398e-01 8.78748605e+00] [ 4.09595347e-01 9.05160158e-03 9.12222407e-01 -1.00381463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35079213799999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:10.46, Y:8.80, Z:-100.40 [[ 3.53961895e-01 -9.23359526e-01 -1.48721762e-01 1.04587505e+01] [ 8.41167789e-01 3.83812803e-01 -3.80952074e-01 8.80432657e+00] [ 4.08837043e-01 9.74256223e-03 9.12555398e-01 -1.00403235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38079213799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:10.47, Y:8.82, Z:-100.42 [[ 3.50112564e-01 -9.24890396e-01 -1.48320419e-01 1.04663801e+01] [ 8.43070838e-01 3.80146556e-01 -3.80421027e-01 8.82021003e+00] [ 4.08231251e-01 8.14556090e-03 9.12842207e-01 -1.00424744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41079213799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:10.47, Y:8.84, Z:-100.45 [[ 3.55456523e-01 -9.23074741e-01 -1.46913864e-01 1.04701155e+01] [ 8.41936054e-01 3.84466719e-01 -3.78588197e-01 8.83556567e+00] [ 4.05948693e-01 1.08795653e-02 9.13831108e-01 -1.00446482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:10.48, Y:8.85, Z:-100.47 [[ 3.55869364e-01 -9.22869175e-01 -1.47205580e-01 1.04753665e+01] [ 8.40225658e-01 3.84919508e-01 -3.81913363e-01 8.85403576e+00] [ 4.09118370e-01 1.22253602e-02 9.12399419e-01 -1.00468428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470792138 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:10.48, Y:8.87, Z:-100.49 [[ 3.50291717e-01 -9.24820883e-01 -1.48330872e-01 1.04834833e+01] [ 8.42659252e-01 3.80307235e-01 -3.81171605e-01 8.86946210e+00] [ 4.08926764e-01 8.52887419e-03 9.12527347e-01 -1.00489664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:10.49, Y:8.89, Z:-100.51 [[ 3.50843908e-01 -9.24657811e-01 -1.48042172e-01 1.04891504e+01] [ 8.42536410e-01 3.80693627e-01 -3.81057424e-01 8.88602611e+00] [ 4.08706435e-01 8.96075542e-03 9.12621912e-01 -1.00511005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:10.50, Y:8.90, Z:-100.53 [[ 3.50477849e-01 -9.24820916e-01 -1.47890335e-01 1.04953810e+01] [ 8.42688590e-01 3.80297539e-01 -3.81116416e-01 8.90269054e+00] [ 4.08706763e-01 8.94736418e-03 9.12621897e-01 -1.00533248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:10.50, Y:8.92, Z:-100.56 [[ 3.49464423e-01 -9.25242214e-01 -1.47653185e-01 1.05016521e+01] [ 8.43186465e-01 3.79278119e-01 -3.81031094e-01 8.91927343e+00] [ 4.08547675e-01 8.65764491e-03 9.12695920e-01 -1.00555462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59079213799998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:10.51, Y:8.94, Z:-100.58 [[ 3.49171909e-01 -9.25375077e-01 -1.47512525e-01 1.05080956e+01] [ 8.43457912e-01 3.78956811e-01 -3.80749900e-01 8.93508880e+00] [ 4.08237344e-01 8.52656292e-03 9.12836003e-01 -1.00576489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62079213799998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:10.52, Y:8.95, Z:-100.60 [[ 3.46449927e-01 -9.26433434e-01 -1.47287270e-01 1.05150268e+01] [ 8.44603468e-01 3.76383584e-01 -3.80762892e-01 8.95127476e+00] [ 4.08187984e-01 7.51593702e-03 9.12866956e-01 -1.00598396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:10.52, Y:8.97, Z:-100.62 [[ 3.45583772e-01 -9.26798583e-01 -1.47024636e-01 1.05217353e+01] [ 8.45078669e-01 3.75488215e-01 -3.80592490e-01 8.96775515e+00] [ 4.07938599e-01 7.27920486e-03 9.12980346e-01 -1.00620374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68079213799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:10.53, Y:8.98, Z:-100.64 [[ 3.44529350e-01 -9.27266545e-01 -1.46547883e-01 1.05280935e+01] [ 8.45916116e-01 3.74338143e-01 -3.79864290e-01 8.98418701e+00] [ 4.07093910e-01 6.90718051e-03 9.13360192e-01 -1.00641865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71079213799999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:10.53, Y:9.00, Z:-100.66 [[ 3.44471608e-01 -9.27377260e-01 -1.45981946e-01 1.05346458e+01] [ 8.46472739e-01 3.74063010e-01 -3.78894136e-01 9.00056699e+00] [ 4.05984252e-01 6.94853511e-03 9.13853656e-01 -1.00663441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74079213799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:10.54, Y:9.02, Z:-100.69 [[ 3.47217354e-01 -9.26390427e-01 -1.45742535e-01 1.05393201e+01] [ 8.45455381e-01 3.76472963e-01 -3.78778704e-01 9.01770862e+00] [ 4.05765089e-01 8.29972846e-03 9.13939717e-01 -1.00685648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77079213799999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:10.55, Y:9.03, Z:-100.71 [[ 3.45278472e-01 -9.27161477e-01 -1.45445428e-01 1.05456492e+01] [ 8.46520240e-01 3.74587183e-01 -3.78269646e-01 9.03335228e+00] [ 4.05199037e-01 7.48586643e-03 9.14197846e-01 -1.00707291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:10.55, Y:9.05, Z:-100.73 [[ 3.44185478e-01 -9.27662756e-01 -1.44838418e-01 1.05538756e+01] [ 8.47513894e-01 3.73351644e-01 -3.77264826e-01 9.04917996e+00] [ 4.04050190e-01 7.09650285e-03 9.14709289e-01 -1.00728876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83079213799999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:10.56, Y:9.07, Z:-100.75 [[ 3.47978093e-01 -9.26372080e-01 -1.44034774e-01 1.05575797e+01] [ 8.46819333e-01 3.76507711e-01 -3.75684656e-01 9.06690266e+00] [ 4.02253979e-01 8.75859918e-03 9.15486222e-01 -1.00749804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860792138 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:10.56, Y:9.08, Z:-100.77 [[ 3.49600161e-01 -9.25876223e-01 -1.43293218e-01 1.05624942e+01] [ 8.47023490e-01 3.77710457e-01 -3.74013392e-01 9.08479331e+00] [ 4.00413454e-01 9.38242034e-03 9.16286547e-01 -1.00769927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890792138 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:10.57, Y:9.10, Z:-100.79 [[ 3.50653380e-01 -9.25568718e-01 -1.42705136e-01 1.05681148e+01] [ 8.47119932e-01 3.78449613e-01 -3.73046527e-01 9.10210074e+00] [ 3.99286899e-01 9.92166080e-03 9.16772345e-01 -1.00791084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920792138 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:10.57, Y:9.12, Z:-100.81 [[ 3.49472970e-01 -9.26039323e-01 -1.42547587e-01 1.05745514e+01] [ 8.47778060e-01 3.77309921e-01 -3.72705762e-01 9.11763239e+00] [ 3.98924810e-01 9.40187271e-03 9.16935440e-01 -1.00811613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95079213799998 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:10.58, Y:9.13, Z:-100.83 [[ 3.49281361e-01 -9.26140067e-01 -1.42362592e-01 1.05806276e+01] [ 8.47858098e-01 3.77060095e-01 -3.72776515e-01 9.13435676e+00] [ 3.98922519e-01 9.50061250e-03 9.16935419e-01 -1.00833854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98079213799998 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:10.59, Y:9.15, Z:-100.86 [[ 3.48948240e-01 -9.26288127e-01 -1.42216144e-01 1.05867484e+01] [ 8.47995237e-01 3.76696223e-01 -3.72832447e-01 9.15106237e+00] [ 3.98922554e-01 9.50061330e-03 9.16935404e-01 -1.00856097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01079213799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:10.59, Y:9.17, Z:-100.88 [[ 3.47737612e-01 -9.26726928e-01 -1.42322711e-01 1.05931199e+01] [ 8.48310406e-01 3.75626786e-01 -3.73194283e-01 9.16604228e+00] [ 3.99309414e-01 9.03985216e-03 9.16771658e-01 -1.00877016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04079213799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:10.60, Y:9.18, Z:-100.90 [[ 3.47578647e-01 -9.26799754e-01 -1.42236777e-01 1.05992508e+01] [ 8.48375713e-01 3.75446686e-01 -3.73227056e-01 9.18275014e+00] [ 3.99309070e-01 9.05552780e-03 9.16771653e-01 -1.00899262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07079213799999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:10.61, Y:9.20, Z:-100.92 [[ 3.44223254e-01 -9.28016227e-01 -1.42464850e-01 1.06061202e+01] [ 8.49308572e-01 3.72458595e-01 -3.74098308e-01 9.19737813e+00] [ 4.00231558e-01 7.77671868e-03 9.16381046e-01 -1.00920826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10079213799999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:10.61, Y:9.21, Z:-100.94 [[ 3.41441164e-01 -9.29023635e-01 -1.42593887e-01 1.06138284e+01] [ 8.49978660e-01 3.69956820e-01 -3.75057635e-01 9.21266388e+00] [ 4.01190988e-01 6.85835469e-03 9.15968752e-01 -1.00943295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13079213799999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:10.62, Y:9.23, Z:-100.96 [[ 3.41069355e-01 -9.29154123e-01 -1.42633482e-01 1.06201010e+01] [ 8.49960220e-01 3.69629831e-01 -3.75421646e-01 9.22839565e+00] [ 4.01546160e-01 6.81203254e-03 9.15813451e-01 -1.00964928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16079213799999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.63, Y:9.24, Z:-100.99 [[ 3.42575479e-01 -9.28614739e-01 -1.42536686e-01 1.06251796e+01] [ 8.49233472e-01 3.70965978e-01 -3.75748257e-01 9.24481278e+00] [ 4.01801631e-01 7.67521441e-03 9.15694567e-01 -1.00987135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19079213799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:10.63, Y:9.26, Z:-101.01 [[ 3.41961499e-01 -9.28861859e-01 -1.42400774e-01 1.06314190e+01] [ 8.49626505e-01 3.70352240e-01 -3.75465073e-01 9.26050067e+00] [ 4.01493631e-01 7.40712710e-03 9.15831862e-01 -1.01008363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220792138 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:10.64, Y:9.28, Z:-101.03 [[ 3.39473436e-01 -9.29740346e-01 -1.42620740e-01 1.06382445e+01] [ 8.50228302e-01 3.68158977e-01 -3.76258956e-01 9.27546167e+00] [ 4.02330238e-01 6.46973085e-03 9.15471749e-01 -1.01029905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250792138 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:10.64, Y:9.29, Z:-101.05 [[ 3.42000315e-01 -9.28846334e-01 -1.42408819e-01 1.06433486e+01] [ 8.49413825e-01 3.70387311e-01 -3.75911417e-01 9.29134272e+00] [ 4.01910362e-01 7.59780313e-03 9.15647495e-01 -1.01050558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:10.65, Y:9.31, Z:-101.07 [[ 3.42290888e-01 -9.28788200e-01 -1.42089506e-01 1.06486067e+01] [ 8.49438069e-01 3.70526553e-01 -3.75719364e-01 9.30792879e+00] [ 4.01611647e-01 7.90907892e-03 9.15775918e-01 -1.01072135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.310792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:10.65, Y:9.32, Z:-101.09 [[ 3.42371044e-01 -9.28764761e-01 -1.42049596e-01 1.06538191e+01] [ 8.49344573e-01 3.70582488e-01 -3.75875533e-01 9.32372460e+00] [ 4.01741042e-01 8.03984534e-03 9.15718022e-01 -1.01092996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34079213799998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:10.66, Y:9.34, Z:-101.11 [[ 3.42447538e-01 -9.28845198e-01 -1.41337477e-01 1.06598481e+01] [ 8.50000873e-01 3.70378628e-01 -3.74590693e-01 9.34027598e+00] [ 4.00285147e-01 8.14068218e-03 9.16354479e-01 -1.01114234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37079213799998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:10.67, Y:9.36, Z:-101.14 [[ 3.38001349e-01 -9.30508153e-01 -1.41101616e-01 1.06665188e+01] [ 8.52043125e-01 3.66218675e-01 -3.74040633e-01 9.35583380e+00] [ 3.99721905e-01 6.20157689e-03 9.16615480e-01 -1.01135104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40079213799999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:10.67, Y:9.37, Z:-101.16 [[ 3.39202813e-01 -9.30063370e-01 -1.41150912e-01 1.06713936e+01] [ 8.51224497e-01 3.67332717e-01 -3.74811328e-01 9.37268076e+00] [ 4.00447635e-01 6.98594300e-03 9.16293014e-01 -1.01157489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43079213799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:10.68, Y:9.39, Z:-101.18 [[ 3.38427666e-01 -9.30364608e-01 -1.41026276e-01 1.06765615e+01] [ 8.51664187e-01 3.66575288e-01 -3.74553964e-01 9.38863023e+00] [ 4.00168499e-01 6.65239547e-03 9.16417436e-01 -1.01178732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46079213799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:10.68, Y:9.41, Z:-101.20 [[ 3.40448326e-01 -9.29670902e-01 -1.40737171e-01 1.06816187e+01] [ 8.50975962e-01 3.68310523e-01 -3.74415906e-01 9.40536354e+00] [ 3.99918554e-01 7.70531919e-03 9.16518291e-01 -1.01200144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49079213799999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:10.69, Y:9.42, Z:-101.22 [[ 3.42778898e-01 -9.28844838e-01 -1.40534318e-01 1.06857242e+01] [ 8.50288792e-01 3.70367125e-01 -3.73948076e-01 9.42141135e+00] [ 3.99389031e-01 8.68675393e-03 9.16740390e-01 -1.01221374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52079213799999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:10.69, Y:9.44, Z:-101.24 [[ 3.41156712e-01 -9.29478603e-01 -1.40291214e-01 1.06916730e+01] [ 8.50977597e-01 3.68785122e-01 -3.73944734e-01 9.43753379e+00] [ 3.99310941e-01 8.18907546e-03 9.16778987e-01 -1.01242924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55079213799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:10.70, Y:9.45, Z:-101.26 [[ 3.39449605e-01 -9.30139538e-01 -1.40051440e-01 1.06980222e+01] [ 8.51755212e-01 3.67127639e-01 -3.73805237e-01 9.45332074e+00] [ 3.99107785e-01 7.59849565e-03 9.16872532e-01 -1.01264700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58079213799999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.70, Y:9.47, Z:-101.29 [[ 3.41735701e-01 -9.29412638e-01 -1.39315684e-01 1.07033679e+01] [ 8.52252136e-01 3.68955386e-01 -3.70861456e-01 9.46891495e+00] [ 3.96084596e-01 8.00450994e-03 9.18179133e-01 -1.01287501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610792138 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:10.71, Y:9.49, Z:-101.31 [[ 3.46793834e-01 -9.27814491e-01 -1.37456564e-01 1.07077549e+01] [ 8.50268837e-01 3.72849975e-01 -3.71518237e-01 9.48586394e+00] [ 3.95950680e-01 1.19652011e-02 9.18193821e-01 -1.01309802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.72, Y:9.50, Z:-101.33 [[ 3.42968513e-01 -9.29209113e-01 -1.37633658e-01 1.07158954e+01] [ 8.51085297e-01 3.69395867e-01 -3.73095847e-01 9.50300490e+00] [ 3.97525365e-01 1.08221450e-02 9.17527365e-01 -1.01331031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:10.72, Y:9.52, Z:-101.35 [[ 3.37802653e-01 -9.30894722e-01 -1.39012171e-01 1.07237799e+01] [ 8.53202189e-01 3.65216939e-01 -3.72374289e-01 9.51868446e+00] [ 3.97410860e-01 7.18353447e-03 9.17612666e-01 -1.01353154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70079213799998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:10.73, Y:9.53, Z:-101.37 [[ 3.38008643e-01 -9.30807147e-01 -1.39097853e-01 1.07290740e+01] [ 8.52977311e-01 3.65437385e-01 -3.72673080e-01 9.53392547e+00] [ 3.97718322e-01 7.31940914e-03 9.17478372e-01 -1.01374304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73079213799998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:10.74, Y:9.55, Z:-101.40 [[ 3.37248995e-01 -9.31130654e-01 -1.38776154e-01 1.07359319e+01] [ 8.53493980e-01 3.64616424e-01 -3.72294091e-01 9.55046876e+00] [ 3.97254505e-01 7.11119564e-03 9.17680930e-01 -1.01396334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:10.74, Y:9.57, Z:-101.42 [[ 3.35395505e-01 -9.31835009e-01 -1.38540142e-01 1.07419719e+01] [ 8.54361844e-01 3.62825411e-01 -3.72053168e-01 9.56643296e+00] [ 3.96958051e-01 6.42154884e-03 9.17814289e-01 -1.01418247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:10.75, Y:9.58, Z:-101.44 [[ 3.32540195e-01 -9.32876905e-01 -1.38411340e-01 1.07492386e+01] [ 8.56907537e-01 3.60172878e-01 -3.68761402e-01 9.58007642e+00] [ 3.93861005e-01 4.02226832e-03 9.19161210e-01 -1.01440968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:10.75, Y:9.60, Z:-101.46 [[ 3.36973847e-01 -9.31609057e-01 -1.36210099e-01 1.07539850e+01] [ 8.53617970e-01 3.63337556e-01 -3.73258867e-01 9.60015448e+00] [ 3.97221585e-01 9.50708841e-03 9.17673486e-01 -1.01463068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85079213799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:10.76, Y:9.61, Z:-101.48 [[ 3.29191716e-01 -9.34056753e-01 -1.38458641e-01 1.07624709e+01] [ 8.56608121e-01 3.57102262e-01 -3.72425162e-01 9.61485448e+00] [ 3.97310132e-01 3.99448166e-03 9.17675707e-01 -1.01484428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:10.77, Y:9.63, Z:-101.51 [[ 3.30186490e-01 -9.33763357e-01 -1.38068370e-01 1.07673665e+01] [ 8.56536520e-01 3.57862460e-01 -3.71859718e-01 9.63124838e+00] [ 3.96638465e-01 4.52245370e-03 9.17963766e-01 -1.01506064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91079213799999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:10.77, Y:9.65, Z:-101.53 [[ 3.28591605e-01 -9.34313519e-01 -1.38151383e-01 1.07738615e+01] [ 8.56865993e-01 3.56429691e-01 -3.72476233e-01 9.64784051e+00] [ 3.97250835e-01 4.01534118e-03 9.17701286e-01 -1.01528072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94079213799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:10.78, Y:9.66, Z:-101.55 [[ 3.29389670e-01 -9.34050048e-01 -1.38032431e-01 1.07791603e+01] [ 8.56548631e-01 3.57114003e-01 -3.72550712e-01 9.66396367e+00] [ 3.97274324e-01 4.48286612e-03 9.17688953e-01 -1.01549748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:10.78, Y:9.68, Z:-101.57 [[ 3.29862671e-01 -9.33894145e-01 -1.37957764e-01 1.07843377e+01] [ 8.56296786e-01 3.57517107e-01 -3.72742983e-01 9.68058154e+00] [ 3.97424750e-01 4.82120559e-03 9.17622103e-01 -1.01571431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.79, Y:9.70, Z:-101.59 [[ 3.26638145e-01 -9.35074772e-01 -1.37632455e-01 1.07910011e+01] [ 8.57787236e-01 3.54432888e-01 -3.72261179e-01 9.69679282e+00] [ 3.96873506e-01 3.53533777e-03 9.17866505e-01 -1.01593375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:10.79, Y:9.71, Z:-101.62 [[ 3.29940722e-01 -9.33939034e-01 -1.37466365e-01 1.07947301e+01] [ 8.56579575e-01 3.57396586e-01 -3.72208424e-01 9.71383738e+00] [ 3.96749985e-01 5.05583578e-03 9.17912789e-01 -1.01615113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:10.80, Y:9.73, Z:-101.64 [[ 3.31373261e-01 -9.33418024e-01 -1.37559278e-01 1.07991789e+01] [ 8.55734992e-01 3.58743207e-01 -3.72855114e-01 9.73027565e+00] [ 3.97378140e-01 5.83992694e-03 9.17636371e-01 -1.01636818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09079213799998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:10.80, Y:9.75, Z:-101.66 [[ 3.31194526e-01 -9.33469360e-01 -1.37641347e-01 1.08043034e+01] [ 8.55522288e-01 3.58608014e-01 -3.73472767e-01 9.74715599e+00] [ 3.97984675e-01 5.93689591e-03 9.17372853e-01 -1.01658587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12079213799998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:10.81, Y:9.76, Z:-101.68 [[ 3.33575793e-01 -9.32638672e-01 -1.37521995e-01 1.08091322e+01] [ 8.54592599e-01 3.60742254e-01 -3.73545870e-01 9.76388762e+00] [ 3.97993318e-01 7.08058069e-03 9.17360989e-01 -1.01680914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15079213799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:10.82, Y:9.78, Z:-101.70 [[ 3.32414042e-01 -9.33055298e-01 -1.37508967e-01 1.08150557e+01] [ 8.54886102e-01 3.59669867e-01 -3.73908197e-01 9.78012160e+00] [ 3.98334857e-01 6.73783009e-03 9.17215320e-01 -1.01702578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18079213799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:10.82, Y:9.80, Z:-101.72 [[ 3.35184377e-01 -9.32060407e-01 -1.37531201e-01 1.08193187e+01] [ 8.53610750e-01 3.62212713e-01 -3.74366983e-01 9.79750021e+00] [ 3.98748192e-01 8.08385246e-03 9.17024826e-01 -1.01724464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:10.83, Y:9.81, Z:-101.75 [[ 3.34671407e-01 -9.32267448e-01 -1.37377053e-01 1.08253817e+01] [ 8.53845498e-01 3.61681717e-01 -3.74345029e-01 9.81388218e+00] [ 3.98676453e-01 7.98379898e-03 9.17056893e-01 -1.01746139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24079213799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:10.83, Y:9.83, Z:-101.77 [[ 3.32007910e-01 -9.33189925e-01 -1.37576564e-01 1.08331068e+01] [ 8.56807407e-01 3.59350205e-01 -3.69795211e-01 9.82722582e+00] [ 3.94527332e-01 4.89831541e-03 9.18871150e-01 -1.01769298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27079213799999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:10.84, Y:9.85, Z:-101.79 [[ 3.42868778e-01 -9.29756901e-01 -1.34138383e-01 1.08353484e+01] [ 8.51048052e-01 3.67896171e-01 -3.74659339e-01 9.84864434e+00] [ 3.97691104e-01 1.43007803e-02 9.17407910e-01 -1.01790119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30079213799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:10.85, Y:9.86, Z:-101.81 [[ 3.32076776e-01 -9.33288692e-01 -1.36737822e-01 1.08456863e+01] [ 8.55211184e-01 3.59055323e-01 -3.73755408e-01 9.86378005e+00] [ 3.97918139e-01 7.17577613e-03 9.17392862e-01 -1.01812162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33079213799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:10.85, Y:9.88, Z:-101.83 [[ 3.32048878e-01 -9.33292233e-01 -1.36781395e-01 1.08512648e+01] [ 8.55049977e-01 3.59044100e-01 -3.74134830e-01 9.87969918e+00] [ 3.98287684e-01 7.27612248e-03 9.17231693e-01 -1.01833455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:10.86, Y:9.89, Z:-101.86 [[ 3.29231244e-01 -9.34219545e-01 -1.37261173e-01 1.08578630e+01] [ 8.57833492e-01 3.56675307e-01 -3.70005980e-01 9.89380662e+00] [ 3.94624489e-01 4.07029767e-03 9.18833470e-01 -1.01857010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:10.86, Y:9.91, Z:-101.88 [[ 3.43461643e-01 -9.29581278e-01 -1.33838512e-01 1.08582804e+01] [ 8.50661107e-01 3.68312247e-01 -3.75129005e-01 9.91459073e+00] [ 3.98007263e-01 1.49912076e-02 9.17259768e-01 -1.01877591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:10.87, Y:9.93, Z:-101.90 [[ 3.33648908e-01 -9.32796355e-01 -1.36269459e-01 1.08672216e+01] [ 8.54635490e-01 3.60308775e-01 -3.73865973e-01 9.92989152e+00] [ 3.97839899e-01 8.27925708e-03 9.17417500e-01 -1.01899888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45079213799998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:10.87, Y:9.95, Z:-101.92 [[ 3.31623279e-01 -9.33509722e-01 -1.36329010e-01 1.08739579e+01] [ 8.55159763e-01 3.58471796e-01 -3.74432572e-01 9.94649435e+00] [ 3.98406551e-01 7.58747336e-03 9.17177546e-01 -1.01922002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48079213799998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:10.88, Y:9.96, Z:-101.94 [[ 3.31980427e-01 -9.33395373e-01 -1.36242699e-01 1.08797230e+01] [ 8.54965733e-01 3.58763219e-01 -3.74596514e-01 9.96261966e+00] [ 3.98525523e-01 7.87587154e-03 9.17123426e-01 -1.01943918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51079213799999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:10.88, Y:9.98, Z:-101.97 [[ 3.33795048e-01 -9.32754431e-01 -1.36198525e-01 1.08842025e+01] [ 8.54151429e-01 3.60404998e-01 -3.74878079e-01 9.98001359e+00] [ 3.98755818e-01 8.79828127e-03 9.17014933e-01 -1.01965855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54079213799999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:10.89, Y:10.00, Z:-101.99 [[ 3.32465317e-01 -9.33231474e-01 -1.36183075e-01 1.08899437e+01] [ 8.54508497e-01 3.59177815e-01 -3.75241956e-01 9.99640008e+00] [ 3.99101543e-01 8.38534116e-03 9.16868390e-01 -1.01987539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:10.90, Y:10.01, Z:-102.01 [[ 3.31797394e-01 -9.33456836e-01 -1.36267476e-01 1.08952015e+01] [ 8.54558400e-01 3.58595946e-01 -3.75684561e-01 1.00122122e+01] [ 3.99550286e-01 8.20264216e-03 9.16674580e-01 -1.02008171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60079213799999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:10.90, Y:10.03, Z:-102.03 [[ 3.28708320e-01 -9.34524830e-01 -1.36433802e-01 1.09017444e+01] [ 8.55236509e-01 3.55825796e-01 -3.76773827e-01 1.00283199e+01] [ 4.00651163e-01 7.16552310e-03 9.16202653e-01 -1.02029708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63079213799999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:10.91, Y:10.04, Z:-102.05 [[ 3.20050214e-01 -9.37227861e-01 -1.38462260e-01 1.09102405e+01] [ 8.57726132e-01 3.48710987e-01 -3.77765179e-01 1.00404850e+01] [ 4.02335362e-01 2.14112714e-03 9.15489854e-01 -1.02053121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66079213799999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:10.91, Y:10.06, Z:-102.07 [[ 3.29661160e-01 -9.34310896e-01 -1.35597449e-01 1.09123444e+01] [ 8.52095905e-01 3.56294126e-01 -3.83388920e-01 1.00610985e+01] [ 4.06517020e-01 1.08464049e-02 9.13578824e-01 -1.02074413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69079213799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:10.92, Y:10.07, Z:-102.10 [[ 3.19358963e-01 -9.37394560e-01 -1.38929088e-01 1.09212607e+01] [ 8.57066147e-01 3.48262380e-01 -3.79672141e-01 1.00742990e+01] [ 4.04286375e-01 2.18028375e-03 9.14629856e-01 -1.02097365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720792138 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:10.92, Y:10.09, Z:-102.12 [[ 3.30130853e-01 -9.34120679e-01 -1.35765152e-01 1.09229084e+01] [ 8.53127560e-01 3.56822242e-01 -3.80593291e-01 1.00923580e+01] [ 4.03964089e-01 9.82059499e-03 9.14722128e-01 -1.02119712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750792138 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:10.93, Y:10.11, Z:-102.14 [[ 3.31855148e-01 -9.33526760e-01 -1.35646410e-01 1.09279417e+01] [ 8.51970089e-01 3.58335123e-01 -3.81762894e-01 1.01093565e+01] [ 4.04992751e-01 1.11232977e-02 9.14252232e-01 -1.02140969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780792138 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:10.94, Y:10.12, Z:-102.16 [[ 3.27031042e-01 -9.35144593e-01 -1.36217798e-01 1.09350905e+01] [ 8.53595867e-01 3.54160417e-01 -3.82026826e-01 1.01243363e+01] [ 4.05493272e-01 8.65968107e-03 9.14057009e-01 -1.02161845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.810792138 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:10.94, Y:10.14, Z:-102.18 [[ 3.28156646e-01 -9.34739320e-01 -1.36292406e-01 1.09406258e+01] [ 8.51300649e-01 3.55172968e-01 -3.86185664e-01 1.01430216e+01] [ 4.09390303e-01 1.07035788e-02 9.12296560e-01 -1.02182363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84079213799998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:10.95, Y:10.16, Z:-102.21 [[ 3.18395791e-01 -9.37752760e-01 -1.38722321e-01 1.09501191e+01] [ 8.56599429e-01 3.47293273e-01 -3.81608178e-01 1.01561414e+01] [ 4.06031451e-01 2.67297636e-03 9.13855194e-01 -1.02205861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87079213799998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:10.95, Y:10.17, Z:-102.23 [[ 3.27680176e-01 -9.34951838e-01 -1.35980748e-01 1.09522881e+01] [ 8.53219550e-01 3.54653093e-01 -3.82410229e-01 1.01740502e+01] [ 4.05761139e-01 9.28681841e-03 9.13931974e-01 -1.02228190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90079213799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:10.96, Y:10.19, Z:-102.25 [[ 3.26727072e-01 -9.35276928e-01 -1.36038553e-01 1.09590540e+01] [ 8.53180682e-01 3.53798062e-01 -3.83287953e-01 1.01907208e+01] [ 4.06610556e-01 9.16508528e-03 9.13555613e-01 -1.02249947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93079213799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:10.97, Y:10.21, Z:-102.27 [[ 3.22558071e-01 -9.36750666e-01 -1.35847269e-01 1.09663125e+01] [ 8.53420618e-01 3.49889794e-01 -3.86329367e-01 1.02085818e+01] [ 4.09425865e-01 8.67879461e-03 9.12302110e-01 -1.02270811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96079213799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:10.98, Y:10.22, Z:-102.29 [[ 3.10738734e-01 -9.40396392e-01 -1.38188514e-01 1.09763352e+01] [ 8.57523554e-01 3.40077244e-01 -3.86006248e-01 1.02230720e+01] [ 4.09993651e-01 1.44718742e-03 9.12087228e-01 -1.02292441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99079213799999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:10.98, Y:10.24, Z:-102.32 [[ 3.11699953e-01 -9.39948178e-01 -1.39070347e-01 1.09806409e+01] [ 8.58423816e-01 3.41317185e-01 -3.82898329e-01 1.02372300e+01] [ 4.07371687e-01 -3.19069188e-05 9.13262453e-01 -1.02315666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02079213799999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:10.98, Y:10.26, Z:-102.34 [[ 3.24978800e-01 -9.35917372e-01 -1.35821400e-01 1.09814429e+01] [ 8.51145409e-01 3.52049864e-01 -3.89374353e-01 1.02583205e+01] [ 4.12238126e-01 1.09346490e-02 9.11010516e-01 -1.02336776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05079213799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:10.99, Y:10.27, Z:-102.36 [[ 3.15803892e-01 -9.38566819e-01 -1.39141037e-01 1.09904812e+01] [ 8.56469724e-01 3.45091389e-01 -3.83890017e-01 1.02709243e+01] [ 4.08322806e-01 2.06387598e-03 9.12835268e-01 -1.02359680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08079213799999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:10.99, Y:10.29, Z:-102.38 [[ 3.26173932e-01 -9.35465045e-01 -1.36072464e-01 1.09921307e+01] [ 8.52204464e-01 3.53280027e-01 -3.85928458e-01 1.02897935e+01] [ 4.09094266e-01 9.91824170e-03 9.12438223e-01 -1.02381438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110792138 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:11.00, Y:10.30, Z:-102.40 [[ 3.22791026e-01 -9.36553261e-01 -1.36652633e-01 1.09990820e+01] [ 8.53744585e-01 3.50441947e-01 -3.85111187e-01 1.03045305e+01] [ 4.08565953e-01 7.64398963e-03 9.12696791e-01 -1.02403258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140792138 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:11.00, Y:10.32, Z:-102.42 [[ 3.22401755e-01 -9.36810151e-01 -1.35808133e-01 1.10049863e+01] [ 8.53738704e-01 3.49736663e-01 -3.85764815e-01 1.03210748e+01] [ 4.08885478e-01 8.42659447e-03 9.12546798e-01 -1.02424558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:11.01, Y:10.34, Z:-102.45 [[ 3.23888299e-01 -9.36327842e-01 -1.35596983e-01 1.10098531e+01] [ 8.51964005e-01 3.50975190e-01 -3.88553407e-01 1.03400324e+01] [ 4.11404550e-01 1.03241533e-02 9.11394376e-01 -1.02445953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20079213799998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:11.02, Y:10.35, Z:-102.47 [[ 3.08807753e-01 -9.41115061e-01 -1.37623449e-01 1.10222390e+01] [ 8.57728244e-01 3.38082851e-01 -3.87301234e-01 1.03544148e+01] [ 4.11023152e-01 1.55810458e-03 9.11623574e-01 -1.02467980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23079213799998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:11.03, Y:10.37, Z:-102.49 [[ 3.08723277e-01 -9.41142040e-01 -1.37628485e-01 1.10275483e+01] [ 8.59216927e-01 3.38011189e-01 -3.84050398e-01 1.03684711e+01] [ 4.07965943e-01 3.12573294e-04 9.12997093e-01 -1.02490379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26079213799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:11.03, Y:10.39, Z:-102.51 [[ 3.16619739e-01 -9.38864039e-01 -1.35226686e-01 1.10302698e+01] [ 8.54781662e-01 3.44208775e-01 -3.88418111e-01 1.03885183e+01] [ 4.11218008e-01 7.39154925e-03 9.11507057e-01 -1.02513043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29079213799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:11.04, Y:10.40, Z:-102.54 [[ 3.10505247e-01 -9.40543019e-01 -1.37714633e-01 1.10380255e+01] [ 8.58901599e-01 3.39673809e-01 -3.83288074e-01 1.04029715e+01] [ 4.07276976e-01 7.29639179e-04 9.13304403e-01 -1.02535948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32079213799999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:11.04, Y:10.42, Z:-102.56 [[ 3.11524257e-01 -9.40539923e-01 -1.35415251e-01 1.10441787e+01] [ 8.57866945e-01 3.39660097e-01 -3.85610326e-01 1.04182229e+01] [ 4.08677064e-01 3.95870229e-03 9.12670469e-01 -1.02557133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35079213799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:11.05, Y:10.44, Z:-102.58 [[ 3.16301956e-01 -9.38972510e-01 -1.35217224e-01 1.10472591e+01] [ 8.55083333e-01 3.43918772e-01 -3.88010788e-01 1.04371425e+01] [ 4.10835205e-01 7.10657621e-03 9.11681924e-01 -1.02577490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38079213799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:11.05, Y:10.46, Z:-102.60 [[ 3.13668518e-01 -9.39694905e-01 -1.36328817e-01 1.10517211e+01] [ 8.56840287e-01 3.41987926e-01 -3.85835432e-01 1.04551710e+01] [ 4.09190399e-01 4.21240552e-03 9.12439298e-01 -1.02598655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41079213799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:11.06, Y:10.48, Z:-102.62 [[ 3.15138198e-01 -9.39436691e-01 -1.34709387e-01 1.10589614e+01] [ 8.58363002e-01 3.42690364e-01 -3.81806589e-01 1.04757661e+01] [ 4.04846727e-01 4.69228687e-03 9.14372522e-01 -1.02616827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44079213799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:11.06, Y:10.49, Z:-102.64 [[ 3.17818194e-01 -9.38606413e-01 -1.34199839e-01 1.10638527e+01] [ 8.58065306e-01 3.44941762e-01 -3.80445937e-01 1.04929500e+01] [ 4.03380125e-01 5.76041446e-03 9.15014367e-01 -1.02636690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470792138 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:11.07, Y:10.51, Z:-102.66 [[ 3.17870404e-01 -9.38621129e-01 -1.33973066e-01 1.10698623e+01] [ 8.58140336e-01 3.44898956e-01 -3.80315493e-01 1.05095480e+01] [ 4.03179328e-01 5.92334767e-03 9.15101821e-01 -1.02658480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:11.08, Y:10.53, Z:-102.68 [[ 3.21496223e-01 -9.37456951e-01 -1.33471509e-01 1.10751997e+01] [ 8.57323522e-01 3.48020003e-01 -3.79313138e-01 1.05266497e+01] [ 4.02040493e-01 7.51947692e-03 9.15591011e-01 -1.02680487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530792138 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:11.08, Y:10.54, Z:-102.70 [[ 3.16238430e-01 -9.39323481e-01 -1.32908439e-01 1.10825845e+01] [ 8.59866722e-01 3.42991746e-01 -3.78134742e-01 1.05423360e+01] [ 4.00777340e-01 5.29719302e-03 9.16160174e-01 -1.02701993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560792138 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:11.09, Y:10.56, Z:-102.72 [[ 3.16123962e-01 -9.39369176e-01 -1.32857791e-01 1.10881928e+01] [ 8.59796156e-01 3.42865073e-01 -3.78409978e-01 1.05590257e+01] [ 4.01018965e-01 5.39384375e-03 9.16053872e-01 -1.02724117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59079213799998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:11.09, Y:10.58, Z:-102.75 [[ 3.16781809e-01 -9.39151173e-01 -1.32832071e-01 1.10927834e+01] [ 8.59333922e-01 3.43453614e-01 -3.78925884e-01 1.05758038e+01] [ 4.01490344e-01 5.88972225e-03 9.15844318e-01 -1.02745956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62079213799998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:11.10, Y:10.59, Z:-102.77 [[ 3.18379330e-01 -9.38611140e-01 -1.32829699e-01 1.10979261e+01] [ 8.58716825e-01 3.44913812e-01 -3.78998519e-01 1.05919993e+01] [ 4.01547030e-01 6.60219713e-03 9.15814607e-01 -1.02767515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65079213799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:11.10, Y:10.61, Z:-102.79 [[ 3.20242875e-01 -9.38062348e-01 -1.32225309e-01 1.11020232e+01] [ 8.58656452e-01 3.46386418e-01 -3.77790347e-01 1.06085395e+01] [ 4.00191951e-01 7.44855172e-03 9.16401070e-01 -1.02789630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68079213799999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:11.11, Y:10.62, Z:-102.81 [[ 3.21313077e-01 -9.37723493e-01 -1.32032407e-01 1.11072340e+01] [ 8.58349458e-01 3.47290057e-01 -3.77658343e-01 1.06245676e+01] [ 3.99992643e-01 8.01661970e-03 9.16483289e-01 -1.02811464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71079213799999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:11.11, Y:10.64, Z:-102.83 [[ 3.20590987e-01 -9.38044390e-01 -1.31507194e-01 1.11134800e+01] [ 8.59171536e-01 3.46428648e-01 -3.76578628e-01 1.06409741e+01] [ 3.98805328e-01 7.74047613e-03 9.17002942e-01 -1.02833600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74079213799999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:11.12, Y:10.66, Z:-102.86 [[ 3.20065555e-01 -9.38248941e-01 -1.31327699e-01 1.11186882e+01] [ 8.59435642e-01 3.45876686e-01 -3.76483326e-01 1.06564800e+01] [ 3.98658271e-01 7.63163887e-03 9.17067795e-01 -1.02856065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77079213799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:11.12, Y:10.67, Z:-102.88 [[ 3.20999109e-01 -9.37968882e-01 -1.31049412e-01 1.11229032e+01] [ 8.59299556e-01 3.46624376e-01 -3.76106123e-01 1.06732933e+01] [ 3.98200761e-01 8.11902870e-03 9.17262359e-01 -1.02878243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:11.13, Y:10.69, Z:-102.90 [[ 3.21418997e-01 -9.37839737e-01 -1.30944477e-01 1.11284274e+01] [ 8.59109301e-01 3.46966217e-01 -3.76225535e-01 1.06900964e+01] [ 3.98272566e-01 8.43041635e-03 9.17228374e-01 -1.02900241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:11.13, Y:10.71, Z:-102.92 [[ 3.21123842e-01 -9.37957368e-01 -1.30826045e-01 1.11340191e+01] [ 8.59219557e-01 3.46648354e-01 -3.76266757e-01 1.07069736e+01] [ 3.98272810e-01 8.41993048e-03 9.17228365e-01 -1.02922494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:11.14, Y:10.72, Z:-102.94 [[ 3.17939999e-01 -9.39068091e-01 -1.30634135e-01 1.11405636e+01] [ 8.60472508e-01 3.43656061e-01 -3.76148341e-01 1.07224685e+01] [ 3.98122117e-01 7.18552103e-03 9.17304283e-01 -1.02944267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:11.14, Y:10.74, Z:-102.97 [[ 3.20115180e-01 -9.38352395e-01 -1.30464766e-01 1.11446708e+01] [ 8.59730296e-01 3.45582319e-01 -3.76080681e-01 1.07392837e+01] [ 3.97982524e-01 8.22462350e-03 9.17356128e-01 -1.02966586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:11.15, Y:10.76, Z:-102.99 [[ 3.16466303e-01 -9.39590025e-01 -1.30459437e-01 1.11510794e+01] [ 8.60892143e-01 3.42233681e-01 -3.76484828e-01 1.07555404e+01] [ 3.98389003e-01 6.83325711e-03 9.17191097e-01 -1.02988865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95079213799998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:11.16, Y:10.77, Z:-103.01 [[ 3.14521790e-01 -9.40267803e-01 -1.30278556e-01 1.11573362e+01] [ 8.61670643e-01 3.40380609e-01 -3.76383773e-01 1.07720203e+01] [ 3.98245838e-01 6.12369124e-03 9.17258280e-01 -1.03011207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98079213799998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:11.16, Y:10.79, Z:-103.03 [[ 3.14842084e-01 -9.40200306e-01 -1.29991720e-01 1.11627080e+01] [ 8.61704405e-01 3.40561717e-01 -3.76142573e-01 1.07887033e+01] [ 3.97919566e-01 6.41107343e-03 9.17397906e-01 -1.03032883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01079213799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:11.17, Y:10.80, Z:-103.05 [[ 3.14822187e-01 -9.40222639e-01 -1.29878331e-01 1.11681770e+01] [ 8.61838907e-01 3.40500183e-01 -3.75890043e-01 1.08040138e+01] [ 3.97643923e-01 6.40432639e-03 9.17517463e-01 -1.03053855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04079213799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:11.17, Y:10.82, Z:-103.08 [[ 3.14217622e-01 -9.40440314e-01 -1.29766333e-01 1.11733358e+01] [ 8.61990337e-01 3.39900177e-01 -3.76085800e-01 1.08203407e+01] [ 3.97793848e-01 6.31546094e-03 9.17453089e-01 -1.03075590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07079213799999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:11.18, Y:10.84, Z:-103.10 [[ 3.17567861e-01 -9.39354206e-01 -1.29477136e-01 1.11770468e+01] [ 8.60998801e-01 3.42859304e-01 -3.75670818e-01 1.08374764e+01] [ 3.97280403e-01 7.82131970e-03 9.17663941e-01 -1.03097362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:11.18, Y:10.85, Z:-103.12 [[ 3.13165655e-01 -9.40835681e-01 -1.29443011e-01 1.11842639e+01] [ 8.62460081e-01 3.38808057e-01 -3.75994294e-01 1.08532339e+01] [ 3.97605183e-01 6.10906918e-03 9.17536265e-01 -1.03119340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:11.19, Y:10.87, Z:-103.14 [[ 3.12870077e-01 -9.40950230e-01 -1.29325095e-01 1.11897994e+01] [ 8.62567265e-01 3.38489991e-01 -3.76034891e-01 1.08701304e+01] [ 3.97605367e-01 6.09847184e-03 9.17536256e-01 -1.03141593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.20, Y:10.89, Z:-103.16 [[ 3.13213894e-01 -9.40852549e-01 -1.29203473e-01 1.11951509e+01] [ 8.62426490e-01 3.38756278e-01 -3.76117978e-01 1.08868729e+01] [ 3.97640046e-01 6.37687869e-03 9.17519334e-01 -1.03163929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19079213799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:11.20, Y:10.90, Z:-103.19 [[ 3.17849849e-01 -9.39319398e-01 -1.29036979e-01 1.11990843e+01] [ 8.60797637e-01 3.42939609e-01 -3.76058310e-01 1.09037738e+01] [ 3.97490756e-01 8.45535084e-03 9.17567221e-01 -1.03186019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:11.20, Y:10.92, Z:-103.21 [[ 3.16880622e-01 -9.39750267e-01 -1.28281360e-01 1.12045331e+01] [ 8.62400706e-01 3.41774882e-01 -3.73436678e-01 1.09173648e+01] [ 3.94780565e-01 7.70491104e-03 9.18743131e-01 -1.03207980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:11.21, Y:10.94, Z:-103.23 [[ 3.22511703e-01 -9.38107495e-01 -1.26255809e-01 1.12080433e+01] [ 8.59362295e-01 3.46103631e-01 -3.76442191e-01 1.09374074e+01] [ 3.96840834e-01 1.29075300e-02 9.17796681e-01 -1.03229448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:11.22, Y:10.95, Z:-103.25 [[ 3.11676175e-01 -9.41463134e-01 -1.28472288e-01 1.12174433e+01] [ 8.63324842e-01 3.37059921e-01 -3.75580652e-01 1.09527549e+01] [ 3.96898197e-01 6.14622298e-03 9.17842059e-01 -1.03251667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.310792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:11.22, Y:10.97, Z:-103.27 [[ 3.08114901e-01 -9.42652838e-01 -1.28338748e-01 1.12239047e+01] [ 8.64597776e-01 3.33740705e-01 -3.75616597e-01 1.09691987e+01] [ 3.96907915e-01 4.77167407e-03 9.17846032e-01 -1.03273769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34079213799998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:11.23, Y:10.99, Z:-103.30 [[ 3.10553210e-01 -9.41858449e-01 -1.28294060e-01 1.12276811e+01] [ 8.63610882e-01 3.35957333e-01 -3.75910781e-01 1.09862188e+01] [ 3.97156076e-01 5.94415336e-03 9.17731834e-01 -1.03295894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37079213799998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:11.23, Y:11.00, Z:-103.32 [[ 3.14307787e-01 -9.40617313e-01 -1.28256325e-01 1.12313128e+01] [ 8.62132911e-01 3.39381987e-01 -3.76226940e-01 1.10033486e+01] [ 3.97413460e-01 7.67705831e-03 9.17607544e-01 -1.03318031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40079213799999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:11.24, Y:11.02, Z:-103.34 [[ 3.09881890e-01 -9.42076939e-01 -1.28313118e-01 1.12385013e+01] [ 8.63453622e-01 3.35343582e-01 -3.76818954e-01 1.10194704e+01] [ 3.98021427e-01 5.97694338e-03 9.17356648e-01 -1.03339905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43079213799999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:11.24, Y:11.04, Z:-103.36 [[ 3.14519698e-01 -9.40551816e-01 -1.28217161e-01 1.12418702e+01] [ 8.61742766e-01 3.39554288e-01 -3.76964576e-01 1.10370534e+01] [ 3.98091404e-01 8.07257332e-03 9.17310235e-01 -1.03361776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:11.25, Y:11.05, Z:-103.38 [[ 3.17675344e-01 -9.39482333e-01 -1.28278301e-01 1.12457352e+01] [ 8.60324741e-01 3.42463269e-01 -3.77571516e-01 1.10539657e+01] [ 3.98652375e-01 9.58416549e-03 9.17052031e-01 -1.03383700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49079213799999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:11.25, Y:11.07, Z:-103.41 [[ 3.17381122e-01 -9.39597886e-01 -1.28160199e-01 1.12512006e+01] [ 8.60433197e-01 3.42146403e-01 -3.77611643e-01 1.10708816e+01] [ 3.98652653e-01 9.57351735e-03 9.17052022e-01 -1.03405955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52079213799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:11.26, Y:11.09, Z:-103.43 [[ 3.12203329e-01 -9.41367733e-01 -1.27890077e-01 1.12585336e+01] [ 8.62499115e-01 3.37299412e-01 -3.77259040e-01 1.10874374e+01] [ 3.98276735e-01 7.47645005e-03 9.17234836e-01 -1.03427883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55079213799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:11.26, Y:11.10, Z:-103.45 [[ 3.14166111e-01 -9.40736445e-01 -1.27728601e-01 1.12634041e+01] [ 8.61838947e-01 3.39033837e-01 -3.77213053e-01 1.11046561e+01] [ 3.98162384e-01 8.42607487e-03 9.17276249e-01 -1.03449677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58079213799999 meters Centerline goodness : 0.968306 Centerline is valid? [True, True] Translation: X:11.26, Y:11.12, Z:-103.47 [[ 3.59549778e-01 -9.25444452e-01 -1.19484402e-01 1.12565673e+01] [ 8.46983016e-01 3.77406652e-01 -3.74411525e-01 1.11157806e+01] [ 3.91591276e-01 3.34183217e-02 9.19532212e-01 -1.03474858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610792138 meters Centerline goodness : 0.968306 Centerline is valid? [True, True] Translation: X:11.27, Y:11.13, Z:-103.50 [[ 3.51482040e-01 -9.28247542e-01 -1.21724591e-01 1.12650372e+01] [ 8.50193762e-01 3.70920491e-01 -3.73615519e-01 1.11308990e+01] [ 3.91957833e-01 2.78296567e-02 9.19562161e-01 -1.03496438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:11.28, Y:11.14, Z:-103.52 [[ 3.11314701e-01 -9.41527362e-01 -1.28877396e-01 1.12830041e+01] [ 8.65547855e-01 3.36914973e-01 -3.70560672e-01 1.11449136e+01] [ 3.92313736e-01 3.81143110e-03 9.19823573e-01 -1.03517560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:11.28, Y:11.17, Z:-103.54 [[ 3.24695352e-01 -9.37469960e-01 -1.25391396e-01 1.12836848e+01] [ 8.59401051e-01 3.47787179e-01 -3.74798494e-01 1.11667398e+01] [ 3.94971849e-01 1.39338316e-02 9.18587550e-01 -1.03537865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70079213799998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:11.29, Y:11.18, Z:-103.56 [[ 3.16681996e-01 -9.39913875e-01 -1.27571237e-01 1.12917459e+01] [ 8.63462961e-01 3.41330186e-01 -3.71383117e-01 1.11795115e+01] [ 3.92612059e-01 7.45730865e-03 9.19673942e-01 -1.03560427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73079213799998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:11.29, Y:11.20, Z:-103.58 [[ 3.27529927e-01 -9.36636493e-01 -1.24242613e-01 1.12930908e+01] [ 8.59620920e-01 3.49976346e-01 -3.72247808e-01 1.11975065e+01] [ 3.92142857e-01 1.51207484e-02 9.19780051e-01 -1.03582811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76079213799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:11.30, Y:11.22, Z:-103.60 [[ 3.24426619e-01 -9.37728621e-01 -1.24146700e-01 1.12996585e+01] [ 8.59444226e-01 3.47040830e-01 -3.75390844e-01 1.12163523e+01] [ 3.95098712e-01 1.50896179e-02 9.18514731e-01 -1.03604379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79079213799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:11.31, Y:11.23, Z:-103.63 [[ 3.12707644e-01 -9.41300466e-01 -1.27150944e-01 1.13092799e+01] [ 8.63690052e-01 3.37492174e-01 -3.74350807e-01 1.12316878e+01] [ 3.95289038e-01 7.24335322e-03 9.18528231e-01 -1.03626760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:11.31, Y:11.25, Z:-103.65 [[ 3.17491467e-01 -9.39728425e-01 -1.26923818e-01 1.13124020e+01] [ 8.62094436e-01 3.41793577e-01 -3.74126093e-01 1.12493156e+01] [ 3.94958670e-01 9.36152487e-03 9.18651191e-01 -1.03648878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:11.32, Y:11.27, Z:-103.67 [[ 3.14991301e-01 -9.40584123e-01 -1.26814780e-01 1.13186023e+01] [ 8.62970790e-01 3.39455774e-01 -3.74234141e-01 1.12658089e+01] [ 3.95046701e-01 8.44304844e-03 9.18622240e-01 -1.03671041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88079213799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:11.32, Y:11.28, Z:-103.69 [[ 3.12909495e-01 -9.41302604e-01 -1.26637498e-01 1.13246166e+01] [ 8.63787070e-01 3.37476454e-01 -3.74141071e-01 1.12828703e+01] [ 3.94917138e-01 7.68446009e-03 9.18684605e-01 -1.03692735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91079213799999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:11.33, Y:11.30, Z:-103.71 [[ 3.10926844e-01 -9.41967643e-01 -1.26575894e-01 1.13308509e+01] [ 8.64398418e-01 3.35630779e-01 -3.74389309e-01 1.12986887e+01] [ 3.95145380e-01 6.99568402e-03 9.18591960e-01 -1.03714660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94079213799999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:11.34, Y:11.32, Z:-103.74 [[ 3.11374280e-01 -9.41832687e-01 -1.26480229e-01 1.13354377e+01] [ 8.64190476e-01 3.36002440e-01 -3.74535955e-01 1.13152018e+01] [ 3.95247870e-01 7.31785389e-03 9.18545356e-01 -1.03736184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:11.34, Y:11.33, Z:-103.76 [[ 3.11666109e-01 -9.41758221e-01 -1.26315833e-01 1.13398418e+01] [ 8.64134776e-01 3.36205752e-01 -3.74482017e-01 1.13319853e+01] [ 3.95139628e-01 7.55944915e-03 9.18589968e-01 -1.03757896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:11.35, Y:11.35, Z:-103.78 [[ 3.10113566e-01 -9.42286508e-01 -1.26197119e-01 1.13454055e+01] [ 8.64671391e-01 3.34733636e-01 -3.74562116e-01 1.13481538e+01] [ 3.95187249e-01 7.03775465e-03 9.18573627e-01 -1.03779633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:11.35, Y:11.37, Z:-103.80 [[ 3.10165598e-01 -9.42305597e-01 -1.25926422e-01 1.13505170e+01] [ 8.64853665e-01 3.34677445e-01 -3.74191323e-01 1.13652761e+01] [ 3.94747311e-01 7.15334790e-03 9.18761879e-01 -1.03801679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:11.36, Y:11.38, Z:-103.82 [[ 3.07086372e-01 -9.43317794e-01 -1.25894798e-01 1.13571369e+01] [ 8.65801034e-01 3.31836374e-01 -3.74530627e-01 1.13811519e+01] [ 3.95077878e-01 6.01340496e-03 9.18627949e-01 -1.03823400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09079213799998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:11.36, Y:11.40, Z:-103.84 [[ 3.08825602e-01 -9.42785217e-01 -1.25629541e-01 1.13614983e+01] [ 8.65380562e-01 3.33330589e-01 -3.74175362e-01 1.13982154e+01] [ 3.94643169e-01 6.83756878e-03 9.18809021e-01 -1.03844874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12079213799998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:11.37, Y:11.41, Z:-103.87 [[ 3.05200694e-01 -9.43798486e-01 -1.26873776e-01 1.13678022e+01] [ 8.64840370e-01 3.30473620e-01 -3.77939573e-01 1.14135629e+01] [ 3.98627233e-01 5.62185719e-03 9.17095810e-01 -1.03866313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15079213799999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:11.37, Y:11.43, Z:-103.89 [[ 3.03846485e-01 -9.44304034e-01 -1.26361404e-01 1.13735148e+01] [ 8.65991149e-01 3.29036499e-01 -3.76555855e-01 1.14271076e+01] [ 3.97160727e-01 4.98731488e-03 9.17735519e-01 -1.03889355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.38, Y:11.45, Z:-103.91 [[ 3.11342122e-01 -9.42180610e-01 -1.23942651e-01 1.13760980e+01] [ 8.63478219e-01 3.34944367e-01 -3.77117538e-01 1.14453230e+01] [ 3.96826724e-01 1.03907951e-02 9.17834725e-01 -1.03911590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21079213799999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:11.38, Y:11.46, Z:-103.93 [[ 3.11365905e-01 -9.42180843e-01 -1.23881125e-01 1.13811359e+01] [ 8.63526847e-01 3.34943038e-01 -3.77007356e-01 1.14602946e+01] [ 3.96702229e-01 1.04125592e-02 9.17888294e-01 -1.03932918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24079213799999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:11.39, Y:11.48, Z:-103.95 [[ 3.08007125e-01 -9.43230788e-01 -1.24287131e-01 1.13876527e+01] [ 8.63570705e-01 3.32000477e-01 -3.79501410e-01 1.14788098e+01] [ 3.99220801e-01 9.55841339e-03 9.16804989e-01 -1.03954206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27079213799999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:11.40, Y:11.49, Z:-103.98 [[ 2.98579464e-01 -9.45949820e-01 -1.26606644e-01 1.13962159e+01] [ 8.66827544e-01 3.24295855e-01 -3.78737649e-01 1.14938729e+01] [ 3.99324821e-01 3.33715823e-03 9.16803442e-01 -1.03975700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30079213799999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:11.40, Y:11.51, Z:-104.00 [[ 3.03683626e-01 -9.44472715e-01 -1.25489225e-01 1.13996577e+01] [ 8.66406612e-01 3.28544330e-01 -3.76029528e-01 1.15081636e+01] [ 3.96378402e-01 5.46931671e-03 9.18070939e-01 -1.03997738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33079213799999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:11.40, Y:11.53, Z:-104.02 [[ 3.21757801e-01 -9.38952890e-01 -1.21817026e-01 1.13992778e+01] [ 8.60375460e-01 3.43659842e-01 -3.76366817e-01 1.15250211e+01] [ 3.95254330e-01 1.62905794e-02 9.18427260e-01 -1.04019277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360792138 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:11.41, Y:11.55, Z:-104.04 [[ 3.11322536e-01 -9.42334434e-01 -1.22817313e-01 1.14074425e+01] [ 8.62884419e-01 3.34458057e-01 -3.78904060e-01 1.15450394e+01] [ 3.98131583e-01 1.19842271e-02 9.17250032e-01 -1.04041997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390792138 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:11.42, Y:11.56, Z:-104.06 [[ 2.98492936e-01 -9.46068786e-01 -1.25919893e-01 1.14171655e+01] [ 8.67276555e-01 3.23945532e-01 -3.78008821e-01 1.15600637e+01] [ 3.98413533e-01 3.62559171e-03 9.17198731e-01 -1.04063955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:11.42, Y:11.58, Z:-104.09 [[ 2.95362559e-01 -9.46940235e-01 -1.26748371e-01 1.14231584e+01] [ 8.67108456e-01 3.21399984e-01 -3.80558768e-01 1.15756203e+01] [ 4.01103334e-01 2.49822737e-03 9.16029407e-01 -1.04085587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45079213799998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:11.43, Y:11.59, Z:-104.11 [[ 2.95207126e-01 -9.47009279e-01 -1.26594546e-01 1.14284445e+01] [ 8.67161613e-01 3.21195836e-01 -3.80610000e-01 1.15925206e+01] [ 4.01102842e-01 2.58085357e-03 9.16029393e-01 -1.04107899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48079213799998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:11.43, Y:11.61, Z:-104.13 [[ 2.95721842e-01 -9.46703130e-01 -1.27678408e-01 1.14332304e+01] [ 8.65323453e-01 3.22092684e-01 -3.84020345e-01 1.16084589e+01] [ 4.04677544e-01 3.08008283e-03 9.14454263e-01 -1.04129524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51079213799999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:11.44, Y:11.62, Z:-104.15 [[ 3.00724138e-01 -9.45051878e-01 -1.28226129e-01 1.14363487e+01] [ 8.62672702e-01 3.26875071e-01 -3.85938463e-01 1.16221023e+01] [ 4.06645795e-01 5.44383088e-03 9.13569681e-01 -1.04152036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54079213799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:11.44, Y:11.64, Z:-104.17 [[ 3.00026866e-01 -9.45344821e-01 -1.27699060e-01 1.14412682e+01] [ 8.60243709e-01 3.25979537e-01 -3.92069001e-01 1.16421714e+01] [ 4.12267680e-01 7.77892115e-03 9.11029554e-01 -1.04173332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57079213799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:11.45, Y:11.65, Z:-104.20 [[ 2.90319116e-01 -9.48090444e-01 -1.29766407e-01 1.14503528e+01] [ 8.63902328e-01 3.17998199e-01 -3.90576385e-01 1.16541797e+01] [ 4.11567222e-01 1.28628977e-03 9.11378498e-01 -1.04195598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60079213799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:11.45, Y:11.67, Z:-104.22 [[ 2.98772693e-01 -9.45627987e-01 -1.28540219e-01 1.14530672e+01] [ 8.59226241e-01 3.25162342e-01 -3.94967995e-01 1.16738731e+01] [ 4.15289229e-01 7.56052220e-03 9.09658010e-01 -1.04217277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63079213799999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:11.46, Y:11.69, Z:-104.24 [[ 2.96867839e-01 -9.46018968e-01 -1.30067667e-01 1.14593385e+01] [ 8.60914701e-01 3.24080775e-01 -3.92170279e-01 1.16875819e+01] [ 4.13152953e-01 4.44557708e-03 9.10650797e-01 -1.04239769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66079213799999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:11.46, Y:11.70, Z:-104.26 [[ 3.00613433e-01 -9.45192722e-01 -1.27445214e-01 1.14633331e+01] [ 8.60347389e-01 3.26414044e-01 -3.91479556e-01 1.17042408e+01] [ 4.11623535e-01 8.03685599e-03 9.11318536e-01 -1.04262334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69079213799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:11.47, Y:11.72, Z:-104.28 [[ 3.06169226e-01 -9.43461732e-01 -1.27044733e-01 1.14657137e+01] [ 8.58112505e-01 3.31296022e-01 -3.92282902e-01 1.17217047e+01] [ 4.12193321e-01 1.10862781e-02 9.11028957e-01 -1.04284803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720792138 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:11.47, Y:11.74, Z:-104.31 [[ 3.10328263e-01 -9.42133080e-01 -1.26813359e-01 1.14692662e+01] [ 8.56922595e-01 3.34990797e-01 -3.91745878e-01 1.17383164e+01] [ 4.11558059e-01 1.29005858e-02 9.11292236e-01 -1.04306351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750792138 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:11.47, Y:11.76, Z:-104.33 [[ 3.11005512e-01 -9.41973546e-01 -1.26338476e-01 1.14742348e+01] [ 8.56957114e-01 3.35418311e-01 -3.91304307e-01 1.17552318e+01] [ 4.10974544e-01 1.34311400e-02 9.11547875e-01 -1.04328497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780792138 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:11.48, Y:11.77, Z:-104.35 [[ 3.05622617e-01 -9.43616768e-01 -1.27209322e-01 1.14816297e+01] [ 8.57749248e-01 3.30852598e-01 -3.93449852e-01 1.17730303e+01] [ 4.13353412e-01 1.11334730e-02 9.10502610e-01 -1.04349751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.810792138 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:11.49, Y:11.79, Z:-104.37 [[ 2.97909496e-01 -9.45878919e-01 -1.28697333e-01 1.14893255e+01] [ 8.60792299e-01 3.24463628e-01 -3.92122394e-01 1.17888198e+01] [ 4.12657909e-01 6.03531150e-03 9.10866085e-01 -1.04371657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84079213799998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:11.49, Y:11.81, Z:-104.39 [[ 2.96606870e-01 -9.46317715e-01 -1.28480143e-01 1.14949661e+01] [ 8.61306275e-01 3.23189056e-01 -3.92046342e-01 1.18050841e+01] [ 4.12523775e-01 5.62288484e-03 9.10929480e-01 -1.04393800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87079213799998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:11.50, Y:11.82, Z:-104.42 [[ 2.93787619e-01 -9.47240643e-01 -1.28156150e-01 1.15014427e+01] [ 8.62494902e-01 3.20491292e-01 -3.91647643e-01 1.18216501e+01] [ 4.12057496e-01 4.52720238e-03 9.11146599e-01 -1.04416019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90079213799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:11.50, Y:11.84, Z:-104.44 [[ 2.96853682e-01 -9.46272193e-01 -1.28245184e-01 1.15048795e+01] [ 8.61051859e-01 3.23313855e-01 -3.92502034e-01 1.18382900e+01] [ 4.12877205e-01 6.08991981e-03 9.10766340e-01 -1.04438540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93079213799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:11.51, Y:11.85, Z:-104.46 [[ 2.96731205e-01 -9.46309955e-01 -1.28249994e-01 1.15100354e+01] [ 8.61040171e-01 3.23203618e-01 -3.92618448e-01 1.18540277e+01] [ 4.12989608e-01 6.07374895e-03 9.10715484e-01 -1.04459655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96079213799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:11.51, Y:11.87, Z:-104.48 [[ 2.97103099e-01 -9.46241170e-01 -1.27896039e-01 1.15142302e+01] [ 8.61129033e-01 3.23398502e-01 -3.92262918e-01 1.18704544e+01] [ 4.12536710e-01 6.40753641e-03 9.10918441e-01 -1.04481386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99079213799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:11.52, Y:11.89, Z:-104.50 [[ 3.01646838e-01 -9.44826936e-01 -1.27715489e-01 1.15169755e+01] [ 8.59798516e-01 3.27462764e-01 -3.91809457e-01 1.18855646e+01] [ 4.12014196e-01 8.37849562e-03 9.11138905e-01 -1.04503294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02079213799999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:11.52, Y:11.91, Z:-104.52 [[ 3.05801077e-01 -9.43998449e-01 -1.23905727e-01 1.15211068e+01] [ 8.64025871e-01 3.29819963e-01 -3.80365726e-01 1.19081753e+01] [ 3.99931237e-01 9.25849490e-03 9.16498383e-01 -1.04519347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05079213799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:11.53, Y:11.93, Z:-104.54 [[ 3.06001902e-01 -9.44186820e-01 -1.21959360e-01 1.15284547e+01] [ 8.66592614e-01 3.29286215e-01 -3.74950438e-01 1.19286688e+01] [ 3.94182798e-01 9.04646637e-03 9.18987532e-01 -1.04538227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08079213799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:11.53, Y:11.95, Z:-104.56 [[ 3.11857374e-01 -9.42386942e-01 -1.21044745e-01 1.15312830e+01] [ 8.65677999e-01 3.34330177e-01 -3.72592183e-01 1.19474273e+01] [ 3.91594918e-01 1.14098472e-02 9.20066973e-01 -1.04558463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:11.54, Y:11.97, Z:-104.58 [[ 3.12661865e-01 -9.42183979e-01 -1.20548365e-01 1.15368505e+01] [ 8.65924655e-01 3.34889158e-01 -3.71515468e-01 1.19650733e+01] [ 3.90406262e-01 1.17729174e-02 9.20567406e-01 -1.04579699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:11.54, Y:11.98, Z:-104.60 [[ 3.08184623e-01 -9.43710671e-01 -1.20134953e-01 1.15447241e+01] [ 8.67914317e-01 3.30621628e-01 -3.70694049e-01 1.19812621e+01] [ 3.89547144e-01 9.97535955e-03 9.20952504e-01 -1.04601555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:11.55, Y:12.00, Z:-104.62 [[ 3.11571247e-01 -9.42621123e-01 -1.19953231e-01 1.15491799e+01] [ 8.66794764e-01 3.33666638e-01 -3.70585229e-01 1.19985695e+01] [ 3.89345856e-01 1.14888693e-02 9.21019984e-01 -1.04623033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20079213799998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:11.55, Y:12.02, Z:-104.64 [[ 3.11684157e-01 -9.42591485e-01 -1.19892780e-01 1.15548207e+01] [ 8.66652260e-01 3.33743634e-01 -3.70849089e-01 1.20151875e+01] [ 3.89572646e-01 1.16824372e-02 9.20921644e-01 -1.04644895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23079213799998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:11.56, Y:12.03, Z:-104.67 [[ 3.05120070e-01 -9.44821990e-01 -1.19218918e-01 1.15622422e+01] [ 8.69737583e-01 3.27461417e-01 -3.69222910e-01 1.20310095e+01] [ 3.87889521e-01 8.96814649e-03 9.21662244e-01 -1.04667273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26079213799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:11.57, Y:12.05, Z:-104.69 [[ 3.04810903e-01 -9.44936881e-01 -1.19099139e-01 1.15674245e+01] [ 8.69845858e-01 3.27130039e-01 -3.69261589e-01 1.20479114e+01] [ 3.87889800e-01 8.95706530e-03 9.21662234e-01 -1.04689606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:11.57, Y:12.06, Z:-104.71 [[ 3.03354933e-01 -9.45421376e-01 -1.18971454e-01 1.15722790e+01] [ 8.70336781e-01 3.25739579e-01 -3.69334014e-01 1.20641025e+01] [ 3.87929983e-01 8.49406250e-03 9.21649705e-01 -1.04711670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32079213799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:11.58, Y:12.08, Z:-104.73 [[ 3.06271926e-01 -9.44529608e-01 -1.18580463e-01 1.15758829e+01] [ 8.69702171e-01 3.28281363e-01 -3.68577646e-01 1.20810692e+01] [ 3.87060255e-01 9.75529978e-03 9.22002816e-01 -1.04733680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35079213799999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:11.58, Y:12.10, Z:-104.76 [[ 3.04051034e-01 -9.45255733e-01 -1.18509779e-01 1.15816218e+01] [ 8.70383892e-01 3.26206701e-01 -3.68810342e-01 1.20964055e+01] [ 3.87278774e-01 8.98816316e-03 9.21918849e-01 -1.04755902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38079213799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:11.59, Y:12.11, Z:-104.78 [[ 3.06364581e-01 -9.44524687e-01 -1.18380146e-01 1.15857670e+01] [ 8.69580447e-01 3.28286182e-01 -3.68860447e-01 1.21128263e+01] [ 3.87260365e-01 1.00647160e-02 9.21915458e-01 -1.04777714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41079213799999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:11.59, Y:12.13, Z:-104.80 [[ 3.05847509e-01 -9.44718219e-01 -1.18172701e-01 1.15906971e+01] [ 8.70037278e-01 3.27736246e-01 -3.68271759e-01 1.21286490e+01] [ 3.86642518e-01 9.82034495e-03 9.22177382e-01 -1.04798982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44079213799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:11.60, Y:12.14, Z:-104.82 [[ 3.06969725e-01 -9.44388975e-01 -1.17894238e-01 1.15951559e+01] [ 8.69802086e-01 3.28665313e-01 -3.67999244e-01 1.21449487e+01] [ 3.86282176e-01 1.04199725e-02 9.22321801e-01 -1.04820796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:11.60, Y:12.16, Z:-104.84 [[ 3.05189493e-01 -9.45050300e-01 -1.17214774e-01 1.16007400e+01] [ 8.71379132e-01 3.26785695e-01 -3.65936496e-01 1.21604256e+01] [ 3.84132507e-01 9.54146535e-03 9.23228670e-01 -1.04841951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500792138 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:11.61, Y:12.18, Z:-104.86 [[ 3.03269163e-01 -9.45688400e-01 -1.17052407e-01 1.16065465e+01] [ 8.72036130e-01 3.24952020e-01 -3.66004333e-01 1.21762084e+01] [ 3.84162468e-01 8.92389917e-03 9.23222379e-01 -1.04863901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530792138 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:11.61, Y:12.19, Z:-104.89 [[ 3.03690087e-01 -9.45600673e-01 -1.16669185e-01 1.16114482e+01] [ 8.72259775e-01 3.25200737e-01 -3.65249731e-01 1.21932138e+01] [ 3.83321297e-01 9.15688541e-03 9.23569670e-01 -1.04885754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:11.62, Y:12.21, Z:-104.91 [[ 3.02477120e-01 -9.46019179e-01 -1.16427254e-01 1.16168732e+01] [ 8.72841335e-01 3.23992199e-01 -3.64934320e-01 1.22095582e+01] [ 3.82956388e-01 8.76176203e-03 9.23724870e-01 -1.04908246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59079213799998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:11.62, Y:12.23, Z:-104.93 [[ 3.03601200e-01 -9.45687346e-01 -1.16197051e-01 1.16208666e+01] [ 8.72604409e-01 3.24944095e-01 -3.64654466e-01 1.22256554e+01] [ 3.82606660e-01 9.31547478e-03 9.23864365e-01 -1.04930271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62079213799998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:11.63, Y:12.24, Z:-104.95 [[ 3.02477389e-01 -9.46080026e-01 -1.15931075e-01 1.16263430e+01] [ 8.73189355e-01 3.23809284e-01 -3.64263500e-01 1.22420443e+01] [ 3.82161980e-01 8.95169142e-03 9.24051995e-01 -1.04952595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65079213799999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:11.63, Y:12.26, Z:-104.98 [[ 3.04079471e-01 -9.45598861e-01 -1.15665334e-01 1.16301728e+01] [ 8.72839545e-01 3.25190602e-01 -3.63871132e-01 1.22584490e+01] [ 3.81689408e-01 9.68846355e-03 9.24239866e-01 -1.04975388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68079213799999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:11.64, Y:12.28, Z:-105.00 [[ 3.03794053e-01 -9.45697018e-01 -1.15612822e-01 1.16353618e+01] [ 8.72938214e-01 3.24906952e-01 -3.63887822e-01 1.22753517e+01] [ 3.81691037e-01 9.62410566e-03 9.24239865e-01 -1.04997727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71079213799999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:11.64, Y:12.29, Z:-105.02 [[ 3.02110233e-01 -9.46302710e-01 -1.15067752e-01 1.16409540e+01] [ 8.74076834e-01 3.23156568e-01 -3.62711346e-01 1.22916404e+01] [ 3.80419630e-01 9.00075266e-03 9.24770183e-01 -1.05019719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74079213799999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:11.65, Y:12.31, Z:-105.04 [[ 3.01380940e-01 -9.46558291e-01 -1.14877897e-01 1.16460121e+01] [ 8.74415745e-01 3.22412265e-01 -3.62556803e-01 1.23072120e+01] [ 3.80219191e-01 8.81666835e-03 9.24854385e-01 -1.05042049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77079213799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:11.65, Y:12.32, Z:-105.06 [[ 2.95186180e-01 -9.48534045e-01 -1.14665970e-01 1.16519826e+01] [ 8.76626278e-01 3.16609760e-01 -3.62332209e-01 1.23226189e+01] [ 3.79988801e-01 6.43625808e-03 9.24968695e-01 -1.05064853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80079213799999 meters Centerline goodness : 0.979748 Centerline is valid? [True, True] Translation: X:11.65, Y:12.34, Z:-105.09 [[ 3.29788261e-01 -9.37898753e-01 -1.07636571e-01 1.16483445e+01] [ 8.65624441e-01 3.45917836e-01 -3.61987815e-01 1.23363996e+01] [ 3.76741330e-01 2.62064850e-02 9.25947726e-01 -1.05089402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83079213799999 meters Centerline goodness : 0.984367 Centerline is valid? [True, True] Translation: X:11.66, Y:12.35, Z:-105.11 [[ 3.21458005e-01 -9.40392933e-01 -1.11021992e-01 1.16559448e+01] [ 8.68791599e-01 3.39535469e-01 -3.60439764e-01 1.23502628e+01] [ 3.76650911e-01 1.94112732e-02 9.26151874e-01 -1.05111487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860792138 meters Centerline goodness : 0.972296 Centerline is valid? [True, True] Translation: X:11.66, Y:12.37, Z:-105.13 [[ 3.26537315e-01 -9.38838777e-01 -1.09339526e-01 1.16585036e+01] [ 8.67306777e-01 3.43603035e-01 -3.60160949e-01 1.23669617e+01] [ 3.75702458e-01 2.27750770e-02 9.26460446e-01 -1.05133548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890792138 meters Centerline goodness : 0.977325 Centerline is valid? [True, True] Translation: X:11.67, Y:12.38, Z:-105.16 [[ 3.18873580e-01 -9.41340607e-01 -1.10442299e-01 1.16663120e+01] [ 8.69771908e-01 3.36928181e-01 -3.60522161e-01 1.23822654e+01] [ 3.76585273e-01 1.89013828e-02 9.26189111e-01 -1.05155470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:11.68, Y:12.40, Z:-105.17 [[ 2.82071031e-01 -9.52119122e-01 -1.17919931e-01 1.16816705e+01] [ 8.81000009e-01 3.05720491e-01 -3.61073351e-01 1.24020595e+01] [ 3.79835382e-01 -2.03912768e-03 9.25051850e-01 -1.05174044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95079213799998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:11.68, Y:12.42, Z:-105.20 [[ 2.93010089e-01 -9.49284121e-01 -1.14038351e-01 1.16827739e+01] [ 8.77168667e-01 3.14355905e-01 -3.62981396e-01 1.24198101e+01] [ 3.80421104e-01 6.32634297e-03 9.24791739e-01 -1.05195948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98079213799998 meters Centerline goodness : 0.967322 Centerline is valid? [True, True] Translation: X:11.67, Y:12.43, Z:-105.22 [[ 3.43937526e-01 -9.33246255e-01 -1.03722738e-01 1.16726641e+01] [ 8.60402272e-01 3.57460784e-01 -3.63221308e-01 1.24334899e+01] [ 3.76051736e-01 3.56821589e-02 9.25911375e-01 -1.05221609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01079213799999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:11.70, Y:12.45, Z:-105.24 [[ 2.74939540e-01 -9.54088925e-01 -1.18838431e-01 1.16983372e+01] [ 8.82946182e-01 2.99472586e-01 -3.61555265e-01 1.24513612e+01] [ 3.80544726e-01 -5.52210102e-03 9.24746029e-01 -1.05240295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04079213799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:11.70, Y:12.47, Z:-105.26 [[ 2.91253893e-01 -9.49861827e-01 -1.13726333e-01 1.16971532e+01] [ 8.77614359e-01 3.12611687e-01 -3.63410195e-01 1.24700952e+01] [ 3.80741653e-01 6.03677102e-03 9.24661750e-01 -1.05262425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07079213799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:11.70, Y:12.49, Z:-105.28 [[ 2.90947924e-01 -9.49969412e-01 -1.13610832e-01 1.17021892e+01] [ 8.77715758e-01 3.12284812e-01 -3.63446344e-01 1.24870582e+01] [ 3.80741847e-01 6.02594165e-03 9.24661740e-01 -1.05284746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10079213799999 meters Centerline goodness : 0.976123 Centerline is valid? [True, True] Translation: X:11.69, Y:12.50, Z:-105.31 [[ 3.37809302e-01 -9.35516899e-01 -1.03407000e-01 1.16941125e+01] [ 8.62965382e-01 3.51708493e-01 -3.62755959e-01 1.25001688e+01] [ 3.75733450e-01 3.33056761e-02 9.26129098e-01 -1.05310493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13079213799999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:11.72, Y:12.52, Z:-105.33 [[ 2.72742630e-01 -9.54795090e-01 -1.18227720e-01 1.17181857e+01] [ 8.83346053e-01 2.97212335e-01 -3.62442518e-01 1.25183994e+01] [ 3.81197073e-01 -5.58246485e-03 9.24476948e-01 -1.05329554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16079213799999 meters Centerline goodness : 0.965754 Centerline is valid? [True, True] Translation: X:11.70, Y:12.53, Z:-105.36 [[ 3.37444911e-01 -9.35393710e-01 -1.05686045e-01 1.17049637e+01] [ 8.62944098e-01 3.52241996e-01 -3.62288642e-01 1.25322116e+01] [ 3.76109580e-01 3.10513095e-02 9.26054750e-01 -1.05355493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19079213799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:11.72, Y:12.55, Z:-105.37 [[ 2.81506913e-01 -9.52477804e-01 -1.16361039e-01 1.17241478e+01] [ 8.80526727e-01 3.04607915e-01 -3.63162086e-01 1.25536375e+01] [ 3.81348319e-01 -2.26366776e-04 9.24431397e-01 -1.05374530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220792138 meters Centerline goodness : 0.965508 Centerline is valid? [True, True] Translation: X:11.72, Y:12.56, Z:-105.40 [[ 3.35323303e-01 -9.36141079e-01 -1.05821371e-01 1.17151830e+01] [ 8.63798066e-01 3.50341575e-01 -3.62096232e-01 1.25647382e+01] [ 3.76046783e-01 3.00110093e-02 9.26114548e-01 -1.05400872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:11.73, Y:12.59, Z:-105.42 [[ 2.83744140e-01 -9.51840885e-01 -1.16138677e-01 1.17326759e+01] [ 8.79328088e-01 3.06589812e-01 -3.64396488e-01 1.25871015e+01] [ 3.82454411e-01 1.27136758e-03 9.23973488e-01 -1.05418589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:11.73, Y:12.60, Z:-105.44 [[ 2.92293882e-01 -9.49596853e-01 -1.13270050e-01 1.17343617e+01] [ 8.76620005e-01 3.13385648e-01 -3.65139428e-01 1.26046713e+01] [ 3.82232459e-01 7.43322916e-03 9.24036306e-01 -1.05440190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.310792138 meters Centerline goodness : 0.967967 Centerline is valid? [True, True] Translation: X:11.72, Y:12.62, Z:-105.47 [[ 3.58018172e-01 -9.28387367e-01 -9.95986247e-02 1.17219341e+01] [ 8.55477581e-01 3.68890397e-01 -3.63425347e-01 1.26152022e+01] [ 3.74140477e-01 4.49084877e-02 9.26284045e-01 -1.05465722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34079213799998 meters Centerline goodness : 0.976192 Centerline is valid? [True, True] Translation: X:11.73, Y:12.63, Z:-105.49 [[ 3.41789851e-01 -9.33930706e-01 -1.04657220e-01 1.17333084e+01] [ 8.61760113e-01 3.55892050e-01 -3.61538872e-01 1.26297423e+01] [ 3.74898927e-01 3.33808992e-02 9.26464522e-01 -1.05487820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37079213799998 meters Centerline goodness : 0.969268 Centerline is valid? [True, True] Translation: X:11.74, Y:12.65, Z:-105.51 [[ 3.37411865e-01 -9.35464531e-01 -1.05163420e-01 1.17406738e+01] [ 8.63418121e-01 3.52047560e-01 -3.61347014e-01 1.26457810e+01] [ 3.75049840e-01 3.11227672e-02 9.26482051e-01 -1.05510837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40079213799999 meters Centerline goodness : 0.971657 Centerline is valid? [True, True] Translation: X:11.75, Y:12.66, Z:-105.53 [[ 3.34354767e-01 -9.36535274e-01 -1.05397199e-01 1.17472594e+01] [ 8.64550784e-01 3.49314889e-01 -3.61290811e-01 1.26617796e+01] [ 3.75178399e-01 2.96780738e-02 9.26477404e-01 -1.05534521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43079213799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:11.77, Y:12.69, Z:-105.55 [[ 2.73480654e-01 -9.54573157e-01 -1.18314918e-01 1.17672387e+01] [ 8.81837826e-01 2.97944507e-01 -3.65501188e-01 1.26873497e+01] [ 3.84148903e-01 -4.37706566e-03 9.23260777e-01 -1.05552812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46079213799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:11.77, Y:12.71, Z:-105.58 [[ 2.87663677e-01 -9.50951481e-01 -1.13758027e-01 1.17667557e+01] [ 8.77111728e-01 3.09283357e-01 -3.67449073e-01 1.27059641e+01] [ 3.84609704e-01 5.92325149e-03 9.23060285e-01 -1.05575124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49079213799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:11.77, Y:12.72, Z:-105.60 [[ 2.88779285e-01 -9.50599930e-01 -1.13869649e-01 1.17710179e+01] [ 8.76392001e-01 3.10349523e-01 -3.68266525e-01 1.27228023e+01] [ 3.85413524e-01 6.55329408e-03 9.22720689e-01 -1.05596636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52079213799999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:11.78, Y:12.74, Z:-105.62 [[ 2.86199157e-01 -9.51346218e-01 -1.14150847e-01 1.17763996e+01] [ 8.76621076e-01 3.08070835e-01 -3.69632045e-01 1.27394770e+01] [ 3.86814595e-01 5.72134129e-03 9.22139759e-01 -1.05619078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55079213799999 meters Centerline goodness : 0.966007 Centerline is valid? [True, True] Translation: X:11.76, Y:12.75, Z:-105.65 [[ 3.47629361e-01 -9.32138131e-01 -1.01352516e-01 1.17649028e+01] [ 8.59173524e-01 3.59959521e-01 -3.63661931e-01 1.27467814e+01] [ 3.75465955e-01 3.93401662e-02 9.26000900e-01 -1.05646848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58079213799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:11.79, Y:12.77, Z:-105.66 [[ 2.70644022e-01 -9.55485446e-01 -1.17470740e-01 1.17921382e+01] [ 8.81545413e-01 2.95013710e-01 -3.68571018e-01 1.27719435e+01] [ 3.86819722e-01 -3.80424933e-03 9.22147510e-01 -1.05663936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:11.79, Y:12.79, Z:-105.69 [[ 2.85502104e-01 -9.51585675e-01 -1.13900182e-01 1.17918048e+01] [ 8.76808148e-01 3.07330577e-01 -3.69804528e-01 1.27908857e+01] [ 3.86905700e-01 5.71136318e-03 9.22101600e-01 -1.05685669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.80, Y:12.81, Z:-105.71 [[ 2.86343844e-01 -9.51334615e-01 -1.13884383e-01 1.17962186e+01] [ 8.76355160e-01 3.08097145e-01 -3.70240170e-01 1.28075795e+01] [ 3.87309743e-01 6.21282733e-03 9.21928719e-01 -1.05708041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:11.80, Y:12.82, Z:-105.73 [[ 2.83750462e-01 -9.52116271e-01 -1.13843231e-01 1.18017143e+01] [ 8.77151047e-01 3.05691449e-01 -3.70349536e-01 1.28230780e+01] [ 3.87416721e-01 5.22914298e-03 9.21889874e-01 -1.05728836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70079213799998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:11.80, Y:12.84, Z:-105.75 [[ 2.87732730e-01 -9.50950050e-01 -1.13595236e-01 1.18039313e+01] [ 8.76009557e-01 3.09265833e-01 -3.70083639e-01 1.28411735e+01] [ 3.87062181e-01 6.97466380e-03 9.22027235e-01 -1.05750679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73079213799998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:11.81, Y:12.85, Z:-105.77 [[ 2.70904711e-01 -9.55855340e-01 -1.13803364e-01 1.18144014e+01] [ 8.83255259e-01 2.93833688e-01 -3.65406502e-01 1.28497230e+01] [ 3.82715018e-01 -1.52707727e-03 9.23865187e-01 -1.05774638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76079213799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:11.80, Y:12.87, Z:-105.79 [[ 3.32739259e-01 -9.37469620e-01 -1.02153299e-01 1.18004074e+01] [ 8.62418842e-01 3.46329101e-01 -3.69174611e-01 1.28690936e+01] [ 3.81468643e-01 3.47399565e-02 9.23728753e-01 -1.05793326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:11.82, Y:12.89, Z:-105.82 [[ 2.73470649e-01 -9.55127752e-01 -1.13775137e-01 1.18239704e+01] [ 8.79092643e-01 2.96186637e-01 -3.73456290e-01 1.28892761e+01] [ 3.90397142e-01 2.11044846e-03 9.20644132e-01 -1.05817761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82079213799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:11.83, Y:12.91, Z:-105.84 [[ 2.70486274e-01 -9.55910090e-01 -1.14337551e-01 1.18300651e+01] [ 8.79867924e-01 2.93659138e-01 -3.73626481e-01 1.29061908e+01] [ 3.90729590e-01 4.58890997e-04 9.20505392e-01 -1.05839753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.84, Y:12.92, Z:-105.86 [[ 2.62801961e-01 -9.58095682e-01 -1.13963997e-01 1.18373074e+01] [ 8.82563215e-01 2.86436669e-01 -3.72875590e-01 1.29223081e+01] [ 3.89893960e-01 -2.58799555e-03 9.20856124e-01 -1.05861545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88079213799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:11.84, Y:12.94, Z:-105.88 [[ 2.63010360e-01 -9.58051709e-01 -1.13852856e-01 1.18413742e+01] [ 8.82470569e-01 2.86585565e-01 -3.72980440e-01 1.29390087e+01] [ 3.89963133e-01 -2.37407463e-03 9.20827410e-01 -1.05883495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91079213799999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:11.84, Y:12.95, Z:-105.91 [[ 2.67848732e-01 -9.56799084e-01 -1.13104239e-01 1.18446139e+01] [ 8.83611858e-01 2.90745306e-01 -3.67011241e-01 1.29518969e+01] [ 3.84040546e-01 -1.63675170e-03 9.23314779e-01 -1.05907623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94079213799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:11.85, Y:12.97, Z:-105.93 [[ 2.74452091e-01 -9.55156390e-01 -1.11140992e-01 1.18470136e+01] [ 8.79131776e-01 2.96063046e-01 -3.73462172e-01 1.29745195e+01] [ 3.89619520e-01 4.78989600e-03 9.20963455e-01 -1.05928123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:11.85, Y:12.99, Z:-105.95 [[ 2.67543322e-01 -9.56833153e-01 -1.13538047e-01 1.18537238e+01] [ 8.81008674e-01 2.90637736e-01 -3.73300714e-01 1.29908775e+01] [ 3.90184940e-01 -1.53890387e-04 9.20736492e-01 -1.05949594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:11.86, Y:13.01, Z:-105.97 [[ 2.64300451e-01 -9.57776305e-01 -1.13180482e-01 1.18597042e+01] [ 8.82330160e-01 2.87511102e-01 -3.72600128e-01 1.30073261e+01] [ 3.89408219e-01 -1.38417086e-03 9.21064234e-01 -1.05971518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:11.86, Y:13.02, Z:-105.99 [[ 2.65120958e-01 -9.57558108e-01 -1.13107682e-01 1.18643851e+01] [ 8.81994061e-01 2.88238849e-01 -3.72833533e-01 1.30241008e+01] [ 3.89611800e-01 -9.14319883e-04 9.20978724e-01 -1.05993603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:11.87, Y:13.04, Z:-106.02 [[ 2.61838079e-01 -9.58499137e-01 -1.12783978e-01 1.18700879e+01] [ 8.83266896e-01 2.85087317e-01 -3.72242947e-01 1.30403202e+01] [ 3.88947825e-01 -2.15097600e-03 9.21257273e-01 -1.06015242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09079213799998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:11.88, Y:13.06, Z:-106.04 [[ 2.59339780e-01 -9.59198249e-01 -1.12612600e-01 1.18758599e+01] [ 8.84066573e-01 2.82717982e-01 -3.72151633e-01 1.30566795e+01] [ 3.88804802e-01 -3.04331263e-03 9.21315128e-01 -1.06037026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12079213799998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:11.88, Y:13.07, Z:-106.06 [[ 2.57654459e-01 -9.59680909e-01 -1.12368735e-01 1.18810705e+01] [ 8.84720540e-01 2.81068573e-01 -3.71846773e-01 1.30730487e+01] [ 3.88437569e-01 -3.60694816e-03 9.21467983e-01 -1.06059200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15079213799999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:11.89, Y:13.09, Z:-106.08 [[ 2.56798040e-01 -9.59882898e-01 -1.12603678e-01 1.18857532e+01] [ 8.84587430e-01 2.80374021e-01 -3.72686848e-01 1.30891729e+01] [ 3.89306878e-01 -3.90254662e-03 9.21099845e-01 -1.06080575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.89, Y:13.11, Z:-106.10 [[ 2.57583356e-01 -9.59697392e-01 -1.12390968e-01 1.18897937e+01] [ 8.84410281e-01 2.81014650e-01 -3.72624772e-01 1.31066477e+01] [ 3.89190531e-01 -3.41778782e-03 9.21150937e-01 -1.06102443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:11.90, Y:13.12, Z:-106.12 [[ 2.55647039e-01 -9.60256020e-01 -1.12040027e-01 1.18952337e+01] [ 8.85481823e-01 2.79088667e-01 -3.71525850e-01 1.31225334e+01] [ 3.88029036e-01 -4.22992398e-03 9.21637442e-01 -1.06123951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24079213799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:11.90, Y:13.14, Z:-106.15 [[ 2.53072383e-01 -9.60983899e-01 -1.11643698e-01 1.19011997e+01] [ 8.86565951e-01 2.76556703e-01 -3.70833121e-01 1.31382745e+01] [ 3.87240472e-01 -5.13187988e-03 9.21964468e-01 -1.06145966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27079213799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:11.90, Y:13.15, Z:-106.17 [[ 2.60576788e-01 -9.59169362e-01 -1.09972146e-01 1.19031335e+01] [ 8.85699943e-01 2.82828537e-01 -3.68162504e-01 1.31521539e+01] [ 3.84233455e-01 -1.46772053e-03 9.23234801e-01 -1.06168768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30079213799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:11.91, Y:13.17, Z:-106.19 [[ 2.53385287e-01 -9.60997902e-01 -1.10810332e-01 1.19096696e+01] [ 8.86306001e-01 2.76525489e-01 -3.71477222e-01 1.31702398e+01] [ 3.87630712e-01 -4.08499975e-03 9.21805697e-01 -1.06190755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33079213799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:11.91, Y:13.19, Z:-106.21 [[ 2.51139501e-01 -9.61541902e-01 -1.11203064e-01 1.19147910e+01] [ 8.87322520e-01 2.74600540e-01 -3.70477111e-01 1.31867911e+01] [ 3.86765688e-01 -5.63154639e-03 9.22160826e-01 -1.06213054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:11.92, Y:13.20, Z:-106.24 [[ 2.49065142e-01 -9.62112747e-01 -1.10930685e-01 1.19204680e+01] [ 8.88124534e-01 2.72577857e-01 -3.70048812e-01 1.32034317e+01] [ 3.86265927e-01 -6.35400350e-03 9.22365578e-01 -1.06235402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:11.93, Y:13.22, Z:-106.26 [[ 2.48491374e-01 -9.62293810e-01 -1.10646555e-01 1.19257842e+01] [ 8.88516342e-01 2.71935131e-01 -3.69580836e-01 1.32198470e+01] [ 3.85734036e-01 -6.47362250e-03 9.22587311e-01 -1.06257791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:11.93, Y:13.24, Z:-106.28 [[ 2.46384254e-01 -9.62835350e-01 -1.10647588e-01 1.19315505e+01] [ 8.88897245e-01 2.69993839e-01 -3.70087848e-01 1.32361333e+01] [ 3.86207830e-01 -7.17051721e-03 9.22383920e-01 -1.06279410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45079213799998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:11.93, Y:13.26, Z:-106.30 [[ 2.63167962e-01 -9.58448330e-01 -1.10088251e-01 1.19263503e+01] [ 8.84869197e-01 2.85265761e-01 -3.68279716e-01 1.32557653e+01] [ 3.84381487e-01 -4.94279979e-04 9.23174213e-01 -1.06300298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48079213799998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:11.93, Y:13.27, Z:-106.32 [[ 2.62418782e-01 -9.58724453e-01 -1.09470570e-01 1.19305904e+01] [ 8.85763632e-01 2.84335956e-01 -3.66845817e-01 1.32737719e+01] [ 3.82830474e-01 -6.97817366e-04 9.23818349e-01 -1.06321291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51079213799999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:11.94, Y:13.29, Z:-106.34 [[ 2.63279377e-01 -9.58508381e-01 -1.09296168e-01 1.19352976e+01] [ 8.85571243e-01 2.85064253e-01 -3.66745067e-01 1.32903185e+01] [ 3.82684651e-01 -2.33130677e-04 9.23878998e-01 -1.06343297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54079213799999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:11.94, Y:13.31, Z:-106.37 [[ 2.63278213e-01 -9.58498762e-01 -1.09383298e-01 1.19401164e+01] [ 8.85239416e-01 2.85096683e-01 -3.67520145e-01 1.33070820e+01] [ 3.83452420e-01 -7.03599338e-05 9.23560630e-01 -1.06365526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57079213799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:11.95, Y:13.32, Z:-106.39 [[ 2.63176036e-01 -9.58513095e-01 -1.09503523e-01 1.19450351e+01] [ 8.84887154e-01 2.85048494e-01 -3.68404778e-01 1.33229903e+01] [ 3.84334618e-01 5.70476061e-05 9.23193857e-01 -1.06387906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60079213799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:11.95, Y:13.34, Z:-106.41 [[ 2.62862076e-01 -9.58612873e-01 -1.09384133e-01 1.19498280e+01] [ 8.84980458e-01 2.84712763e-01 -3.68440268e-01 1.33400205e+01] [ 3.84334643e-01 4.61540120e-05 9.23193848e-01 -1.06410229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63079213799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:11.95, Y:13.36, Z:-106.43 [[ 2.62063758e-01 -9.58825908e-01 -1.09432465e-01 1.19547615e+01] [ 8.84934527e-01 2.83994480e-01 -3.69104346e-01 1.33563893e+01] [ 3.84985026e-01 -1.11694957e-04 9.22922812e-01 -1.06432118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66079213799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:11.96, Y:13.37, Z:-106.45 [[ 2.56693510e-01 -9.60271108e-01 -1.09489003e-01 1.19612207e+01] [ 8.86221322e-01 2.79060821e-01 -3.69779429e-01 1.33720608e+01] [ 3.85642593e-01 -2.11150930e-03 9.22645832e-01 -1.06454492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69079213799999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:11.96, Y:13.39, Z:-106.48 [[ 2.61343452e-01 -9.59000539e-01 -1.09624658e-01 1.19638175e+01] [ 8.84447406e-01 2.83404235e-01 -3.70722032e-01 1.33891196e+01] [ 3.86590721e-01 -7.14686662e-05 9.22251381e-01 -1.06476376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:11.97, Y:13.41, Z:-106.50 [[ 2.60858030e-01 -9.59141620e-01 -1.09546526e-01 1.19684226e+01] [ 8.84507057e-01 2.82926379e-01 -3.70944646e-01 1.34054780e+01] [ 3.86782051e-01 -1.30785600e-04 9.22171149e-01 -1.06498536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:11.97, Y:13.42, Z:-106.52 [[ 2.62123307e-01 -9.58783556e-01 -1.09660680e-01 1.19727942e+01] [ 8.83752625e-01 2.84136924e-01 -3.71816495e-01 1.34217541e+01] [ 3.87650189e-01 5.48855477e-04 9.21806395e-01 -1.06520350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:11.98, Y:13.44, Z:-106.54 [[ 2.67403223e-01 -9.57327256e-01 -1.09635951e-01 1.19751380e+01] [ 8.82006684e-01 2.88992212e-01 -3.72219975e-01 1.34386600e+01] [ 3.88020264e-01 2.83317970e-03 9.21646488e-01 -1.06542123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.810792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:11.98, Y:13.45, Z:-106.57 [[ 2.73892581e-01 -9.55657270e-01 -1.08175952e-01 1.19779295e+01] [ 8.83754071e-01 2.94453864e-01 -3.63697213e-01 1.34481120e+01] [ 3.79422713e-01 4.01303047e-03 9.25214732e-01 -1.06568253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84079213799998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:11.98, Y:13.47, Z:-106.59 [[ 2.78800438e-01 -9.54396870e-01 -1.06756407e-01 1.19808419e+01] [ 8.78309973e-01 2.98360107e-01 -3.73567716e-01 1.34739271e+01] [ 3.88383712e-01 1.03856261e-02 9.21439217e-01 -1.06587087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87079213799998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:11.99, Y:13.49, Z:-106.61 [[ 2.62220359e-01 -9.58650872e-01 -1.10584764e-01 1.19908794e+01] [ 8.84793897e-01 2.84582715e-01 -3.68988398e-01 1.34885238e+01] [ 3.85201561e-01 -1.08845404e-03 9.22831822e-01 -1.06608946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90079213799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:11.99, Y:13.51, Z:-106.63 [[ 2.73260548e-01 -9.55890416e-01 -1.07713443e-01 1.19921359e+01] [ 8.79639001e-01 2.93627702e-01 -3.74189792e-01 1.35063439e+01] [ 3.89312087e-01 7.50236188e-03 9.21075357e-01 -1.06630405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93079213799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:12.00, Y:13.52, Z:-106.65 [[ 2.69512968e-01 -9.56751109e-01 -1.09499201e-01 1.19981394e+01] [ 8.80874029e-01 2.90877571e-01 -3.73431633e-01 1.35218945e+01] [ 3.89131990e-01 4.18966572e-03 9.21172482e-01 -1.06651329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96079213799999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.00, Y:13.54, Z:-106.67 [[ 2.68885891e-01 -9.56897212e-01 -1.09763857e-01 1.20026820e+01] [ 8.80369452e-01 2.90396466e-01 -3.74992694e-01 1.35382371e+01] [ 3.90704500e-01 4.19749806e-03 9.20506586e-01 -1.06673152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99079213799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:12.01, Y:13.55, Z:-106.70 [[ 2.72497427e-01 -9.55997033e-01 -1.08696022e-01 1.20053991e+01] [ 8.82964418e-01 2.93350483e-01 -3.66496017e-01 1.35498164e+01] [ 3.82255136e-01 3.89450231e-03 9.24048616e-01 -1.06697002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02079213799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:12.01, Y:13.57, Z:-106.72 [[ 2.79343421e-01 -9.54329299e-01 -1.05937921e-01 1.20076181e+01] [ 8.81066325e-01 2.98617271e-01 -3.66810383e-01 1.35674092e+01] [ 3.81692788e-01 9.12773206e-03 9.24244178e-01 -1.06719775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05079213799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:12.01, Y:13.59, Z:-106.74 [[ 2.81882730e-01 -9.53536637e-01 -1.06348527e-01 1.20120533e+01] [ 8.76409196e-01 3.01006954e-01 -3.75901231e-01 1.35904396e+01] [ 3.90447242e-01 1.27552380e-02 9.20536938e-01 -1.06739946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08079213799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:12.02, Y:13.60, Z:-106.76 [[ 2.68508929e-01 -9.57081957e-01 -1.09073749e-01 1.20211372e+01] [ 8.84128698e-01 2.89810677e-01 -3.66505412e-01 1.35997120e+01] [ 3.82386454e-01 1.97474379e-03 9.24000379e-01 -1.06764880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:12.02, Y:13.62, Z:-106.79 [[ 2.82054743e-01 -9.53590001e-01 -1.05409828e-01 1.20200519e+01] [ 8.79753190e-01 3.00903943e-01 -3.68091215e-01 1.36182198e+01] [ 3.82726335e-01 1.10872403e-02 9.23795229e-01 -1.06787467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:12.03, Y:13.63, Z:-106.81 [[ 2.76901926e-01 -9.55020463e-01 -1.06118979e-01 1.20263976e+01] [ 8.81533110e-01 2.96426384e-01 -3.67465337e-01 1.36332447e+01] [ 3.82393382e-01 8.20446631e-03 9.23963196e-01 -1.06810230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170792138 meters Centerline goodness : 0.965827 Centerline is valid? [True, True] Translation: X:12.03, Y:13.65, Z:-106.83 [[ 2.81612999e-01 -9.53913261e-01 -1.03651380e-01 1.20292228e+01] [ 8.80936200e-01 2.99850662e-01 -3.66116090e-01 1.36483170e+01] [ 3.80322928e-01 1.17927973e-02 9.24778568e-01 -1.06834154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20079213799998 meters Centerline goodness : 0.976284 Centerline is valid? [True, True] Translation: X:12.04, Y:13.66, Z:-106.86 [[ 2.77281246e-01 -9.54985617e-01 -1.05439945e-01 1.20362447e+01] [ 8.82647047e-01 2.96542737e-01 -3.64686982e-01 1.36627962e+01] [ 3.79538273e-01 8.05460469e-03 9.25140975e-01 -1.06856616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23079213799998 meters Centerline goodness : 0.981593 Centerline is valid? [True, True] Translation: X:12.04, Y:13.68, Z:-106.88 [[ 2.77645782e-01 -9.54889945e-01 -1.05347107e-01 1.20404205e+01] [ 8.82010728e-01 2.96832512e-01 -3.65988436e-01 1.36811812e+01] [ 3.80749124e-01 8.69786670e-03 9.24637470e-01 -1.06877936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26079213799999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:12.05, Y:13.70, Z:-106.90 [[ 2.74358626e-01 -9.55672834e-01 -1.06849328e-01 1.20463358e+01] [ 8.82872266e-01 2.94368451e-01 -3.65901321e-01 1.36992929e+01] [ 3.81135024e-01 6.05387544e-03 9.24499564e-01 -1.06897078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29079213799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:12.05, Y:13.72, Z:-106.92 [[ 2.78964392e-01 -9.54523321e-01 -1.05186018e-01 1.20490355e+01] [ 8.81341008e-01 2.97982233e-01 -3.66666901e-01 1.37158780e+01] [ 3.81335672e-01 9.58225766e-03 9.24386978e-01 -1.06919486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32079213799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:12.05, Y:13.73, Z:-106.94 [[ 2.81325837e-01 -9.53888105e-01 -1.04657809e-01 1.20530976e+01] [ 8.80838555e-01 2.99966240e-01 -3.66256325e-01 1.37319673e+01] [ 3.80761361e-01 1.08507341e-02 9.24609673e-01 -1.06942228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35079213799999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:12.06, Y:13.75, Z:-106.96 [[ 2.81459661e-01 -9.53850758e-01 -1.04638383e-01 1.20578391e+01] [ 8.80524290e-01 3.00074478e-01 -3.66922720e-01 1.37490242e+01] [ 3.81388823e-01 1.11373069e-02 9.24347622e-01 -1.06964055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38079213799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.06, Y:13.77, Z:-106.99 [[ 2.76175604e-01 -9.55383945e-01 -1.04730861e-01 1.20641577e+01] [ 8.82211345e-01 2.95232453e-01 -3.66798231e-01 1.37650806e+01] [ 3.81353090e-01 8.90596945e-03 9.24386556e-01 -1.06986844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41079213799999 meters Centerline goodness : 0.985742 Centerline is valid? [True, True] Translation: X:12.07, Y:13.78, Z:-107.01 [[ 2.78350768e-01 -9.54878808e-01 -1.03572736e-01 1.20679785e+01] [ 8.83094816e-01 2.96838030e-01 -3.63360330e-01 1.37771043e+01] [ 3.77709406e-01 9.67708040e-03 9.25873619e-01 -1.07014453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44079213799999 meters Centerline goodness : 0.986589 Centerline is valid? [True, True] Translation: X:12.07, Y:13.80, Z:-107.04 [[ 2.71241691e-01 -9.56775395e-01 -1.04922776e-01 1.20746075e+01] [ 8.84379155e-01 2.90760665e-01 -3.65146198e-01 1.37961473e+01] [ 3.79870314e-01 6.25135631e-03 9.25018630e-01 -1.07035385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:12.08, Y:13.81, Z:-107.06 [[ 2.70828940e-01 -9.56784751e-01 -1.05899129e-01 1.20787466e+01] [ 8.84757165e-01 2.90754943e-01 -3.64233884e-01 1.38114059e+01] [ 3.79284121e-01 4.95006329e-03 9.25267017e-01 -1.07055766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:12.08, Y:13.84, Z:-107.07 [[ 2.82238907e-01 -9.53666605e-01 -1.04217112e-01 1.20799994e+01] [ 8.76245882e-01 3.00491387e-01 -3.76693616e-01 1.38382089e+01] [ 3.90556467e-01 1.49977790e-02 9.20456796e-01 -1.07072478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:12.09, Y:13.85, Z:-107.09 [[ 2.70727075e-01 -9.56543690e-01 -1.08309832e-01 1.20885925e+01] [ 8.79434191e-01 2.91513699e-01 -3.76318039e-01 1.38533819e+01] [ 3.91538445e-01 6.62811260e-03 9.20137878e-01 -1.07094881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:12.09, Y:13.87, Z:-107.12 [[ 2.70743841e-01 -9.56555059e-01 -1.08167428e-01 1.20933157e+01] [ 8.79627672e-01 2.91476486e-01 -3.75894421e-01 1.38695578e+01] [ 3.91091972e-01 6.62403671e-03 9.20327763e-01 -1.07115846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59079213799998 meters Centerline goodness : 0.987867 Centerline is valid? [True, True] Translation: X:12.10, Y:13.87, Z:-107.15 [[ 2.70579550e-01 -9.56810231e-01 -1.06305644e-01 1.20970001e+01] [ 8.85746064e-01 2.90688962e-01 -3.61875446e-01 1.38727357e+01] [ 3.77148006e-01 3.75628979e-03 9.26145384e-01 -1.07149237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62079213799998 meters Centerline goodness : 0.971337 Centerline is valid? [True, True] Translation: X:12.10, Y:13.89, Z:-107.17 [[ 2.76877726e-01 -9.55224152e-01 -1.04333811e-01 1.20994794e+01] [ 8.84070505e-01 2.95776298e-01 -3.61850417e-01 1.38888469e+01] [ 3.76507726e-01 7.94987579e-03 9.26379367e-01 -1.07172060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65079213799999 meters Centerline goodness : 0.982781 Centerline is valid? [True, True] Translation: X:12.10, Y:13.91, Z:-107.19 [[ 2.78455034e-01 -9.54834987e-01 -1.03696394e-01 1.21034987e+01] [ 8.83490231e-01 2.96992208e-01 -3.62271499e-01 1.39067084e+01] [ 3.76706524e-01 9.26157125e-03 9.26286359e-01 -1.07193338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68079213799999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:12.11, Y:13.94, Z:-107.20 [[ 2.72131267e-01 -9.56398741e-01 -1.06047265e-01 1.21109532e+01] [ 8.79598977e-01 2.91927365e-01 -3.75611572e-01 1.39363076e+01] [ 3.90192533e-01 8.93658722e-03 9.20689918e-01 -1.07203137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71079213799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:12.12, Y:13.94, Z:-107.23 [[ 2.62501908e-01 -9.58962140e-01 -1.07165117e-01 1.21186523e+01] [ 8.88059525e-01 2.83534096e-01 -3.61882158e-01 1.39429024e+01] [ 3.77416254e-01 -1.74245981e-04 9.26043704e-01 -1.07231520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74079213799999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.12, Y:13.97, Z:-107.25 [[ 2.80783526e-01 -9.54217581e-01 -1.03099077e-01 1.21172939e+01] [ 8.77338544e-01 2.98737338e-01 -3.75543714e-01 1.39708934e+01] [ 3.89149958e-01 1.49936939e-02 9.21052387e-01 -1.07248866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77079213799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:12.13, Y:13.99, Z:-107.27 [[ 2.68265106e-01 -9.57381557e-01 -1.07025170e-01 1.21259451e+01] [ 8.80941266e-01 2.88757583e-01 -3.74915381e-01 1.39865659e+01] [ 3.89841401e-01 6.29382541e-03 9.20860505e-01 -1.07270692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80079213799999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:12.13, Y:14.00, Z:-107.29 [[ 2.66834554e-01 -9.57782639e-01 -1.07012786e-01 1.21309623e+01] [ 8.81278655e-01 2.87434984e-01 -3.75138724e-01 1.40020113e+01] [ 3.90060576e-01 5.79189012e-03 9.20770982e-01 -1.07292054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83079213799999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:12.14, Y:14.01, Z:-107.32 [[ 2.63887414e-01 -9.58601272e-01 -1.06990812e-01 1.21356381e+01] [ 8.87159811e-01 2.84750376e-01 -3.63131786e-01 1.40100439e+01] [ 3.78564266e-01 9.07958934e-04 9.25574563e-01 -1.07319482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:12.13, Y:14.04, Z:-107.34 [[ 2.84804401e-01 -9.53118599e-01 -1.02232039e-01 1.21337961e+01] [ 8.77290803e-01 3.02145602e-01 -3.72919406e-01 1.40352888e+01] [ 3.86325382e-01 1.65218606e-02 9.22214578e-01 -1.07337167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:12.14, Y:14.05, Z:-107.36 [[ 2.71193037e-01 -9.56731926e-01 -1.05443624e-01 1.21422987e+01] [ 8.79229759e-01 2.90811685e-01 -3.77337507e-01 1.40539654e+01] [ 3.91675078e-01 9.62213272e-03 9.20053285e-01 -1.07359315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:12.15, Y:14.07, Z:-107.38 [[ 2.67897928e-01 -9.57507160e-01 -1.06821063e-01 1.21479429e+01] [ 8.80593535e-01 2.88332147e-01 -3.76057972e-01 1.40704624e+01] [ 3.90878147e-01 6.67921398e-03 9.20418200e-01 -1.07381010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95079213799998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:12.15, Y:14.09, Z:-107.40 [[ 2.67464395e-01 -9.57668694e-01 -1.06458772e-01 1.21525854e+01] [ 8.81087636e-01 2.87797402e-01 -3.75309517e-01 1.40877910e+01] [ 3.90060733e-01 6.58242501e-03 9.20765603e-01 -1.07402986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98079213799998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.16, Y:14.10, Z:-107.42 [[ 2.68153367e-01 -9.57479396e-01 -1.06428280e-01 1.21571418e+01] [ 8.80707700e-01 2.88416239e-01 -3.75725992e-01 1.41040294e+01] [ 3.90445540e-01 7.01998445e-03 9.20599261e-01 -1.07424822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.010792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:12.16, Y:14.12, Z:-107.45 [[ 2.69580466e-01 -9.57103233e-01 -1.06206280e-01 1.21609572e+01] [ 8.80414505e-01 2.89644447e-01 -3.75468233e-01 1.41205312e+01] [ 3.90123919e-01 7.71335228e-03 9.20730054e-01 -1.07446484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.16, Y:14.13, Z:-107.47 [[ 2.73701759e-01 -9.56034169e-01 -1.05290143e-01 1.21643478e+01] [ 8.81117814e-01 2.93123354e-01 -3.71093112e-01 1.41343891e+01] [ 3.85640695e-01 8.79581727e-03 9.22607115e-01 -1.07469295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.070792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:12.17, Y:14.15, Z:-107.49 [[ 2.76188572e-01 -9.55354884e-01 -1.04961505e-01 1.21675030e+01] [ 8.77501130e-01 2.95205373e-01 -3.77949142e-01 1.41543767e+01] [ 3.92060760e-01 1.22813944e-02 9.19857341e-01 -1.07490425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:12.18, Y:14.17, Z:-107.51 [[ 2.61826640e-01 -9.59091876e-01 -1.07654928e-01 1.21762002e+01] [ 8.79857781e-01 2.83046639e-01 -3.81752388e-01 1.41693463e+01] [ 3.96606980e-01 5.23191906e-03 9.17973600e-01 -1.07513037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.130792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:12.18, Y:14.18, Z:-107.53 [[ 2.53184627e-01 -9.61437818e-01 -1.07400501e-01 1.21837870e+01] [ 8.82564229e-01 2.75016707e-01 -3.81374086e-01 1.41849612e+01] [ 3.96204401e-01 1.77021541e-03 9.18160628e-01 -1.07534940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:12.19, Y:14.20, Z:-107.56 [[ 2.52118404e-01 -9.61768019e-01 -1.06951334e-01 1.21879138e+01] [ 8.83383345e-01 2.73861841e-01 -3.80307188e-01 1.42016840e+01] [ 3.95057181e-01 1.40341405e-03 9.18655460e-01 -1.07556923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:12.19, Y:14.22, Z:-107.58 [[ 2.55685745e-01 -9.60940693e-01 -1.05914044e-01 1.21914337e+01] [ 8.84335712e-01 2.76743354e-01 -3.75983331e-01 1.42160647e+01] [ 3.90608691e-01 2.47000633e-03 9.20553502e-01 -1.07579323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:12.19, Y:14.23, Z:-107.60 [[ 2.63727557e-01 -9.59031997e-01 -1.03466928e-01 1.21928697e+01] [ 8.82075719e-01 2.83184042e-01 -3.76495981e-01 1.42337055e+01] [ 3.90371875e-01 8.02670027e-03 9.20622274e-01 -1.07601819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:12.20, Y:14.25, Z:-107.62 [[ 2.60419110e-01 -9.59876463e-01 -1.04014726e-01 1.21979496e+01] [ 8.81525188e-01 2.80329649e-01 -3.79906081e-01 1.42528749e+01] [ 3.93821317e-01 7.24320229e-03 9.19158477e-01 -1.07623325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:12.20, Y:14.27, Z:-107.65 [[ 2.61830202e-01 -9.59379244e-01 -1.05054323e-01 1.22021709e+01] [ 8.83482581e-01 2.82073188e-01 -3.74023055e-01 1.42660519e+01] [ 3.88462964e-01 5.11686786e-03 9.21450131e-01 -1.07646601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:12.21, Y:14.28, Z:-107.67 [[ 2.63844999e-01 -9.59019708e-01 -1.03281249e-01 1.22061281e+01] [ 8.83104032e-01 2.83240644e-01 -3.74034765e-01 1.42832881e+01] [ 3.87960158e-01 7.47911456e-03 9.21645799e-01 -1.07668834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:12.21, Y:14.30, Z:-107.69 [[ 2.53383129e-01 -9.61805739e-01 -1.03569838e-01 1.22145371e+01] [ 8.84646914e-01 2.73703378e-01 -3.77473573e-01 1.43020139e+01] [ 3.91403663e-01 4.02269752e-03 9.20210297e-01 -1.07689100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:12.22, Y:14.32, Z:-107.71 [[ 2.44222993e-01 -9.63992571e-01 -1.05230475e-01 1.22221723e+01] [ 8.87147357e-01 2.65926265e-01 -3.77164139e-01 1.43175944e+01] [ 3.91566975e-01 -1.24278245e-03 9.20148770e-01 -1.07711348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:12.23, Y:14.33, Z:-107.73 [[ 2.43012172e-01 -9.64299305e-01 -1.05223261e-01 1.22267150e+01] [ 8.87268796e-01 2.64810007e-01 -3.77663531e-01 1.43345729e+01] [ 3.92044853e-01 -1.58448117e-03 9.19944739e-01 -1.07733756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43079213800002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.23, Y:14.35, Z:-107.76 [[ 2.40445517e-01 -9.64981185e-01 -1.04867852e-01 1.22321070e+01] [ 8.88262091e-01 2.62307343e-01 -3.77074681e-01 1.43516443e+01] [ 3.91377580e-01 -2.48422105e-03 9.20226830e-01 -1.07755733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46079213800002 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:12.24, Y:14.37, Z:-107.78 [[ 2.43334010e-01 -9.64369545e-01 -1.03826488e-01 1.22357370e+01] [ 8.89012073e-01 2.64555326e-01 -3.73721841e-01 1.43666190e+01] [ 3.87873812e-01 -1.36376728e-03 9.21711477e-01 -1.07778032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49079213800002 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.24, Y:14.38, Z:-107.80 [[ 2.50179666e-01 -9.62813258e-01 -1.01984137e-01 1.22372767e+01] [ 8.86886917e-01 2.70147488e-01 -3.74769172e-01 1.43841267e+01] [ 3.88383486e-01 3.31122897e-03 9.21491890e-01 -1.07800070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.24, Y:14.40, Z:-107.82 [[ 2.49790561e-01 -9.62924058e-01 -1.01891778e-01 1.22417745e+01] [ 8.87038742e-01 2.69753472e-01 -3.74693655e-01 1.44009642e+01] [ 3.88287195e-01 3.21298370e-03 9.21532816e-01 -1.07822554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.550792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:12.25, Y:14.42, Z:-107.85 [[ 2.51021361e-01 -9.62653916e-01 -1.01418510e-01 1.22453887e+01] [ 8.86942167e-01 2.70705612e-01 -3.74235306e-01 1.44170459e+01] [ 3.87713643e-01 3.98870331e-03 9.21771241e-01 -1.07845538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:12.25, Y:14.44, Z:-107.87 [[ 2.40609138e-01 -9.65149845e-01 -1.02922392e-01 1.22534912e+01] [ 8.88102281e-01 2.61697421e-01 -3.77874051e-01 1.44360856e+01] [ 3.91639607e-01 -4.85661680e-04 9.20118570e-01 -1.07867280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.610792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:12.26, Y:14.45, Z:-107.89 [[ 2.34446385e-01 -9.66564807e-01 -1.03862245e-01 1.22601584e+01] [ 8.90128452e-01 2.56389277e-01 -3.76743782e-01 1.44520659e+01] [ 3.90776447e-01 -4.12452168e-03 9.20476375e-01 -1.07889089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:12.26, Y:14.47, Z:-107.91 [[ 2.38144483e-01 -9.65764108e-01 -1.02892631e-01 1.22642841e+01] [ 8.90383314e-01 2.59409473e-01 -3.74064538e-01 1.44665578e+01] [ 3.87949428e-01 -2.53247596e-03 9.21677182e-01 -1.07911292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.670792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.27, Y:14.48, Z:-107.93 [[ 2.43425708e-01 -9.64625316e-01 -1.01202393e-01 1.22670705e+01] [ 8.88925012e-01 2.63621897e-01 -3.74587531e-01 1.44832252e+01] [ 3.88015782e-01 1.22289674e-03 9.21651918e-01 -1.07933408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:12.27, Y:14.50, Z:-107.96 [[ 2.36510629e-01 -9.66222353e-01 -1.02357644e-01 1.22731845e+01] [ 8.89285544e-01 2.57704481e-01 -3.77835443e-01 1.45010643e+01] [ 3.91451074e-01 -1.66307485e-03 9.20197420e-01 -1.07955360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.730792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:12.28, Y:14.52, Z:-107.98 [[ 2.33174529e-01 -9.66925759e-01 -1.03364478e-01 1.22787743e+01] [ 8.90568841e-01 2.55022865e-01 -3.76630426e-01 1.45173610e+01] [ 3.90533966e-01 -4.23256117e-03 9.20578789e-01 -1.07977571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760792138 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:12.28, Y:14.54, Z:-108.00 [[ 2.38781542e-01 -9.65673988e-01 -1.02260084e-01 1.22796746e+01] [ 8.90856672e-01 2.59748566e-01 -3.72699709e-01 1.45362351e+01] [ 3.86468324e-01 -2.10526678e-03 9.22300278e-01 -1.07997142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.790792138 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:12.28, Y:14.55, Z:-108.02 [[ 2.38845243e-01 -9.65700650e-01 -1.01858744e-01 1.22838604e+01] [ 8.91226161e-01 2.59650584e-01 -3.71883724e-01 1.45541913e+01] [ 3.85576036e-01 -1.95651855e-03 9.22673990e-01 -1.08017661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:12.28, Y:14.56, Z:-108.04 [[ 2.56995234e-01 -9.61382909e-01 -9.84700542e-02 1.22826864e+01] [ 8.90545860e-01 2.75161290e-01 -3.62235194e-01 1.45619240e+01] [ 3.75341872e-01 5.40061955e-03 9.26870710e-01 -1.08043228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.850792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:12.29, Y:14.59, Z:-108.06 [[ 2.47293438e-01 -9.63880940e-01 -9.88913024e-02 1.22890259e+01] [ 8.88340421e-01 2.66292738e-01 -3.74084849e-01 1.45875398e+01] [ 3.86907292e-01 4.65958712e-03 9.22106846e-01 -1.08062149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880792138 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:12.30, Y:14.60, Z:-108.08 [[ 2.31246156e-01 -9.67544220e-01 -1.01898955e-01 1.22986524e+01] [ 8.92620217e-01 2.52659516e-01 -3.73352805e-01 1.46025483e+01] [ 3.86981089e-01 -4.62066628e-03 9.22076074e-01 -1.08084591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.910792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:12.30, Y:14.62, Z:-108.11 [[ 2.33797539e-01 -9.66942518e-01 -1.01788394e-01 1.23009971e+01] [ 8.91906221e-01 2.54970898e-01 -3.73487797e-01 1.46194385e+01] [ 3.87094309e-01 -3.46517366e-03 9.22033616e-01 -1.08107251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:12.30, Y:14.64, Z:-108.13 [[ 2.35418592e-01 -9.66542841e-01 -1.01848036e-01 1.23044362e+01] [ 8.91153273e-01 2.56491459e-01 -3.74243203e-01 1.46365436e+01] [ 3.87845240e-01 -2.65840308e-03 9.21720675e-01 -1.08129250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:12.31, Y:14.65, Z:-108.15 [[ 2.36901133e-01 -9.66203564e-01 -1.01629360e-01 1.23081144e+01] [ 8.90893074e-01 2.57772951e-01 -3.73982133e-01 1.46534070e+01] [ 3.87540170e-01 -1.94410234e-03 9.21850767e-01 -1.08151822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:12.31, Y:14.67, Z:-108.17 [[ 2.36374031e-01 -9.66324822e-01 -1.01703762e-01 1.23127411e+01] [ 8.90683227e-01 2.57317627e-01 -3.74794647e-01 1.46697112e+01] [ 3.88343542e-01 -1.99411306e-03 9.21512516e-01 -1.08174288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:12.32, Y:14.69, Z:-108.20 [[ 2.36052147e-01 -9.66416520e-01 -1.01579988e-01 1.23171087e+01] [ 8.90768602e-01 2.56972935e-01 -3.74828238e-01 1.46867831e+01] [ 3.88343509e-01 -2.00525353e-03 9.21512506e-01 -1.08196667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:12.32, Y:14.70, Z:-108.22 [[ 2.40818172e-01 -9.65254917e-01 -1.01437440e-01 1.23194394e+01] [ 8.89491280e-01 2.61310053e-01 -3.74863066e-01 1.47037707e+01] [ 3.88345040e-01 4.61202586e-05 9.21514041e-01 -1.08218869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.32, Y:14.72, Z:-108.24 [[ 2.43649747e-01 -9.64533028e-01 -1.01542300e-01 1.23224383e+01] [ 8.88317083e-01 2.63958689e-01 -3.75790593e-01 1.47202933e+01] [ 3.89265411e-01 1.35952340e-03 9.21124634e-01 -1.08241272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:12.33, Y:14.74, Z:-108.26 [[ 2.42831655e-01 -9.64763734e-01 -1.01310044e-01 1.23266713e+01] [ 8.88700792e-01 2.63115244e-01 -3.75474726e-01 1.47364559e+01] [ 3.88900616e-01 1.14283305e-03 9.21279005e-01 -1.08263647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150792138 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:12.33, Y:14.75, Z:-108.29 [[ 2.42529586e-01 -9.64845779e-01 -1.01252271e-01 1.23310990e+01] [ 8.88783192e-01 2.62814506e-01 -3.75490312e-01 1.47535143e+01] [ 3.88900808e-01 1.07619367e-03 9.21279004e-01 -1.08286032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18079213800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:12.34, Y:14.77, Z:-108.31 [[ 2.42265285e-01 -9.64941743e-01 -1.00970113e-01 1.23352305e+01] [ 8.89052045e-01 2.62461823e-01 -3.75100322e-01 1.47702232e+01] [ 3.88450759e-01 1.10610081e-03 9.21468819e-01 -1.08307571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21079213800002 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.34, Y:14.79, Z:-108.33 [[ 2.41821790e-01 -9.65088847e-01 -1.00626734e-01 1.23401941e+01] [ 8.89518495e-01 2.61920738e-01 -3.74371972e-01 1.47868500e+01] [ 3.87658443e-01 1.02195945e-03 9.21802521e-01 -1.08329450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24079213800002 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.34, Y:14.80, Z:-108.35 [[ 2.41541911e-01 -9.65142599e-01 -1.00783272e-01 1.23439019e+01] [ 8.89102459e-01 2.61722317e-01 -3.75497332e-01 1.48035941e+01] [ 3.88785703e-01 1.09168856e-03 9.21327567e-01 -1.08351826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.270792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:12.35, Y:14.82, Z:-108.37 [[ 2.43151332e-01 -9.64744356e-01 -1.00726153e-01 1.23473145e+01] [ 8.88531091e-01 2.63182018e-01 -3.75829383e-01 1.48206142e+01] [ 3.89088588e-01 1.88509658e-03 9.21198414e-01 -1.08373863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:12.35, Y:14.84, Z:-108.40 [[ 2.43096605e-01 -9.64774307e-01 -1.00571253e-01 1.23511730e+01] [ 8.88577480e-01 2.63071431e-01 -3.75797133e-01 1.48369919e+01] [ 3.89016842e-01 1.98965647e-03 9.21228494e-01 -1.08396256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.330792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:12.36, Y:14.85, Z:-108.42 [[ 2.42777351e-01 -9.64867544e-01 -1.00447896e-01 1.23554802e+01] [ 8.88664724e-01 2.62729343e-01 -3.75830149e-01 1.48540780e+01] [ 3.89016923e-01 1.97854611e-03 9.21228484e-01 -1.08418636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:12.36, Y:14.87, Z:-108.44 [[ 2.42573895e-01 -9.64930877e-01 -1.00330993e-01 1.23597444e+01] [ 8.88679098e-01 2.62496206e-01 -3.75959043e-01 1.48708161e+01] [ 3.89110994e-01 2.03579327e-03 9.21188629e-01 -1.08440184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.390792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:12.37, Y:14.89, Z:-108.46 [[ 2.39237956e-01 -9.65765928e-01 -1.00306390e-01 1.23658089e+01] [ 8.89390978e-01 2.59413693e-01 -3.76414962e-01 1.48874036e+01] [ 3.89549596e-01 8.41148115e-04 9.21005106e-01 -1.08461846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:12.37, Y:14.90, Z:-108.48 [[ 2.41055644e-01 -9.65317197e-01 -1.00274049e-01 1.23687785e+01] [ 8.88724649e-01 2.61074200e-01 -3.76840496e-01 1.49036856e+01] [ 3.89949579e-01 1.72350951e-03 9.20834597e-01 -1.08484113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.450792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:12.37, Y:14.92, Z:-108.51 [[ 2.40737229e-01 -9.65409473e-01 -1.00150566e-01 1.23730603e+01] [ 8.88810923e-01 2.60732845e-01 -3.76873357e-01 1.49207783e+01] [ 3.89949651e-01 1.71253044e-03 9.20834587e-01 -1.08506492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:12.38, Y:14.94, Z:-108.53 [[ 2.43121872e-01 -9.64836433e-01 -9.99120243e-02 1.23762500e+01] [ 8.88330174e-01 2.62836193e-01 -3.76545665e-01 1.49380276e+01] [ 3.89565472e-01 2.79162119e-03 9.20994544e-01 -1.08527891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.510792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:12.38, Y:14.96, Z:-108.55 [[ 2.42803040e-01 -9.64929496e-01 -9.97885373e-02 1.23805202e+01] [ 8.88417327e-01 2.62494451e-01 -3.76578434e-01 1.49551229e+01] [ 3.89565576e-01 2.78052300e-03 9.20994534e-01 -1.08550270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:12.39, Y:14.97, Z:-108.57 [[ 2.40133435e-01 -9.65631851e-01 -9.94538171e-02 1.23864947e+01] [ 8.89469426e-01 2.59907445e-01 -3.75888627e-01 1.49721312e+01] [ 3.88818819e-01 1.80229756e-03 9.21312476e-01 -1.08571713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.570792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:12.39, Y:14.99, Z:-108.59 [[ 2.41191616e-01 -9.65386018e-01 -9.92796052e-02 1.23899955e+01] [ 8.89247639e-01 2.60814692e-01 -3.75784956e-01 1.49889714e+01] [ 3.88671122e-01 2.35202627e-03 9.21373554e-01 -1.08593656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:12.39, Y:15.01, Z:-108.62 [[ 2.40803710e-01 -9.65482063e-01 -9.92872606e-02 1.23939872e+01] [ 8.89105143e-01 2.60458912e-01 -3.76368435e-01 1.50062801e+01] [ 3.89237225e-01 2.35410139e-03 9.21134540e-01 -1.08615709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.630792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:12.40, Y:15.02, Z:-108.64 [[ 2.42534543e-01 -9.65071431e-01 -9.90662829e-02 1.23976722e+01] [ 8.88780928e-01 2.61967766e-01 -3.76086895e-01 1.50231840e+01] [ 3.88902891e-01 3.16584020e-03 9.21273314e-01 -1.08637719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.40, Y:15.04, Z:-108.66 [[ 2.43714988e-01 -9.64789387e-01 -9.89163473e-02 1.24012083e+01] [ 8.88481089e-01 2.62996623e-01 -3.76077294e-01 1.50408540e+01] [ 3.88850047e-01 3.77036953e-03 9.21293344e-01 -1.08659710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:12.41, Y:15.06, Z:-108.68 [[ 2.43859220e-01 -9.64752047e-01 -9.89250667e-02 1.24052724e+01] [ 8.88193098e-01 2.63130350e-01 -3.76663563e-01 1.50575675e+01] [ 3.89417131e-01 3.98832123e-03 9.21052871e-01 -1.08682182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:12.41, Y:15.07, Z:-108.70 [[ 2.44613486e-01 -9.64549776e-01 -9.90352099e-02 1.24086453e+01] [ 8.87560101e-01 2.63863015e-01 -3.77641863e-01 1.50744669e+01] [ 3.90386103e-01 4.47659167e-03 9.20640348e-01 -1.08704281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:12.41, Y:15.09, Z:-108.73 [[ 2.45110544e-01 -9.64426208e-01 -9.90096520e-02 1.24121281e+01] [ 8.87230411e-01 2.64308022e-01 -3.78105101e-01 1.50917657e+01] [ 3.90823514e-01 4.83317279e-03 9.20452943e-01 -1.08726463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.42, Y:15.11, Z:-108.75 [[ 2.43663166e-01 -9.64800920e-01 -9.89315266e-02 1.24167915e+01] [ 8.87524945e-01 2.62944709e-01 -3.78364312e-01 1.51086275e+01] [ 3.91059757e-01 4.38924827e-03 9.20354823e-01 -1.08748428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810792138 meters Centerline goodness : 0.976669 Centerline is valid? [True, True] Translation: X:12.42, Y:15.11, Z:-108.78 [[ 2.46284850e-01 -9.64304130e-01 -9.72693029e-02 1.24196298e+01] [ 8.91684346e-01 2.64771484e-01 -3.67144506e-01 1.51127921e+01] [ 3.79793101e-01 3.68861494e-03 9.25064103e-01 -1.08780081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:12.42, Y:15.14, Z:-108.79 [[ 2.45564036e-01 -9.64508694e-01 -9.70632955e-02 1.24239070e+01] [ 8.87513406e-01 2.63968617e-01 -3.77677804e-01 1.51431698e+01] [ 3.89895189e-01 6.59910963e-03 9.20835595e-01 -1.08793535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870792138 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:12.43, Y:15.16, Z:-108.82 [[ 2.43768493e-01 -9.64818117e-01 -9.85034201e-02 1.24280801e+01] [ 8.87678899e-01 2.62875916e-01 -3.78050823e-01 1.51598904e+01] [ 3.90644460e-01 4.71747184e-03 9.20529550e-01 -1.08815554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:12.43, Y:15.17, Z:-108.84 [[ 2.41464698e-01 -9.65346975e-01 -9.89950334e-02 1.24333358e+01] [ 8.91342733e-01 2.60966683e-01 -3.70681159e-01 1.51705228e+01] [ 3.83670342e-01 1.26791070e-03 9.23469253e-01 -1.08841238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93079213800002 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:12.43, Y:15.20, Z:-108.86 [[ 2.59235350e-01 -9.61114724e-01 -9.51604993e-02 1.24310048e+01] [ 8.83218772e-01 2.75779879e-01 -3.79302068e-01 1.51955779e+01] [ 3.90796153e-01 1.42809650e-02 9.20366460e-01 -1.08860821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96079213800002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:12.44, Y:15.20, Z:-108.89 [[ 2.43061612e-01 -9.64992778e-01 -9.85392866e-02 1.24412444e+01] [ 8.91844240e-01 2.62270956e-01 -3.68548229e-01 1.52034759e+01] [ 3.81490372e-01 1.69823136e-03 9.24371252e-01 -1.08886434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99079213800002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.44, Y:15.23, Z:-108.91 [[ 2.59879036e-01 -9.60990707e-01 -9.46559482e-02 1.24389402e+01] [ 8.84415930e-01 2.76223812e-01 -3.76176646e-01 1.52263362e+01] [ 3.87648487e-01 1.40451955e-02 9.21700267e-01 -1.08905685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:12.45, Y:15.24, Z:-108.93 [[ 2.45050248e-01 -9.64571932e-01 -9.77310830e-02 1.24484703e+01] [ 8.88455623e-01 2.63768538e-01 -3.75596545e-01 1.52405248e+01] [ 3.88068270e-01 5.21029641e-03 9.21615902e-01 -1.08927201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.050792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:12.45, Y:15.26, Z:-108.95 [[ 2.45194152e-01 -9.64569918e-01 -9.73894301e-02 1.24528267e+01] [ 8.88709796e-01 2.63772189e-01 -3.74992174e-01 1.52570550e+01] [ 3.87394794e-01 5.39494749e-03 9.21898133e-01 -1.08948748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.46, Y:15.27, Z:-108.97 [[ 2.43562308e-01 -9.65004440e-01 -9.71793821e-02 1.24575943e+01] [ 8.89281533e-01 2.62188605e-01 -3.74747236e-01 1.52739116e+01] [ 3.87112073e-01 4.85447194e-03 9.22019890e-01 -1.08970919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.110792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:12.46, Y:15.29, Z:-108.99 [[ 2.42232460e-01 -9.65329835e-01 -9.72715023e-02 1.24618098e+01] [ 8.89247075e-01 2.60994384e-01 -3.75661512e-01 1.52903338e+01] [ 3.88024581e-01 4.49901311e-03 9.21638044e-01 -1.08993218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:12.47, Y:15.31, Z:-109.01 [[ 2.42862234e-01 -9.65185686e-01 -9.71314904e-02 1.24654590e+01] [ 8.89021018e-01 2.61519315e-01 -3.75831449e-01 1.53071506e+01] [ 3.88148896e-01 4.92332887e-03 9.21583526e-01 -1.09014743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.170792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:12.47, Y:15.32, Z:-109.04 [[ 2.41102189e-01 -9.65644719e-01 -9.69536539e-02 1.24695567e+01] [ 8.89664203e-01 2.59830749e-01 -3.75480476e-01 1.53228096e+01] [ 3.87772279e-01 4.27296934e-03 9.21745302e-01 -1.09035820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:12.47, Y:15.34, Z:-109.06 [[ 2.40816509e-01 -9.65723621e-01 -9.68777377e-02 1.24736404e+01] [ 8.89551411e-01 2.59535929e-01 -3.75951310e-01 1.53398073e+01] [ 3.88208314e-01 4.35755373e-03 9.21561347e-01 -1.09057751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.230792138 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:12.48, Y:15.36, Z:-109.08 [[ 2.39513057e-01 -9.66047603e-01 -9.68789123e-02 1.24780855e+01] [ 8.89862239e-01 2.58335329e-01 -3.76042621e-01 1.53559323e+01] [ 3.88302319e-01 3.85823208e-03 9.21523968e-01 -1.09078613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:12.48, Y:15.37, Z:-109.10 [[ 2.37902379e-01 -9.66445992e-01 -9.68741582e-02 1.24824733e+01] [ 8.89999586e-01 2.56847283e-01 -3.76736262e-01 1.53723112e+01] [ 3.88977115e-01 3.40849242e-03 9.21241112e-01 -1.09100385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.290792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.49, Y:15.39, Z:-109.12 [[ 2.39951342e-01 -9.65953988e-01 -9.67276946e-02 1.24857049e+01] [ 8.89469773e-01 2.58677150e-01 -3.76735525e-01 1.53891983e+01] [ 3.88930427e-01 4.36183406e-03 9.21256803e-01 -1.09122199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:12.49, Y:15.40, Z:-109.14 [[ 2.49043141e-01 -9.63811079e-01 -9.51089789e-02 1.24868945e+01] [ 8.88775308e-01 2.66455522e-01 -3.72934187e-01 1.54041218e+01] [ 3.84780413e-01 8.34618929e-03 9.22970408e-01 -1.09144937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.350792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:12.49, Y:15.42, Z:-109.17 [[ 2.46605983e-01 -9.64449610e-01 -9.49865210e-02 1.24910834e+01] [ 8.87865279e-01 2.64127798e-01 -3.76738307e-01 1.54234945e+01] [ 3.88433694e-01 8.57068672e-03 9.21436817e-01 -1.09165886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.50, Y:15.44, Z:-109.19 [[ 2.39478601e-01 -9.66097603e-01 -9.64646152e-02 1.24979783e+01] [ 8.89539896e-01 2.58138592e-01 -3.76939305e-01 1.54394950e+01] [ 3.89061399e-01 4.45977368e-03 9.21201030e-01 -1.09188075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.410792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:12.50, Y:15.46, Z:-109.21 [[ 2.42127205e-01 -9.65448595e-01 -9.63505392e-02 1.25011501e+01] [ 8.88789359e-01 2.60532057e-01 -3.77063022e-01 1.54567649e+01] [ 3.89137369e-01 5.66188141e-03 9.21162337e-01 -1.09210262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:12.51, Y:15.47, Z:-109.23 [[ 2.41808204e-01 -9.65540882e-01 -9.62268032e-02 1.25052451e+01] [ 8.88876120e-01 2.60190071e-01 -3.77094643e-01 1.54738338e+01] [ 3.89137553e-01 5.65087072e-03 9.21162327e-01 -1.09232693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:12.51, Y:15.49, Z:-109.25 [[ 2.40378514e-01 -9.65878027e-01 -9.64251391e-02 1.25095632e+01] [ 8.88580572e-01 2.58942374e-01 -3.78646820e-01 1.54904281e+01] [ 3.90695198e-01 5.33705460e-03 9.20504632e-01 -1.09254646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500792138 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:12.51, Y:15.51, Z:-109.28 [[ 2.43108172e-01 -9.65202333e-01 -9.63476729e-02 1.25124050e+01] [ 8.87942327e-01 2.61424657e-01 -3.78438334e-01 1.55069738e+01] [ 3.90457220e-01 6.45027454e-03 9.20598476e-01 -1.09276011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:12.52, Y:15.52, Z:-109.30 [[ 2.43143334e-01 -9.65202511e-01 -9.62571122e-02 1.25163473e+01] [ 8.87693063e-01 2.61417427e-01 -3.79027643e-01 1.55237964e+01] [ 3.91001719e-01 6.71127397e-03 9.20365479e-01 -1.09297871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:12.52, Y:15.54, Z:-109.32 [[ 2.50940949e-01 -9.63308077e-01 -9.52165380e-02 1.25182285e+01] [ 8.86706697e-01 2.68209102e-01 -3.76583473e-01 1.55392246e+01] [ 3.88303843e-01 1.00710720e-02 9.21476369e-01 -1.09319944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:12.52, Y:15.56, Z:-109.34 [[ 2.43721594e-01 -9.65149558e-01 -9.53211141e-02 1.25244056e+01] [ 8.85956220e-01 2.61547877e-01 -3.82980789e-01 1.55597599e+01] [ 3.94564775e-01 8.89035461e-03 9.18825119e-01 -1.09341187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:12.53, Y:15.58, Z:-109.36 [[ 2.43142937e-01 -9.65168677e-01 -9.65967788e-02 1.25280752e+01] [ 8.85880851e-01 2.61518201e-01 -3.83175348e-01 1.55762691e+01] [ 3.95090660e-01 7.59314287e-03 9.18610753e-01 -1.09363314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:12.53, Y:15.59, Z:-109.39 [[ 2.32904018e-01 -9.67754471e-01 -9.59531216e-02 1.25347913e+01] [ 8.89518247e-01 2.51871996e-01 -3.81205701e-01 1.55926429e+01] [ 3.93081426e-01 3.43228686e-03 9.19497261e-01 -1.09385350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68079213800002 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:12.54, Y:15.61, Z:-109.41 [[ 2.32802422e-01 -9.67978119e-01 -9.39222719e-02 1.25388196e+01] [ 8.92920064e-01 2.51014896e-01 -3.73744940e-01 1.56101953e+01] [ 3.85352814e-01 3.14364603e-03 9.22763960e-01 -1.09406204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71079213800002 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:12.54, Y:15.63, Z:-109.43 [[ 2.33424617e-01 -9.67825182e-01 -9.39540579e-02 1.25424530e+01] [ 8.92459489e-01 2.51598432e-01 -3.74451985e-01 1.56271576e+01] [ 3.86042754e-01 3.55612078e-03 9.22474035e-01 -1.09428136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74079213800002 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:12.55, Y:15.64, Z:-109.45 [[ 2.32280502e-01 -9.68096463e-01 -9.39947211e-02 1.25468750e+01] [ 8.92439912e-01 2.50556523e-01 -3.75196524e-01 1.56438554e+01] [ 3.86777419e-01 3.26619649e-03 9.22167317e-01 -1.09450296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.770792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:12.55, Y:15.66, Z:-109.47 [[ 2.38972361e-01 -9.66481065e-01 -9.38432778e-02 1.25478315e+01] [ 8.90710590e-01 2.56666147e-01 -3.75176136e-01 1.56613600e+01] [ 3.86687024e-01 6.06952570e-03 9.22191036e-01 -1.09472713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:12.55, Y:15.68, Z:-109.49 [[ 2.36287789e-01 -9.67159466e-01 -9.36517355e-02 1.25526250e+01] [ 8.91515739e-01 2.54118869e-01 -3.74997716e-01 1.56781101e+01] [ 3.86481264e-01 5.11538508e-03 9.22283072e-01 -1.09494461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.830792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:12.56, Y:15.70, Z:-109.52 [[ 2.35602066e-01 -9.67337577e-01 -9.35397139e-02 1.25567907e+01] [ 8.91651581e-01 2.53442774e-01 -3.75132267e-01 1.56951361e+01] [ 3.86586503e-01 4.97710333e-03 9.22239721e-01 -1.09516725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:12.56, Y:15.71, Z:-109.54 [[ 2.34768352e-01 -9.67539204e-01 -9.35505674e-02 1.25611605e+01] [ 8.91605001e-01 2.52675258e-01 -3.75760211e-01 1.57119016e+01] [ 3.87200649e-01 4.80645176e-03 9.21982947e-01 -1.09539068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.890792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:12.57, Y:15.73, Z:-109.56 [[ 2.33512148e-01 -9.67838704e-01 -9.35965809e-02 1.25656132e+01] [ 8.91604675e-01 2.51531786e-01 -3.76527374e-01 1.57281822e+01] [ 3.87960281e-01 4.47256686e-03 9.21665241e-01 -1.09560827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:12.57, Y:15.75, Z:-109.58 [[ 2.32758413e-01 -9.68011191e-01 -9.36902111e-02 1.25698091e+01] [ 8.91386490e-01 2.50869338e-01 -3.77484702e-01 1.57451813e+01] [ 3.88913417e-01 4.34855198e-03 9.21264047e-01 -1.09583057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.950792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.57, Y:15.76, Z:-109.61 [[ 2.30799663e-01 -9.68453913e-01 -9.39602767e-02 1.25736661e+01] [ 8.91156963e-01 2.49164139e-01 -3.79152344e-01 1.57616726e+01] [ 3.90603103e-01 3.77487825e-03 9.20551447e-01 -1.09605443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:12.58, Y:15.78, Z:-109.63 [[ 2.32855770e-01 -9.67970325e-01 -9.38703420e-02 1.25762530e+01] [ 8.90542371e-01 2.51019820e-01 -3.79372291e-01 1.57783804e+01] [ 3.90784436e-01 4.74350995e-03 9.20470002e-01 -1.09627233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.010792138 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:12.58, Y:15.79, Z:-109.65 [[ 2.30100106e-01 -9.68631356e-01 -9.38468848e-02 1.25809658e+01] [ 8.91049226e-01 2.48473306e-01 -3.79858253e-01 1.57948041e+01] [ 3.91261060e-01 3.78323007e-03 9.20271954e-01 -1.09649594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:12.58, Y:15.81, Z:-109.67 [[ 2.29043624e-01 -9.68893016e-01 -9.37301583e-02 1.25848523e+01] [ 8.91284835e-01 2.47455346e-01 -3.79969991e-01 1.58120472e+01] [ 3.91344300e-01 3.48943516e-03 9.20237721e-01 -1.09671553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.070792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:12.59, Y:15.83, Z:-109.69 [[ 2.26394857e-01 -9.69526119e-01 -9.36187635e-02 1.25897854e+01] [ 8.91912408e-01 2.44974654e-01 -3.80104821e-01 1.58284414e+01] [ 3.91455777e-01 2.55403975e-03 9.20193377e-01 -1.09693119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.59, Y:15.84, Z:-109.71 [[ 2.23300729e-01 -9.70250857e-01 -9.35417507e-02 1.25947035e+01] [ 8.92581352e-01 2.42097473e-01 -3.80377896e-01 1.58449235e+01] [ 3.91708201e-01 1.44503910e-03 9.20088364e-01 -1.09714851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.130792138 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:12.60, Y:15.86, Z:-109.74 [[ 2.30946108e-01 -9.68583187e-01 -9.22523950e-02 1.25963808e+01] [ 8.92200615e-01 2.48644098e-01 -3.77033388e-01 1.58589900e+01] [ 3.88126214e-01 4.76675027e-03 9.21593902e-01 -1.09737426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:12.60, Y:15.88, Z:-109.76 [[ 2.27878190e-01 -9.69292207e-01 -9.24345598e-02 1.26007415e+01] [ 8.90914391e-01 2.45867511e-01 -3.81864787e-01 1.58791337e+01] [ 3.92865217e-01 4.66737670e-03 9.19584220e-01 -1.09759734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:12.61, Y:15.90, Z:-109.78 [[ 2.24496308e-01 -9.69990132e-01 -9.33838957e-02 1.26059582e+01] [ 8.91747313e-01 2.43132352e-01 -3.81671834e-01 1.58959770e+01] [ 3.92922559e-01 2.40907957e-03 9.19568409e-01 -1.09781343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:12.61, Y:15.91, Z:-109.80 [[ 2.23606204e-01 -9.70212822e-01 -9.32059302e-02 1.26109849e+01] [ 8.92253869e-01 2.42245557e-01 -3.81051339e-01 1.59126686e+01] [ 3.92279617e-01 2.04209159e-03 9.19843754e-01 -1.09802125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250792138 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:12.62, Y:15.93, Z:-109.82 [[ 2.18645928e-01 -9.71373174e-01 -9.28876494e-02 1.26169139e+01] [ 8.93755982e-01 2.37558683e-01 -3.80481427e-01 1.59294154e+01] [ 3.91655719e-01 1.71822404e-04 9.20111824e-01 -1.09823898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280792138 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:12.62, Y:15.95, Z:-109.85 [[ 2.20331276e-01 -9.71008489e-01 -9.27180787e-02 1.26202634e+01] [ 8.93289908e-01 2.39042722e-01 -3.80646447e-01 1.59470014e+01] [ 3.91774514e-01 1.04419370e-03 9.20060672e-01 -1.09846030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:12.62, Y:15.96, Z:-109.87 [[ 2.19617117e-01 -9.71184334e-01 -9.25705783e-02 1.26248200e+01] [ 8.93413880e-01 2.38327779e-01 -3.80803766e-01 1.59640623e+01] [ 3.91892792e-01 9.27185601e-04 9.20010424e-01 -1.09867262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340792138 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:12.63, Y:15.98, Z:-109.89 [[ 2.20827740e-01 -9.70918176e-01 -9.24824509e-02 1.26280579e+01] [ 8.93234709e-01 2.39407308e-01 -3.80546838e-01 1.59806457e+01] [ 3.91620817e-01 1.42676327e-03 9.20125589e-01 -1.09887993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370792138 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:12.63, Y:16.00, Z:-109.91 [[ 2.18687998e-01 -9.71416069e-01 -9.23384027e-02 1.26328586e+01] [ 8.93714090e-01 2.37382162e-01 -3.80689946e-01 1.59969129e+01] [ 3.91727820e-01 7.28190725e-04 9.20080858e-01 -1.09909829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:12.64, Y:16.01, Z:-109.93 [[ 2.16460861e-01 -9.71906577e-01 -9.24245717e-02 1.26372004e+01] [ 8.93841934e-01 2.35366960e-01 -3.81639871e-01 1.60131514e+01] [ 3.92671991e-01 -2.86273597e-06 9.19678589e-01 -1.09931668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43079213800002 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:12.63, Y:16.03, Z:-109.96 [[ 2.25277416e-01 -9.69808561e-01 -9.33886588e-02 1.26348002e+01] [ 8.89818479e-01 2.43838028e-01 -3.85702074e-01 1.60281296e+01] [ 3.96828880e-01 3.79101209e-03 9.17884780e-01 -1.09955168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46079213800002 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:12.64, Y:16.04, Z:-109.98 [[ 2.19695440e-01 -9.71006559e-01 -9.42346880e-02 1.26404007e+01] [ 8.89155988e-01 2.39045000e-01 -3.90203943e-01 1.60412019e+01] [ 4.01416919e-01 1.93669003e-03 9.15893392e-01 -1.09979796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49079213800002 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:12.65, Y:16.06, Z:-110.00 [[ 2.15754497e-01 -9.71868935e-01 -9.44498291e-02 1.26456036e+01] [ 8.89528240e-01 2.35521909e-01 -3.91495775e-01 1.60569913e+01] [ 4.02727586e-01 4.51183632e-04 9.15319774e-01 -1.10001225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520792138 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:12.65, Y:16.07, Z:-110.02 [[ 2.20728150e-01 -9.70762723e-01 -9.43335519e-02 1.26471664e+01] [ 8.88430145e-01 2.40027548e-01 -3.91252673e-01 1.60738390e+01] [ 4.02456162e-01 2.55170748e-03 9.15435703e-01 -1.10022215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.550792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:12.65, Y:16.09, Z:-110.04 [[ 2.20827077e-01 -9.70758481e-01 -9.41454911e-02 1.26512187e+01] [ 8.88332123e-01 2.40041774e-01 -3.91466455e-01 1.60909191e+01] [ 4.02618232e-01 2.81392904e-03 9.15363666e-01 -1.10044321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580792138 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:12.66, Y:16.11, Z:-110.07 [[ 2.20857230e-01 -9.70724623e-01 -9.44234587e-02 1.26551341e+01] [ 8.87731194e-01 2.40177418e-01 -3.92744364e-01 1.61076546e+01] [ 4.03925007e-01 2.91778271e-03 9.14787448e-01 -1.10065369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.610792138 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:12.66, Y:16.13, Z:-110.09 [[ 2.25621847e-01 -9.69642431e-01 -9.42779869e-02 1.26569340e+01] [ 8.86394263e-01 2.44473446e-01 -3.93113144e-01 1.61253500e+01] [ 4.04227649e-01 5.12744673e-03 9.14644039e-01 -1.10087174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:12.67, Y:16.14, Z:-110.11 [[ 2.10199215e-01 -9.72733251e-01 -9.80117947e-02 1.26674224e+01] [ 8.91512733e-01 2.31859686e-01 -3.89160807e-01 1.61407192e+01] [ 4.01274641e-01 -5.57746674e-03 9.15940803e-01 -1.10109795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.670792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:12.66, Y:16.16, Z:-110.13 [[ 2.40499637e-01 -9.66369578e-01 -9.10481389e-02 1.26611689e+01] [ 8.85827736e-01 2.56863666e-01 -3.86432762e-01 1.61556496e+01] [ 3.96823824e-01 1.22839723e-02 9.17812593e-01 -1.10132788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:12.67, Y:16.18, Z:-110.15 [[ 2.28919686e-01 -9.69044207e-01 -9.24613545e-02 1.26682011e+01] [ 8.87599856e-01 2.46789045e-01 -3.88923723e-01 1.61755624e+01] [ 3.99702730e-01 6.96361163e-03 9.16618370e-01 -1.10154299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.730792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:12.67, Y:16.19, Z:-110.18 [[ 2.25302866e-01 -9.69861503e-01 -9.27754507e-02 1.26731633e+01] [ 8.88863327e-01 2.43606317e-01 -3.88043745e-01 1.61919046e+01] [ 3.98949375e-01 4.96267200e-03 9.16959524e-01 -1.10176883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:12.67, Y:16.21, Z:-110.20 [[ 2.39076551e-01 -9.66870866e-01 -8.94602158e-02 1.26718632e+01] [ 8.83611927e-01 2.54833062e-01 -3.92797750e-01 1.62110957e+01] [ 4.02582122e-01 1.48606179e-02 9.15263239e-01 -1.10197893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.790792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:12.68, Y:16.22, Z:-110.22 [[ 2.22689284e-01 -9.70380939e-01 -9.36499632e-02 1.26824795e+01] [ 8.91966198e-01 2.41574780e-01 -3.82149090e-01 1.62195795e+01] [ 3.93453663e-01 1.56790552e-03 9.19343112e-01 -1.10223081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:12.68, Y:16.25, Z:-110.24 [[ 2.38137447e-01 -9.67190922e-01 -8.85001504e-02 1.26807912e+01] [ 8.84586196e-01 2.53612179e-01 -3.91392545e-01 1.62453365e+01] [ 4.00996032e-01 1.49192099e-02 9.15958296e-01 -1.10243177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.850792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:12.69, Y:16.26, Z:-110.27 [[ 2.11375650e-01 -9.72751117e-01 -9.52659410e-02 1.26942454e+01] [ 8.92758828e-01 2.31826999e-01 -3.86313238e-01 1.62587678e+01] [ 3.97871851e-01 -3.39229790e-03 9.17434729e-01 -1.10265730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:12.69, Y:16.28, Z:-110.29 [[ 2.20603251e-01 -9.70960492e-01 -9.25739051e-02 1.26943272e+01] [ 8.90624231e-01 2.39222722e-01 -3.86731132e-01 1.62761063e+01] [ 3.97646432e-01 2.86558204e-03 9.17534252e-01 -1.10288583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.910792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:12.70, Y:16.29, Z:-110.31 [[ 2.23963482e-01 -9.70296998e-01 -9.14554224e-02 1.26966382e+01] [ 8.89574596e-01 2.41855817e-01 -3.87508454e-01 1.62936217e+01] [ 3.98117316e-01 5.43132215e-03 9.17318431e-01 -1.10310322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:12.70, Y:16.31, Z:-110.33 [[ 2.23631197e-01 -9.70354222e-01 -9.16611749e-02 1.26999267e+01] [ 8.89721996e-01 2.41634159e-01 -3.87308278e-01 1.63100114e+01] [ 3.97974694e-01 5.06125020e-03 9.17382432e-01 -1.10332067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:12.70, Y:16.33, Z:-110.35 [[ 2.24494225e-01 -9.70204143e-01 -9.11387114e-02 1.27036564e+01] [ 8.89413347e-01 2.42215457e-01 -3.87653931e-01 1.63273568e+01] [ 3.98178655e-01 5.96608234e-03 9.17288485e-01 -1.10353539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000792138 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:12.71, Y:16.34, Z:-110.38 [[ 2.26078597e-01 -9.69874849e-01 -9.07262109e-02 1.27071009e+01] [ 8.88884453e-01 2.43500611e-01 -3.88061699e-01 1.63444837e+01] [ 3.98463170e-01 7.08732639e-03 9.17156951e-01 -1.10375178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:12.71, Y:16.36, Z:-110.40 [[ 2.28405637e-01 -9.69322049e-01 -9.08054553e-02 1.27098277e+01] [ 8.87883586e-01 2.45656547e-01 -3.88993058e-01 1.63613769e+01] [ 3.99366503e-01 8.22353381e-03 9.16754476e-01 -1.10396233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:12.72, Y:16.37, Z:-110.42 [[ 2.23328506e-01 -9.70447939e-01 -9.14066557e-02 1.27159977e+01] [ 8.92626732e-01 2.41285942e-01 -3.80786831e-01 1.63725073e+01] [ 3.91588937e-01 3.44852965e-03 9.20133801e-01 -1.10421328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:12.71, Y:16.40, Z:-110.44 [[ 2.38348365e-01 -9.67261751e-01 -8.71479353e-02 1.27149461e+01] [ 8.85376145e-01 2.53291488e-01 -3.89810856e-01 1.63969275e+01] [ 3.99122961e-01 1.57520772e-02 9.16762092e-01 -1.10439995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120792138 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:12.72, Y:16.41, Z:-110.46 [[ 2.24951582e-01 -9.70130533e-01 -9.07939112e-02 1.27237579e+01] [ 8.88735575e-01 2.42487531e-01 -3.89035828e-01 1.64123160e+01] [ 3.99431927e-01 6.82244625e-03 9.16737471e-01 -1.10461868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:12.73, Y:16.43, Z:-110.48 [[ 2.27256061e-01 -9.69626470e-01 -9.04388857e-02 1.27260789e+01] [ 8.87600802e-01 2.44444590e-01 -3.90399357e-01 1.64299701e+01] [ 4.00648847e-01 8.44699244e-03 9.16192747e-01 -1.10482947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18079213800002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:12.73, Y:16.45, Z:-110.50 [[ 2.24641282e-01 -9.70138342e-01 -9.14761839e-02 1.27302987e+01] [ 8.88170117e-01 2.42466759e-01 -3.90337949e-01 1.64458794e+01] [ 4.00861744e-01 6.43960420e-03 9.16115928e-01 -1.10504211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21079213800002 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:12.74, Y:16.46, Z:-110.53 [[ 2.21901555e-01 -9.70790236e-01 -9.12470148e-02 1.27353873e+01] [ 8.88868286e-01 2.39866453e-01 -3.90355292e-01 1.64623083e+01] [ 4.00840204e-01 5.51386874e-03 9.16131392e-01 -1.10526343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24079213800002 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:12.74, Y:16.48, Z:-110.55 [[ 2.20717911e-01 -9.71065400e-01 -9.11898708e-02 1.27397176e+01] [ 8.88929208e-01 2.38756731e-01 -3.90896517e-01 1.64792109e+01] [ 4.01358278e-01 5.21652307e-03 9.15906284e-01 -1.10548806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.270792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:12.74, Y:16.50, Z:-110.57 [[ 2.20701485e-01 -9.71087731e-01 -9.09916063e-02 1.27431254e+01] [ 8.88982085e-01 2.38662535e-01 -3.90833784e-01 1.64956120e+01] [ 4.01250180e-01 5.36768855e-03 9.15952772e-01 -1.10570943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:12.75, Y:16.51, Z:-110.59 [[ 2.20309381e-01 -9.71191552e-01 -9.08336131e-02 1.27468751e+01] [ 8.89079240e-01 2.38240008e-01 -3.90870571e-01 1.65127178e+01] [ 4.01250397e-01 5.35417392e-03 9.15952756e-01 -1.10593407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.330792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:12.75, Y:16.53, Z:-110.62 [[ 2.18055300e-01 -9.71727079e-01 -9.05448499e-02 1.27516226e+01] [ 8.89842442e-01 2.36062700e-01 -3.90454645e-01 1.65295622e+01] [ 4.00789614e-01 4.57005447e-03 9.16158720e-01 -1.10615203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360792138 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:12.75, Y:16.55, Z:-110.64 [[ 2.17488576e-01 -9.71889273e-01 -9.01662897e-02 1.27546200e+01] [ 8.90549891e-01 2.35398065e-01 -3.89241111e-01 1.65455506e+01] [ 3.99524231e-01 4.35791549e-03 9.16712276e-01 -1.10636609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.390792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:12.76, Y:16.56, Z:-110.66 [[ 2.17109846e-01 -9.71995559e-01 -8.99330253e-02 1.27582805e+01] [ 8.90713783e-01 2.34958405e-01 -3.89131731e-01 1.65624135e+01] [ 3.99364835e-01 4.37974498e-03 9.16781624e-01 -1.10658686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:12.76, Y:16.58, Z:-110.68 [[ 2.19289695e-01 -9.71528571e-01 -8.96898284e-02 1.27612141e+01] [ 8.90311874e-01 2.36860204e-01 -3.88898459e-01 1.65786998e+01] [ 3.99069915e-01 5.42950543e-03 9.16904424e-01 -1.10680781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.450792138 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:12.76, Y:16.60, Z:-110.70 [[ 2.23085383e-01 -9.70671322e-01 -8.96108067e-02 1.27629196e+01] [ 8.89482541e-01 2.40308470e-01 -3.88680650e-01 1.65952951e+01] [ 3.98815397e-01 7.00172367e-03 9.17004501e-01 -1.10702145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:12.77, Y:16.61, Z:-110.72 [[ 2.22506369e-01 -9.70827450e-01 -8.93587084e-02 1.27667325e+01] [ 8.89977885e-01 2.39683035e-01 -3.87932220e-01 1.66112433e+01] [ 3.98033014e-01 6.79011538e-03 9.17345962e-01 -1.10722990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.510792138 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:12.77, Y:16.63, Z:-110.75 [[ 2.22473886e-01 -9.70856971e-01 -8.91185239e-02 1.27704133e+01] [ 8.90023900e-01 2.39557944e-01 -3.87903918e-01 1.66283518e+01] [ 3.97948273e-01 6.98087585e-03 9.17381294e-01 -1.10745191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:12.77, Y:16.65, Z:-110.77 [[ 2.22176010e-01 -9.70949880e-01 -8.88490386e-02 1.27740505e+01] [ 8.90293691e-01 2.39180678e-01 -3.87517415e-01 1.66450141e+01] [ 3.97510960e-01 6.99533464e-03 9.17570761e-01 -1.10767287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.570792138 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:12.78, Y:16.66, Z:-110.79 [[ 2.19495175e-01 -9.71593361e-01 -8.84771680e-02 1.27791048e+01] [ 8.91351113e-01 2.36580248e-01 -3.86682013e-01 1.66618191e+01] [ 3.96629627e-01 6.01061394e-03 9.17959047e-01 -1.10789550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600792138 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:12.78, Y:16.68, Z:-110.81 [[ 2.18741187e-01 -9.71766763e-01 -8.84401063e-02 1.27827992e+01] [ 8.91557364e-01 2.35874103e-01 -3.86637910e-01 1.66779346e+01] [ 3.96582601e-01 5.72420720e-03 9.17981195e-01 -1.10811018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.630792138 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:12.79, Y:16.69, Z:-110.83 [[ 2.17934776e-01 -9.71969210e-01 -8.82059392e-02 1.27863130e+01] [ 8.91784861e-01 2.35041538e-01 -3.86620274e-01 1.66944059e+01] [ 3.96515062e-01 5.59728151e-03 9.18011152e-01 -1.10832874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660792138 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:12.79, Y:16.71, Z:-110.85 [[ 2.15415502e-01 -9.72521356e-01 -8.83084028e-02 1.27903854e+01] [ 8.92135419e-01 2.32767783e-01 -3.87186717e-01 1.67102986e+01] [ 3.97102702e-01 4.62296735e-03 9.17762536e-01 -1.10853925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:12.80, Y:16.73, Z:-110.88 [[ 2.11048901e-01 -9.73509976e-01 -8.79584499e-02 1.27959152e+01] [ 8.93438161e-01 2.28624641e-01 -3.86651040e-01 1.67269895e+01] [ 3.96518113e-01 3.01684139e-03 9.18021941e-01 -1.10876023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:12.80, Y:16.74, Z:-110.90 [[ 2.12572486e-01 -9.73181754e-01 -8.79216265e-02 1.27989674e+01] [ 8.93102464e-01 2.30008451e-01 -3.86605872e-01 1.67430686e+01] [ 3.96460498e-01 3.65874998e-03 9.18044491e-01 -1.10897134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750792138 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:12.80, Y:16.76, Z:-110.92 [[ 2.13464992e-01 -9.72993230e-01 -8.78457235e-02 1.28020484e+01] [ 8.92899524e-01 2.30797429e-01 -3.86604433e-01 1.67590816e+01] [ 3.96438063e-01 4.08910756e-03 9.18052363e-01 -1.10918362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780792138 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:12.80, Y:16.78, Z:-110.94 [[ 2.15391585e-01 -9.72602581e-01 -8.74681918e-02 1.28043394e+01] [ 8.92863405e-01 2.32420727e-01 -3.85714331e-01 1.67763518e+01] [ 3.95476175e-01 4.98247357e-03 9.18462721e-01 -1.10940299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810792138 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:12.81, Y:16.79, Z:-110.96 [[ 2.14312461e-01 -9.72863426e-01 -8.72176803e-02 1.28084849e+01] [ 8.93284146e-01 2.31332681e-01 -3.85394118e-01 1.67931942e+01] [ 3.95112141e-01 4.68459072e-03 9.18620950e-01 -1.10962493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840792138 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:12.81, Y:16.81, Z:-110.98 [[ 2.10185688e-01 -9.73787356e-01 -8.69491885e-02 1.28141014e+01] [ 8.94466757e-01 2.27438594e-01 -3.84968709e-01 1.68098910e+01] [ 3.94653263e-01 3.14175417e-03 9.18824756e-01 -1.10984833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870792138 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:12.82, Y:16.83, Z:-111.01 [[ 2.14726819e-01 -9.72789831e-01 -8.70191817e-02 1.28156219e+01] [ 8.93208308e-01 2.31634786e-01 -3.85388434e-01 1.68260952e+01] [ 3.95058619e-01 5.02697635e-03 9.18642160e-01 -1.11006401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900792138 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:12.82, Y:16.84, Z:-111.03 [[ 2.15704133e-01 -9.72613498e-01 -8.65719967e-02 1.28184243e+01] [ 8.93410152e-01 2.32361215e-01 -3.84482204e-01 1.68432313e+01] [ 3.94068556e-01 5.59009967e-03 9.19064048e-01 -1.11028441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93079213800002 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:12.82, Y:16.86, Z:-111.05 [[ 2.12171016e-01 -9.73393182e-01 -8.65400066e-02 1.28235051e+01] [ 8.94261236e-01 2.29103092e-01 -3.84458860e-01 1.68591635e+01] [ 3.94056216e-01 4.18165371e-03 9.19076826e-01 -1.11049877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96079213800002 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:12.83, Y:16.88, Z:-111.07 [[ 2.10514242e-01 -9.73770310e-01 -8.63431337e-02 1.28276973e+01] [ 8.94602877e-01 2.27502780e-01 -3.84614323e-01 1.68754830e+01] [ 3.94169312e-01 3.72397707e-03 9.19030296e-01 -1.11072633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99079213800002 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:12.83, Y:16.89, Z:-111.09 [[ 2.10924784e-01 -9.73687060e-01 -8.62800332e-02 1.28311945e+01] [ 8.94286244e-01 2.27852770e-01 -3.85143127e-01 1.68924065e+01] [ 3.94668024e-01 4.07718391e-03 9.18814741e-01 -1.11094532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:12.83, Y:16.91, Z:-111.12 [[ 2.20389551e-01 -9.71845243e-01 -8.33382781e-02 1.28320474e+01] [ 8.93948038e-01 2.35426609e-01 -3.81354451e-01 1.69053778e+01] [ 3.90237558e-01 9.54644613e-03 9.20664713e-01 -1.11117105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.050792138 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:12.84, Y:16.93, Z:-111.14 [[ 2.08434170e-01 -9.74379267e-01 -8.44999487e-02 1.28386938e+01] [ 8.95217696e-01 2.24865244e-01 -3.84734843e-01 1.69255709e+01] [ 3.93878756e-01 4.54603814e-03 9.19151162e-01 -1.11138502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:12.84, Y:16.94, Z:-111.16 [[ 2.12648278e-01 -9.73482650e-01 -8.43340984e-02 1.28408522e+01] [ 8.95347606e-01 2.28688341e-01 -3.82170522e-01 1.69390434e+01] [ 3.91322597e-01 5.75957024e-03 9.20235542e-01 -1.11161978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.110792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:12.85, Y:16.96, Z:-111.18 [[ 2.05859540e-01 -9.74939515e-01 -8.43492232e-02 1.28460774e+01] [ 8.94950788e-01 2.22431736e-01 -3.86765058e-01 1.69594096e+01] [ 3.95834482e-01 4.13087299e-03 9.18312582e-01 -1.11183985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140792138 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:12.85, Y:16.98, Z:-111.21 [[ 2.01504735e-01 -9.75704320e-01 -8.60053572e-02 1.28516258e+01] [ 8.96101838e-01 2.19090329e-01 -3.86006377e-01 1.69752500e+01] [ 3.95471032e-01 7.12554234e-04 9.18478173e-01 -1.11205757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.170792138 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:12.85, Y:16.99, Z:-111.23 [[ 2.08775452e-01 -9.74203817e-01 -8.56722426e-02 1.28524452e+01] [ 8.95222608e-01 2.25642330e-01 -3.84268163e-01 1.69911426e+01] [ 3.93686796e-01 3.53003088e-03 9.19237861e-01 -1.11229121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:12.86, Y:17.01, Z:-111.25 [[ 2.08581433e-01 -9.74387555e-01 -8.40397423e-02 1.28558557e+01] [ 8.95044396e-01 2.24817007e-01 -3.85165993e-01 1.70093475e+01] [ 3.94194513e-01 5.11917437e-03 9.19012775e-01 -1.11250214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.230792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:12.86, Y:17.03, Z:-111.27 [[ 2.02884310e-01 -9.75482477e-01 -8.52754028e-02 1.28613732e+01] [ 8.96342702e-01 2.20070919e-01 -3.84887713e-01 1.70260356e+01] [ 3.94217855e-01 1.65169303e-03 9.19015535e-01 -1.11272697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:12.87, Y:17.04, Z:-111.30 [[ 2.03394587e-01 -9.75395147e-01 -8.50585032e-02 1.28652225e+01] [ 8.97142009e-01 2.20458400e-01 -3.82798001e-01 1.70416489e+01] [ 3.92131174e-01 1.54948498e-03 9.19908007e-01 -1.11295614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.290792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.87, Y:17.06, Z:-111.32 [[ 2.03875928e-01 -9.75407795e-01 -8.37510524e-02 1.28681200e+01] [ 8.96111762e-01 2.20380206e-01 -3.85248329e-01 1.70597383e+01] [ 3.94231298e-01 3.49255770e-03 9.19004617e-01 -1.11316938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320792138 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:12.87, Y:17.08, Z:-111.34 [[ 1.96145891e-01 -9.76881763e-01 -8.50224109e-02 1.28738822e+01] [ 8.97864950e-01 2.13778640e-01 -3.84885990e-01 1.70756502e+01] [ 3.94164080e-01 -8.44837458e-04 9.19039697e-01 -1.11338465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.350792138 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:12.88, Y:17.09, Z:-111.36 [[ 1.95396335e-01 -9.77061525e-01 -8.46820421e-02 1.28772980e+01] [ 8.98268461e-01 2.12955067e-01 -3.84400716e-01 1.70925709e+01] [ 3.93616620e-01 -9.56716622e-04 9.19274193e-01 -1.11360853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:12.88, Y:17.11, Z:-111.38 [[ 1.92845448e-01 -9.77554885e-01 -8.48356065e-02 1.28810561e+01] [ 8.98457926e-01 2.10672034e-01 -3.85215068e-01 1.71084896e+01] [ 3.94441362e-01 -1.93425050e-03 9.18919077e-01 -1.11382201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.410792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:12.88, Y:17.13, Z:-111.40 [[ 1.93667017e-01 -9.77411703e-01 -8.46135264e-02 1.28838155e+01] [ 8.98275070e-01 2.11339602e-01 -3.85275838e-01 1.71254755e+01] [ 3.94455302e-01 -1.39099912e-03 9.18914076e-01 -1.11404493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:12.89, Y:17.14, Z:-111.43 [[ 1.88250745e-01 -9.78478915e-01 -8.45024845e-02 1.28893101e+01] [ 8.99474627e-01 2.06317247e-01 -3.85199413e-01 1.71414773e+01] [ 3.94343824e-01 -3.49376410e-03 9.18956333e-01 -1.11425632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:12.89, Y:17.16, Z:-111.45 [[ 1.90368764e-01 -9.78094973e-01 -8.42018855e-02 1.28916838e+01] [ 8.99217890e-01 2.08144607e-01 -3.84815552e-01 1.71584617e+01] [ 3.93912325e-01 -2.45898083e-03 9.19144729e-01 -1.11447239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:12.90, Y:17.17, Z:-111.47 [[ 1.89694110e-01 -9.78231567e-01 -8.41376628e-02 1.28963290e+01] [ 9.00143247e-01 2.07493363e-01 -3.82999530e-01 1.71739413e+01] [ 3.92120237e-01 -3.08319397e-03 9.19908807e-01 -1.11470108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:12.90, Y:17.19, Z:-111.49 [[ 1.95128117e-01 -9.77308269e-01 -8.24230918e-02 1.28977000e+01] [ 8.99024886e-01 2.11820869e-01 -3.83257319e-01 1.71913804e+01] [ 3.92019478e-01 6.83868481e-04 9.19956663e-01 -1.11492662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:12.90, Y:17.21, Z:-111.52 [[ 1.95827619e-01 -9.77140926e-01 -8.27475308e-02 1.29004733e+01] [ 8.99123937e-01 2.12591949e-01 -3.82597450e-01 1.72069948e+01] [ 3.91443086e-01 5.22862084e-04 9.20202172e-01 -1.11515089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:12.90, Y:17.22, Z:-111.54 [[ 1.99326749e-01 -9.76520306e-01 -8.17125342e-02 1.29024274e+01] [ 8.98455242e-01 2.15406570e-01 -3.82594026e-01 1.72241290e+01] [ 3.91212252e-01 2.84616867e-03 9.20296079e-01 -1.11537093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:12.91, Y:17.24, Z:-111.56 [[ 1.96819901e-01 -9.77027422e-01 -8.17272492e-02 1.29069358e+01] [ 8.99031760e-01 2.13105905e-01 -3.82528127e-01 1.72403141e+01] [ 3.91157029e-01 1.81375516e-03 9.20322166e-01 -1.11559186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:12.91, Y:17.26, Z:-111.58 [[ 1.96224250e-01 -9.77160244e-01 -8.15714491e-02 1.29102416e+01] [ 8.99498135e-01 2.12498210e-01 -3.81769061e-01 1.72567959e+01] [ 3.90383336e-01 1.53898147e-03 9.20651119e-01 -1.11581280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68079213800002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.91, Y:17.27, Z:-111.60 [[ 1.97018495e-01 -9.77044212e-01 -8.10451806e-02 1.29137510e+01] [ 8.99082693e-01 2.13022150e-01 -3.82455063e-01 1.72738445e+01] [ 3.90939924e-01 2.48440170e-03 9.20412844e-01 -1.11603026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71079213800002 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:12.92, Y:17.29, Z:-111.63 [[ 1.92281513e-01 -9.77964373e-01 -8.13234568e-02 1.29185960e+01] [ 9.00535222e-01 2.08771826e-01 -3.81379915e-01 1.72894196e+01] [ 3.89954016e-01 9.76697739e-05 9.20834326e-01 -1.11625424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74079213800002 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:12.92, Y:17.31, Z:-111.65 [[ 1.96986262e-01 -9.77088620e-01 -8.05868506e-02 1.29201953e+01] [ 8.99739187e-01 2.12817599e-01 -3.81022395e-01 1.73056237e+01] [ 3.89442946e-01 2.54903004e-03 9.21047064e-01 -1.11648021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.770792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.92, Y:17.32, Z:-111.67 [[ 1.91063791e-01 -9.78241490e-01 -8.08592247e-02 1.29247277e+01] [ 9.00007070e-01 2.07468958e-01 -3.83332631e-01 1.73236957e+01] [ 3.91767663e-01 4.67111819e-04 9.20064063e-01 -1.11669687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800792138 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.93, Y:17.34, Z:-111.69 [[ 1.86039260e-01 -9.79082892e-01 -8.23776864e-02 1.29292670e+01] [ 9.01235271e-01 2.03438725e-01 -3.82606419e-01 1.73394502e+01] [ 3.91362211e-01 -3.06186124e-03 9.20231626e-01 -1.11691271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.830792138 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.93, Y:17.36, Z:-111.71 [[ 1.85777949e-01 -9.79137945e-01 -8.23130486e-02 1.29327585e+01] [ 9.01289320e-01 2.03172932e-01 -3.82620335e-01 1.73565669e+01] [ 3.91361872e-01 -3.10545053e-03 9.20231624e-01 -1.11713777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860792138 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:12.94, Y:17.37, Z:-111.74 [[ 1.82051982e-01 -9.79857285e-01 -8.20778725e-02 1.29374910e+01] [ 9.02095576e-01 1.99650688e-01 -3.82574404e-01 1.73728159e+01] [ 3.91255220e-01 -4.39365713e-03 9.20271725e-01 -1.11735959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.890792138 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.94, Y:17.39, Z:-111.76 [[ 1.84372412e-01 -9.79518234e-01 -8.09372765e-02 1.29403676e+01] [ 9.02306911e-01 2.01336708e-01 -3.81189936e-01 1.73877341e+01] [ 3.89678138e-01 -2.74935602e-03 9.20947007e-01 -1.11758429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920792138 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:12.94, Y:17.41, Z:-111.78 [[ 1.85055177e-01 -9.79409780e-01 -8.06911651e-02 1.29433313e+01] [ 9.01572922e-01 2.01873033e-01 -3.82640229e-01 1.74062859e+01] [ 3.91050953e-01 -1.93941411e-03 9.20366987e-01 -1.11780458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.950792138 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:12.95, Y:17.42, Z:-111.80 [[ 1.76946580e-01 -9.80843172e-01 -8.14652084e-02 1.29498141e+01] [ 9.03520261e-01 1.94704953e-01 -3.81760552e-01 1.74227999e+01] [ 3.90308910e-01 -6.05424221e-03 9.20664054e-01 -1.11802322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:12.95, Y:17.44, Z:-111.83 [[ 1.86719163e-01 -9.79121077e-01 -8.03608776e-02 1.29495141e+01] [ 9.02698411e-01 2.03270552e-01 -3.79231671e-01 1.74394966e+01] [ 3.87648722e-01 -1.73181619e-03 9.21805548e-01 -1.11825206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.010792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:12.95, Y:17.46, Z:-111.85 [[ 1.92126747e-01 -9.78190148e-01 -7.89388832e-02 1.29495290e+01] [ 9.02605951e-01 2.07708018e-01 -3.77040948e-01 1.74573465e+01] [ 3.85213980e-01 1.18894532e-03 9.22826515e-01 -1.11846591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:12.96, Y:17.47, Z:-111.87 [[ 1.82991123e-01 -9.79908445e-01 -7.93327699e-02 1.29556469e+01] [ 9.03941832e-01 1.99432349e-01 -3.78306625e-01 1.74738286e+01] [ 3.86527377e-01 -2.48545545e-03 9.22274585e-01 -1.11868915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.070792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:12.96, Y:17.49, Z:-111.89 [[ 1.82055783e-01 -9.79993687e-01 -8.04242891e-02 1.29595518e+01] [ 9.04190472e-01 1.98990131e-01 -3.77945127e-01 1.74901526e+01] [ 3.86387478e-01 -3.91177990e-03 9.22328258e-01 -1.11890590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:12.96, Y:17.51, Z:-111.91 [[ 1.81123032e-01 -9.80180619e-01 -8.02521126e-02 1.29631179e+01] [ 9.04277542e-01 1.98064201e-01 -3.78223082e-01 1.75071395e+01] [ 3.86622005e-01 -4.06527189e-03 9.22229309e-01 -1.11912795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.130792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:12.97, Y:17.52, Z:-111.94 [[ 1.82468726e-01 -9.79941682e-01 -8.01215618e-02 1.29659995e+01] [ 9.03917841e-01 1.99256030e-01 -3.78456830e-01 1.75237667e+01] [ 3.86830326e-01 -3.36677361e-03 9.22144763e-01 -1.11935428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160792138 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:12.97, Y:17.54, Z:-111.96 [[ 1.85024439e-01 -9.79455095e-01 -8.02101906e-02 1.29679374e+01] [ 9.03164140e-01 2.01649030e-01 -3.78988396e-01 1.75399436e+01] [ 3.87376422e-01 -2.32085227e-03 9.21918717e-01 -1.11956557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:12.97, Y:17.56, Z:-111.98 [[ 1.86705298e-01 -9.79116889e-01 -8.04440721e-02 1.29712213e+01] [ 9.03236154e-01 2.03287288e-01 -3.77940113e-01 1.75569701e+01] [ 3.86400805e-01 -2.09657293e-03 9.22328587e-01 -1.11978564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:12.97, Y:17.57, Z:-112.00 [[ 1.91631176e-01 -9.78286917e-01 -7.89442880e-02 1.29727337e+01] [ 9.02243334e-01 2.07251467e-01 -3.78158427e-01 1.75743296e+01] [ 3.86308761e-01 1.23998649e-03 9.22368692e-01 -1.12001158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250792138 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:12.98, Y:17.59, Z:-112.02 [[ 1.91458291e-01 -9.78331181e-01 -7.88151230e-02 1.29761168e+01] [ 9.02321655e-01 2.07042230e-01 -3.78086162e-01 1.75912700e+01] [ 3.86211540e-01 1.27113796e-03 9.22409362e-01 -1.12023767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:12.98, Y:17.61, Z:-112.05 [[ 1.95773801e-01 -9.77517807e-01 -7.83042472e-02 1.29778371e+01] [ 9.01629795e-01 2.10826556e-01 -3.77645172e-01 1.76078760e+01] [ 3.85663495e-01 3.33158825e-03 9.22633497e-01 -1.12046568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310792138 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:12.98, Y:17.62, Z:-112.07 [[ 1.95061226e-01 -9.77640744e-01 -7.85474017e-02 1.29816801e+01] [ 9.01851296e-01 2.10263706e-01 -3.77430013e-01 1.76246483e+01] [ 3.85506626e-01 2.78388507e-03 9.22700868e-01 -1.12068210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340792138 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:12.98, Y:17.64, Z:-112.09 [[ 1.94778486e-01 -9.77723859e-01 -7.82137946e-02 1.29842477e+01] [ 9.00614129e-01 2.09862889e-01 -3.80593955e-01 1.76414976e+01] [ 3.88529963e-01 3.69106587e-03 9.21428697e-01 -1.12090686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370792138 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:12.99, Y:17.66, Z:-112.11 [[ 1.88038650e-01 -9.78922209e-01 -7.97042949e-02 1.29896004e+01] [ 9.01972296e-01 2.04233160e-01 -3.80440263e-01 1.76578739e+01] [ 3.88699683e-01 -3.53592393e-04 9.21364440e-01 -1.12112709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400792138 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:12.99, Y:17.67, Z:-112.14 [[ 1.85274675e-01 -9.79451159e-01 -7.96788703e-02 1.29938752e+01] [ 9.02230982e-01 2.01677539e-01 -3.81189488e-01 1.76745501e+01] [ 3.89425924e-01 -1.26398709e-03 9.21056921e-01 -1.12135144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43079213800002 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:13.00, Y:17.69, Z:-112.16 [[ 1.88139268e-01 -9.78915080e-01 -7.95542701e-02 1.29957349e+01] [ 9.01712580e-01 2.04267628e-01 -3.81036952e-01 1.76905619e+01] [ 3.89253180e-01 -4.70728975e-05 9.21130805e-01 -1.12156236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46079213800002 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:12.99, Y:17.70, Z:-112.18 [[ 2.14019498e-01 -9.73955582e-01 -7.48744205e-02 1.29920533e+01] [ 8.98545846e-01 2.26354679e-01 -3.76003885e-01 1.77006104e+01] [ 3.83159258e-01 1.31940629e-02 9.23588057e-01 -1.12181172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49079213800002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:13.00, Y:17.72, Z:-112.20 [[ 1.90252651e-01 -9.78590538e-01 -7.85142562e-02 1.30005668e+01] [ 9.01585141e-01 2.05810550e-01 -3.80507885e-01 1.77223280e+01] [ 3.88520478e-01 1.60534701e-03 9.21438691e-01 -1.12201313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:13.00, Y:17.74, Z:-112.22 [[ 1.88478856e-01 -9.78941767e-01 -7.84138875e-02 1.30043509e+01] [ 9.02164800e-01 2.04137775e-01 -3.80034791e-01 1.77390696e+01] [ 3.88039166e-01 8.86273434e-04 9.21642458e-01 -1.12223205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.550792138 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:13.01, Y:17.76, Z:-112.24 [[ 1.90189895e-01 -9.78632444e-01 -7.81431014e-02 1.30068693e+01] [ 9.02105602e-01 2.05610752e-01 -3.79380682e-01 1.77560497e+01] [ 3.87341306e-01 1.66104275e-03 9.21934897e-01 -1.12244912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:13.01, Y:17.77, Z:-112.27 [[ 1.91695996e-01 -9.78336575e-01 -7.81677073e-02 1.30094103e+01] [ 9.01418742e-01 2.07006363e-01 -3.80253360e-01 1.77731595e+01] [ 3.88196983e-01 2.43121006e-03 9.21573216e-01 -1.12266702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.610792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:13.01, Y:17.79, Z:-112.29 [[ 1.92281208e-01 -9.78253575e-01 -7.77681219e-02 1.30114939e+01] [ 9.00847735e-01 2.07386586e-01 -3.81397642e-01 1.77894736e+01] [ 3.89231672e-01 3.27836301e-03 9.21134061e-01 -1.12288725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640792138 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:13.02, Y:17.81, Z:-112.31 [[ 1.88075877e-01 -9.79006488e-01 -7.85732779e-02 1.30161894e+01] [ 9.02080596e-01 2.03828000e-01 -3.80400768e-01 1.78056731e+01] [ 3.88430254e-01 6.64778792e-04 9.21477887e-01 -1.12310406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.670792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:13.02, Y:17.82, Z:-112.33 [[ 1.85638419e-01 -9.79478907e-01 -7.84821580e-02 1.30205024e+01] [ 9.02296005e-01 2.01546687e-01 -3.81104778e-01 1.78221434e+01] [ 3.89101911e-01 -6.64492621e-05 9.21194713e-01 -1.12332507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700792138 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:13.02, Y:17.84, Z:-112.35 [[ 1.87651893e-01 -9.79103464e-01 -7.83783974e-02 1.30228961e+01] [ 9.02049253e-01 2.03361390e-01 -3.80724691e-01 1.78380187e+01] [ 3.88708004e-01 7.42534220e-04 9.21360698e-01 -1.12354541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.730792138 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:13.02, Y:17.85, Z:-112.38 [[ 1.91271027e-01 -9.78396722e-01 -7.84553864e-02 1.30249443e+01] [ 9.01950499e-01 2.06728735e-01 -3.79141830e-01 1.78545052e+01] [ 3.87170107e-01 1.75597230e-03 9.22006630e-01 -1.12376476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:13.03, Y:17.87, Z:-112.40 [[ 1.93661580e-01 -9.78034890e-01 -7.70905035e-02 1.30264033e+01] [ 9.00407835e-01 2.08391708e-01 -3.81888239e-01 1.78715929e+01] [ 3.89565044e-01 4.54418659e-03 9.20987745e-01 -1.12398597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.790792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:13.03, Y:17.89, Z:-112.42 [[ 1.88060423e-01 -9.79035474e-01 -7.82484374e-02 1.30315937e+01] [ 9.01285492e-01 2.03685126e-01 -3.82356943e-01 1.78873770e+01] [ 3.90279054e-01 1.38202681e-03 9.20695580e-01 -1.12420583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820792138 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:13.04, Y:17.90, Z:-112.44 [[ 1.87117570e-01 -9.79227788e-01 -7.81022008e-02 1.30355169e+01] [ 9.01426052e-01 2.02759869e-01 -3.82517330e-01 1.79042116e+01] [ 3.90407591e-01 1.17235492e-03 9.20641373e-01 -1.12442962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.850792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:13.04, Y:17.92, Z:-112.46 [[ 1.85558630e-01 -9.79525810e-01 -7.80844508e-02 1.30394741e+01] [ 9.01594315e-01 2.01317582e-01 -3.82882388e-01 1.79206307e+01] [ 3.90762955e-01 6.46634755e-04 9.20491116e-01 -1.12464511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.04, Y:17.94, Z:-112.49 [[ 1.87147101e-01 -9.79232396e-01 -7.79735664e-02 1.30427605e+01] [ 9.02226438e-01 2.02739071e-01 -3.80636734e-01 1.79367169e+01] [ 3.88540110e-01 8.85248424e-04 9.21431386e-01 -1.12486903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.910792138 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:13.05, Y:17.95, Z:-112.51 [[ 1.86658856e-01 -9.79424481e-01 -7.67212994e-02 1.30459742e+01] [ 9.01351611e-01 2.01797041e-01 -3.83201288e-01 1.79549743e+01] [ 3.90798853e-01 2.37504731e-03 9.20473039e-01 -1.12509419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940792138 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:13.05, Y:17.97, Z:-112.53 [[ 1.79890541e-01 -9.80611658e-01 -7.77185278e-02 1.30512317e+01] [ 9.02660551e-01 1.95957311e-01 -3.83150965e-01 1.79715127e+01] [ 3.90951817e-01 -1.22821488e-03 9.20410326e-01 -1.12532075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:13.05, Y:17.99, Z:-112.55 [[ 1.84251652e-01 -9.79795047e-01 -7.78009919e-02 1.30533024e+01] [ 9.02721208e-01 2.00004158e-01 -3.80910432e-01 1.79879954e+01] [ 3.88774676e-01 -4.92291608e-05 9.21332865e-01 -1.12554267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:13.05, Y:18.01, Z:-112.58 [[ 1.91048666e-01 -9.78597218e-01 -7.64715168e-02 1.30542596e+01] [ 9.01328256e-01 2.05748236e-01 -3.81149626e-01 1.80058245e+01] [ 3.88725843e-01 3.89218879e-03 9.21345250e-01 -1.12577155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030792138 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:13.06, Y:18.02, Z:-112.60 [[ 1.94179933e-01 -9.78020802e-01 -7.59569869e-02 1.30557771e+01] [ 8.99546001e-01 2.08414568e-01 -3.83901498e-01 1.80233278e+01] [ 3.91294194e-01 6.21916331e-03 9.20244628e-01 -1.12598582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:13.06, Y:18.04, Z:-112.62 [[ 1.90436018e-01 -9.78648441e-01 -7.73392051e-02 1.30603672e+01] [ 9.00227942e-01 2.05511858e-01 -3.83867853e-01 1.80403986e+01] [ 3.91565799e-01 3.47935180e-03 9.20143532e-01 -1.12620749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090792138 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:13.06, Y:18.06, Z:-112.64 [[ 1.90582494e-01 -9.78635612e-01 -7.71404751e-02 1.30634507e+01] [ 9.00251776e-01 2.05569157e-01 -3.83781269e-01 1.80569456e+01] [ 3.91439719e-01 3.69614148e-03 9.20196330e-01 -1.12642493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:13.07, Y:18.07, Z:-112.66 [[ 1.88462863e-01 -9.79062425e-01 -7.69318968e-02 1.30675391e+01] [ 9.01098737e-01 2.03540499e-01 -3.82873780e-01 1.80733085e+01] [ 3.90516088e-01 2.83425377e-03 9.20591740e-01 -1.12663613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150792138 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:13.07, Y:18.09, Z:-112.69 [[ 1.86904780e-01 -9.79379194e-01 -7.67007069e-02 1.30712733e+01] [ 9.01443419e-01 2.02016199e-01 -3.82869713e-01 1.80901827e+01] [ 3.90469416e-01 2.41883212e-03 9.20612722e-01 -1.12686007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18079213800002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:13.08, Y:18.11, Z:-112.71 [[ 1.84069605e-01 -9.79922417e-01 -7.66187776e-02 1.30750901e+01] [ 9.01798306e-01 1.99373677e-01 -3.83418769e-01 1.81070478e+01] [ 3.90996415e-01 1.48105753e-03 9.20391009e-01 -1.12708473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21079213800002 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:13.08, Y:18.12, Z:-112.73 [[ 1.84672722e-01 -9.79807050e-01 -7.66428836e-02 1.30773491e+01] [ 9.01416615e-01 1.99936970e-01 -3.84022519e-01 1.81229896e+01] [ 3.91591717e-01 1.83131508e-03 9.20137258e-01 -1.12729567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24079213800002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:13.08, Y:18.14, Z:-112.75 [[ 1.85156617e-01 -9.79751169e-01 -7.61884091e-02 1.30808418e+01] [ 9.02669548e-01 2.00211282e-01 -3.80924047e-01 1.81384826e+01] [ 3.88464560e-01 1.75765127e-03 9.21461989e-01 -1.12750778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.270792138 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:13.08, Y:18.16, Z:-112.77 [[ 1.90788269e-01 -9.78751162e-01 -7.51398680e-02 1.30816199e+01] [ 9.00182996e-01 2.04973125e-01 -3.84261098e-01 1.81568243e+01] [ 3.91497649e-01 5.67287816e-03 9.20161621e-01 -1.12772538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:13.08, Y:18.17, Z:-112.79 [[ 1.90705149e-01 -9.78677723e-01 -7.62984920e-02 1.30840577e+01] [ 8.99911294e-01 2.05348013e-01 -3.84697096e-01 1.81733941e+01] [ 3.92162222e-01 4.70184235e-03 9.19884060e-01 -1.12794687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.330792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:13.09, Y:18.19, Z:-112.82 [[ 1.91221968e-01 -9.78588655e-01 -7.61472427e-02 1.30863795e+01] [ 8.99750029e-01 2.05763092e-01 -3.84852486e-01 1.81904596e+01] [ 3.92280569e-01 5.07876596e-03 9.19831594e-01 -1.12816616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360792138 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:13.09, Y:18.21, Z:-112.84 [[ 1.88291550e-01 -9.79172512e-01 -7.59439564e-02 1.30903412e+01] [ 9.00418156e-01 2.02989304e-01 -3.84762897e-01 1.82072566e+01] [ 3.92165063e-01 4.06628501e-03 9.19885878e-01 -1.12839096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.390792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:13.09, Y:18.22, Z:-112.86 [[ 1.90150390e-01 -9.78794457e-01 -7.61855649e-02 1.30931401e+01] [ 8.99429560e-01 2.04786294e-01 -3.86120500e-01 1.82230549e+01] [ 3.93534364e-01 4.89741440e-03 9.19296861e-01 -1.12860594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420792138 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:13.10, Y:18.24, Z:-112.88 [[ 1.89975742e-01 -9.78842385e-01 -7.60052835e-02 1.30960969e+01] [ 8.99371818e-01 2.04553486e-01 -3.86378317e-01 1.82399829e+01] [ 3.93750619e-01 5.04549751e-03 9.19203456e-01 -1.12882854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.450792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:13.10, Y:18.26, Z:-112.90 [[ 1.91210605e-01 -9.78586334e-01 -7.62055847e-02 1.30982363e+01] [ 8.98600024e-01 2.05760009e-01 -3.87531695e-01 1.82557516e+01] [ 3.94913283e-01 5.62182943e-03 9.18701200e-01 -1.12904499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:13.10, Y:18.27, Z:-112.93 [[ 1.91384652e-01 -9.78584779e-01 -7.57874990e-02 1.31015413e+01] [ 8.98930377e-01 2.05759813e-01 -3.86764886e-01 1.82718385e+01] [ 3.94076252e-01 5.89317812e-03 9.19058855e-01 -1.12927330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.510792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:13.10, Y:18.29, Z:-112.95 [[ 1.94912007e-01 -9.77978046e-01 -7.46207163e-02 1.31032307e+01] [ 8.98226342e-01 2.08539185e-01 -3.86911937e-01 1.82891449e+01] [ 3.93952724e-01 8.38748899e-03 9.19092434e-01 -1.12949912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540792138 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:13.11, Y:18.31, Z:-112.97 [[ 1.88933538e-01 -9.79108203e-01 -7.51747642e-02 1.31083211e+01] [ 8.98286287e-01 2.03249130e-01 -3.89578666e-01 1.83059482e+01] [ 3.96718873e-01 6.07601572e-03 9.17920050e-01 -1.12972022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.570792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.11, Y:18.32, Z:-112.99 [[ 1.87703884e-01 -9.79310978e-01 -7.56125643e-02 1.31123666e+01] [ 8.99423990e-01 2.02306123e-01 -3.87438664e-01 1.83218263e+01] [ 3.94719822e-01 4.71598751e-03 9.18789433e-01 -1.12994380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:13.11, Y:18.34, Z:-113.02 [[ 1.90001370e-01 -9.78977263e-01 -7.41821978e-02 1.31146007e+01] [ 8.99186493e-01 2.03853988e-01 -3.87178514e-01 1.83384649e+01] [ 3.94161299e-01 6.86081795e-03 9.19015669e-01 -1.13016026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.630792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:13.12, Y:18.36, Z:-113.04 [[ 1.83684879e-01 -9.80159315e-01 -7.44820915e-02 1.31193185e+01] [ 8.99636787e-01 1.98161066e-01 -3.89083338e-01 1.83555070e+01] [ 3.96123109e-01 4.46189643e-03 9.18186568e-01 -1.13037230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.12, Y:18.37, Z:-113.06 [[ 1.78935699e-01 -9.80960108e-01 -7.54935867e-02 1.31237544e+01] [ 9.00572998e-01 1.94202720e-01 -3.88913331e-01 1.83719754e+01] [ 3.96169523e-01 1.60299295e-03 9.18175985e-01 -1.13059755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690792138 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:13.13, Y:18.39, Z:-113.08 [[ 1.81213450e-01 -9.80502126e-01 -7.60083367e-02 1.31259973e+01] [ 8.98477485e-01 1.96487785e-01 -3.92594905e-01 1.83889774e+01] [ 3.99874849e-01 2.85169792e-03 9.16565313e-01 -1.13081706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.13, Y:18.40, Z:-113.10 [[ 1.86812934e-01 -9.79484672e-01 -7.55692054e-02 1.31271262e+01] [ 8.97279553e-01 2.01441465e-01 -3.92824058e-01 1.84042350e+01] [ 3.99987915e-01 5.57791191e-03 9.16503440e-01 -1.13104827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750792138 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:13.13, Y:18.42, Z:-113.13 [[ 1.85488013e-01 -9.79734614e-01 -7.55928792e-02 1.31302206e+01] [ 8.95481545e-01 2.00208757e-01 -3.97528937e-01 1.84225245e+01] [ 4.04607216e-01 6.04482429e-03 9.14470591e-01 -1.13127473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:13.13, Y:18.44, Z:-113.15 [[ 1.80009491e-01 -9.80636756e-01 -7.71241575e-02 1.31345154e+01] [ 8.95521954e-01 1.95814504e-01 -3.99621207e-01 1.84379225e+01] [ 4.06985273e-01 2.86923402e-03 9.13430214e-01 -1.13148741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810792138 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:13.14, Y:18.45, Z:-113.17 [[ 1.74232206e-01 -9.81673886e-01 -7.71979244e-02 1.31389004e+01] [ 8.95940027e-01 1.90567135e-01 -4.01217689e-01 1.84544690e+01] [ 4.08576316e-01 7.40332525e-04 9.12723861e-01 -1.13171488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:13.14, Y:18.47, Z:-113.19 [[ 1.73820669e-01 -9.81813156e-01 -7.63498698e-02 1.31422330e+01] [ 8.96876701e-01 1.89847331e-01 -3.99462356e-01 1.84698494e+01] [ 4.06692215e-01 9.58394479e-04 9.13564734e-01 -1.13194121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870792138 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:13.14, Y:18.49, Z:-113.22 [[ 1.74017416e-01 -9.81807815e-01 -7.59694287e-02 1.31449860e+01] [ 8.95713768e-01 1.89867687e-01 -4.02053612e-01 1.84882609e+01] [ 4.09163518e-01 1.91746752e-03 9.12459062e-01 -1.13215499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:13.15, Y:18.50, Z:-113.24 [[ 1.73641343e-01 -9.81914711e-01 -7.54465703e-02 1.31484781e+01] [ 8.97241521e-01 1.89317283e-01 -3.98894246e-01 1.85031031e+01] [ 4.05963468e-01 1.57073713e-03 9.13887956e-01 -1.13237585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93079213800002 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:13.15, Y:18.52, Z:-113.26 [[ 1.65904645e-01 -9.83243846e-01 -7.55459377e-02 1.31540332e+01] [ 8.97477995e-01 1.82291450e-01 -4.01625543e-01 1.85216698e+01] [ 4.08667222e-01 -1.16927366e-03 9.12682713e-01 -1.13259402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96079213800002 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.16, Y:18.54, Z:-113.28 [[ 1.58757274e-01 -9.84353834e-01 -7.64438244e-02 1.31597561e+01] [ 8.99059319e-01 1.76129513e-01 -4.00837542e-01 1.85385708e+01] [ 4.08029984e-01 -5.09165726e-03 9.12954329e-01 -1.13281538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99079213800002 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.16, Y:18.56, Z:-113.30 [[ 1.55197625e-01 -9.84941695e-01 -7.61810646e-02 1.31645633e+01] [ 9.00248260e-01 1.72762339e-01 -3.99632637e-01 1.85552011e+01] [ 4.06776066e-01 -6.55983476e-03 9.13504352e-01 -1.13302360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:13.16, Y:18.57, Z:-113.32 [[ 1.64239559e-01 -9.83571353e-01 -7.49183613e-02 1.31643421e+01] [ 8.99966034e-01 1.80505792e-01 -3.96835982e-01 1.85710733e+01] [ 4.03839701e-01 -2.24781409e-03 9.14827002e-01 -1.13324068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.050792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:13.16, Y:18.59, Z:-113.35 [[ 1.70960023e-01 -9.82547768e-01 -7.32977067e-02 1.31645426e+01] [ 8.98911368e-01 1.86000427e-01 -3.96689039e-01 1.85882173e+01] [ 4.03399335e-01 1.92982540e-03 9.15021996e-01 -1.13346922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:13.17, Y:18.61, Z:-113.37 [[ 1.64127514e-01 -9.83672348e-01 -7.38300074e-02 1.31698429e+01] [ 8.99320477e-01 1.79965942e-01 -3.98541014e-01 1.86079125e+01] [ 4.05320662e-01 -9.85291379e-04 9.14174048e-01 -1.13368864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.110792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:13.18, Y:18.62, Z:-113.39 [[ 1.57354246e-01 -9.84672926e-01 -7.52254624e-02 1.31751885e+01] [ 9.00547661e-01 1.74337259e-01 -3.98271804e-01 1.86246050e+01] [ 4.05282064e-01 -5.07435460e-03 9.14177608e-01 -1.13391419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:13.18, Y:18.64, Z:-113.41 [[ 1.56287309e-01 -9.84855908e-01 -7.50540979e-02 1.31784688e+01] [ 9.01064505e-01 1.73287754e-01 -3.97560199e-01 1.86412168e+01] [ 4.04545467e-01 -5.49497013e-03 9.14501378e-01 -1.13412066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.170792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:13.18, Y:18.66, Z:-113.43 [[ 1.57486385e-01 -9.84693716e-01 -7.46747855e-02 1.31810562e+01] [ 9.01223176e-01 1.74227297e-01 -3.96789158e-01 1.86583264e+01] [ 4.03726177e-01 -4.80975735e-03 9.14867226e-01 -1.13433498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:13.18, Y:18.67, Z:-113.46 [[ 1.58609457e-01 -9.84588582e-01 -7.36774300e-02 1.31839735e+01] [ 9.02395439e-01 1.74840422e-01 -3.93844256e-01 1.86729948e+01] [ 4.00656351e-01 -4.01875310e-03 9.16219591e-01 -1.13455496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.230792138 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:13.19, Y:18.69, Z:-113.48 [[ 1.62116369e-01 -9.84089150e-01 -7.27105772e-02 1.31856384e+01] [ 9.00664557e-01 1.77671315e-01 -3.96530276e-01 1.86926817e+01] [ 4.03139726e-01 -1.20379116e-03 9.15137646e-01 -1.13476795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260792138 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:13.19, Y:18.71, Z:-113.50 [[ 1.57090170e-01 -9.84803486e-01 -7.40592523e-02 1.31902084e+01] [ 9.01664356e-01 1.73612498e-01 -3.96055664e-01 1.87096721e+01] [ 4.02894610e-01 -4.56013634e-03 9.15235018e-01 -1.13498987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.290792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:13.19, Y:18.73, Z:-113.52 [[ 1.55787246e-01 -9.85016069e-01 -7.39843109e-02 1.31932671e+01] [ 9.02003154e-01 1.72388033e-01 -3.95818994e-01 1.87260207e+01] [ 4.02642079e-01 -5.07053067e-03 9.15343458e-01 -1.13520270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:13.20, Y:18.74, Z:-113.54 [[ 1.56624826e-01 -9.84911353e-01 -7.36090397e-02 1.31953244e+01] [ 9.02221079e-01 1.73000141e-01 -3.95054522e-01 1.87432112e+01] [ 4.01828058e-01 -4.53628165e-03 9.15703901e-01 -1.13541773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.350792138 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:13.20, Y:18.76, Z:-113.56 [[ 1.61693000e-01 -9.84162768e-01 -7.26568587e-02 1.31964058e+01] [ 9.02580610e-01 1.77254236e-01 -3.92338091e-01 1.87574402e+01] [ 3.99003278e-01 -2.14034904e-03 9.16947001e-01 -1.13564844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380792138 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:13.20, Y:18.78, Z:-113.59 [[ 1.59659553e-01 -9.84557710e-01 -7.17979333e-02 1.32002572e+01] [ 9.02188875e-01 1.75050717e-01 -3.94223897e-01 1.87765673e+01] [ 4.00704457e-01 -1.83368560e-03 9.16205532e-01 -1.13587004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.410792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:13.20, Y:18.79, Z:-113.61 [[ 1.58500294e-01 -9.84662907e-01 -7.29151280e-02 1.32035890e+01] [ 9.02976194e-01 1.74430528e-01 -3.92693245e-01 1.87916540e+01] [ 3.99389096e-01 -3.59863001e-03 9.16774454e-01 -1.13608621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440792138 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:13.21, Y:18.81, Z:-113.63 [[ 1.54712005e-01 -9.85290595e-01 -7.25716129e-02 1.32081235e+01] [ 9.03924245e-01 1.70815906e-01 -3.92100606e-01 1.88083738e+01] [ 3.98729425e-01 -4.93656964e-03 9.17055329e-01 -1.13631214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.21, Y:18.82, Z:-113.65 [[ 1.53333616e-01 -9.85533362e-01 -7.21996872e-02 1.32116918e+01] [ 9.04630834e-01 1.69397156e-01 -3.91085232e-01 1.88247870e+01] [ 3.97657965e-01 -5.34755057e-03 9.17518145e-01 -1.13653630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500792138 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:13.21, Y:18.84, Z:-113.67 [[ 1.60589739e-01 -9.84417602e-01 -7.16444044e-02 1.32103471e+01] [ 9.04475345e-01 1.75830159e-01 -3.88597614e-01 1.88425493e+01] [ 3.95139578e-01 -2.39580821e-03 9.18617970e-01 -1.13674170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530792138 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:13.21, Y:18.86, Z:-113.69 [[ 1.60034707e-01 -9.84614471e-01 -7.01657802e-02 1.32130034e+01] [ 9.07614590e-01 1.74721515e-01 -3.81717368e-01 1.88640078e+01] [ 3.88103915e-01 -2.59545882e-03 9.21611965e-01 -1.13692477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560792138 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:13.21, Y:18.88, Z:-113.71 [[ 1.64514962e-01 -9.83920605e-01 -6.95346702e-02 1.32148531e+01] [ 9.08239744e-01 1.78604131e-01 -3.78419254e-01 1.88824546e+01] [ 3.84753681e-01 -8.98521809e-04 9.23018850e-01 -1.13712379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590792138 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:13.21, Y:18.90, Z:-113.73 [[ 1.72862542e-01 -9.82522278e-01 -6.90544283e-02 1.32135754e+01] [ 9.07421374e-01 1.86128709e-01 -3.76752643e-01 1.89004551e+01] [ 3.83020877e-01 2.46495540e-03 9.23736397e-01 -1.13733784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:13.21, Y:18.92, Z:-113.76 [[ 1.76211033e-01 -9.81944353e-01 -6.88110395e-02 1.32149529e+01] [ 9.07036640e-01 1.89130332e-01 -3.76183799e-01 1.89176119e+01] [ 3.82405812e-01 3.87360161e-03 9.23986358e-01 -1.13756247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650792138 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:13.22, Y:18.93, Z:-113.78 [[ 1.76028414e-01 -9.81995992e-01 -6.85410042e-02 1.32183692e+01] [ 9.07387621e-01 1.88861479e-01 -3.75471767e-01 1.89337800e+01] [ 3.81656525e-01 3.90044091e-03 9.24295993e-01 -1.13778321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68079213800002 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:13.22, Y:18.95, Z:-113.80 [[ 1.75701833e-01 -9.82088061e-01 -6.80581113e-02 1.32213588e+01] [ 9.08260358e-01 1.88383633e-01 -3.73597014e-01 1.89496504e+01] [ 3.79726202e-01 3.82719562e-03 9.25091003e-01 -1.13800619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71079213800002 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:13.22, Y:18.97, Z:-113.82 [[ 1.75231865e-01 -9.82183689e-01 -6.78895683e-02 1.32238984e+01] [ 9.08431118e-01 1.87885684e-01 -3.73432555e-01 1.89661656e+01] [ 3.79534842e-01 3.76428671e-03 9.25169786e-01 -1.13823207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74079213800002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:13.23, Y:18.98, Z:-113.85 [[ 1.73800777e-01 -9.82426316e-01 -6.80575077e-02 1.32267756e+01] [ 9.08273471e-01 1.86622284e-01 -3.74448160e-01 1.89816449e+01] [ 3.80568774e-01 3.26455222e-03 9.24746858e-01 -1.13845127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.770792138 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:13.23, Y:18.99, Z:-113.87 [[ 1.85077245e-01 -9.80462100e-01 -6.66369476e-02 1.32265513e+01] [ 9.07527646e-01 1.96536250e-01 -3.71169874e-01 1.89945035e+01] [ 3.77014570e-01 8.22022561e-03 9.26170849e-01 -1.13870125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800792138 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:13.23, Y:19.01, Z:-113.89 [[ 1.87969408e-01 -9.79980126e-01 -6.56235776e-02 1.32291431e+01] [ 9.06830512e-01 1.98826125e-01 -3.71653863e-01 1.90129362e+01] [ 3.77261081e-01 1.03500942e-02 9.26049109e-01 -1.13890990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.830792138 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:13.23, Y:19.03, Z:-113.91 [[ 1.76872860e-01 -9.81924721e-01 -6.73782933e-02 1.32348876e+01] [ 9.08364526e-01 1.89212108e-01 -3.72924478e-01 1.90315432e+01] [ 3.78932553e-01 4.75616748e-03 9.25412070e-01 -1.13914035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860792138 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:13.24, Y:19.05, Z:-113.94 [[ 1.80705260e-01 -9.81213511e-01 -6.75696352e-02 1.32361599e+01] [ 9.07545697e-01 1.92828758e-01 -3.73065514e-01 1.90477792e+01] [ 3.79086292e-01 6.09236914e-03 9.25341270e-01 -1.13935673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.890792138 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:13.24, Y:19.06, Z:-113.96 [[ 1.80537528e-01 -9.81255102e-01 -6.74138358e-02 1.32389440e+01] [ 9.07579617e-01 1.92614397e-01 -3.73093733e-01 1.90649525e+01] [ 3.79085005e-01 6.17399686e-03 9.25341257e-01 -1.13958226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920792138 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:13.24, Y:19.08, Z:-113.98 [[ 1.85015751e-01 -9.80431817e-01 -6.72504609e-02 1.32407378e+01] [ 9.07721616e-01 1.96715198e-01 -3.70600321e-01 1.90767128e+01] [ 3.76577534e-01 7.52219948e-03 9.26354564e-01 -1.13982286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.950792138 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:13.24, Y:19.10, Z:-114.00 [[ 1.95397086e-01 -9.78634478e-01 -6.39885716e-02 1.32394548e+01] [ 9.05637013e-01 2.05090673e-01 -3.71159558e-01 1.90966271e+01] [ 3.76352999e-01 1.45730773e-02 9.26361725e-01 -1.14003493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980792138 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:13.25, Y:19.11, Z:-114.02 [[ 1.81223379e-01 -9.81194341e-01 -6.64511243e-02 1.32464632e+01] [ 9.07810572e-01 1.92889583e-01 -3.72389009e-01 1.91147787e+01] [ 3.78203718e-01 7.16056123e-03 9.25694698e-01 -1.14024903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.010792138 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:13.25, Y:19.13, Z:-114.05 [[ 1.80926768e-01 -9.81237883e-01 -6.66162195e-02 1.32495967e+01] [ 9.08406420e-01 1.92687422e-01 -3.71038182e-01 1.91317708e+01] [ 3.76912828e-01 6.61613765e-03 9.26225106e-01 -1.14047214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040792138 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:13.25, Y:19.15, Z:-114.07 [[ 1.82562121e-01 -9.80947502e-01 -6.64309479e-02 1.32518669e+01] [ 9.08361647e-01 1.94136694e-01 -3.70391768e-01 1.91474584e+01] [ 3.76231564e-01 7.27618156e-03 9.26497095e-01 -1.14069285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.070792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:13.25, Y:19.16, Z:-114.09 [[ 1.95762810e-01 -9.78577088e-01 -6.37479833e-02 1.32511221e+01] [ 9.06882763e-01 2.05389305e-01 -3.67938700e-01 1.91615288e+01] [ 3.73149535e-01 1.42167664e-02 9.27662281e-01 -1.14093001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100792138 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:13.25, Y:19.18, Z:-114.12 [[ 2.20612079e-01 -9.73603327e-01 -5.85394970e-02 1.32463232e+01] [ 9.00827414e-01 2.26397164e-01 -3.70478468e-01 1.91807916e+01] [ 3.73952245e-01 2.89980413e-02 9.26994516e-01 -1.14115058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.130792138 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:13.26, Y:19.19, Z:-114.14 [[ 1.86061457e-01 -9.80252147e-01 -6.69840425e-02 1.32590718e+01] [ 9.09060204e-01 1.97614716e-01 -3.66821441e-01 1.91939463e+01] [ 3.72814538e-01 7.35880462e-03 9.27876699e-01 -1.14140573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:13.26, Y:19.22, Z:-114.16 [[ 1.76330399e-01 -9.82015736e-01 -6.74735776e-02 1.32636706e+01] [ 9.09317176e-01 1.88755994e-01 -3.70828058e-01 1.92156570e+01] [ 3.76895030e-01 4.03337641e-03 9.26247196e-01 -1.14159586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190792138 meters Centerline goodness : 0.975409 Centerline is valid? [True, True] Translation: X:13.26, Y:19.23, Z:-114.19 [[ 2.03701210e-01 -9.77085136e-01 -6.17288701e-02 1.32590146e+01] [ 9.05512472e-01 2.12001221e-01 -3.67563118e-01 1.92269197e+01] [ 3.72227055e-01 1.89767900e-02 9.27947682e-01 -1.14186674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.27, Y:19.25, Z:-114.21 [[ 1.68122017e-01 -9.83391778e-01 -6.83783481e-02 1.32723441e+01] [ 9.11171248e-01 1.81495448e-01 -3.69900471e-01 1.92476401e+01] [ 3.76167441e-01 -1.15971685e-04 9.26551695e-01 -1.14205174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250792138 meters Centerline goodness : 0.973714 Centerline is valid? [True, True] Translation: X:13.26, Y:19.26, Z:-114.23 [[ 2.17979403e-01 -9.74171830e-01 -5.89425521e-02 1.32609747e+01] [ 9.02277553e-01 2.24176155e-01 -3.68293727e-01 1.92608891e+01] [ 3.71994889e-01 2.70979052e-02 9.27839160e-01 -1.14230812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280792138 meters Centerline goodness : 0.963325 Centerline is valid? [True, True] Translation: X:13.27, Y:19.28, Z:-114.25 [[ 1.96007736e-01 -9.78481689e-01 -6.44558107e-02 1.32712081e+01] [ 9.06949057e-01 2.05886685e-01 -3.67497050e-01 1.92772349e+01] [ 3.72859727e-01 1.35741280e-02 9.27788428e-01 -1.14254845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310792138 meters Centerline goodness : 0.963277 Centerline is valid? [True, True] Translation: X:13.28, Y:19.30, Z:-114.28 [[ 1.90770511e-01 -9.79367286e-01 -6.66808122e-02 1.32768249e+01] [ 9.07009958e-01 2.01839538e-01 -3.69585900e-01 1.92965841e+01] [ 3.75419165e-01 1.00259303e-02 9.26800913e-01 -1.14276537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340792138 meters Centerline goodness : 0.957766 Centerline is valid? [True, True] Translation: X:13.28, Y:19.31, Z:-114.30 [[ 1.99313832e-01 -9.77764684e-01 -6.51937076e-02 1.32763449e+01] [ 9.05391506e-01 2.09195293e-01 -3.69463868e-01 1.93123597e+01] [ 3.74886939e-01 1.46134302e-02 9.26955355e-01 -1.14299338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:13.28, Y:19.34, Z:-114.32 [[ 1.85941943e-01 -9.80358279e-01 -6.57513374e-02 1.32798310e+01] [ 9.05754726e-01 1.96959844e-01 -3.75253509e-01 1.93386665e+01] [ 3.80833258e-01 1.02207822e-02 9.24587241e-01 -1.14315417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400792138 meters Centerline goodness : 0.966776 Centerline is valid? [True, True] Translation: X:13.28, Y:19.35, Z:-114.34 [[ 2.06999152e-01 -9.76316600e-01 -6.29066567e-02 1.32780661e+01] [ 9.02560542e-01 2.15383117e-01 -3.72819770e-01 1.93503561e+01] [ 3.77539162e-01 2.03963102e-02 9.25768962e-01 -1.14342326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43079213800002 meters Centerline goodness : 0.979658 Centerline is valid? [True, True] Translation: X:13.29, Y:19.36, Z:-114.37 [[ 1.92675621e-01 -9.79048054e-01 -6.58863587e-02 1.32861777e+01] [ 9.05967816e-01 2.03283754e-01 -3.71346243e-01 1.93645323e+01] [ 3.76959443e-01 1.18584477e-02 9.26153851e-01 -1.14365577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46079213800002 meters Centerline goodness : 0.979658 Centerline is valid? [True, True] Translation: X:13.29, Y:19.38, Z:-114.39 [[ 1.99598956e-01 -9.77805125e-01 -6.36976778e-02 1.32860750e+01] [ 9.04551857e-01 2.08859875e-01 -3.71703499e-01 1.93823480e+01] [ 3.76757475e-01 1.65737775e-02 9.26163655e-01 -1.14388010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49079213800002 meters Centerline goodness : 0.961468 Centerline is valid? [True, True] Translation: X:13.29, Y:19.40, Z:-114.41 [[ 1.91438542e-01 -9.79391156e-01 -6.43758291e-02 1.32921736e+01] [ 9.07558145e-01 2.01610255e-01 -3.68363297e-01 1.93953850e+01] [ 3.73750582e-01 1.20941245e-02 9.27450395e-01 -1.14413873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520792138 meters Centerline goodness : 0.961468 Centerline is valid? [True, True] Translation: X:13.29, Y:19.41, Z:-114.44 [[ 1.94277662e-01 -9.78893273e-01 -6.34361846e-02 1.32936570e+01] [ 9.07003370e-01 2.03888606e-01 -3.68475675e-01 1.94121840e+01] [ 3.73632274e-01 1.40497592e-02 9.27470500e-01 -1.14435606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.550792138 meters Centerline goodness : 0.981707 Centerline is valid? [True, True] Translation: X:13.29, Y:19.43, Z:-114.46 [[ 2.03726405e-01 -9.77119713e-01 -6.10951615e-02 1.32930644e+01] [ 9.04187458e-01 2.11715676e-01 -3.70973736e-01 1.94305017e+01] [ 3.75420554e-01 2.03356670e-02 9.26631463e-01 -1.14455176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580792138 meters Centerline goodness : 0.979983 Centerline is valid? [True, True] Translation: X:13.30, Y:19.45, Z:-114.48 [[ 1.91769800e-01 -9.79380680e-01 -6.35439058e-02 1.32993608e+01] [ 9.06756229e-01 2.01578371e-01 -3.70350241e-01 1.94456461e+01] [ 3.75522948e-01 1.34031592e-02 9.26716176e-01 -1.14479513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.610792138 meters Centerline goodness : 0.959224 Centerline is valid? [True, True] Translation: X:13.30, Y:19.46, Z:-114.50 [[ 2.01495631e-01 -9.77544093e-01 -6.17013585e-02 1.32991021e+01] [ 9.04317342e-01 2.09863608e-01 -3.71708772e-01 1.94642580e+01] [ 3.76310584e-01 1.91000853e-02 9.26296676e-01 -1.14500146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640792138 meters Centerline goodness : 0.970296 Centerline is valid? [True, True] Translation: X:13.30, Y:19.48, Z:-114.52 [[ 2.18856766e-01 -9.74025305e-01 -5.81069730e-02 1.32991112e+01] [ 9.00004678e-01 2.24513197e-01 -3.73611301e-01 1.94842132e+01] [ 3.76952644e-01 2.94708136e-02 9.25763563e-01 -1.14518776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.670792138 meters Centerline goodness : 0.966553 Centerline is valid? [True, True] Translation: X:13.30, Y:19.50, Z:-114.54 [[ 2.35570489e-01 -9.70303435e-01 -5.49344108e-02 1.32982695e+01] [ 8.96208964e-01 2.38750904e-01 -3.73908410e-01 1.94995205e+01] [ 3.75920255e-01 3.88490756e-02 9.25837303e-01 -1.14540427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700792138 meters Centerline goodness : 0.958132 Centerline is valid? [True, True] Translation: X:13.32, Y:19.51, Z:-114.57 [[ 1.86980031e-01 -9.79903772e-01 -6.94770815e-02 1.33193718e+01] [ 9.06997257e-01 1.99369831e-01 -3.70955047e-01 1.95137208e+01] [ 3.77351884e-01 6.34566379e-03 9.26048211e-01 -1.14565969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.730792138 meters Centerline goodness : 0.963540 Centerline is valid? [True, True] Translation: X:13.32, Y:19.53, Z:-114.59 [[ 2.01895128e-01 -9.77278528e-01 -6.45370840e-02 1.33164839e+01] [ 9.04376183e-01 2.11317116e-01 -3.70740875e-01 1.95307816e+01] [ 3.75954887e-01 1.64849748e-02 9.26491321e-01 -1.14587561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760792138 meters Centerline goodness : 0.974605 Centerline is valid? [True, True] Translation: X:13.31, Y:19.55, Z:-114.61 [[ 2.24864898e-01 -9.72649738e-01 -5.82088034e-02 1.33113124e+01] [ 9.00125532e-01 2.30230369e-01 -3.69821585e-01 1.95465954e+01] [ 3.73108302e-01 3.07646629e-02 9.27277591e-01 -1.14609227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.790792138 meters Centerline goodness : 0.951319 Centerline is valid? [True, True] Translation: X:13.32, Y:19.57, Z:-114.63 [[ 1.81397936e-01 -9.81116915e-01 -6.71147363e-02 1.33248150e+01] [ 9.08723390e-01 1.93318886e-01 -3.69931897e-01 1.95660562e+01] [ 3.75920988e-01 6.11615193e-03 9.26631536e-01 -1.14634498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820792138 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:13.33, Y:19.59, Z:-114.65 [[ 1.69776998e-01 -9.83264992e-01 -6.60736422e-02 1.33287112e+01] [ 9.08108886e-01 1.82136928e-01 -3.77046935e-01 1.95932911e+01] [ 3.82771502e-01 4.01183505e-03 9.23834337e-01 -1.14648732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.850792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:13.33, Y:19.61, Z:-114.67 [[ 1.73702774e-01 -9.82628145e-01 -6.53396872e-02 1.33298379e+01] [ 9.06815701e-01 1.85471475e-01 -3.78530866e-01 1.96106077e+01] [ 3.84073731e-01 6.50080734e-03 9.23279540e-01 -1.14671157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:13.33, Y:19.63, Z:-114.69 [[ 1.71767526e-01 -9.82969164e-01 -6.53264162e-02 1.33328431e+01] [ 9.06889269e-01 1.83675983e-01 -3.79229464e-01 1.96272707e+01] [ 3.84769763e-01 5.89548093e-03 9.22993756e-01 -1.14692937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.910792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:13.34, Y:19.64, Z:-114.72 [[ 1.71647200e-01 -9.82994456e-01 -6.52620729e-02 1.33353548e+01] [ 9.06748213e-01 1.83537620e-01 -3.79633535e-01 1.96445678e+01] [ 3.85155706e-01 5.98676513e-03 9.22832185e-01 -1.14715023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940792138 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:13.34, Y:19.66, Z:-114.74 [[ 1.70187769e-01 -9.83255070e-01 -6.51581902e-02 1.33389708e+01] [ 9.06956066e-01 1.82150340e-01 -3.79805146e-01 1.96613386e+01] [ 3.85313922e-01 5.54257469e-03 9.22768910e-01 -1.14737742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:13.34, Y:19.68, Z:-114.76 [[ 1.65845221e-01 -9.84004965e-01 -6.50353122e-02 1.33434513e+01] [ 9.07714888e-01 1.78096716e-01 -3.79914783e-01 1.96783989e+01] [ 3.85420608e-01 3.97352991e-03 9.22732446e-01 -1.14759959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:13.35, Y:19.70, Z:-114.78 [[ 1.67780596e-01 -9.83675713e-01 -6.50520033e-02 1.33452452e+01] [ 9.06984126e-01 1.79883724e-01 -3.80817071e-01 1.96956670e+01] [ 3.86302300e-01 4.89258066e-03 9.22359255e-01 -1.14782158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:13.35, Y:19.71, Z:-114.80 [[ 1.63961307e-01 -9.84333936e-01 -6.48335686e-02 1.33497605e+01] [ 9.07885323e-01 1.76279431e-01 -3.80354838e-01 1.97126307e+01] [ 3.85825000e-01 3.50203117e-03 9.22565339e-01 -1.14804527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:13.35, Y:19.73, Z:-114.83 [[ 1.63642562e-01 -9.84395002e-01 -6.47116009e-02 1.33524410e+01] [ 9.07942778e-01 1.75938315e-01 -3.80375631e-01 1.97299128e+01] [ 3.85825121e-01 3.49121218e-03 9.22565330e-01 -1.14827010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090792138 meters Centerline goodness : 0.971495 Centerline is valid? [True, True] Translation: X:13.35, Y:19.73, Z:-114.86 [[ 1.82935557e-01 -9.81162786e-01 -6.20819637e-02 1.33519226e+01] [ 9.10581944e-01 1.92905776e-01 -3.65551481e-01 1.97282483e+01] [ 3.70641478e-01 1.03416484e-02 9.28718442e-01 -1.14862870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:13.35, Y:19.76, Z:-114.87 [[ 1.70750837e-01 -9.83305772e-01 -6.28801294e-02 1.33549736e+01] [ 9.06701692e-01 1.81786160e-01 -3.80586170e-01 1.97649937e+01] [ 3.85663315e-01 7.97188759e-03 9.22605146e-01 -1.14871777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:13.36, Y:19.77, Z:-114.90 [[ 1.76407332e-01 -9.82239619e-01 -6.39201377e-02 1.33580154e+01] [ 9.10235551e-01 1.87502130e-01 -3.69207520e-01 1.97720134e+01] [ 3.74635416e-01 6.94853167e-03 9.27146171e-01 -1.14898609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18079213800002 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:13.36, Y:19.80, Z:-114.92 [[ 1.79906793e-01 -9.81835997e-01 -6.02629218e-02 1.33576715e+01] [ 9.04745783e-01 1.89204390e-01 -3.81623854e-01 1.98005470e+01] [ 3.86094047e-01 1.41340995e-02 9.22351134e-01 -1.14917590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21079213800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:13.36, Y:19.81, Z:-114.94 [[ 1.71587356e-01 -9.83066389e-01 -6.43292566e-02 1.33638907e+01] [ 9.09465114e-01 1.83165949e-01 -3.73260555e-01 1.98120212e+01] [ 3.78722835e-01 5.54157700e-03 9.25493547e-01 -1.14942249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24079213800002 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.36, Y:19.84, Z:-114.96 [[ 1.77021973e-01 -9.82313964e-01 -6.10122671e-02 1.33644438e+01] [ 9.07573045e-01 1.86906707e-01 -3.76001398e-01 1.98351875e+01] [ 3.80755026e-01 1.11874202e-02 9.24608270e-01 -1.14962175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.270792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:13.37, Y:19.85, Z:-114.98 [[ 1.69133333e-01 -9.83560243e-01 -6.32705599e-02 1.33699075e+01] [ 9.09640883e-01 1.80489529e-01 -3.74134994e-01 1.98511335e+01] [ 3.79403979e-01 5.72521052e-03 9.25213404e-01 -1.14983151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300792138 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:13.37, Y:19.85, Z:-115.02 [[ 1.88107312e-01 -9.80274640e-01 -6.06404925e-02 1.33695694e+01] [ 9.12641220e-01 1.97275485e-01 -3.58006126e-01 1.98486733e+01] [ 3.62907209e-01 1.20005570e-02 9.31748005e-01 -1.15017989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.330792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.37, Y:19.89, Z:-115.03 [[ 1.75839635e-01 -9.82565521e-01 -6.03773178e-02 1.33725228e+01] [ 9.08603946e-01 1.85594928e-01 -3.74156910e-01 1.98865558e+01] [ 3.78839403e-01 1.09325452e-02 9.25397853e-01 -1.15028041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:13.38, Y:19.90, Z:-115.05 [[ 1.65145515e-01 -9.84262024e-01 -6.28905988e-02 1.33784893e+01] [ 9.10470612e-01 1.76658032e-01 -3.73945456e-01 1.99027182e+01] [ 3.79170441e-01 4.49537297e-03 9.25315929e-01 -1.15049837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.390792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.38, Y:19.92, Z:-115.07 [[ 1.63542408e-01 -9.84534335e-01 -6.28173847e-02 1.33813684e+01] [ 9.10608676e-01 1.75145714e-01 -3.74320474e-01 1.99192436e+01] [ 3.79533555e-01 4.01521609e-03 9.25169259e-01 -1.15072028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:13.38, Y:19.94, Z:-115.09 [[ 1.65469029e-01 -9.84222641e-01 -6.26561475e-02 1.33827811e+01] [ 9.10336159e-01 1.76867229e-01 -3.74173838e-01 1.99363756e+01] [ 3.79352183e-01 4.87602504e-03 9.25239507e-01 -1.15093611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.450792138 meters Centerline goodness : 0.962875 Centerline is valid? [True, True] Translation: X:13.38, Y:19.93, Z:-115.13 [[ 1.85521751e-01 -9.80843018e-01 -5.94024763e-02 1.33829688e+01] [ 9.13439812e-01 1.94425620e-01 -3.57528165e-01 1.99330190e+01] [ 3.62228367e-01 1.20686643e-02 9.32011243e-01 -1.15129714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:13.39, Y:19.97, Z:-115.14 [[ 1.69553821e-01 -9.83679437e-01 -6.02185004e-02 1.33864994e+01] [ 9.10038960e-01 1.79727452e-01 -3.73533311e-01 1.99719642e+01] [ 3.78259954e-01 8.53281866e-03 9.25660088e-01 -1.15138121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.510792138 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:13.39, Y:19.97, Z:-115.17 [[ 1.86281486e-01 -9.80736789e-01 -5.87754904e-02 1.33865820e+01] [ 9.12345696e-01 1.94870271e-01 -3.60070700e-01 1.99736938e+01] [ 3.64588178e-01 1.34509394e-02 9.31071712e-01 -1.15168981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540792138 meters Centerline goodness : 0.962682 Centerline is valid? [True, True] Translation: X:13.39, Y:19.98, Z:-115.20 [[ 1.88237892e-01 -9.80421617e-01 -5.77922905e-02 1.33882647e+01] [ 9.13271726e-01 1.96382541e-01 -3.56887451e-01 1.99849135e+01] [ 3.61249569e-01 1.43996767e-02 9.32357978e-01 -1.15196123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.570792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.39, Y:20.02, Z:-115.20 [[ 1.72265930e-01 -9.83266969e-01 -5.92496118e-02 1.33922558e+01] [ 9.09428199e-01 1.81865166e-01 -3.73985845e-01 2.00240462e+01] [ 3.78503369e-01 1.05417517e-02 9.25539881e-01 -1.15204454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.40, Y:20.04, Z:-115.23 [[ 1.62613660e-01 -9.84744169e-01 -6.19331854e-02 1.33981571e+01] [ 9.11026054e-01 1.73953461e-01 -3.73860566e-01 2.00400194e+01] [ 3.78930504e-01 4.37208933e-03 9.25414803e-01 -1.15225236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.630792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:13.40, Y:20.05, Z:-115.25 [[ 1.76292494e-01 -9.82452796e-01 -6.08889125e-02 1.33987787e+01] [ 9.14600967e-01 1.86357547e-01 -3.58853642e-01 2.00451628e+01] [ 3.63903872e-01 7.57414513e-03 9.31405714e-01 -1.15252556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:13.40, Y:20.07, Z:-115.27 [[ 1.80813763e-01 -9.81871606e-01 -5.68729432e-02 1.33980885e+01] [ 9.11222069e-01 1.89003015e-01 -3.65994811e-01 2.00704789e+01] [ 3.70109071e-01 1.43530182e-02 9.28877423e-01 -1.15272705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690792138 meters Centerline goodness : 0.974941 Centerline is valid? [True, True] Translation: X:13.40, Y:20.08, Z:-115.30 [[ 1.86718899e-01 -9.80776165e-01 -5.66936177e-02 1.34013253e+01] [ 9.13166213e-01 1.94550700e-01 -3.58158474e-01 2.00754233e+01] [ 3.62303078e-01 1.51042598e-02 9.31937949e-01 -1.15304015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720792138 meters Centerline goodness : 0.969536 Centerline is valid? [True, True] Translation: X:13.40, Y:20.09, Z:-115.33 [[ 1.91567716e-01 -9.79881667e-01 -5.59797243e-02 1.34022762e+01] [ 9.12748455e-01 1.98830795e-01 -3.56870527e-01 2.00926090e+01] [ 3.60821379e-01 1.72694649e-02 9.32475039e-01 -1.15326549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750792138 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:13.40, Y:20.11, Z:-115.35 [[ 1.92027353e-01 -9.79838395e-01 -5.51562728e-02 1.34044266e+01] [ 9.11914786e-01 1.98921242e-01 -3.58945347e-01 2.01117843e+01] [ 3.62680187e-01 1.86295043e-02 9.31727440e-01 -1.15345224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.41, Y:20.13, Z:-115.37 [[ 1.82073327e-01 -9.81627809e-01 -5.70626640e-02 1.34100723e+01] [ 9.13615823e-01 1.90343052e-01 -3.59271000e-01 2.01292719e+01] [ 3.63531886e-01 1.32803136e-02 9.31487091e-01 -1.15365650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:13.41, Y:20.15, Z:-115.39 [[ 1.70115776e-01 -9.83733623e-01 -5.76955964e-02 1.34149374e+01] [ 9.12075008e-01 1.79349122e-01 -3.68718147e-01 2.01542644e+01] [ 3.73068093e-01 1.01020620e-02 9.27748967e-01 -1.15385403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840792138 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:13.42, Y:20.17, Z:-115.41 [[ 1.56884446e-01 -9.85749173e-01 -6.07111087e-02 1.34227349e+01] [ 9.14814283e-01 1.68209104e-01 -3.67179146e-01 2.01705651e+01] [ 3.72158700e-01 2.06530727e-03 9.28166815e-01 -1.15407808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870792138 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:13.43, Y:20.19, Z:-115.43 [[ 1.54986303e-01 -9.86058476e-01 -6.05634240e-02 1.34259483e+01] [ 9.15170950e-01 1.66392652e-01 -3.67117989e-01 2.01875158e+01] [ 3.72077113e-01 1.47237350e-03 9.28200654e-01 -1.15429504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.43, Y:20.20, Z:-115.45 [[ 1.58736977e-01 -9.85491002e-01 -6.00837525e-02 1.34271081e+01] [ 9.17168454e-01 1.69714360e-01 -3.60553827e-01 2.02006891e+01] [ 3.65519628e-01 2.12630200e-03 9.30801204e-01 -1.15453633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93079213800002 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.43, Y:20.22, Z:-115.48 [[ 1.60777845e-01 -9.85282790e-01 -5.80371286e-02 1.34284696e+01] [ 9.14656887e-01 1.70833166e-01 -3.66358851e-01 2.02220926e+01] [ 3.70881737e-01 5.81832702e-03 9.28661878e-01 -1.15475149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96079213800002 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.43, Y:20.24, Z:-115.50 [[ 1.52828669e-01 -9.86424153e-01 -6.00898364e-02 1.34338410e+01] [ 9.16006462e-01 1.64215073e-01 -3.66013075e-01 2.02388137e+01] [ 3.70911794e-01 8.94612581e-04 9.28667670e-01 -1.15497722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.990792138 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:13.44, Y:20.25, Z:-115.52 [[ 1.54214758e-01 -9.86147800e-01 -6.10763851e-02 1.34350754e+01] [ 9.13240159e-01 1.65861151e-01 -3.72132356e-01 2.02508002e+01] [ 3.77107704e-01 1.61089374e-03 9.26168011e-01 -1.15522010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020792138 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:13.44, Y:20.27, Z:-115.54 [[ 1.52165538e-01 -9.86472999e-01 -6.09645006e-02 1.34385320e+01] [ 9.13406863e-01 1.63920724e-01 -3.72582740e-01 2.02669014e+01] [ 3.77536158e-01 1.00886002e-03 9.25994293e-01 -1.15544113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.050792138 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:13.44, Y:20.28, Z:-115.57 [[ 1.49474737e-01 -9.86886982e-01 -6.09211602e-02 1.34415878e+01] [ 9.13920152e-01 1.61412777e-01 -3.72418946e-01 2.02828374e+01] [ 3.77368864e-01 -9.85201465e-06 9.26063033e-01 -1.15565127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080792138 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:13.44, Y:20.30, Z:-115.59 [[ 1.49896444e-01 -9.86823482e-01 -6.09136361e-02 1.34439757e+01] [ 9.13427947e-01 1.61800184e-01 -3.73456941e-01 2.02993318e+01] [ 3.78391917e-01 3.39649884e-04 9.25645419e-01 -1.15587451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.110792138 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:13.45, Y:20.32, Z:-115.61 [[ 1.46537713e-01 -9.87334960e-01 -6.07978273e-02 1.34474748e+01] [ 9.13931031e-01 1.58647414e-01 -3.73578732e-01 2.03156706e+01] [ 3.78492760e-01 -8.21648169e-04 9.25603887e-01 -1.15609300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140792138 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:13.45, Y:20.33, Z:-115.63 [[ 1.42927858e-01 -9.87874000e-01 -6.06348639e-02 1.34511187e+01] [ 9.14563615e-01 1.55243832e-01 -3.73460503e-01 2.03327061e+01] [ 3.78345109e-01 -2.07653062e-03 9.25662285e-01 -1.15631548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.170792138 meters Centerline goodness : 0.956409 Centerline is valid? [True, True] Translation: X:13.45, Y:20.33, Z:-115.66 [[ 1.69079276e-01 -9.83919958e-01 -5.75648645e-02 1.34483042e+01] [ 9.14471751e-01 1.78394575e-01 -3.63203514e-01 2.03349966e+01] [ 3.67632446e-01 8.76874487e-03 9.29929833e-01 -1.15663027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200792138 meters Centerline goodness : 0.974964 Centerline is valid? [True, True] Translation: X:13.45, Y:20.35, Z:-115.69 [[ 1.68514893e-01 -9.84042146e-01 -5.71295436e-02 1.34503789e+01] [ 9.14637914e-01 1.77710890e-01 -3.63120263e-01 2.03519719e+01] [ 3.67478185e-01 8.93832580e-03 9.29989188e-01 -1.15685657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.230792138 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:13.46, Y:20.38, Z:-115.70 [[ 1.45406889e-01 -9.87585021e-01 -5.94362115e-02 1.34557890e+01] [ 9.13690467e-01 1.57085289e-01 -3.74825216e-01 2.03828688e+01] [ 3.79508323e-01 1.95868671e-04 9.25188302e-01 -1.15698861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260792138 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:13.46, Y:20.40, Z:-115.72 [[ 1.43759257e-01 -9.87772526e-01 -6.03217459e-02 1.34591882e+01] [ 9.13900747e-01 1.55897033e-01 -3.74808671e-01 2.03995952e+01] [ 3.79629689e-01 -1.24587248e-03 9.25137691e-01 -1.15720620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.290792138 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:13.46, Y:20.42, Z:-115.74 [[ 1.42537671e-01 -9.87957046e-01 -6.01987271e-02 1.34619781e+01] [ 9.14370216e-01 1.54718904e-01 -3.74151265e-01 2.04161428e+01] [ 3.78959260e-01 -1.71327306e-03 9.25411770e-01 -1.15742159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320792138 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:13.46, Y:20.43, Z:-115.77 [[ 1.59823666e-01 -9.85403052e-01 -5.86278128e-02 1.34609832e+01] [ 9.15000545e-01 1.70169291e-01 -3.65809261e-01 2.04272072e+01] [ 3.70446216e-01 4.82049650e-03 9.28841410e-01 -1.15765822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.350792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:13.46, Y:20.45, Z:-115.79 [[ 1.56092231e-01 -9.86085987e-01 -5.71807820e-02 1.34613282e+01] [ 9.11680826e-01 1.66107630e-01 -3.75827523e-01 2.04512629e+01] [ 3.80096419e-01 6.53313410e-03 9.24923797e-01 -1.15787115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380792138 meters Centerline goodness : 0.978472 Centerline is valid? [True, True] Translation: X:13.46, Y:20.45, Z:-115.82 [[ 1.71742987e-01 -9.83494469e-01 -5.69471295e-02 1.34629101e+01] [ 9.14656075e-01 1.80660648e-01 -3.61615810e-01 2.04511883e+01] [ 3.65935254e-01 1.00179413e-02 9.30586391e-01 -1.15820760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.410792138 meters Centerline goodness : 0.969173 Centerline is valid? [True, True] Translation: X:13.46, Y:20.47, Z:-115.84 [[ 1.72816019e-01 -9.83376320e-01 -5.57282469e-02 1.34642993e+01] [ 9.14736813e-01 1.81218949e-01 -3.61131909e-01 2.04683260e+01] [ 3.65227582e-01 1.14326999e-02 9.30848058e-01 -1.15843052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440792138 meters Centerline goodness : 0.969089 Centerline is valid? [True, True] Translation: X:13.47, Y:20.49, Z:-115.86 [[ 1.71353720e-01 -9.83635845e-01 -5.56635217e-02 1.34670919e+01] [ 9.14419824e-01 1.79817185e-01 -3.62632272e-01 2.04859291e+01] [ 3.66707359e-01 1.12385613e-02 9.30268460e-01 -1.15864129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:13.47, Y:20.50, Z:-115.88 [[ 1.63722875e-01 -9.84824492e-01 -5.75807273e-02 1.34718879e+01] [ 9.15292551e-01 1.73419265e-01 -3.63545464e-01 2.05047656e+01] [ 3.68014084e-01 6.81749770e-03 9.29795222e-01 -1.15883179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.47, Y:20.52, Z:-115.91 [[ 1.68988886e-01 -9.84020794e-01 -5.60877315e-02 1.34716402e+01] [ 9.14327638e-01 1.77760691e-01 -3.63876500e-01 2.05211073e+01] [ 3.68032236e-01 1.02085214e-02 9.29756989e-01 -1.15906867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.47, Y:20.54, Z:-115.93 [[ 1.71512766e-01 -9.83628638e-01 -5.52998492e-02 1.34731707e+01] [ 9.13963302e-01 1.79817278e-01 -3.63781294e-01 2.05373519e+01] [ 3.67769567e-01 1.18511031e-02 9.29841436e-01 -1.15928920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560792138 meters Centerline goodness : 0.981881 Centerline is valid? [True, True] Translation: X:13.47, Y:20.55, Z:-115.96 [[ 1.80459273e-01 -9.82136868e-01 -5.33068788e-02 1.34732475e+01] [ 9.12868102e-01 1.87417432e-01 -3.62693444e-01 2.05502687e+01] [ 3.66205241e-01 1.67892460e-02 9.30382632e-01 -1.15956462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.48, Y:20.58, Z:-115.97 [[ 1.48371592e-01 -9.87193295e-01 -5.86111625e-02 1.34836932e+01] [ 9.12159998e-01 1.59508284e-01 -3.77519861e-01 2.05845558e+01] [ 3.82034042e-01 2.55046500e-03 9.24144732e-01 -1.15967064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620792138 meters Centerline goodness : 0.986444 Centerline is valid? [True, True] Translation: X:13.48, Y:20.59, Z:-116.00 [[ 1.63476848e-01 -9.84889757e-01 -5.71619307e-02 1.34838142e+01] [ 9.14908851e-01 1.73027637e-01 -3.64696079e-01 2.05863147e+01] [ 3.69076027e-01 7.32140928e-03 9.29370369e-01 -1.16000029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.49, Y:20.60, Z:-116.02 [[ 1.61364803e-01 -9.85218287e-01 -5.75006698e-02 1.34876351e+01] [ 9.15352665e-01 1.71192251e-01 -3.64448503e-01 2.06036035e+01] [ 3.68904999e-01 6.17576968e-03 9.29446589e-01 -1.16020170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68079213800002 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:13.49, Y:20.63, Z:-116.04 [[ 1.55392994e-01 -9.86260337e-01 -5.60675109e-02 1.34898024e+01] [ 9.11833055e-01 1.65037469e-01 -3.75929665e-01 2.06302569e+01] [ 3.80017758e-01 7.29262647e-03 9.24950443e-01 -1.16039377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71079213800002 meters Centerline goodness : 0.962627 Centerline is valid? [True, True] Translation: X:13.49, Y:20.63, Z:-116.07 [[ 1.61590988e-01 -9.85221626e-01 -5.68040443e-02 1.34923090e+01] [ 9.16909859e-01 1.71173135e-01 -3.60521939e-01 2.06294332e+01] [ 3.64917337e-01 6.17290810e-03 9.31019459e-01 -1.16074134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:13.50, Y:20.66, Z:-116.08 [[ 1.46744199e-01 -9.87417308e-01 -5.89338698e-02 1.34969948e+01] [ 9.13022984e-01 1.58130281e-01 -3.76010433e-01 2.06636913e+01] [ 3.80598438e-01 1.36937188e-03 9.24739398e-01 -1.16084188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.770792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:13.50, Y:20.67, Z:-116.11 [[ 1.53133929e-01 -9.86434676e-01 -5.91323009e-02 1.34991755e+01] [ 9.16829259e-01 1.64147218e-01 -3.63977747e-01 2.06716977e+01] [ 3.68746673e-01 1.52311874e-03 9.29528682e-01 -1.16110067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:13.50, Y:20.70, Z:-116.13 [[ 1.61474149e-01 -9.85293561e-01 -5.58810978e-02 1.34964875e+01] [ 9.10391145e-01 1.70577600e-01 -3.76949925e-01 2.06985751e+01] [ 3.80938398e-01 9.99401185e-03 9.24546406e-01 -1.16128969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.830792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:13.50, Y:20.71, Z:-116.15 [[ 1.47696889e-01 -9.87232860e-01 -5.96398201e-02 1.35037496e+01] [ 9.12558542e-01 1.59279082e-01 -3.76652469e-01 2.07143135e+01] [ 3.81343070e-01 1.20557075e-03 9.24432804e-01 -1.16150855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.51, Y:20.72, Z:-116.18 [[ 1.55357777e-01 -9.86066131e-01 -5.94772693e-02 1.35053131e+01] [ 9.16331486e-01 1.66340715e-01 -3.64235329e-01 2.07210857e+01] [ 3.69053613e-01 2.08589633e-03 9.29405767e-01 -1.16177793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.890792138 meters Centerline goodness : 0.958480 Centerline is valid? [True, True] Translation: X:13.50, Y:20.74, Z:-116.20 [[ 1.77455322e-01 -9.82725002e-01 -5.25469161e-02 1.34990626e+01] [ 9.12726742e-01 1.84312668e-01 -3.64635071e-01 2.07378062e+01] [ 3.68021063e-01 1.67454585e-02 9.29666653e-01 -1.16204292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920792138 meters Centerline goodness : 0.958480 Centerline is valid? [True, True] Translation: X:13.51, Y:20.75, Z:-116.23 [[ 1.68065020e-01 -9.84234307e-01 -5.51087889e-02 1.35051784e+01] [ 9.14474059e-01 1.76539643e-01 -3.64102938e-01 2.07540821e+01] [ 3.68091489e-01 1.07974098e-02 9.29726880e-01 -1.16227077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.950792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:13.51, Y:20.79, Z:-116.24 [[ 1.49081375e-01 -9.87107194e-01 -5.82591718e-02 1.35120581e+01] [ 9.11372102e-01 1.60023690e-01 -3.79200884e-01 2.07894153e+01] [ 3.83634769e-01 3.43600532e-03 9.23478510e-01 -1.16237003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:13.52, Y:20.81, Z:-116.26 [[ 1.44533121e-01 -9.87726178e-01 -5.92214034e-02 1.35163489e+01] [ 9.12004449e-01 1.56193294e-01 -3.79277656e-01 2.08064147e+01] [ 3.83872456e-01 8.08000237e-04 9.23385772e-01 -1.16259072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.010792138 meters Centerline goodness : 0.976108 Centerline is valid? [True, True] Translation: X:13.52, Y:20.81, Z:-116.29 [[ 1.56638605e-01 -9.86049969e-01 -5.63010245e-02 1.35161512e+01] [ 9.16249748e-01 1.66358725e-01 -3.64432675e-01 2.08061805e+01] [ 3.68714995e-01 5.49842640e-03 9.29526234e-01 -1.16292629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040792138 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:13.52, Y:20.83, Z:-116.31 [[ 1.42790925e-01 -9.88034191e-01 -5.83025719e-02 1.35213801e+01] [ 9.14665457e-01 1.54235007e-01 -3.73629047e-01 2.08341382e+01] [ 3.78150570e-01 2.34885857e-05 9.25744104e-01 -1.16306732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.070792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:13.52, Y:20.84, Z:-116.33 [[ 1.52832212e-01 -9.86628408e-01 -5.66277291e-02 1.35210813e+01] [ 9.16271305e-01 1.62935807e-01 -3.65921876e-01 2.08435045e+01] [ 3.70255602e-01 4.03828660e-03 9.28921138e-01 -1.16332722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.52, Y:20.87, Z:-116.35 [[ 1.55812177e-01 -9.86269841e-01 -5.47207937e-02 1.35214300e+01] [ 9.10324858e-01 1.64877516e-01 -3.79636744e-01 2.08713249e+01] [ 3.83446500e-01 9.33832874e-03 9.23515878e-01 -1.16350824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.130792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:13.53, Y:20.88, Z:-116.37 [[ 1.39086639e-01 -9.88468567e-01 -5.98731849e-02 1.35301497e+01] [ 9.15025543e-01 1.51400669e-01 -3.73906529e-01 2.08844255e+01] [ 3.78659692e-01 -2.78009109e-03 9.25531798e-01 -1.16374384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:13.53, Y:20.89, Z:-116.40 [[ 1.45545616e-01 -9.87652521e-01 -5.79566287e-02 1.35314681e+01] [ 9.17303918e-01 1.56660408e-01 -3.66075182e-01 2.08943058e+01] [ 3.70634585e-01 1.16795216e-04 9.28778763e-01 -1.16399031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190792138 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:13.53, Y:20.92, Z:-116.42 [[ 1.60525786e-01 -9.85628969e-01 -5.26023475e-02 1.35273314e+01] [ 9.10709863e-01 1.68451482e-01 -3.77136108e-01 2.09200206e+01] [ 3.80577217e-01 1.26345933e-02 9.24662830e-01 -1.16418191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.54, Y:20.94, Z:-116.44 [[ 1.41360807e-01 -9.88242049e-01 -5.82646972e-02 1.35365439e+01] [ 9.13412958e-01 1.52897487e-01 -3.77225565e-01 2.09355923e+01] [ 3.81698691e-01 1.05180837e-04 9.24286805e-01 -1.16440695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.54, Y:20.95, Z:-116.46 [[ 1.42866258e-01 -9.88037869e-01 -5.80551607e-02 1.35380823e+01] [ 9.13375638e-01 1.54209352e-01 -3.76781661e-01 2.09526173e+01] [ 3.81227198e-01 8.03216484e-04 9.24481032e-01 -1.16462689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280792138 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.54, Y:20.97, Z:-116.49 [[ 1.39424680e-01 -9.88490815e-01 -5.87083305e-02 1.35423290e+01] [ 9.16287038e-01 1.51266502e-01 -3.70859150e-01 2.09670165e+01] [ 3.75471467e-01 -2.08676405e-03 9.26831604e-01 -1.16486477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310792138 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:13.54, Y:20.99, Z:-116.51 [[ 1.46609136e-01 -9.87624146e-01 -5.57163096e-02 1.35419477e+01] [ 9.13282633e-01 1.56782126e-01 -3.75944408e-01 2.09875494e+01] [ 3.80027097e-01 4.23214708e-03 9.24965672e-01 -1.16507799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.55, Y:20.99, Z:-116.54 [[ 1.39712418e-01 -9.88481549e-01 -5.81778954e-02 1.35477444e+01] [ 9.19147759e-01 1.51318011e-01 -3.63689780e-01 2.09928377e+01] [ 3.68304000e-01 -2.66210371e-03 9.29701606e-01 -1.16535323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370792138 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:13.54, Y:21.02, Z:-116.55 [[ 1.56805249e-01 -9.86176641e-01 -5.35513464e-02 1.35430903e+01] [ 9.11237219e-01 1.65373675e-01 -3.77224441e-01 2.10223225e+01] [ 3.80865915e-01 1.03527924e-02 9.24572320e-01 -1.16552921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:13.55, Y:21.04, Z:-116.58 [[ 1.40083055e-01 -9.88460793e-01 -5.76367849e-02 1.35509690e+01] [ 9.13713868e-01 1.51476851e-01 -3.77069930e-01 2.10385913e+01] [ 3.81449480e-01 1.57577934e-04 9.24389674e-01 -1.16575193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43079213800002 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:13.56, Y:21.05, Z:-116.60 [[ 1.37940579e-01 -9.88687410e-01 -5.89033271e-02 1.35550841e+01] [ 9.19230604e-01 1.49939234e-01 -3.64051264e-01 2.10453554e+01] [ 3.68764821e-01 -3.92829882e-03 9.29514430e-01 -1.16603386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46079213800002 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.55, Y:21.07, Z:-116.62 [[ 1.56571897e-01 -9.86247094e-01 -5.29330699e-02 1.35500051e+01] [ 9.10965584e-01 1.64912645e-01 -3.78081373e-01 2.10734388e+01] [ 3.81610988e-01 1.09767130e-02 9.24257846e-01 -1.16620621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.490792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:13.56, Y:21.09, Z:-116.64 [[ 1.41160325e-01 -9.88320184e-01 -5.74193110e-02 1.35581216e+01] [ 9.13350749e-01 1.52389247e-01 -3.77581682e-01 2.10891319e+01] [ 3.81921683e-01 8.55582256e-04 9.24194296e-01 -1.16642778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:13.56, Y:21.10, Z:-116.67 [[ 1.38850830e-01 -9.88622756e-01 -5.78402468e-02 1.35617144e+01] [ 9.15262357e-01 1.50412603e-01 -3.73725658e-01 2.11038888e+01] [ 3.78173592e-01 -1.04688288e-03 9.25734108e-01 -1.16665048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.550792138 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:13.56, Y:21.12, Z:-116.69 [[ 1.45850679e-01 -9.87755584e-01 -5.53758653e-02 1.35610285e+01] [ 9.12391631e-01 1.55939324e-01 -3.78450049e-01 2.11242582e+01] [ 3.82451424e-01 4.67272039e-03 9.23963784e-01 -1.16685979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580792138 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:13.57, Y:21.14, Z:-116.71 [[ 1.39194093e-01 -9.88623514e-01 -5.69960688e-02 1.35651868e+01] [ 9.13624883e-01 1.50410422e-01 -3.77711897e-01 2.11405799e+01] [ 3.81987666e-01 5.02238211e-04 9.24167285e-01 -1.16707923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.610792138 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:13.57, Y:21.16, Z:-116.73 [[ 1.41493119e-01 -9.88303166e-01 -5.68906811e-02 1.35665095e+01] [ 9.13182381e-01 1.52494347e-01 -3.77946309e-01 2.11578273e+01] [ 3.82201041e-01 1.52523442e-03 9.24077939e-01 -1.16730401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640792138 meters Centerline goodness : 0.980672 Centerline is valid? [True, True] Translation: X:13.57, Y:21.16, Z:-116.76 [[ 1.42918063e-01 -9.88124595e-01 -5.64288280e-02 1.35693484e+01] [ 9.17838336e-01 1.53653891e-01 -3.66009933e-01 2.11600809e+01] [ 3.70333926e-01 5.16889201e-04 9.28898550e-01 -1.16763813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.670792138 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:13.57, Y:21.19, Z:-116.78 [[ 1.51896695e-01 -9.86860402e-01 -5.50812299e-02 1.35673498e+01] [ 9.11141930e-01 1.61405313e-01 -3.79168444e-01 2.11928538e+01] [ 3.83076726e-01 7.40761522e-03 9.23686824e-01 -1.16776132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700792138 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.57, Y:21.21, Z:-116.80 [[ 1.42026092e-01 -9.88194400e-01 -5.74492607e-02 1.35730699e+01] [ 9.14319786e-01 1.53203501e-01 -3.74897340e-01 2.12063631e+01] [ 3.79272880e-01 7.18208533e-04 9.25284587e-01 -1.16799778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.730792138 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:13.57, Y:21.23, Z:-116.82 [[ 1.48126270e-01 -9.87431166e-01 -5.51207758e-02 1.35720298e+01] [ 9.10144581e-01 1.57913175e-01 -3.83014713e-01 2.12261462e+01] [ 3.86904962e-01 6.56666557e-03 9.22096215e-01 -1.16820532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760792138 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:13.58, Y:21.24, Z:-116.84 [[ 1.34216875e-01 -9.89293746e-01 -5.73037080e-02 1.35791448e+01] [ 9.11511985e-01 1.45936608e-01 -3.84510608e-01 2.12416661e+01] [ 3.88756648e-01 -6.25204387e-04 9.21340262e-01 -1.16842723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.790792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.58, Y:21.26, Z:-116.86 [[ 1.31825482e-01 -9.89624277e-01 -5.71474614e-02 1.35821714e+01] [ 9.11917725e-01 1.43672255e-01 -3.84401283e-01 2.12585930e+01] [ 3.88623347e-01 -1.43989839e-03 9.21395583e-01 -1.16864664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:13.59, Y:21.27, Z:-116.89 [[ 1.27359827e-01 -9.90154626e-01 -5.80800405e-02 1.35863426e+01] [ 9.13784463e-01 1.39905418e-01 -3.81345550e-01 2.12729130e+01] [ 3.85716773e-01 -4.50453527e-03 9.22606243e-01 -1.16887636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.850792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.58, Y:21.29, Z:-116.91 [[ 1.35835829e-01 -9.89238154e-01 -5.43737195e-02 1.35849561e+01] [ 9.11554429e-01 1.46290591e-01 -3.84275405e-01 2.12917681e+01] [ 3.88094256e-01 2.63376341e-03 9.21615924e-01 -1.16908326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:13.59, Y:21.31, Z:-116.93 [[ 1.24302207e-01 -9.90621803e-01 -5.67221635e-02 1.35914492e+01] [ 9.13159095e-01 1.36572203e-01 -3.84042315e-01 2.13079392e+01] [ 3.88187362e-01 -4.05905211e-03 9.21571536e-01 -1.16930814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.910792138 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:13.59, Y:21.33, Z:-116.95 [[ 1.28598096e-01 -9.90090613e-01 -5.64190288e-02 1.35920516e+01] [ 9.13038476e-01 1.40411673e-01 -3.82942951e-01 2.13253830e+01] [ 3.87070111e-01 -2.26700957e-03 9.22047499e-01 -1.16953220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.60, Y:21.34, Z:-116.98 [[ 1.25772275e-01 -9.90471525e-01 -5.61025277e-02 1.35952697e+01] [ 9.13954302e-01 1.37679046e-01 -3.81748627e-01 2.13423607e+01] [ 3.85835287e-01 -3.26175314e-03 9.22561918e-01 -1.16975688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:13.60, Y:21.36, Z:-117.00 [[ 1.24076964e-01 -9.90694953e-01 -5.59322489e-02 1.35983408e+01] [ 9.14283013e-01 1.36048130e-01 -3.81546167e-01 2.13594681e+01] [ 3.85605340e-01 -3.79681505e-03 9.22656006e-01 -1.16997442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000792138 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:13.60, Y:21.38, Z:-117.02 [[ 1.30325775e-01 -9.89903814e-01 -5.57281980e-02 1.35977915e+01] [ 9.13600557e-01 1.41735282e-01 -3.81110394e-01 2.13762975e+01] [ 3.85161284e-01 -1.24480544e-03 9.22848436e-01 -1.17019998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:13.60, Y:21.39, Z:-117.04 [[ 1.29037602e-01 -9.90079483e-01 -5.56049857e-02 1.36005960e+01] [ 9.13742262e-01 1.40499132e-01 -3.81228372e-01 2.13932045e+01] [ 3.85258842e-01 -1.61583052e-03 9.22807138e-01 -1.17042395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.60, Y:21.41, Z:-117.06 [[ 1.26800160e-01 -9.90384087e-01 -5.53270184e-02 1.36039045e+01] [ 9.14466607e-01 1.38324696e-01 -3.80285554e-01 2.14100226e+01] [ 3.84281854e-01 -2.37444166e-03 9.23212770e-01 -1.17064035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.61, Y:21.43, Z:-117.09 [[ 1.23745086e-01 -9.90770196e-01 -5.53314686e-02 1.36069347e+01] [ 9.14477008e-01 1.35509152e-01 -3.81272962e-01 2.14265353e+01] [ 3.85251808e-01 -3.41870029e-03 9.22805156e-01 -1.17086192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.61, Y:21.44, Z:-117.11 [[ 1.25607365e-01 -9.90543305e-01 -5.51973825e-02 1.36082658e+01] [ 9.14212800e-01 1.37176430e-01 -3.81310352e-01 2.14436852e+01] [ 3.85276196e-01 -2.56676512e-03 9.22797738e-01 -1.17108822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.61, Y:21.46, Z:-117.13 [[ 1.26367571e-01 -9.90458973e-01 -5.49750862e-02 1.36096921e+01] [ 9.14356701e-01 1.37791098e-01 -3.80743269e-01 2.14605231e+01] [ 3.84685664e-01 -2.15323663e-03 9.23045125e-01 -1.17131060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18079213800002 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.61, Y:21.48, Z:-117.15 [[ 1.22900586e-01 -9.90900089e-01 -5.48858793e-02 1.36132951e+01] [ 9.14693961e-01 1.34557321e-01 -3.81089602e-01 2.14772142e+01] [ 3.85007017e-01 -3.36764711e-03 9.22907501e-01 -1.17153537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21079213800002 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:13.62, Y:21.49, Z:-117.18 [[ 1.23930915e-01 -9.90779875e-01 -5.47390911e-02 1.36151292e+01] [ 9.14584578e-01 1.35451710e-01 -3.81035280e-01 2.14943622e+01] [ 3.84936590e-01 -2.84147771e-03 9.22938648e-01 -1.17175863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.62, Y:21.51, Z:-117.20 [[ 1.24518961e-01 -9.90711154e-01 -5.46483097e-02 1.36181789e+01] [ 9.16252122e-01 1.35946651e-01 -3.76829613e-01 2.15079039e+01] [ 3.80758556e-01 -3.14919776e-03 9.24669133e-01 -1.17199640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.270792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:13.62, Y:21.53, Z:-117.22 [[ 1.29105691e-01 -9.90218539e-01 -5.29052594e-02 1.36187926e+01] [ 9.14286756e-01 1.39523185e-01 -3.80280172e-01 2.15281445e+01] [ 3.83941986e-01 7.25756221e-04 9.23356932e-01 -1.17220483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:13.62, Y:21.54, Z:-117.24 [[ 1.23095811e-01 -9.90917266e-01 -5.41331118e-02 1.36231078e+01] [ 9.15616733e-01 1.34441168e-01 -3.78908393e-01 2.15443025e+01] [ 3.82744587e-01 -2.92314701e-03 9.23849574e-01 -1.17242708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.330792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:13.63, Y:21.56, Z:-117.27 [[ 1.20590136e-01 -9.91234253e-01 -5.39692111e-02 1.36257677e+01] [ 9.16034985e-01 1.32062383e-01 -3.78733987e-01 2.15612628e+01] [ 3.82541403e-01 -3.76610265e-03 9.23930675e-01 -1.17265433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360792138 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:13.63, Y:21.58, Z:-117.29 [[ 1.21234606e-01 -9.91170613e-01 -5.36934426e-02 1.36271094e+01] [ 9.16358261e-01 1.32549008e-01 -3.77780754e-01 2.15782720e+01] [ 3.81562195e-01 -3.40232881e-03 9.24336906e-01 -1.17287469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.390792138 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:13.63, Y:21.60, Z:-117.31 [[ 1.22508082e-01 -9.91022998e-01 -5.35274421e-02 1.36285753e+01] [ 9.16274572e-01 1.33662430e-01 -3.77591397e-01 2.15953312e+01] [ 3.81356366e-01 -2.78783612e-03 9.24423902e-01 -1.17309808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420792138 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:13.63, Y:21.61, Z:-117.33 [[ 1.28080429e-01 -9.90345197e-01 -5.30263571e-02 1.36287449e+01] [ 9.17401071e-01 1.38620485e-01 -3.73041066e-01 2.16094578e+01] [ 3.76789967e-01 -8.67176985e-04 9.26298315e-01 -1.17333475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.450792138 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:13.62, Y:21.63, Z:-117.35 [[ 1.39935256e-01 -9.88818833e-01 -5.15309637e-02 1.36245349e+01] [ 9.15596174e-01 1.49035310e-01 -3.73459666e-01 2.16327278e+01] [ 3.76963884e-01 5.07862055e-03 9.26214035e-01 -1.17353114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480792138 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:13.63, Y:21.65, Z:-117.37 [[ 1.34448090e-01 -9.89529329e-01 -5.24920764e-02 1.36283219e+01] [ 9.16807472e-01 1.44318961e-01 -3.72338686e-01 2.16508388e+01] [ 3.76015652e-01 1.93509746e-03 9.26611291e-01 -1.17374837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.510792138 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:13.63, Y:21.67, Z:-117.40 [[ 1.33435050e-01 -9.89669160e-01 -5.24408338e-02 1.36304041e+01] [ 9.16705336e-01 1.43359991e-01 -3.72960104e-01 2.16676438e+01] [ 3.76625031e-01 1.69315811e-03 9.26364248e-01 -1.17397374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540792138 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:13.63, Y:21.68, Z:-117.42 [[ 1.36390026e-01 -9.89292906e-01 -5.19355953e-02 1.36321719e+01] [ 9.17729615e-01 1.45918213e-01 -3.69432307e-01 2.16817614e+01] [ 3.73055110e-01 2.72404795e-03 9.27805187e-01 -1.17420889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.570792138 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:13.63, Y:21.70, Z:-117.44 [[ 1.35194854e-01 -9.89499897e-01 -5.11107206e-02 1.36341391e+01] [ 9.16652159e-01 1.44490456e-01 -3.72654433e-01 2.17012986e+01] [ 3.76126535e-01 3.53020926e-03 9.26561583e-01 -1.17442390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600792138 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:13.64, Y:21.72, Z:-117.46 [[ 1.27837148e-01 -9.90417059e-01 -5.22657927e-02 1.36382934e+01] [ 9.17133428e-01 1.38108763e-01 -3.73888011e-01 2.17177724e+01] [ 3.77523428e-01 -1.37928523e-04 9.26000023e-01 -1.17464652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.630792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:13.64, Y:21.73, Z:-117.49 [[ 1.26571582e-01 -9.90586957e-01 -5.21259628e-02 1.36404380e+01] [ 9.17320736e-01 1.36884030e-01 -3.73878897e-01 2.17340740e+01] [ 3.77494771e-01 -4.93782975e-04 9.26011584e-01 -1.17487869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660792138 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:13.64, Y:21.75, Z:-117.51 [[ 1.28527891e-01 -9.90337171e-01 -5.20852025e-02 1.36415251e+01] [ 9.16764699e-01 1.38679962e-01 -3.74580237e-01 2.17503421e+01] [ 3.78183906e-01 3.94132967e-04 9.25730402e-01 -1.17510181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690792138 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:13.64, Y:21.77, Z:-117.53 [[ 1.26960227e-01 -9.90554063e-01 -5.18049138e-02 1.36442597e+01] [ 9.17412923e-01 1.37122714e-01 -3.73565109e-01 2.17665892e+01] [ 3.77140067e-01 -9.85862861e-05 9.26156229e-01 -1.17533048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720792138 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:13.65, Y:21.78, Z:-117.56 [[ 1.26647940e-01 -9.90596987e-01 -5.17485056e-02 1.36464674e+01] [ 9.17456095e-01 1.36812212e-01 -3.73572929e-01 2.17837391e+01] [ 3.77140045e-01 -1.64740157e-04 9.26156228e-01 -1.17555690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750792138 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:13.65, Y:21.80, Z:-117.58 [[ 1.27386067e-01 -9.90504485e-01 -5.17073903e-02 1.36485152e+01] [ 9.16987255e-01 1.37480112e-01 -3.74477759e-01 2.18000321e+01] [ 3.78030638e-01 2.88231059e-04 9.25793040e-01 -1.17578700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780792138 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:13.65, Y:21.82, Z:-117.60 [[ 1.30561123e-01 -9.90099529e-01 -5.15433485e-02 1.36490075e+01] [ 9.16626509e-01 1.40357729e-01 -3.74293402e-01 2.18167488e+01] [ 3.77822228e-01 1.62216718e-03 9.25876737e-01 -1.17600923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810792138 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:13.65, Y:21.83, Z:-117.62 [[ 1.32285743e-01 -9.89886473e-01 -5.12372244e-02 1.36504956e+01] [ 9.16891651e-01 1.41841929e-01 -3.73082522e-01 2.18341231e+01] [ 3.76576928e-01 2.37451550e-03 9.26382307e-01 -1.17623366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:13.65, Y:21.85, Z:-117.65 [[ 1.26967565e-01 -9.90587712e-01 -5.11392439e-02 1.36543268e+01] [ 9.17526962e-01 1.36878595e-01 -3.73374510e-01 2.18503366e+01] [ 3.76860069e-01 4.84817359e-04 9.26270076e-01 -1.17645295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:13.66, Y:21.87, Z:-117.67 [[ 1.26637457e-01 -9.90636291e-01 -5.10165996e-02 1.36564179e+01] [ 9.17572566e-01 1.36526607e-01 -3.73391311e-01 2.18674982e+01] [ 3.76860107e-01 4.73894071e-04 9.26270066e-01 -1.17667932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900792138 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:13.66, Y:21.88, Z:-117.69 [[ 1.27941099e-01 -9.90476417e-01 -5.08678958e-02 1.36579447e+01] [ 9.17417421e-01 1.37678097e-01 -3.73349724e-01 2.18839023e+01] [ 3.76797492e-01 1.09968011e-03 9.26295007e-01 -1.17690277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93079213800002 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:13.66, Y:21.90, Z:-117.71 [[ 1.27816717e-01 -9.90496738e-01 -5.07848230e-02 1.36595989e+01] [ 9.17275549e-01 1.37531086e-01 -3.73752281e-01 2.19008504e+01] [ 3.77184907e-01 1.18811305e-03 9.26137211e-01 -1.17712064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96079213800002 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:13.66, Y:21.92, Z:-117.73 [[ 1.30940711e-01 -9.90096017e-01 -5.06399867e-02 1.36600734e+01] [ 9.16866012e-01 1.40369564e-01 -3.73701889e-01 2.19177041e+01] [ 3.77109065e-01 2.50270849e-03 9.26165477e-01 -1.17734107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.990792138 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:13.66, Y:21.93, Z:-117.76 [[ 1.29717955e-01 -9.90258754e-01 -5.06048682e-02 1.36625768e+01] [ 9.16733184e-01 1.39222258e-01 -3.74456183e-01 2.19342019e+01] [ 3.77853837e-01 2.18252839e-03 9.25862687e-01 -1.17756133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.66, Y:21.95, Z:-117.78 [[ 1.32054122e-01 -9.89948598e-01 -5.06308364e-02 1.36648703e+01] [ 9.17986602e-01 1.41406336e-01 -3.70546687e-01 2.19477702e+01] [ 3.73981695e-01 2.45378821e-03 9.27432839e-01 -1.17780109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.050792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:13.67, Y:21.97, Z:-117.80 [[ 1.36628524e-01 -9.89418735e-01 -4.88181620e-02 1.36655301e+01] [ 9.15566252e-01 1.44939814e-01 -3.75141159e-01 2.19681052e+01] [ 3.78247387e-01 6.55872125e-03 9.25681315e-01 -1.17802312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080792138 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:13.67, Y:21.98, Z:-117.82 [[ 1.26902163e-01 -9.90632923e-01 -5.04207522e-02 1.36712120e+01] [ 9.16808841e-01 1.36544741e-01 -3.75256024e-01 2.19838742e+01] [ 3.78625660e-01 1.39460976e-03 9.25548845e-01 -1.17824420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.110792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:13.67, Y:22.00, Z:-117.85 [[ 1.29170691e-01 -9.90351675e-01 -5.01845778e-02 1.36720061e+01] [ 9.16804550e-01 1.38556663e-01 -3.74528327e-01 2.20010918e+01] [ 3.77868164e-01 2.36863357e-03 9.25856382e-01 -1.17846831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140792138 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:13.67, Y:22.01, Z:-117.87 [[ 1.30647676e-01 -9.90152541e-01 -5.02904685e-02 1.36733938e+01] [ 9.18725186e-01 1.39977811e-01 -3.69256342e-01 2.20146239e+01] [ 3.72659654e-01 2.03936297e-03 9.27965852e-01 -1.17870746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.170792138 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:13.67, Y:22.04, Z:-117.89 [[ 1.36521653e-01 -9.89464201e-01 -4.81916280e-02 1.36727215e+01] [ 9.15501943e-01 1.44601841e-01 -3.75428423e-01 2.20360849e+01] [ 3.78441583e-01 7.13457966e-03 9.25597681e-01 -1.17892703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.68, Y:22.05, Z:-117.91 [[ 1.29896542e-01 -9.90267639e-01 -4.99689096e-02 1.36772326e+01] [ 9.16489131e-01 1.39145403e-01 -3.75081631e-01 2.20523143e+01] [ 3.78384145e-01 2.92584454e-03 9.25644034e-01 -1.17914663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.230792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.68, Y:22.07, Z:-117.94 [[ 1.31580476e-01 -9.90051123e-01 -4.98533121e-02 1.36782866e+01] [ 9.16189687e-01 1.40659455e-01 -3.75248417e-01 2.20692973e+01] [ 3.78527456e-01 3.70027477e-03 9.25582667e-01 -1.17936787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:13.68, Y:22.09, Z:-117.96 [[ 1.33772834e-01 -9.89759389e-01 -4.98114572e-02 1.36793616e+01] [ 9.15584309e-01 1.42668774e-01 -3.75966745e-01 2.20863444e+01] [ 3.79223155e-01 4.68754810e-03 9.25293373e-01 -1.17958858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.290792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.68, Y:22.10, Z:-117.98 [[ 1.34763138e-01 -9.89632785e-01 -4.96573048e-02 1.36803400e+01] [ 9.15500313e-01 1.43527101e-01 -3.75844581e-01 2.21036351e+01] [ 3.79075289e-01 5.18871727e-03 9.25351286e-01 -1.17980633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.68, Y:22.12, Z:-118.00 [[ 1.33912818e-01 -9.89751148e-01 -4.95986190e-02 1.36823855e+01] [ 9.15383046e-01 1.42715042e-01 -3.76438966e-01 2.21200363e+01] [ 3.79659368e-01 5.00826782e-03 9.25112794e-01 -1.18002727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.350792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:13.69, Y:22.14, Z:-118.02 [[ 1.31695053e-01 -9.90053917e-01 -4.94939831e-02 1.36852663e+01] [ 9.15602810e-01 1.40622984e-01 -3.76691746e-01 2.21371834e+01] [ 3.79905130e-01 4.29160958e-03 9.25015499e-01 -1.18024889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.69, Y:22.15, Z:-118.05 [[ 1.33930680e-01 -9.89767678e-01 -4.92190572e-02 1.36868643e+01] [ 9.17464301e-01 1.42614686e-01 -3.71376236e-01 2.21508031e+01] [ 3.74595555e-01 4.58194407e-03 9.27176993e-01 -1.18048305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.410792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:13.69, Y:22.17, Z:-118.07 [[ 1.39511442e-01 -9.89072053e-01 -4.76763111e-02 1.36868843e+01] [ 9.16378388e-01 1.47202170e-01 -3.72266263e-01 2.21681831e+01] [ 3.75216213e-01 8.24586214e-03 9.26900641e-01 -1.18071916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440792138 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:13.69, Y:22.19, Z:-118.09 [[ 1.41113853e-01 -9.88847745e-01 -4.76132176e-02 1.36874073e+01] [ 9.13839702e-01 1.48606073e-01 -3.77906384e-01 2.21895280e+01] [ 3.80767489e-01 9.81697724e-03 9.24618703e-01 -1.18094019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:13.69, Y:22.21, Z:-118.12 [[ 1.31918837e-01 -9.90039559e-01 -4.91842665e-02 1.36925058e+01] [ 9.15533729e-01 1.40711631e-01 -3.76826522e-01 2.22060838e+01] [ 3.79993962e-01 4.68066176e-03 9.24977124e-01 -1.18116138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500792138 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:13.69, Y:22.21, Z:-118.15 [[ 1.43690871e-01 -9.88459332e-01 -4.79695960e-02 1.36936593e+01] [ 9.17545976e-01 1.51229025e-01 -3.67748779e-01 2.22116400e+01] [ 3.70759107e-01 8.82783255e-03 9.28687113e-01 -1.18146697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:13.69, Y:22.23, Z:-118.17 [[ 1.46930533e-01 -9.88020335e-01 -4.71935980e-02 1.36936338e+01] [ 9.16617006e-01 1.53934758e-01 -3.68940855e-01 2.22299658e+01] [ 3.71785802e-01 1.09502219e-02 9.28253958e-01 -1.18167176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:13.70, Y:22.25, Z:-118.19 [[ 1.44473753e-01 -9.88417159e-01 -4.64634753e-02 1.36953927e+01] [ 9.14030675e-01 1.51293545e-01 -3.76375063e-01 2.22543210e+01] [ 3.79045194e-01 1.19072763e-02 9.25301550e-01 -1.18188049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.70, Y:22.27, Z:-118.21 [[ 1.35737557e-01 -9.89537455e-01 -4.88972555e-02 1.37001432e+01] [ 9.15561657e-01 1.44143131e-01 -3.75459199e-01 2.22709689e+01] [ 3.78579143e-01 6.19546205e-03 9.25548188e-01 -1.18210546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:13.70, Y:22.29, Z:-118.23 [[ 1.32223026e-01 -9.90015263e-01 -4.88553935e-02 1.37037134e+01] [ 9.15771365e-01 1.40871479e-01 -3.76188827e-01 2.22876953e+01] [ 3.79315012e-01 5.00045461e-03 9.25254082e-01 -1.18232742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650792138 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:13.70, Y:22.29, Z:-118.26 [[ 1.46106541e-01 -9.88152229e-01 -4.69899101e-02 1.37040158e+01] [ 9.18049815e-01 1.53131483e-01 -3.65698354e-01 2.22919036e+01] [ 3.68561278e-01 1.02918434e-02 9.29546482e-01 -1.18263196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68079213800002 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:13.71, Y:22.32, Z:-118.28 [[ 1.33841622e-01 -9.89861605e-01 -4.75439054e-02 1.37067574e+01] [ 9.15157748e-01 1.41863146e-01 -3.77307758e-01 2.23212524e+01] [ 3.80227191e-01 6.98930889e-03 9.24866711e-01 -1.18276914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71079213800002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.71, Y:22.34, Z:-118.30 [[ 1.27151396e-01 -9.90698414e-01 -4.84682910e-02 1.37111901e+01] [ 9.16407347e-01 1.36032274e-01 -3.76421034e-01 2.23381309e+01] [ 3.79512974e-01 3.44576222e-03 9.25179999e-01 -1.18299383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.71, Y:22.36, Z:-118.32 [[ 1.29819606e-01 -9.90358153e-01 -4.83487301e-02 1.37117814e+01] [ 9.15987811e-01 1.38454285e-01 -3.76559081e-01 2.23552937e+01] [ 3.79622445e-01 4.59790402e-03 9.25130077e-01 -1.18321420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.770792138 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:13.71, Y:22.37, Z:-118.34 [[ 1.31970404e-01 -9.90082921e-01 -4.81624469e-02 1.37135193e+01] [ 9.17951439e-01 1.40403795e-01 -3.71014731e-01 2.23683701e+01] [ 3.74097539e-01 4.75217640e-03 9.27377187e-01 -1.18344517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:13.71, Y:22.39, Z:-118.37 [[ 1.33561738e-01 -9.89959423e-01 -4.62774529e-02 1.37144118e+01] [ 9.15675527e-01 1.41131601e-01 -3.76324594e-01 2.23897449e+01] [ 3.79077289e-01 7.88743560e-03 9.25331398e-01 -1.18365809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.830792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.72, Y:22.41, Z:-118.39 [[ 1.26598601e-01 -9.90791416e-01 -4.80121171e-02 1.37192942e+01] [ 9.16466439e-01 1.35347442e-01 -3.76524017e-01 2.24060185e+01] [ 3.79555081e-01 3.66591971e-03 9.25161879e-01 -1.18387998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:13.72, Y:22.42, Z:-118.41 [[ 1.25536465e-01 -9.90934704e-01 -4.78435903e-02 1.37217144e+01] [ 9.16718897e-01 1.34301902e-01 -3.76283753e-01 2.24227941e+01] [ 3.79298114e-01 3.37820880e-03 9.25268355e-01 -1.18409810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.890792138 meters Centerline goodness : 0.977520 Centerline is valid? [True, True] Translation: X:13.72, Y:22.43, Z:-118.44 [[ 1.33909980e-01 -9.89878071e-01 -4.70055472e-02 1.37233195e+01] [ 9.20332058e-01 1.41811744e-01 -3.64524805e-01 2.24256889e+01] [ 3.67501049e-01 5.55279744e-03 9.30006530e-01 -1.18442463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920792138 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:13.72, Y:22.46, Z:-118.46 [[ 1.29281047e-01 -9.90538822e-01 -4.60353406e-02 1.37243836e+01] [ 9.16121535e-01 1.37077303e-01 -3.76737504e-01 2.24574151e+01] [ 3.79483524e-01 6.53105196e-03 9.25175443e-01 -1.18455049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.950792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.73, Y:22.47, Z:-118.48 [[ 1.21367235e-01 -9.91473992e-01 -4.74269694e-02 1.37282645e+01] [ 9.17269605e-01 1.30286601e-01 -3.76353390e-01 2.24737629e+01] [ 3.79323696e-01 2.17365268e-03 9.25261481e-01 -1.18477090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.73, Y:22.49, Z:-118.50 [[ 1.19677170e-01 -9.91689985e-01 -4.72053976e-02 1.37300454e+01] [ 9.17773741e-01 1.28640168e-01 -3.75690122e-01 2.24906829e+01] [ 3.78640642e-01 1.63765637e-03 9.25542318e-01 -1.18499823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.010792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.73, Y:22.50, Z:-118.52 [[ 1.24878675e-01 -9.91056457e-01 -4.70363274e-02 1.37311646e+01] [ 9.19064252e-01 1.33407678e-01 -3.70841331e-01 2.25037585e+01] [ 3.73799702e-01 3.08076703e-03 9.27504335e-01 -1.18523720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:13.73, Y:22.53, Z:-118.55 [[ 1.29174168e-01 -9.90581187e-01 -4.54196792e-02 1.37307697e+01] [ 9.16193639e-01 1.36745341e-01 -3.76682793e-01 2.25253687e+01] [ 3.79345818e-01 7.04446518e-03 9.25228148e-01 -1.18545197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.070792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:13.73, Y:22.54, Z:-118.57 [[ 1.29430890e-01 -9.90478636e-01 -4.69011269e-02 1.37331236e+01] [ 9.18003898e-01 1.37572551e-01 -3.71944400e-01 2.25378453e+01] [ 3.74855290e-01 5.08567742e-03 9.27069387e-01 -1.18569151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.73, Y:22.55, Z:-118.59 [[ 1.47555023e-01 -9.88059789e-01 -4.43324708e-02 1.37302961e+01] [ 9.17467014e-01 1.53480020e-01 -3.67012481e-01 2.25485329e+01] [ 3.69434424e-01 1.34809554e-02 9.29159012e-01 -1.18594767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.130792138 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:13.74, Y:22.58, Z:-118.61 [[ 1.27986107e-01 -9.90812994e-01 -4.36940104e-02 1.37362259e+01] [ 9.14617931e-01 1.34951405e-01 -3.81132730e-01 2.25758620e+01] [ 3.83527830e-01 8.81636901e-03 9.23487236e-01 -1.18613018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:13.74, Y:22.59, Z:-118.64 [[ 1.18445453e-01 -9.91816982e-01 -4.76418789e-02 1.37421850e+01] [ 9.15960604e-01 1.27659920e-01 -3.80419659e-01 2.25893113e+01] [ 3.83388636e-01 1.42089475e-03 9.23586019e-01 -1.18636455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:13.74, Y:22.61, Z:-118.66 [[ 1.26494563e-01 -9.90933181e-01 -4.52830695e-02 1.37409802e+01] [ 9.14972155e-01 1.34188205e-01 -3.80551548e-01 2.26066004e+01] [ 3.83177610e-01 6.70495413e-03 9.23650347e-01 -1.18659230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.74, Y:22.63, Z:-118.68 [[ 1.23000399e-01 -9.91371765e-01 -4.53092110e-02 1.37437253e+01] [ 9.13604250e-01 1.30944950e-01 -3.84942457e-01 2.26262013e+01] [ 3.87554095e-01 5.95338789e-03 9.21827739e-01 -1.18681515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:13.75, Y:22.64, Z:-118.70 [[ 1.12202869e-01 -9.92541810e-01 -4.76578535e-02 1.37489173e+01] [ 9.14239639e-01 1.21904506e-01 -3.86400277e-01 2.26417756e+01] [ 3.89328138e-01 -2.15478912e-04 9.21099102e-01 -1.18703172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:13.75, Y:22.66, Z:-118.73 [[ 1.16908080e-01 -9.92023746e-01 -4.71316034e-02 1.37493720e+01] [ 9.15326250e-01 1.26041299e-01 -3.82480649e-01 2.26563012e+01] [ 3.85370415e-01 1.57428467e-03 9.22760622e-01 -1.18725813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310792138 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:13.75, Y:22.68, Z:-118.75 [[ 1.16410497e-01 -9.92174536e-01 -4.51473768e-02 1.37510976e+01] [ 9.14273394e-01 1.24807152e-01 -3.85392444e-01 2.26757370e+01] [ 3.88011285e-01 3.58668069e-03 9.21647643e-01 -1.18747146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340792138 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:13.76, Y:22.69, Z:-118.77 [[ 1.11557653e-01 -9.92646537e-01 -4.69866312e-02 1.37554194e+01] [ 9.16486214e-01 1.21047837e-01 -3.81314096e-01 2.26894010e+01] [ 3.84197747e-01 -5.24094136e-04 9.23250679e-01 -1.18769728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.75, Y:22.71, Z:-118.79 [[ 1.19839549e-01 -9.91780741e-01 -4.48268148e-02 1.37533278e+01] [ 9.13966183e-01 1.27844032e-01 -3.85125589e-01 2.27100038e+01] [ 3.87690983e-01 5.18308414e-03 9.21774830e-01 -1.18792550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:13.76, Y:22.73, Z:-118.81 [[ 1.10516534e-01 -9.92775283e-01 -4.67261546e-02 1.37584601e+01] [ 9.15057538e-01 1.19988322e-01 -3.85061690e-01 2.27263412e+01] [ 3.87886321e-01 -2.01436505e-04 9.21707199e-01 -1.18814783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43079213800002 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:13.76, Y:22.74, Z:-118.84 [[ 1.10444789e-01 -9.92786806e-01 -4.66508914e-02 1.37607573e+01] [ 9.16759882e-01 1.19891146e-01 -3.81021563e-01 2.27397948e+01] [ 3.83866210e-01 -6.85819415e-04 9.23388468e-01 -1.18836950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46079213800002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:13.76, Y:22.76, Z:-118.86 [[ 1.18788558e-01 -9.91924836e-01 -4.44342030e-02 1.37594039e+01] [ 9.15828365e-01 1.26744781e-01 -3.81043522e-01 2.27566020e+01] [ 3.83598336e-01 4.56950701e-03 9.23488731e-01 -1.18858929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.490792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:13.76, Y:22.77, Z:-118.88 [[ 1.14920733e-01 -9.92385634e-01 -4.43167876e-02 1.37625909e+01] [ 9.16421938e-01 1.23129345e-01 -3.80801782e-01 2.27723334e+01] [ 3.83358915e-01 3.14914361e-03 9.23594080e-01 -1.18881174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.76, Y:22.79, Z:-118.90 [[ 1.12958366e-01 -9.92614042e-01 -4.42467041e-02 1.37643560e+01] [ 9.15181722e-01 1.21279920e-01 -3.84361285e-01 2.27917350e+01] [ 3.86888645e-01 2.92304764e-03 9.22121810e-01 -1.18904285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.550792138 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:13.77, Y:22.81, Z:-118.93 [[ 1.08180343e-01 -9.93064927e-01 -4.60332981e-02 1.37681094e+01] [ 9.16261285e-01 1.17564815e-01 -3.82940952e-01 2.28078763e+01] [ 3.85697125e-01 -7.51845356e-04 9.22625148e-01 -1.18926292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580792138 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:13.77, Y:22.82, Z:-118.95 [[ 1.03526167e-01 -9.93565815e-01 -4.59271617e-02 1.37715919e+01] [ 9.16913015e-01 1.13228778e-01 -3.82687557e-01 2.28239346e+01] [ 3.85425551e-01 -2.49303634e-03 9.22735569e-01 -1.18948140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.610792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:13.77, Y:22.84, Z:-118.97 [[ 1.03166216e-01 -9.93609059e-01 -4.58014169e-02 1.37734723e+01] [ 9.16818690e-01 1.12849040e-01 -3.83025564e-01 2.28405083e+01] [ 3.85746317e-01 -2.47629690e-03 9.22601565e-01 -1.18970199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640792138 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:13.78, Y:22.86, Z:-118.99 [[ 1.04115381e-01 -9.93472034e-01 -4.66187233e-02 1.37754805e+01] [ 9.17981815e-01 1.14029794e-01 -3.79877078e-01 2.28557059e+01] [ 3.82713176e-01 -3.24409352e-03 9.23861516e-01 -1.18993497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.670792138 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:13.77, Y:22.88, Z:-119.01 [[ 1.18525924e-01 -9.92015952e-01 -4.30808193e-02 1.37712341e+01] [ 9.15348066e-01 1.25974541e-01 -3.82450432e-01 2.28763216e+01] [ 3.84824016e-01 5.89634641e-03 9.22971132e-01 -1.19014568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.78, Y:22.89, Z:-119.04 [[ 1.07752843e-01 -9.93108296e-01 -4.61002887e-02 1.37769409e+01] [ 9.18137866e-01 1.17190213e-01 -3.78535749e-01 2.28905965e+01] [ 3.81329496e-01 -1.53811764e-03 9.24437910e-01 -1.19038521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.730792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.78, Y:22.91, Z:-119.06 [[ 1.17156015e-01 -9.92166389e-01 -4.33627082e-02 1.37751411e+01] [ 9.17067761e-01 1.24838731e-01 -3.78684583e-01 2.29079033e+01] [ 3.81131461e-01 4.59863489e-03 9.24509417e-01 -1.19061320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760792138 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:13.78, Y:22.93, Z:-119.08 [[ 1.14975375e-01 -9.92461867e-01 -4.24276539e-02 1.37768842e+01] [ 9.16423555e-01 1.22454810e-01 -3.81015337e-01 2.29267831e+01] [ 3.83338663e-01 4.92567991e-03 9.23594720e-01 -1.19082985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.790792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.78, Y:22.94, Z:-119.10 [[ 1.04613796e-01 -9.93496254e-01 -4.49571600e-02 1.37830042e+01] [ 9.17666000e-01 1.13855819e-01 -3.80691430e-01 2.29424191e+01] [ 3.83334144e-01 -1.43008149e-03 9.23608623e-01 -1.19104179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820792138 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.79, Y:22.96, Z:-119.13 [[ 1.03590324e-01 -9.93608673e-01 -4.48425071e-02 1.37854312e+01] [ 9.17604977e-01 1.12867311e-01 -3.81132623e-01 2.29592050e+01] [ 3.83757933e-01 -1.66605581e-03 9.23432224e-01 -1.19125962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.850792138 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:13.79, Y:22.98, Z:-119.15 [[ 1.04347321e-01 -9.93533205e-01 -4.47594432e-02 1.37866917e+01] [ 9.17335253e-01 1.13535140e-01 -3.81583289e-01 2.29761718e+01] [ 3.84197438e-01 -1.24222112e-03 9.23250121e-01 -1.19147991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880792138 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:13.78, Y:22.99, Z:-119.17 [[ 1.14311232e-01 -9.92477289e-01 -4.38380410e-02 1.37830477e+01] [ 9.18056706e-01 1.22395498e-01 -3.77082520e-01 2.29918349e+01] [ 3.79611416e-01 2.85896008e-03 9.25141610e-01 -1.19169652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.910792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:13.78, Y:23.01, Z:-119.19 [[ 1.19651878e-01 -9.91917224e-01 -4.22332669e-02 1.37828918e+01] [ 9.16819484e-01 1.26715537e-01 -3.78662390e-01 2.30125675e+01] [ 3.80953358e-01 6.58738431e-03 9.24570790e-01 -1.19189998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940792138 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:13.79, Y:23.03, Z:-119.21 [[ 1.09426181e-01 -9.93021533e-01 -4.39789140e-02 1.37889816e+01] [ 9.18369969e-01 1.17929382e-01 -3.77742321e-01 2.30301321e+01] [ 3.80292665e-01 9.45985897e-04 9.24865717e-01 -1.19211102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970792138 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:13.79, Y:23.05, Z:-119.23 [[ 1.07654212e-01 -9.93224448e-01 -4.37694719e-02 1.37912714e+01] [ 9.18842528e-01 1.16211231e-01 -3.77125124e-01 2.30480219e+01] [ 3.79656397e-01 3.81855950e-04 9.25127491e-01 -1.19232339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000792138 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:13.79, Y:23.07, Z:-119.25 [[ 1.07309673e-01 -9.93270057e-01 -4.35801433e-02 1.37934611e+01] [ 9.19072124e-01 1.15820805e-01 -3.76685509e-01 2.30656948e+01] [ 3.79197924e-01 3.68703789e-04 9.25315513e-01 -1.19253559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030792138 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:13.80, Y:23.08, Z:-119.28 [[ 1.06231245e-01 -9.93391060e-01 -4.34640517e-02 1.37958699e+01] [ 9.19125985e-01 1.14778891e-01 -3.76872962e-01 2.30834578e+01] [ 3.79370987e-01 8.67447574e-05 9.25244642e-01 -1.19275608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060792138 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:13.80, Y:23.10, Z:-119.30 [[ 1.05972107e-01 -9.93429954e-01 -4.32069397e-02 1.37978028e+01] [ 9.19586066e-01 1.14441765e-01 -3.75851765e-01 2.31012658e+01] [ 3.78327080e-01 9.73037272e-05 9.25671978e-01 -1.19297264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090792138 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:13.80, Y:23.12, Z:-119.32 [[ 1.08864332e-01 -9.93122915e-01 -4.30747439e-02 1.37978780e+01] [ 9.19233873e-01 1.17068851e-01 -3.75904206e-01 2.31188192e+01] [ 3.78361791e-01 1.32679648e-03 9.25656845e-01 -1.19319221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120792138 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:13.80, Y:23.14, Z:-119.34 [[ 1.09005988e-01 -9.93112422e-01 -4.29582601e-02 1.37996264e+01] [ 9.19146717e-01 1.17155597e-01 -3.76090254e-01 2.31359778e+01] [ 3.78532703e-01 1.51114585e-03 9.25586684e-01 -1.19341371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150792138 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:13.80, Y:23.15, Z:-119.36 [[ 1.13164146e-01 -9.92655954e-01 -4.27554996e-02 1.37995093e+01] [ 9.18887529e-01 1.20929152e-01 -3.75528761e-01 2.31532958e+01] [ 3.77941247e-01 3.20889618e-03 9.25824021e-01 -1.19362933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18079213800002 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:13.80, Y:23.17, Z:-119.39 [[ 1.12250441e-01 -9.92771843e-01 -4.24724136e-02 1.38022648e+01] [ 9.19529292e-01 1.19980532e-01 -3.74260008e-01 2.31706461e+01] [ 3.76650660e-01 2.95622235e-03 9.26350658e-01 -1.19385337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21079213800002 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:13.80, Y:23.19, Z:-119.41 [[ 1.15537416e-01 -9.92403700e-01 -4.22611137e-02 1.38032183e+01] [ 9.19398297e-01 1.22948372e-01 -3.73618078e-01 2.31872251e+01] [ 3.75975899e-01 4.31207124e-03 9.26619409e-01 -1.19408091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:13.80, Y:23.20, Z:-119.43 [[ 1.19421918e-01 -9.91951070e-01 -4.20889563e-02 1.38031370e+01] [ 9.19042567e-01 1.26484238e-01 -3.73312869e-01 2.32039499e+01] [ 3.75631689e-01 5.90019632e-03 9.26750248e-01 -1.19430432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.270792138 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:13.81, Y:23.22, Z:-119.45 [[ 1.15500571e-01 -9.92425738e-01 -4.18422361e-02 1.38063301e+01] [ 9.19937795e-01 1.22763090e-01 -3.72348864e-01 2.32203981e+01] [ 3.74665278e-01 4.51425203e-03 9.27149152e-01 -1.19453262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300792138 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:13.81, Y:23.24, Z:-119.48 [[ 1.14234246e-01 -9.92576664e-01 -4.17385085e-02 1.38086608e+01] [ 9.19978850e-01 1.21549061e-01 -3.72645597e-01 2.32367563e+01] [ 3.74952600e-01 4.17034357e-03 9.27034604e-01 -1.19476123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.330792138 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:13.81, Y:23.25, Z:-119.50 [[ 1.16255817e-01 -9.92346873e-01 -4.16205267e-02 1.38089767e+01] [ 9.19669545e-01 1.23377629e-01 -3.72808112e-01 2.32530629e+01] [ 3.75090006e-01 5.06398076e-03 9.26974565e-01 -1.19499198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.81, Y:23.26, Z:-119.53 [[ 1.22575157e-01 -9.91584142e-01 -4.16679844e-02 1.38091201e+01] [ 9.21543785e-01 1.29301715e-01 -3.66112168e-01 2.32629321e+01] [ 3.68418762e-01 6.47738439e-03 9.29637381e-01 -1.19525071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.390792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:13.81, Y:23.29, Z:-119.55 [[ 1.27222225e-01 -9.91113438e-01 -3.88414460e-02 1.38084782e+01] [ 9.18083799e-01 1.32488777e-01 -3.73589162e-01 2.32869240e+01] [ 3.75415295e-01 1.18691423e-02 9.26780707e-01 -1.19545263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:13.81, Y:23.29, Z:-119.57 [[ 1.21465773e-01 -9.91738673e-01 -4.12367606e-02 1.38139383e+01] [ 9.21686578e-01 1.28111455e-01 -3.66171145e-01 2.32936675e+01] [ 3.68428987e-01 6.46989249e-03 9.29633380e-01 -1.19574963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.450792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.81, Y:23.31, Z:-119.60 [[ 1.23746202e-01 -9.91495459e-01 -4.02943150e-02 1.38143618e+01] [ 9.21352354e-01 1.29881815e-01 -3.66388528e-01 2.33110738e+01] [ 3.68506061e-01 8.21392686e-03 9.29589057e-01 -1.19597847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480792138 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:13.82, Y:23.32, Z:-119.62 [[ 1.22053687e-01 -9.91642162e-01 -4.18177081e-02 1.38177975e+01] [ 9.22116998e-01 1.28880672e-01 -3.64815043e-01 2.33229425e+01] [ 3.67155472e-01 5.96620147e-03 9.30140454e-01 -1.19623413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.510792138 meters Centerline goodness : 0.987084 Centerline is valid? [True, True] Translation: X:13.80, Y:23.34, Z:-119.64 [[ 1.71413515e-01 -9.84742723e-01 -2.99862612e-02 1.38032642e+01] [ 9.14229600e-01 1.70334757e-01 -3.67655149e-01 2.33435328e+01] [ 3.67153436e-01 3.56067338e-02 9.29478626e-01 -1.19641527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.82, Y:23.37, Z:-119.66 [[ 1.13549540e-01 -9.92625589e-01 -4.24375009e-02 1.38213292e+01] [ 9.20315646e-01 1.21178984e-01 -3.71933819e-01 2.33706422e+01] [ 3.74333560e-01 3.17701813e-03 9.27288678e-01 -1.19659936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.570792138 meters Centerline goodness : 0.973957 Centerline is valid? [True, True] Translation: X:13.83, Y:23.37, Z:-119.69 [[ 1.09457296e-01 -9.92993802e-01 -4.45242600e-02 1.38256453e+01] [ 9.24095639e-01 1.18158576e-01 -3.63436103e-01 2.33725925e+01] [ 3.66150721e-01 -1.36394139e-03 9.30554560e-01 -1.19693011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600792138 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:13.82, Y:23.40, Z:-119.70 [[ 1.37658305e-01 -9.89806104e-01 -3.65248820e-02 1.38150999e+01] [ 9.16852373e-01 1.41290602e-01 -3.73388124e-01 2.34048497e+01] [ 3.74742467e-01 1.79120515e-02 9.26955901e-01 -1.19704333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.630792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:13.82, Y:23.42, Z:-119.73 [[ 1.20412077e-01 -9.91892013e-01 -4.06345375e-02 1.38232628e+01] [ 9.19221417e-01 1.26860242e-01 -3.72744505e-01 2.34207372e+01] [ 3.74877205e-01 7.53080294e-03 9.27043887e-01 -1.19727282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660792138 meters Centerline goodness : 0.972938 Centerline is valid? [True, True] Translation: X:13.82, Y:23.43, Z:-119.76 [[ 1.32233285e-01 -9.90423976e-01 -3.96825555e-02 1.38228278e+01] [ 9.20402740e-01 1.37547954e-01 -3.65977262e-01 2.34273119e+01] [ 3.67930909e-01 1.18704428e-02 9.29777360e-01 -1.19756977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.83, Y:23.45, Z:-119.77 [[ 1.21982534e-01 -9.91713242e-01 -4.03126181e-02 1.38255878e+01] [ 9.18951588e-01 1.28193091e-01 -3.72953765e-01 2.34547575e+01] [ 3.75030986e-01 8.44850085e-03 9.26973776e-01 -1.19772018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720792138 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:13.83, Y:23.47, Z:-119.79 [[ 1.16446638e-01 -9.92376831e-01 -4.03535127e-02 1.38294307e+01] [ 9.19378328e-01 1.23073846e-01 -3.73625907e-01 2.34711337e+01] [ 3.75744156e-01 6.40733587e-03 9.26701287e-01 -1.19794189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750792138 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:13.83, Y:23.49, Z:-119.82 [[ 1.16844252e-01 -9.92336636e-01 -4.01923004e-02 1.38310883e+01] [ 9.19614592e-01 1.23386579e-01 -3.72940685e-01 2.34875007e+01] [ 3.75041895e-01 6.61454938e-03 9.26984263e-01 -1.19815753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:13.83, Y:23.50, Z:-119.84 [[ 1.20152864e-01 -9.91948981e-01 -4.00063436e-02 1.38311597e+01] [ 9.19355388e-01 1.26386088e-01 -3.72575129e-01 2.35039807e+01] [ 3.74631765e-01 7.98592130e-03 9.27139291e-01 -1.19837855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810792138 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:13.83, Y:23.52, Z:-119.86 [[ 1.16130875e-01 -9.92429815e-01 -3.99585016e-02 1.38343854e+01] [ 9.19532183e-01 1.22634615e-01 -3.73391639e-01 2.35202488e+01] [ 3.75465291e-01 6.61916978e-03 9.26812819e-01 -1.19860245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:13.83, Y:23.54, Z:-119.88 [[ 1.18547590e-01 -9.92152070e-01 -3.97585013e-02 1.38345492e+01] [ 9.19482019e-01 1.24803639e-01 -3.72796015e-01 2.35375693e+01] [ 3.74832343e-01 7.63684205e-03 9.27061159e-01 -1.19881935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870792138 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:13.84, Y:23.55, Z:-119.90 [[ 1.13064215e-01 -9.92796587e-01 -3.96411300e-02 1.38384773e+01] [ 9.20091680e-01 1.19676592e-01 -3.72972940e-01 2.35542443e+01] [ 3.75030377e-01 5.69641890e-03 9.26995020e-01 -1.19903739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900792138 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:13.84, Y:23.57, Z:-119.93 [[ 1.18872867e-01 -9.92071553e-01 -4.07832705e-02 1.38394128e+01] [ 9.21494661e-01 1.25525710e-01 -3.67547121e-01 2.35656801e+01] [ 3.69752392e-01 6.10981415e-03 9.29110240e-01 -1.19929768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93079213800002 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:13.84, Y:23.59, Z:-119.95 [[ 1.26179229e-01 -9.91337162e-01 -3.64613926e-02 1.38366967e+01] [ 9.18094911e-01 1.30620605e-01 -3.74219177e-01 2.35885844e+01] [ 3.75739986e-01 1.37436682e-02 9.26623211e-01 -1.19949012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96079213800002 meters Centerline goodness : 0.965441 Centerline is valid? [True, True] Translation: X:13.84, Y:23.60, Z:-119.98 [[ 1.21307850e-01 -9.91748517e-01 -4.14642480e-02 1.38416195e+01] [ 9.20712370e-01 1.28031536e-01 -3.68641637e-01 2.35963755e+01] [ 3.70908528e-01 6.54247830e-03 9.28646359e-01 -1.19977611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.990792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:13.84, Y:23.62, Z:-119.99 [[ 1.22086394e-01 -9.91837114e-01 -3.67974338e-02 1.38406068e+01] [ 9.18655449e-01 1.26957744e-01 -3.74104127e-01 2.36229260e+01] [ 3.75722077e-01 1.18688606e-02 9.26656382e-01 -1.19992847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020792138 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:13.84, Y:23.64, Z:-120.02 [[ 1.13955724e-01 -9.92714100e-01 -3.91510879e-02 1.38444941e+01] [ 9.19598566e-01 1.20311954e-01 -3.73983302e-01 2.36396862e+01] [ 3.75968841e-01 6.61425363e-03 9.26608699e-01 -1.20015495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.050792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.85, Y:23.66, Z:-120.04 [[ 1.12950894e-01 -9.92832275e-01 -3.90662252e-02 1.38460967e+01] [ 9.19523485e-01 1.19345847e-01 -3.74477141e-01 2.36567354e+01] [ 3.76455384e-01 6.37521646e-03 9.26412813e-01 -1.20037388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.85, Y:23.67, Z:-120.06 [[ 1.10767664e-01 -9.93085078e-01 -3.88915461e-02 1.38483021e+01] [ 9.19939341e-01 1.17260268e-01 -3.74114474e-01 2.36738716e+01] [ 3.76087934e-01 5.66192311e-03 9.26566678e-01 -1.20059994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.110792138 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:13.85, Y:23.69, Z:-120.08 [[ 1.12436593e-01 -9.92903132e-01 -3.87476884e-02 1.38498477e+01] [ 9.19777846e-01 1.18752676e-01 -3.74040796e-01 2.36909199e+01] [ 3.75987669e-01 6.41660736e-03 9.26602450e-01 -1.20082331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.85, Y:23.71, Z:-120.10 [[ 1.10979022e-01 -9.93072398e-01 -3.86117804e-02 1.38520526e+01] [ 9.19953751e-01 1.17351286e-01 -3.74050494e-01 2.37082630e+01] [ 3.75990363e-01 5.99070563e-03 9.26604208e-01 -1.20104777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.170792138 meters Centerline goodness : 0.981801 Centerline is valid? [True, True] Translation: X:13.85, Y:23.72, Z:-120.13 [[ 1.21906105e-01 -9.91745518e-01 -3.97457963e-02 1.38539893e+01] [ 9.21180001e-01 1.27960147e-01 -3.67496402e-01 2.37156844e+01] [ 3.69548788e-01 8.18702215e-03 9.29175261e-01 -1.20133301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200792138 meters Centerline goodness : 0.981801 Centerline is valid? [True, True] Translation: X:13.85, Y:23.73, Z:-120.16 [[ 1.33317207e-01 -9.90402110e-01 -3.64716670e-02 1.38512909e+01] [ 9.19797057e-01 1.37348972e-01 -3.67571265e-01 2.37327901e+01] [ 3.69052702e-01 1.54570425e-02 9.29279927e-01 -1.20156043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.230792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.85, Y:23.76, Z:-120.17 [[ 1.22806703e-01 -9.91810896e-01 -3.50665115e-02 1.38530801e+01] [ 9.18563067e-01 1.26971799e-01 -3.74326133e-01 2.37589650e+01] [ 3.75713195e-01 1.37589560e-02 9.26633847e-01 -1.20171663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260792138 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:13.86, Y:23.77, Z:-120.19 [[ 1.21518583e-01 -9.91860947e-01 -3.80144270e-02 1.38560274e+01] [ 9.20310953e-01 1.26934140e-01 -3.70020911e-01 2.37719306e+01] [ 3.71834619e-01 9.97932337e-03 9.28245350e-01 -1.20194226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.290792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.85, Y:23.79, Z:-120.22 [[ 1.28136641e-01 -9.91177353e-01 -3.38888889e-02 1.38529251e+01] [ 9.18068304e-01 1.31472097e-01 -3.73986198e-01 2.37937266e+01] [ 3.75142093e-01 1.68090204e-02 9.26814904e-01 -1.20216970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320792138 meters Centerline goodness : 0.974850 Centerline is valid? [True, True] Translation: X:13.86, Y:23.80, Z:-120.25 [[ 1.23692870e-01 -9.91546659e-01 -3.91828756e-02 1.38602097e+01] [ 9.20776770e-01 1.29406741e-01 -3.68000049e-01 2.38004716e+01] [ 3.69959747e-01 9.44030062e-03 9.28999820e-01 -1.20245759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.350792138 meters Centerline goodness : 0.974850 Centerline is valid? [True, True] Translation: X:13.86, Y:23.82, Z:-120.27 [[ 1.31709628e-01 -9.90604277e-01 -3.68203758e-02 1.38585908e+01] [ 9.19790540e-01 1.35976355e-01 -3.68097532e-01 2.38171136e+01] [ 3.69645691e-01 1.46149557e-02 9.29057838e-01 -1.20267770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.86, Y:23.84, Z:-120.28 [[ 1.18573727e-01 -9.92308731e-01 -3.55479095e-02 1.38604812e+01] [ 9.18831630e-01 1.23224626e-01 -3.74918828e-01 2.38426788e+01] [ 3.76415604e-01 1.17929793e-02 9.26375852e-01 -1.20283247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.410792138 meters Centerline goodness : 0.966524 Centerline is valid? [True, True] Translation: X:13.87, Y:23.84, Z:-120.32 [[ 1.17372771e-01 -9.92263052e-01 -4.04681143e-02 1.38659284e+01] [ 9.22939451e-01 1.24034791e-01 -3.64414792e-01 2.38441526e+01] [ 3.66614788e-01 5.42275491e-03 9.30357023e-01 -1.20317937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:13.86, Y:23.88, Z:-120.33 [[ 1.22696635e-01 -9.91839143e-01 -3.46504132e-02 1.38612787e+01] [ 9.17562211e-01 1.26674369e-01 -3.76872914e-01 2.38766865e+01] [ 3.78186627e-01 1.44471285e-02 9.25616635e-01 -1.20328488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.87, Y:23.89, Z:-120.35 [[ 1.13746943e-01 -9.92791904e-01 -3.77606765e-02 1.38660650e+01] [ 9.18366782e-01 1.19567906e-01 -3.77234635e-01 2.38930163e+01] [ 3.79030456e-01 8.23113564e-03 9.25347590e-01 -1.20350487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.87, Y:23.91, Z:-120.37 [[ 1.13421698e-01 -9.92833747e-01 -3.76386671e-02 1.38675155e+01] [ 9.18406901e-01 1.19220705e-01 -3.77246851e-01 2.39101495e+01] [ 3.79030713e-01 8.22036695e-03 9.25347580e-01 -1.20373195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530792138 meters Centerline goodness : 0.984305 Centerline is valid? [True, True] Translation: X:13.87, Y:23.92, Z:-120.40 [[ 1.28337550e-01 -9.91044578e-01 -3.68797634e-02 1.38687471e+01] [ 9.19708415e-01 1.32847792e-01 -3.69442683e-01 2.39157133e+01] [ 3.71033563e-01 1.34947402e-02 9.28521398e-01 -1.20402168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.87, Y:23.94, Z:-120.42 [[ 1.19419727e-01 -9.92246241e-01 -3.44430786e-02 1.38678032e+01] [ 9.17694510e-01 1.23554060e-01 -3.77585990e-01 2.39442922e+01] [ 3.78913862e-01 1.34829916e-02 9.25333721e-01 -1.20417549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:13.87, Y:23.96, Z:-120.44 [[ 1.11486026e-01 -9.93083570e-01 -3.68223892e-02 1.38731990e+01] [ 9.21031025e-01 1.17170061e-01 -3.71447208e-01 2.39572323e+01] [ 3.73192601e-01 7.49661040e-03 9.27723603e-01 -1.20440574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:13.87, Y:23.98, Z:-120.46 [[ 1.16960091e-01 -9.92549083e-01 -3.41563339e-02 1.38734867e+01] [ 9.20366251e-01 1.21248378e-01 -3.71785954e-01 2.39776272e+01] [ 3.73157208e-01 1.20477822e-02 9.27689899e-01 -1.20461173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650792138 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.88, Y:23.99, Z:-120.48 [[ 1.11323396e-01 -9.93109896e-01 -3.66037608e-02 1.38758508e+01] [ 9.20039099e-01 1.16916398e-01 -3.73976754e-01 2.39938809e+01] [ 3.75679595e-01 7.95547113e-03 9.26715464e-01 -1.20483236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68079213800002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.88, Y:24.01, Z:-120.51 [[ 1.10908242e-01 -9.93162018e-01 -3.64495288e-02 1.38773080e+01] [ 9.20089105e-01 1.16473737e-01 -3.73991856e-01 2.40110136e+01] [ 3.75679919e-01 7.94196497e-03 9.26715449e-01 -1.20505944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71079213800002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.88, Y:24.03, Z:-120.53 [[ 1.10514531e-01 -9.93211765e-01 -3.62895012e-02 1.38787502e+01] [ 9.20136461e-01 1.16048760e-01 -3.74007459e-01 2.40281478e+01] [ 3.75679960e-01 7.94196581e-03 9.26715433e-01 -1.20528651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740792138 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:13.88, Y:24.04, Z:-120.55 [[ 1.16892345e-01 -9.92477322e-01 -3.63998034e-02 1.38775941e+01] [ 9.18793737e-01 1.21982714e-01 -3.75417482e-01 2.40447990e+01] [ 3.77033484e-01 1.04395185e-02 9.26140793e-01 -1.20550536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.770792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:13.88, Y:24.06, Z:-120.57 [[ 1.12371893e-01 -9.93007998e-01 -3.61617789e-02 1.38805637e+01] [ 9.19633392e-01 1.17714673e-01 -3.74723470e-01 2.40619384e+01] [ 3.76360175e-01 8.85280617e-03 9.26431134e-01 -1.20572899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.88, Y:24.08, Z:-120.60 [[ 1.11081882e-01 -9.93157277e-01 -3.60477249e-02 1.38827046e+01] [ 9.19694980e-01 1.16474897e-01 -3.74959653e-01 2.40791277e+01] [ 3.76592563e-01 8.49831243e-03 9.26340013e-01 -1.20595384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.830792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:13.88, Y:24.10, Z:-120.62 [[ 1.13171025e-01 -9.92925958e-01 -3.59215898e-02 1.38835505e+01] [ 9.19411337e-01 1.18360932e-01 -3.75064639e-01 2.40957762e+01] [ 3.76663129e-01 9.41973289e-03 9.26302411e-01 -1.20617990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860792138 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:13.88, Y:24.11, Z:-120.64 [[ 1.17349192e-01 -9.92443574e-01 -3.58457658e-02 1.38821369e+01] [ 9.18652329e-01 1.22193526e-01 -3.75694878e-01 2.41130737e+01] [ 3.77236088e-01 1.11576942e-02 9.26049912e-01 -1.20639940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.890792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:13.89, Y:24.13, Z:-120.66 [[ 1.10322866e-01 -9.93253493e-01 -3.57262219e-02 1.38857853e+01] [ 9.19427891e-01 1.15642561e-01 -3.75871189e-01 2.41297970e+01] [ 3.77466843e-01 8.61950199e-03 9.25982984e-01 -1.20661961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:13.89, Y:24.15, Z:-120.68 [[ 1.10142254e-01 -9.93277809e-01 -3.56072639e-02 1.38868899e+01] [ 9.19378941e-01 1.15428750e-01 -3.76056600e-01 2.41464374e+01] [ 3.77638777e-01 8.68315308e-03 9.25912283e-01 -1.20684072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.950792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.89, Y:24.16, Z:-120.71 [[ 1.10177674e-01 -9.93275643e-01 -3.55580926e-02 1.38881083e+01] [ 9.19001393e-01 1.15434227e-01 -3.76976628e-01 2.41631097e+01] [ 3.78546324e-01 8.85647140e-03 9.25539974e-01 -1.20706747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:13.89, Y:24.18, Z:-120.73 [[ 1.08588938e-01 -9.93455739e-01 -3.54138047e-02 1.38898276e+01] [ 9.19227737e-01 1.13910472e-01 -3.76888274e-01 2.41799802e+01] [ 3.78455822e-01 8.37254594e-03 9.25581488e-01 -1.20728600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.010792138 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:13.89, Y:24.20, Z:-120.75 [[ 1.12218579e-01 -9.93054632e-01 -3.53480935e-02 1.38891039e+01] [ 9.18502298e-01 1.17235996e-01 -3.77636400e-01 2.41968053e+01] [ 3.79157645e-01 9.91051504e-03 9.25279018e-01 -1.20750768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040792138 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:13.89, Y:24.21, Z:-120.78 [[ 1.28630023e-01 -9.91121708e-01 -3.36463454e-02 1.38890184e+01] [ 9.18699262e-01 1.31869383e-01 -3.72293074e-01 2.42064683e+01] [ 3.73424670e-01 1.69771938e-02 9.27505143e-01 -1.20776144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.070792138 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:13.89, Y:24.23, Z:-120.80 [[ 1.15587936e-01 -9.92744363e-01 -3.31369704e-02 1.38920882e+01] [ 9.17569438e-01 1.19492283e-01 -3.79193778e-01 2.42307876e+01] [ 3.80402098e-01 1.34247548e-02 9.24723753e-01 -1.20796540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100792138 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:13.90, Y:24.25, Z:-120.82 [[ 1.07338012e-01 -9.93599807e-01 -3.51848680e-02 1.38967841e+01] [ 9.18435537e-01 1.12645844e-01 -3.79192666e-01 2.42467781e+01] [ 3.80729189e-01 8.38675386e-03 9.24648553e-01 -1.20818988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.130792138 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:13.90, Y:24.26, Z:-120.84 [[ 1.05967127e-01 -9.93748210e-01 -3.51491430e-02 1.38991540e+01] [ 9.18149731e-01 1.11355827e-01 -3.80264316e-01 2.42638405e+01] [ 3.81801046e-01 8.02334091e-03 9.24209710e-01 -1.20841281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:13.90, Y:24.28, Z:-120.86 [[ 1.03546004e-01 -9.94011188e-01 -3.49282697e-02 1.39003691e+01] [ 9.18803491e-01 1.09041666e-01 -3.79354795e-01 2.42807710e+01] [ 3.80891547e-01 7.18845681e-03 9.24591778e-01 -1.20863726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190792138 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:13.90, Y:24.30, Z:-120.89 [[ 1.04470977e-01 -9.93922252e-01 -3.47040533e-02 1.39004358e+01] [ 9.19104876e-01 1.09819225e-01 -3.78399214e-01 2.42976320e+01] [ 3.79910571e-01 7.63507102e-03 9.24991710e-01 -1.20886129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220792138 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:13.90, Y:24.31, Z:-120.91 [[ 1.05120373e-01 -9.93859777e-01 -3.45318779e-02 1.39015053e+01] [ 9.19203416e-01 1.10357780e-01 -3.78002963e-01 2.43146618e+01] [ 3.79492802e-01 7.99399250e-03 9.25160153e-01 -1.20907891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250792138 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:13.90, Y:24.33, Z:-120.93 [[ 1.06674790e-01 -9.93697975e-01 -3.44212611e-02 1.39015182e+01] [ 9.18742651e-01 1.11746737e-01 -3.78714416e-01 2.43312921e+01] [ 3.80174212e-01 8.77499993e-03 9.24873271e-01 -1.20930538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280792138 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.90, Y:24.35, Z:-120.95 [[ 1.08669195e-01 -9.93485615e-01 -3.43123739e-02 1.39016793e+01] [ 9.18206206e-01 1.13541271e-01 -3.79480887e-01 2.43477555e+01] [ 3.80904673e-01 9.73204791e-03 9.24563095e-01 -1.20952911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:13.90, Y:24.36, Z:-120.98 [[ 1.07520090e-01 -9.93613357e-01 -3.42334306e-02 1.39028438e+01] [ 9.17910719e-01 1.12438544e-01 -3.80522648e-01 2.43640770e+01] [ 3.81941543e-01 9.49059653e-03 9.24137753e-01 -1.20975400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:13.90, Y:24.38, Z:-121.00 [[ 1.07108624e-01 -9.93663158e-01 -3.40774283e-02 1.39041633e+01] [ 9.17958668e-01 1.11998719e-01 -3.80536688e-01 2.43812195e+01] [ 3.81941915e-01 9.47709027e-03 9.24137738e-01 -1.20998107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370792138 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:13.91, Y:24.39, Z:-121.02 [[ 1.06093319e-01 -9.93759168e-01 -3.44517513e-02 1.39061107e+01] [ 9.15477216e-01 1.11142661e-01 -3.86715367e-01 2.43945760e+01] [ 3.88131001e-01 9.48812359e-03 9.21555371e-01 -1.21023378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400792138 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:13.91, Y:24.41, Z:-121.04 [[ 1.03644286e-01 -9.94132366e-01 -3.09628839e-02 1.39107252e+01] [ 9.17634664e-01 1.07584827e-01 -3.82586105e-01 2.44087990e+01] [ 3.83672367e-01 1.12402480e-02 9.23400873e-01 -1.21044528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43079213800002 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:13.92, Y:24.43, Z:-121.07 [[ 9.02517661e-02 -9.95349746e-01 -3.36675325e-02 1.39161045e+01] [ 9.18808477e-01 9.62591789e-02 -3.82786040e-01 2.44293440e+01] [ 3.84246797e-01 3.61310193e-03 9.23223345e-01 -1.21067279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46079213800002 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:13.92, Y:24.45, Z:-121.09 [[ 9.10748876e-02 -9.95272348e-01 -3.37389654e-02 1.39166440e+01] [ 9.18676521e-01 9.70459478e-02 -3.82904078e-01 2.44459723e+01] [ 3.84368071e-01 3.87775053e-03 9.23171787e-01 -1.21089815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.490792138 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:13.92, Y:24.46, Z:-121.11 [[ 8.70019896e-02 -9.95640225e-01 -3.36332464e-02 1.39185474e+01] [ 9.18739672e-01 9.32436610e-02 -3.83696540e-01 2.44629824e+01] [ 3.85159796e-01 2.48216456e-03 9.22846558e-01 -1.21112262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520792138 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:13.91, Y:24.48, Z:-121.13 [[ 1.05825197e-01 -9.93937537e-01 -2.98194782e-02 1.39131112e+01] [ 9.17741711e-01 1.09169489e-01 -3.81879791e-01 2.44790457e+01] [ 3.82820036e-01 1.30459250e-02 9.23730818e-01 -1.21132181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.550792138 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:13.92, Y:24.50, Z:-121.16 [[ 8.49611599e-02 -9.95838445e-01 -3.29756365e-02 1.39216798e+01] [ 9.18920449e-01 9.11069822e-02 -3.83776922e-01 2.44976144e+01] [ 3.85184124e-01 2.30414576e-03 9.22836866e-01 -1.21155684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580792138 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:13.92, Y:24.51, Z:-121.18 [[ 8.23744459e-02 -9.96045245e-01 -3.32914506e-02 1.39234064e+01] [ 9.18785869e-01 8.88406943e-02 -3.84629507e-01 2.45147002e+01] [ 3.86066027e-01 1.09592816e-03 9.22470499e-01 -1.21178089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.610792138 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:13.92, Y:24.53, Z:-121.20 [[ 1.03392254e-01 -9.94175830e-01 -3.04049389e-02 1.39170879e+01] [ 9.17460247e-01 1.07131317e-01 -3.83131278e-01 2.45322515e+01] [ 3.84157177e-01 1.17174834e-02 9.23193351e-01 -1.21198082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640792138 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:13.91, Y:24.55, Z:-121.22 [[ 1.12059775e-01 -9.93306803e-01 -2.80036008e-02 1.39149385e+01] [ 9.16811745e-01 1.14217395e-01 -3.82636395e-01 2.45490996e+01] [ 3.83273833e-01 1.72041184e-02 9.23474519e-01 -1.21221120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.670792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:13.92, Y:24.57, Z:-121.25 [[ 8.64931425e-02 -9.95729530e-01 -3.22744520e-02 1.39237601e+01] [ 9.18316835e-01 9.22460243e-02 -3.84947868e-01 2.45666298e+01] [ 3.86281149e-01 3.65717811e-03 9.22373839e-01 -1.21245748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700792138 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:13.92, Y:24.58, Z:-121.27 [[ 1.18396799e-01 -9.92599728e-01 -2.69810545e-02 1.39166557e+01] [ 9.16023050e-01 1.19669722e-01 -3.82858890e-01 2.45802732e+01] [ 3.83254446e-01 2.06139993e-02 9.23412742e-01 -1.21266089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.730792138 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.91, Y:24.60, Z:-121.29 [[ 1.33742332e-01 -9.90734611e-01 -2.36202941e-02 1.39136186e+01] [ 9.14334760e-01 1.32551742e-01 -3.82651256e-01 2.45967669e+01] [ 3.82236754e-01 2.95798153e-02 9.23590872e-01 -1.21287430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.92, Y:24.61, Z:-121.31 [[ 1.24889892e-01 -9.91832230e-01 -2.59102839e-02 1.39172200e+01] [ 9.15780156e-01 1.25283428e-01 -3.81642200e-01 2.46133549e+01] [ 3.81771164e-01 2.39351293e-02 9.23946908e-01 -1.21311296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.790792138 meters Centerline goodness : 0.986874 Centerline is valid? [True, True] Translation: X:13.92, Y:24.63, Z:-121.34 [[ 1.15533974e-01 -9.92890703e-01 -2.86348162e-02 1.39233479e+01] [ 9.16981223e-01 1.17694051e-01 -3.81173907e-01 2.46312166e+01] [ 3.81834176e-01 1.77809473e-02 9.24059793e-01 -1.21335270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820792138 meters Centerline goodness : 0.985065 Centerline is valid? [True, True] Translation: X:13.92, Y:24.65, Z:-121.36 [[ 1.27015205e-01 -9.91551710e-01 -2.63124472e-02 1.39210379e+01] [ 9.15768788e-01 1.27417072e-01 -3.80962486e-01 2.46487366e+01] [ 3.81096660e-01 2.42919105e-02 9.24216013e-01 -1.21355854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.850792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:13.93, Y:24.67, Z:-121.38 [[ 9.82437759e-02 -9.94734244e-01 -2.91880987e-02 1.39266595e+01] [ 9.18708242e-01 1.01931014e-01 -3.81556332e-01 2.46671572e+01] [ 3.82522322e-01 1.06701879e-02 9.23884636e-01 -1.21376966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880792138 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:13.92, Y:24.68, Z:-121.40 [[ 1.26849292e-01 -9.91648988e-01 -2.32710509e-02 1.39205737e+01] [ 9.15626821e-01 1.26083184e-01 -3.81746717e-01 2.46833394e+01] [ 3.81492834e-01 2.71167025e-02 9.23973973e-01 -1.21397453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.910792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:13.92, Y:24.70, Z:-121.42 [[ 1.21876005e-01 -9.92242141e-01 -2.45310468e-02 1.39236396e+01] [ 9.16384721e-01 1.21984343e-01 -3.81259575e-01 2.46993643e+01] [ 3.81294221e-01 2.39865176e-02 9.24142502e-01 -1.21419458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:13.94, Y:24.72, Z:-121.44 [[ 8.57381205e-02 -9.95850059e-01 -3.05226905e-02 1.39359072e+01] [ 9.20002131e-01 9.08925499e-02 -3.81227783e-01 2.47177457e+01] [ 3.82419996e-01 4.60481334e-03 9.23977133e-01 -1.21443155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.93, Y:24.73, Z:-121.46 [[ 1.19191362e-01 -9.92575943e-01 -2.42160274e-02 1.39280427e+01] [ 9.17029235e-01 1.19403254e-01 -3.80526274e-01 2.47326797e+01] [ 3.80592698e-01 2.31486397e-02 9.24452994e-01 -1.21464594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000792138 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:13.93, Y:24.75, Z:-121.49 [[ 1.15899677e-01 -9.92964893e-01 -2.42484174e-02 1.39297163e+01] [ 9.17716515e-01 1.16391468e-01 -3.79801823e-01 2.47484251e+01] [ 3.79952185e-01 2.17657357e-02 9.24750015e-01 -1.21486129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030792138 meters Centerline goodness : 0.982430 Centerline is valid? [True, True] Translation: X:13.93, Y:24.77, Z:-121.51 [[ 1.04524748e-01 -9.94144761e-01 -2.74001910e-02 1.39342307e+01] [ 9.19109934e-01 1.07086066e-01 -3.79169491e-01 2.47665148e+01] [ 3.79883542e-01 1.44488079e-02 9.24921471e-01 -1.21511132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:13.93, Y:24.78, Z:-121.53 [[ 1.04043279e-01 -9.94235463e-01 -2.59006005e-02 1.39331037e+01] [ 9.19318712e-01 1.06075373e-01 -3.78947384e-01 2.47834028e+01] [ 3.79510344e-01 1.56160217e-02 9.25055695e-01 -1.21532355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:13.93, Y:24.80, Z:-121.55 [[ 1.09577769e-01 -9.93662916e-01 -2.50344303e-02 1.39332619e+01] [ 9.18871071e-01 1.10869985e-01 -3.78660535e-01 2.47985200e+01] [ 3.79036498e-01 1.84893629e-02 9.25196993e-01 -1.21553413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:13.94, Y:24.82, Z:-121.58 [[ 6.93894313e-02 -9.97098162e-01 -3.13107227e-02 1.39449709e+01] [ 9.21094665e-01 7.60904396e-02 -3.81830936e-01 2.48186338e+01] [ 3.83105371e-01 -2.34510817e-03 9.23701670e-01 -1.21577802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.95, Y:24.84, Z:-121.60 [[ 6.98198316e-02 -9.97070802e-01 -3.12250928e-02 1.39456703e+01] [ 9.20946664e-01 7.64558663e-02 -3.82114828e-01 2.48357414e+01] [ 3.83382880e-01 -2.07745210e-03 9.23587165e-01 -1.21600561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18079213800002 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:13.95, Y:24.85, Z:-121.62 [[ 6.38669873e-02 -9.97470230e-01 -3.12113478e-02 1.39492772e+01] [ 9.21330387e-01 7.09526675e-02 -3.82251275e-01 2.48520993e+01] [ 3.83498796e-01 -4.34272579e-03 9.23531166e-01 -1.21622439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21079213800002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:13.95, Y:24.87, Z:-121.64 [[ 6.49427111e-02 -9.97408038e-01 -3.09782235e-02 1.39502998e+01] [ 9.21285039e-01 7.18566179e-02 -3.82191709e-01 2.48690622e+01] [ 3.83427073e-01 -3.71920809e-03 9.23563667e-01 -1.21644731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:13.95, Y:24.89, Z:-121.67 [[ 6.45235272e-02 -9.97440166e-01 -3.08193002e-02 1.39514636e+01] [ 9.21314533e-01 7.14085355e-02 -3.82204596e-01 2.48861673e+01] [ 3.83426976e-01 -3.73308059e-03 9.23563651e-01 -1.21667479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.270792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.94, Y:24.90, Z:-121.69 [[ 1.05808882e-01 -9.94098213e-01 -2.39420910e-02 1.39407886e+01] [ 9.19035932e-01 1.06956678e-01 -3.79385326e-01 2.49000190e+01] [ 3.79707041e-01 1.81386953e-02 9.24928944e-01 -1.21688647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.94, Y:24.92, Z:-121.71 [[ 1.04733474e-01 -9.94208271e-01 -2.41000590e-02 1.39424070e+01] [ 9.19218432e-01 1.06025862e-01 -3.79204419e-01 2.49167993e+01] [ 3.79563399e-01 1.75621778e-02 9.24999025e-01 -1.21711534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.330792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:13.95, Y:24.94, Z:-121.74 [[ 6.52387392e-02 -9.97399655e-01 -3.06241018e-02 1.39538742e+01] [ 9.22112005e-01 7.19869040e-02 -3.80167510e-01 2.49360471e+01] [ 3.81383477e-01 -3.43720290e-03 9.24410530e-01 -1.21735264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360792138 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:13.95, Y:24.95, Z:-121.76 [[ 6.58760880e-02 -9.97370912e-01 -3.01927929e-02 1.39546405e+01] [ 9.22064531e-01 7.24117405e-02 -3.80201973e-01 2.49531822e+01] [ 3.81388701e-01 -2.79348482e-03 9.24410545e-01 -1.21758012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.390792138 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:13.95, Y:24.97, Z:-121.78 [[ 1.01341739e-01 -9.94557005e-01 -2.42119047e-02 1.39457036e+01] [ 9.20127425e-01 1.02956009e-01 -3.77843331e-01 2.49664396e+01] [ 3.78279492e-01 1.60132626e-02 9.25552916e-01 -1.21779691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420792138 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:13.95, Y:24.98, Z:-121.80 [[ 1.00293249e-01 -9.94656553e-01 -2.44868382e-02 1.39473632e+01] [ 9.20288376e-01 1.02092564e-01 -3.77685601e-01 2.49826662e+01] [ 3.78167382e-01 1.53443634e-02 9.25610059e-01 -1.21801766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.450792138 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:13.96, Y:25.00, Z:-121.83 [[ 6.73319544e-02 -9.97272015e-01 -3.02479253e-02 1.39573461e+01] [ 9.21963955e-01 7.37786516e-02 -3.80183083e-01 2.50024115e+01] [ 3.81377600e-01 -2.28902683e-03 9.24416511e-01 -1.21825524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:13.96, Y:25.02, Z:-121.85 [[ 6.74329643e-02 -9.97279745e-01 -2.97641512e-02 1.39584797e+01] [ 9.22118700e-01 7.36868258e-02 -3.79825428e-01 2.50196271e+01] [ 3.80985432e-01 -1.83332585e-03 9.24579223e-01 -1.21847692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.510792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.96, Y:25.04, Z:-121.87 [[ 6.07337159e-02 -9.97717913e-01 -2.95022470e-02 1.39617577e+01] [ 9.23043482e-01 6.73875464e-02 -3.78747475e-01 2.50359957e+01] [ 3.79871224e-01 -4.22911521e-03 9.25029712e-01 -1.21870013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.96, Y:25.05, Z:-121.89 [[ 6.03093139e-02 -9.97748346e-01 -2.93432096e-02 1.39628706e+01] [ 9.23071356e-01 6.69345438e-02 -3.78759869e-01 2.50530963e+01] [ 3.79871107e-01 -4.24312844e-03 9.25029696e-01 -1.21892766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.570792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.96, Y:25.07, Z:-121.91 [[ 6.47473026e-02 -9.97469677e-01 -2.93603456e-02 1.39620668e+01] [ 9.22518851e-01 7.10484104e-02 -3.79356156e-01 2.50689466e+01] [ 3.80482269e-01 -2.52318447e-03 9.24784773e-01 -1.21914615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600792138 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:13.96, Y:25.09, Z:-121.94 [[ 6.36863510e-02 -9.97539915e-01 -2.92944673e-02 1.39635575e+01] [ 9.22549514e-01 7.00424542e-02 -3.79468639e-01 2.50850204e+01] [ 3.80586971e-01 -2.85862359e-03 9.24740713e-01 -1.21936808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.630792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:13.96, Y:25.10, Z:-121.96 [[ 6.37481810e-02 -9.97541788e-01 -2.90955454e-02 1.39647779e+01] [ 9.22424098e-01 7.00248032e-02 -3.79776658e-01 2.51019097e+01] [ 3.80880496e-01 -2.62836111e-03 9.24620538e-01 -1.21959470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660792138 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:13.97, Y:25.12, Z:-121.98 [[ 6.17313793e-02 -9.97644406e-01 -2.99144765e-02 1.39667685e+01] [ 9.23780609e-01 6.84578821e-02 -3.76753107e-01 2.51174803e+01] [ 3.77913512e-01 -4.37692439e-03 9.25830557e-01 -1.21981897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690792138 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:13.96, Y:25.14, Z:-122.00 [[ 6.95614965e-02 -9.97208768e-01 -2.71269431e-02 1.39648805e+01] [ 9.22525197e-01 7.46521677e-02 -3.78648008e-01 2.51353141e+01] [ 3.79616199e-01 1.31403353e-03 9.25143132e-01 -1.22003953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720792138 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:13.97, Y:25.15, Z:-122.03 [[ 6.21862245e-02 -9.97655314e-01 -2.85788144e-02 1.39685482e+01] [ 9.23195830e-01 6.83788430e-02 -3.78198088e-01 2.51520057e+01] [ 3.79265518e-01 -2.86513107e-03 9.25283447e-01 -1.22025984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750792138 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:13.97, Y:25.17, Z:-122.05 [[ 6.30291829e-02 -9.97606843e-01 -2.84237299e-02 1.39691317e+01] [ 9.23077659e-01 6.91004687e-02 -3.78355335e-01 2.51685366e+01] [ 3.79413965e-01 -2.38988246e-03 9.25223936e-01 -1.22048002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780792138 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:13.97, Y:25.19, Z:-122.07 [[ 6.14826301e-02 -9.97707094e-01 -2.82920554e-02 1.39700983e+01] [ 9.23440326e-01 6.76175588e-02 -3.77737779e-01 2.51850894e+01] [ 3.78784702e-01 -2.90171270e-03 9.25480270e-01 -1.22069699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810792138 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:13.97, Y:25.20, Z:-122.09 [[ 6.17352333e-02 -9.97695695e-01 -2.81435912e-02 1.39705399e+01] [ 9.23625868e-01 6.77937093e-02 -3.77252262e-01 2.52015501e+01] [ 3.78290916e-01 -2.70439247e-03 9.25682812e-01 -1.22091625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:13.97, Y:25.22, Z:-122.11 [[ 6.11012583e-02 -9.97740052e-01 -2.79539750e-02 1.39714879e+01] [ 9.23661157e-01 6.71351581e-02 -3.77283630e-01 2.52185624e+01] [ 3.78307683e-01 -2.76749636e-03 9.25675774e-01 -1.22114040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870792138 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:13.97, Y:25.23, Z:-122.14 [[ 6.04543443e-02 -9.97781155e-01 -2.78933634e-02 1.39727171e+01] [ 9.23581326e-01 6.65143130e-02 -3.77588903e-01 2.52348574e+01] [ 3.78606400e-01 -2.93490004e-03 9.25553121e-01 -1.22135754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:13.97, Y:25.25, Z:-122.16 [[ 6.54785012e-02 -9.97466485e-01 -2.78060811e-02 1.39718449e+01] [ 9.22918643e-01 7.11324395e-02 -3.78366694e-01 2.52520275e+01] [ 3.79386010e-01 -8.87866635e-04 9.25238060e-01 -1.22158505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93079213800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:13.97, Y:25.27, Z:-122.18 [[ 6.41807644e-02 -9.97554769e-01 -2.76642879e-02 1.39730451e+01] [ 9.22836848e-01 6.98784651e-02 -3.78799619e-01 2.52689988e+01] [ 3.79806504e-01 -1.21797519e-03 9.25065152e-01 -1.22180963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96079213800002 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:13.97, Y:25.29, Z:-122.20 [[ 6.42357174e-02 -9.97552233e-01 -2.76281558e-02 1.39744018e+01] [ 9.22918163e-01 6.99153189e-02 -3.78594654e-01 2.52851320e+01] [ 3.79599574e-01 -1.17922761e-03 9.25150135e-01 -1.22202816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.990792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:13.98, Y:25.30, Z:-122.23 [[ 6.55677643e-02 -9.97470368e-01 -2.74541995e-02 1.39750269e+01] [ 9.22862880e-01 7.10816165e-02 -3.78512231e-01 2.53022502e+01] [ 3.79506224e-01 -5.18260825e-04 9.25189039e-01 -1.22225275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020792138 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:13.98, Y:25.32, Z:-122.25 [[ 6.43770768e-02 -9.97552899e-01 -2.72728155e-02 1.39766443e+01] [ 9.23216677e-01 6.99105665e-02 -3.77867013e-01 2.53189951e+01] [ 3.78848992e-01 -8.52744349e-04 9.25458110e-01 -1.22247221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.050792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:13.98, Y:25.34, Z:-122.27 [[ 6.33552672e-02 -9.97622880e-01 -2.71053505e-02 1.39771639e+01] [ 9.23481390e-01 6.89008999e-02 -3.77405337e-01 2.53354707e+01] [ 3.78375782e-01 -1.12067080e-03 9.25651398e-01 -1.22269263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080792138 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:13.98, Y:25.35, Z:-122.29 [[ 5.96041639e-02 -9.97869374e-01 -2.65340413e-02 1.39790193e+01] [ 9.26187137e-01 6.51978602e-02 -3.71384740e-01 2.53525432e+01] [ 3.72323421e-01 -2.43941083e-03 9.28099843e-01 -1.22291370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.110792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:13.98, Y:25.37, Z:-122.31 [[ 6.46637301e-02 -9.97569330e-01 -2.59621755e-02 1.39790127e+01] [ 9.28259662e-01 6.96793155e-02 -3.65347497e-01 2.53704684e+01] [ 3.66268485e-01 -4.74908335e-04 9.30509093e-01 -1.22313121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140792138 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:13.98, Y:25.39, Z:-122.34 [[ 6.37139788e-02 -9.97636578e-01 -2.57252086e-02 1.39806473e+01] [ 9.28883677e-01 6.87077646e-02 -3.63942795e-01 2.53874449e+01] [ 3.64850167e-01 -7.07482805e-04 9.31065978e-01 -1.22335700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.170792138 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:13.98, Y:25.40, Z:-122.36 [[ 6.33726870e-02 -9.97661442e-01 -2.56037146e-02 1.39816012e+01] [ 9.28907023e-01 6.83456718e-02 -3.63951388e-01 2.54045551e+01] [ 3.64850169e-01 -7.18892945e-04 9.31065968e-01 -1.22358453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200792138 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:13.98, Y:25.42, Z:-122.38 [[ 6.82441324e-02 -9.97344062e-01 -2.54471932e-02 1.39798741e+01] [ 9.28654642e-01 7.28244726e-02 -3.63726755e-01 2.54214795e+01] [ 3.64613898e-01 1.19056271e-03 9.31158036e-01 -1.22380811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.230792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:13.98, Y:25.44, Z:-122.40 [[ 6.81679850e-02 -9.97351219e-01 -2.53707054e-02 1.39804039e+01] [ 9.29012606e-01 7.27268351e-02 -3.62831070e-01 2.54375448e+01] [ 3.63715140e-01 1.16375780e-03 9.31509497e-01 -1.22402299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260792138 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:13.98, Y:25.45, Z:-122.42 [[ 6.46048360e-02 -9.97592951e-01 -2.51896541e-02 1.39829718e+01] [ 9.29268553e-01 6.93419239e-02 -3.62838330e-01 2.54539611e+01] [ 3.63711660e-01 3.31574019e-05 9.31511582e-01 -1.22424282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.290792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:13.98, Y:25.47, Z:-122.45 [[ 6.41575785e-02 -9.97625602e-01 -2.50392215e-02 1.39843634e+01] [ 9.29382132e-01 6.88705849e-02 -3.62637139e-01 2.54707924e+01] [ 3.63500560e-01 -5.08431052e-06 9.31593980e-01 -1.22446588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320792138 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:13.98, Y:25.49, Z:-122.47 [[ 6.84248682e-02 -9.97345225e-01 -2.49106440e-02 1.39836357e+01] [ 9.29037084e-01 7.27989387e-02 -3.62753926e-01 2.54881302e+01] [ 3.63604364e-01 1.67847749e-03 9.31551957e-01 -1.22469238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.350792138 meters Centerline goodness : 0.986933 Centerline is valid? [True, True] Translation: X:13.98, Y:25.50, Z:-122.49 [[ 1.01471732e-01 -9.94658067e-01 -1.89424527e-02 1.39762301e+01] [ 9.28510540e-01 1.01525335e-01 -3.57156524e-01 2.54978886e+01] [ 3.57171757e-01 1.86530242e-02 9.33852451e-01 -1.22494620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380792138 meters Centerline goodness : 0.986933 Centerline is valid? [True, True] Translation: X:13.98, Y:25.51, Z:-122.52 [[ 9.36890898e-02 -9.95377161e-01 -2.11343682e-02 1.39800911e+01] [ 9.29261449e-01 9.50457278e-02 -3.56986651e-01 2.55141362e+01] [ 3.57345090e-01 1.38064007e-02 9.33870371e-01 -1.22516635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.410792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:13.99, Y:25.54, Z:-122.54 [[ 5.91575229e-02 -9.97886114e-01 -2.69015043e-02 1.39893185e+01] [ 9.29672612e-01 6.48895039e-02 -3.62626787e-01 2.55382186e+01] [ 3.63605860e-01 -3.55748931e-03 9.31546093e-01 -1.22536625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440792138 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:13.98, Y:25.55, Z:-122.56 [[ 8.99748848e-02 -9.95716182e-01 -2.13027030e-02 1.39816296e+01] [ 9.28554688e-01 9.16019206e-02 -3.59715553e-01 2.55536173e+01] [ 3.60125966e-01 1.25846408e-02 9.32818801e-01 -1.22558231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470792138 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:13.99, Y:25.57, Z:-122.58 [[ 7.27077272e-02 -9.97056155e-01 -2.43435821e-02 1.39866313e+01] [ 9.28807297e-01 7.65830022e-02 -3.62563165e-01 2.55728770e+01] [ 3.63360140e-01 3.75064706e-03 9.31641208e-01 -1.22582086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:13.99, Y:25.59, Z:-122.60 [[ 7.15780410e-02 -9.97138884e-01 -2.43028742e-02 1.39878518e+01] [ 9.29040025e-01 7.55171928e-02 -3.62190261e-01 2.55894995e+01] [ 3.62989278e-01 3.34652650e-03 9.31787307e-01 -1.22604633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:13.99, Y:25.61, Z:-122.63 [[ 6.95620765e-02 -9.97285177e-01 -2.41535517e-02 1.39895434e+01] [ 9.29266646e-01 7.35852314e-02 -3.62006511e-01 2.56066153e+01] [ 3.62801072e-01 2.73683463e-03 9.31862593e-01 -1.22626898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560792138 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:13.99, Y:25.62, Z:-122.65 [[ 7.19796557e-02 -9.97117396e-01 -2.39963956e-02 1.39894104e+01] [ 9.29211661e-01 7.57821444e-02 -3.61694286e-01 2.56233204e+01] [ 3.62470163e-01 3.73689953e-03 9.31987884e-01 -1.22649200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590792138 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:13.99, Y:25.64, Z:-122.67 [[ 6.97551244e-02 -9.97277958e-01 -2.38934448e-02 1.39902304e+01] [ 9.29593097e-01 7.36735277e-02 -3.61149394e-01 2.56397852e+01] [ 3.61926645e-01 2.98083964e-03 9.32201812e-01 -1.22671194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620792138 meters Centerline goodness : 0.972981 Centerline is valid? [True, True] Translation: X:13.99, Y:25.65, Z:-122.70 [[ 7.02087254e-02 -9.97249750e-01 -2.37417450e-02 1.39916646e+01] [ 9.32449451e-01 7.40655171e-02 -3.53627375e-01 2.56475163e+01] [ 3.54413256e-01 2.68975018e-03 9.35085028e-01 -1.22699836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650792138 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:13.99, Y:25.67, Z:-122.72 [[ 6.65436339e-02 -9.97517556e-01 -2.30363011e-02 1.39927308e+01] [ 9.30412080e-01 7.03737549e-02 -3.59695560e-01 2.56723577e+01] [ 3.60423787e-01 2.50219684e-03 9.32785309e-01 -1.22716245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68079213800002 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:13.99, Y:25.69, Z:-122.74 [[ 6.79535818e-02 -9.97415612e-01 -2.33325289e-02 1.39930332e+01] [ 9.30395073e-01 7.17962993e-02 -3.59458343e-01 2.56890700e+01] [ 3.60204552e-01 2.71801201e-03 9.32869387e-01 -1.22738933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71079213800002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:13.99, Y:25.71, Z:-122.76 [[ 6.66891807e-02 -9.97504110e-01 -2.31970542e-02 1.39942383e+01] [ 9.30465986e-01 7.05679034e-02 -3.59518037e-01 2.57056177e+01] [ 3.60257687e-01 2.39189345e-03 9.32849762e-01 -1.22761765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740792138 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:14.00, Y:25.72, Z:-122.78 [[ 6.28297996e-02 -9.97757494e-01 -2.30737776e-02 1.39962464e+01] [ 9.30659321e-01 6.69231865e-02 -3.59714490e-01 2.57222764e+01] [ 3.60451999e-01 1.12696315e-03 9.32777083e-01 -1.22784306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.770792138 meters Centerline goodness : 0.966365 Centerline is valid? [True, True] Translation: X:13.99, Y:25.73, Z:-122.81 [[ 9.60013697e-02 -9.95244000e-01 -1.65262369e-02 1.39892809e+01] [ 9.29525461e-01 9.55762081e-02 -3.56156715e-01 2.57339689e+01] [ 3.56042348e-01 1.88299744e-02 9.34280085e-01 -1.22808660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800792138 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:14.00, Y:25.76, Z:-122.83 [[ 4.91391858e-02 -9.98453278e-01 -2.60075552e-02 1.40034360e+01] [ 9.31847001e-01 5.52026161e-02 -3.58627714e-01 2.57560401e+01] [ 3.59508702e-01 -6.61238846e-03 9.33118304e-01 -1.22829845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.830792138 meters Centerline goodness : 0.979219 Centerline is valid? [True, True] Translation: X:14.00, Y:25.77, Z:-122.86 [[ 6.82286555e-02 -9.97401676e-01 -2.31246083e-02 1.39988752e+01] [ 9.33532119e-01 7.20018271e-02 -3.51188725e-01 2.57652342e+01] [ 3.51941237e-01 2.37356994e-03 9.36019087e-01 -1.22857533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860792138 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:14.00, Y:25.78, Z:-122.88 [[ 6.99136014e-02 -9.97302103e-01 -2.23741943e-02 1.39961172e+01] [ 9.26393803e-01 7.32293814e-02 -3.69366999e-01 2.57818711e+01] [ 3.70008933e-01 5.09646221e-03 9.29014217e-01 -1.22880596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.890792138 meters Centerline goodness : 0.933079 Centerline is valid? [True, False] Translation: X:13.92, Y:25.79, Z:-122.89 [[ 2.77721332e-01 -9.60415995e-01 2.17250738e-02 1.39240301e+01] [ 8.95888356e-01 2.50766116e-01 -3.66742974e-01 2.57855782e+01] [ 3.46777906e-01 1.21315588e-01 9.30068606e-01 -1.22892467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920792138 meters Centerline goodness : 0.999170 Centerline is valid? [False, True] Translation: X:13.86, Y:25.80, Z:-122.89 [[ 4.51989935e-01 -8.89851745e-01 6.22010542e-02 1.38608630e+01] [ 8.37785733e-01 3.99530642e-01 -3.72142891e-01 2.58011608e+01] [ 3.06300773e-01 2.20315997e-01 9.26088925e-01 -1.22893677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.950792138 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:13.99, Y:25.78, Z:-122.93 [[ 9.90335541e-02 -9.94473206e-01 -3.48625558e-02 1.39927107e+01] [ 9.31719117e-01 1.04972574e-01 -3.47678366e-01 2.57799955e+01] [ 3.49416432e-01 1.94971459e-03 9.36965504e-01 -1.22933302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980792138 meters Centerline goodness : 0.949560 Centerline is valid? [True, False] Translation: X:13.92, Y:25.79, Z:-122.94 [[ 2.98398747e-01 -9.54412441e-01 7.42166652e-03 1.39225859e+01] [ 8.95576819e-01 2.77298208e-01 -3.47919337e-01 2.57870042e+01] [ 3.30000529e-01 1.10465367e-01 9.37495095e-01 -1.22944414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.010792138 meters Centerline goodness : 0.999171 Centerline is valid? [False, True] Translation: X:13.86, Y:25.81, Z:-122.95 [[ 4.69384780e-01 -8.81799931e-01 4.58999955e-02 1.38613232e+01] [ 8.32491639e-01 4.24612513e-01 -3.55895891e-01 2.58092279e+01] [ 2.94339260e-01 2.05263477e-01 9.33397721e-01 -1.22952244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040792138 meters Centerline goodness : 0.956730 Centerline is valid? [True, True] Translation: X:13.99, Y:25.78, Z:-123.00 [[ 1.36356204e-01 -9.89691838e-01 -4.37841402e-02 1.39890776e+01] [ 9.36538107e-01 1.43189260e-01 -3.19989391e-01 2.57756939e+01] [ 3.22960307e-01 2.62702301e-03 9.46408864e-01 -1.22996606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.070792138 meters Centerline goodness : 0.925552 Centerline is valid? [True, False] Translation: X:13.92, Y:25.79, Z:-123.02 [[ 3.35327178e-01 -9.42101455e-01 -7.29561611e-04 1.39205839e+01] [ 8.91670754e-01 3.17626890e-01 -3.22546780e-01 2.57897170e+01] [ 3.04103519e-01 1.07508173e-01 9.46553243e-01 -1.23015802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100792138 meters Centerline goodness : 0.925552 Centerline is valid? [False, False] Translation: X:13.86, Y:25.81, Z:-123.02 [[ 5.09238753e-01 -8.59718496e-01 3.94968437e-02 1.38564450e+01] [ 8.18332851e-01 4.69494073e-01 -3.31521734e-01 2.58120024e+01] [ 2.66471833e-01 2.01145279e-01 9.42620464e-01 -1.23023389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.130792138 meters Centerline goodness : 0.938489 Centerline is valid? [False, False] Translation: X:13.80, Y:25.84, Z:-123.03 [[ 6.53356459e-01 -7.53405759e-01 7.41963620e-02 1.38012405e+01] [ 7.25468989e-01 5.95074218e-01 -3.45805466e-01 2.58445165e+01] [ 2.16379488e-01 2.79761395e-01 9.35368098e-01 -1.23025718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160792138 meters Centerline goodness : 0.895920 Centerline is valid? [False, False] Translation: X:13.76, Y:25.88, Z:-123.02 [[ 7.63760793e-01 -6.37040062e-01 1.04160499e-01 1.37563491e+01] [ 6.25367302e-01 6.90257566e-01 -3.63950864e-01 2.58783348e+01] [ 1.59953708e-01 3.43109971e-01 9.25575691e-01 -1.23019110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190792138 meters Centerline goodness : 0.943883 Centerline is valid? [False, False] Translation: X:13.72, Y:25.92, Z:-123.01 [[ 8.49464319e-01 -5.11916060e-01 1.27876186e-01 1.37204345e+01] [ 5.18149961e-01 7.63536165e-01 -3.85399977e-01 2.59163590e+01] [ 9.96543451e-02 3.93642570e-01 9.13846015e-01 -1.23010778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220792138 meters Centerline goodness : 0.947109 Centerline is valid? [False, False] Translation: X:13.69, Y:25.96, Z:-123.00 [[ 9.10613381e-01 -3.86507367e-01 1.46271411e-01 1.36936075e+01] [ 4.11504354e-01 8.15464218e-01 -4.07040878e-01 2.59557864e+01] [ 3.80451961e-02 4.30848192e-01 9.01622093e-01 -1.23001228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250792138 meters Centerline goodness : 0.947109 Centerline is valid? [False, False] Translation: X:13.67, Y:25.99, Z:-122.99 [[ 9.49890599e-01 -2.68575767e-01 1.59921565e-01 1.36739258e+01] [ 3.11926703e-01 8.47572673e-01 -4.29327726e-01 2.59913103e+01] [-2.02381251e-02 4.57698178e-01 8.88877267e-01 -1.22985906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280792138 meters Centerline goodness : 0.990400 Centerline is valid? [False, True] Translation: X:13.66, Y:26.03, Z:-122.98 [[ 9.72158180e-01 -1.63088268e-01 1.68257810e-01 1.36626414e+01] [ 2.22901492e-01 8.65094274e-01 -4.49362684e-01 2.60255501e+01] [-7.22730860e-02 4.74356526e-01 8.77361093e-01 -1.22975695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310792138 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:13.96, Y:25.76, Z:-123.12 [[ 2.01661629e-01 -9.78088698e-01 -5.17212391e-02 1.39636154e+01] [ 9.45791738e-01 2.08184228e-01 -2.49273575e-01 2.57639098e+01] [ 2.54579213e-01 1.35139453e-03 9.67050980e-01 -1.23119874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340792138 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:13.96, Y:25.78, Z:-123.14 [[ 2.14107634e-01 -9.75587841e-01 -4.88496245e-02 1.39620541e+01] [ 9.43278926e-01 2.19489714e-01 -2.49096632e-01 2.57783841e+01] [ 2.53737636e-01 7.25466936e-03 9.67245875e-01 -1.23144198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:13.96, Y:25.79, Z:-123.17 [[ 2.16884116e-01 -9.74978615e-01 -4.87645471e-02 1.39638735e+01] [ 9.42637009e-01 2.22152037e-01 -2.49166493e-01 2.57917043e+01] [ 2.53765146e-01 8.07298775e-03 9.67232174e-01 -1.23168921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400792138 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:13.97, Y:25.80, Z:-123.19 [[ 2.11738622e-01 -9.76070791e-01 -4.95233958e-02 1.39678260e+01] [ 9.44145354e-01 2.17378757e-01 -2.47661113e-01 2.58044837e+01] [ 2.52500112e-01 5.68213866e-03 9.67580181e-01 -1.23194550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43079213800002 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:13.97, Y:25.82, Z:-123.22 [[ 2.22826960e-01 -9.73734150e-01 -4.67969042e-02 1.39664637e+01] [ 9.41660891e-01 2.27411391e-01 -2.48110510e-01 2.58190990e+01] [ 2.52235826e-01 1.12188960e-02 9.67600757e-01 -1.23218614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46079213800002 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:13.97, Y:25.83, Z:-123.24 [[ 2.15948996e-01 -9.75202630e-01 -4.84341066e-02 1.39710583e+01] [ 9.43442486e-01 2.21182021e-01 -2.46971232e-01 2.58310476e+01] [ 2.51559748e-01 7.63839545e-03 9.67811628e-01 -1.23244107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.490792138 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:13.97, Y:25.84, Z:-123.27 [[ 2.17442996e-01 -9.74895558e-01 -4.79290583e-02 1.39730571e+01] [ 9.43163722e-01 2.22501445e-01 -2.46850767e-01 2.58443005e+01] [ 2.51318001e-01 8.47102137e-03 9.67867503e-01 -1.23268033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520792138 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:13.98, Y:25.86, Z:-123.29 [[ 2.15241684e-01 -9.75378335e-01 -4.80429075e-02 1.39765272e+01] [ 9.43642126e-01 2.20399898e-01 -2.46907723e-01 2.58575295e+01] [ 2.51417096e-01 7.80952273e-03 9.67847331e-01 -1.23292688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.550792138 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:13.98, Y:25.87, Z:-123.32 [[ 2.20087197e-01 -9.74331457e-01 -4.73269164e-02 1.39767311e+01] [ 9.42548320e-01 2.24906614e-01 -2.47021615e-01 2.58717856e+01] [ 2.51325067e-01 9.75838940e-03 9.67853545e-01 -1.23316777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580792138 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:13.98, Y:25.88, Z:-123.34 [[ 2.20811967e-01 -9.74148317e-01 -4.77193045e-02 1.39785091e+01] [ 9.42530443e-01 2.25712878e-01 -2.46353529e-01 2.58835737e+01] [ 2.50755737e-01 9.42091021e-03 9.68004549e-01 -1.23342165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.610792138 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:13.98, Y:25.90, Z:-123.37 [[ 2.18307233e-01 -9.74735654e-01 -4.72478321e-02 1.39817651e+01] [ 9.43105653e-01 2.23170145e-01 -2.46468685e-01 2.58972923e+01] [ 2.50786121e-01 9.24619932e-03 9.67998362e-01 -1.23366650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640792138 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:13.98, Y:25.91, Z:-123.39 [[ 2.23201072e-01 -9.73644953e-01 -4.68698926e-02 1.39825620e+01] [ 9.41878681e-01 2.27805247e-01 -2.46919664e-01 2.59122056e+01] [ 2.51089292e-01 1.09669810e-02 9.67901799e-01 -1.23391369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.670792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:13.99, Y:25.92, Z:-123.42 [[ 2.18984252e-01 -9.74589664e-01 -4.71262582e-02 1.39867699e+01] [ 9.43152923e-01 2.23802088e-01 -2.45713632e-01 2.59248127e+01] [ 2.50016921e-01 9.36014783e-03 9.68196223e-01 -1.23416189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700792138 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:13.99, Y:25.94, Z:-123.44 [[ 2.19453837e-01 -9.74494127e-01 -4.69170583e-02 1.39891404e+01] [ 9.43109249e-01 2.24206254e-01 -2.45512728e-01 2.59378986e+01] [ 2.49769809e-01 9.63079839e-03 9.68257347e-01 -1.23440157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.730792138 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:13.99, Y:25.95, Z:-123.46 [[ 2.19117112e-01 -9.74581296e-01 -4.66796328e-02 1.39922355e+01] [ 9.43245852e-01 2.23822868e-01 -2.45337698e-01 2.59512124e+01] [ 2.49549501e-01 9.72731776e-03 9.68313186e-01 -1.23464895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760792138 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:13.99, Y:25.96, Z:-123.49 [[ 2.18377319e-01 -9.74744770e-01 -4.67330621e-02 1.39948252e+01] [ 9.43769533e-01 2.23133573e-01 -2.43947694e-01 2.59635086e+01] [ 2.48214454e-01 9.16740319e-03 9.68661728e-01 -1.23489427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.790792138 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:14.00, Y:25.98, Z:-123.51 [[ 2.19003800e-01 -9.74652123e-01 -4.57228040e-02 1.39975288e+01] [ 9.43580080e-01 2.23485246e-01 -2.44358295e-01 2.59772231e+01] [ 2.48382703e-01 1.03722681e-02 9.68606447e-01 -1.23513350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820792138 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:14.00, Y:25.99, Z:-123.54 [[ 2.18666174e-01 -9.74735487e-01 -4.55613362e-02 1.40000040e+01] [ 9.43577667e-01 2.23114537e-01 -2.44706130e-01 2.59895600e+01] [ 2.48689146e-01 1.05182940e-02 9.68526238e-01 -1.23538194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.850792138 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:14.00, Y:26.00, Z:-123.56 [[ 2.17895542e-01 -9.74862200e-01 -4.65319596e-02 1.40022288e+01] [ 9.43719281e-01 2.22610762e-01 -2.44618820e-01 2.60023220e+01] [ 2.48828156e-01 9.38824308e-03 9.68502147e-01 -1.23563624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880792138 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:14.01, Y:26.01, Z:-123.59 [[ 2.13268965e-01 -9.75839892e-01 -4.74642449e-02 1.40063231e+01] [ 9.45608455e-01 2.18389033e-01 -2.41103465e-01 2.60122618e+01] [ 2.45644050e-01 6.53729522e-03 9.69338055e-01 -1.23587806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.910792138 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:14.00, Y:26.03, Z:-123.61 [[ 2.26018392e-01 -9.73129071e-01 -4.39942916e-02 1.40049495e+01] [ 9.42350561e-01 2.29863883e-01 -2.43183091e-01 2.60299971e+01] [ 2.46761234e-01 1.35058059e-02 9.68982191e-01 -1.23613080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940792138 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:14.01, Y:26.04, Z:-123.64 [[ 2.24961115e-01 -9.73327483e-01 -4.50123046e-02 1.40076781e+01] [ 9.42493609e-01 2.29088982e-01 -2.43359889e-01 2.60430829e+01] [ 2.47180692e-01 1.23227026e-02 9.68891045e-01 -1.23637137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970792138 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:14.01, Y:26.06, Z:-123.66 [[ 2.26972241e-01 -9.72876775e-01 -4.46585168e-02 1.40090101e+01] [ 9.41934749e-01 2.30943401e-01 -2.43770538e-01 2.60568508e+01] [ 2.47472284e-01 1.32637364e-02 9.68804181e-01 -1.23661613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000792138 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:14.01, Y:26.07, Z:-123.69 [[ 2.19536561e-01 -9.74524130e-01 -4.58957295e-02 1.40140876e+01] [ 9.44058547e-01 2.24068833e-01 -2.41964082e-01 2.60697381e+01] [ 2.46083639e-01 9.79170673e-03 9.69199136e-01 -1.23687339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030792138 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:14.02, Y:26.08, Z:-123.71 [[ 2.24248389e-01 -9.73508377e-01 -4.46553529e-02 1.40152089e+01] [ 9.42914768e-01 2.28322313e-01 -2.42447234e-01 2.60832458e+01] [ 2.46220227e-01 1.22622099e-02 9.69136336e-01 -1.23711371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060792138 meters Centerline goodness : 0.965213 Centerline is valid? [True, True] Translation: X:14.02, Y:26.09, Z:-123.74 [[ 2.30570194e-01 -9.72105690e-01 -4.29873609e-02 1.40161478e+01] [ 9.41929063e-01 2.34061131e-01 -2.40800803e-01 2.60934191e+01] [ 2.44145501e-01 1.50304431e-02 9.69622122e-01 -1.23741047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090792138 meters Centerline goodness : 0.964147 Centerline is valid? [True, True] Translation: X:14.02, Y:26.11, Z:-123.76 [[ 2.22571963e-01 -9.73855551e-01 -4.54652357e-02 1.40216456e+01] [ 9.43576254e-01 2.26912073e-01 -2.41194453e-01 2.61068661e+01] [ 2.45205167e-01 1.07832059e-02 9.69411238e-01 -1.23764594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120792138 meters Centerline goodness : 0.964147 Centerline is valid? [True, True] Translation: X:14.02, Y:26.12, Z:-123.79 [[ 2.20914517e-01 -9.74220150e-01 -4.57370194e-02 1.40246428e+01] [ 9.43975193e-01 2.25374006e-01 -2.41075491e-01 2.61206731e+01] [ 2.45168536e-01 1.00824638e-02 9.69428044e-01 -1.23789300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150792138 meters Centerline goodness : 0.967647 Centerline is valid? [True, True] Translation: X:14.03, Y:26.13, Z:-123.81 [[ 2.16325477e-01 -9.75197402e-01 -4.68328506e-02 1.40284345e+01] [ 9.45109281e-01 2.21200717e-01 -2.40496757e-01 2.61332404e+01] [ 2.44891272e-01 7.76341370e-03 9.69519466e-01 -1.23814773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18079213800002 meters Centerline goodness : 0.978044 Centerline is valid? [True, True] Translation: X:14.03, Y:26.15, Z:-123.84 [[ 2.17977764e-01 -9.74897880e-01 -4.53852160e-02 1.40318426e+01] [ 9.44879832e-01 2.22450366e-01 -2.40245578e-01 2.61459805e+01] [ 2.44310863e-01 9.48461862e-03 9.69650578e-01 -1.23838983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21079213800002 meters Centerline goodness : 0.961733 Centerline is valid? [True, True] Translation: X:14.03, Y:26.16, Z:-123.86 [[ 2.19700448e-01 -9.74515677e-01 -4.52869592e-02 1.40339277e+01] [ 9.44707966e-01 2.24104819e-01 -2.39382308e-01 2.61581410e+01] [ 2.43430838e-01 9.80944917e-03 9.69868652e-01 -1.23863796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240792138 meters Centerline goodness : 0.970419 Centerline is valid? [True, True] Translation: X:14.04, Y:26.17, Z:-123.89 [[ 2.22097694e-01 -9.73999231e-01 -4.47002459e-02 1.40363419e+01] [ 9.43822784e-01 2.26269354e-01 -2.40833411e-01 2.61734577e+01] [ 2.44685853e-01 1.12994347e-02 9.69536568e-01 -1.23887196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.270792138 meters Centerline goodness : 0.970419 Centerline is valid? [True, True] Translation: X:14.04, Y:26.19, Z:-123.91 [[ 2.19969394e-01 -9.74463066e-01 -4.51131696e-02 1.40395273e+01] [ 9.44331583e-01 2.24309705e-01 -2.40672011e-01 2.61871858e+01] [ 2.44645308e-01 1.03386855e-02 9.69557520e-01 -1.23911920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300792138 meters Centerline goodness : 0.974677 Centerline is valid? [True, True] Translation: X:14.04, Y:26.20, Z:-123.94 [[ 2.25609325e-01 -9.73202315e-01 -4.44711867e-02 1.40391188e+01] [ 9.43514191e-01 2.29641077e-01 -2.38842933e-01 2.61992338e+01] [ 2.42654906e-01 1.19259970e-02 9.70039364e-01 -1.23937533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.330792138 meters Centerline goodness : 0.977698 Centerline is valid? [True, True] Translation: X:14.04, Y:26.21, Z:-123.96 [[ 2.19906688e-01 -9.74467747e-01 -4.53173059e-02 1.40426949e+01] [ 9.44850073e-01 2.24319804e-01 -2.38618871e-01 2.62142799e+01] [ 2.42691963e-01 9.65582581e-03 9.70055347e-01 -1.23962251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360792138 meters Centerline goodness : 0.986090 Centerline is valid? [True, True] Translation: X:14.04, Y:26.23, Z:-123.99 [[ 2.24345330e-01 -9.73497200e-01 -4.44114289e-02 1.40435996e+01] [ 9.43874445e-01 2.28403987e-01 -2.38605640e-01 2.62276038e+01] [ 2.42425670e-01 1.16112485e-02 9.70100497e-01 -1.23986491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.390792138 meters Centerline goodness : 0.972026 Centerline is valid? [True, True] Translation: X:14.05, Y:26.24, Z:-124.01 [[ 2.24259613e-01 -9.73514156e-01 -4.44726134e-02 1.40451836e+01] [ 9.43524874e-01 2.28318081e-01 -2.40065964e-01 2.62425863e+01] [ 2.43861516e-01 1.18760832e-02 9.69737346e-01 -1.24011435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420792138 meters Centerline goodness : 0.967794 Centerline is valid? [True, True] Translation: X:14.05, Y:26.25, Z:-124.04 [[ 2.24556449e-01 -9.73445529e-01 -4.44769987e-02 1.40477405e+01] [ 9.43847474e-01 2.28625832e-01 -2.38499843e-01 2.62537173e+01] [ 2.42335197e-01 1.15771750e-02 9.70123508e-01 -1.24036985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.450792138 meters Centerline goodness : 0.976900 Centerline is valid? [True, True] Translation: X:14.05, Y:26.27, Z:-124.06 [[ 2.25071110e-01 -9.73338997e-01 -4.42062564e-02 1.40503670e+01] [ 9.43559545e-01 2.29050202e-01 -2.39230831e-01 2.62694620e+01] [ 2.42978149e-01 1.21327136e-02 9.69955884e-01 -1.24060378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480792138 meters Centerline goodness : 0.962810 Centerline is valid? [True, True] Translation: X:14.05, Y:26.28, Z:-124.09 [[ 2.27052024e-01 -9.72890595e-01 -4.39461975e-02 1.40514317e+01] [ 9.43223091e-01 2.30913493e-01 -2.38765908e-01 2.62820783e+01] [ 2.42440877e-01 1.27612145e-02 9.70082250e-01 -1.24085123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.510792138 meters Centerline goodness : 0.971540 Centerline is valid? [True, True] Translation: X:14.05, Y:26.29, Z:-124.11 [[ 2.27271396e-01 -9.72838253e-01 -4.39709650e-02 1.40537237e+01] [ 9.43316491e-01 2.31139898e-01 -2.38177130e-01 2.62946770e+01] [ 2.41871267e-01 1.26523125e-02 9.70225855e-01 -1.24109979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540792138 meters Centerline goodness : 0.963827 Centerline is valid? [True, True] Translation: X:14.06, Y:26.31, Z:-124.13 [[ 2.28691643e-01 -9.72532595e-01 -4.33645528e-02 1.40562475e+01] [ 9.43047514e-01 2.32372379e-01 -2.38042987e-01 2.63088225e+01] [ 2.41581288e-01 1.35436080e-02 9.70286067e-01 -1.24134132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.570792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:14.07, Y:26.35, Z:-124.14 [[ 1.94661510e-01 -9.79586456e-01 -5.01724271e-02 1.40662959e+01] [ 9.44383145e-01 2.00996516e-01 -2.60270775e-01 2.63506388e+01] [ 2.65042209e-01 3.28270758e-03 9.64231223e-01 -1.24144026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600792138 meters Centerline goodness : 0.963206 Centerline is valid? [True, True] Translation: X:14.06, Y:26.34, Z:-124.18 [[ 2.25302549e-01 -9.73273691e-01 -4.44644160e-02 1.40614814e+01] [ 9.43613023e-01 2.29343292e-01 -2.38738595e-01 2.63355395e+01] [ 2.42555609e-01 1.18312119e-02 9.70065358e-01 -1.24182800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.630792138 meters Centerline goodness : 0.964214 Centerline is valid? [True, True] Translation: X:14.06, Y:26.35, Z:-124.21 [[ 2.34775404e-01 -9.71147342e-01 -4.18730234e-02 1.40615138e+01] [ 9.40968222e-01 2.37863527e-01 -2.40831367e-01 2.63518397e+01] [ 2.43842807e-01 1.71400969e-02 9.69663293e-01 -1.24205372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660792138 meters Centerline goodness : 0.981337 Centerline is valid? [True, True] Translation: X:14.07, Y:26.37, Z:-124.22 [[ 2.28153876e-01 -9.72635903e-01 -4.38772153e-02 1.40675548e+01] [ 9.40030705e-01 2.31793772e-01 -2.50227738e-01 2.63739749e+01] [ 2.53550947e-01 1.58444987e-02 9.67192261e-01 -1.24224468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:14.08, Y:26.38, Z:-124.25 [[ 2.11789782e-01 -9.76060163e-01 -4.95141077e-02 1.40755889e+01] [ 9.44048372e-01 2.17423942e-01 -2.47990929e-01 2.63809606e+01] [ 2.52819619e-01 5.77823211e-03 9.67496177e-01 -1.24249333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720792138 meters Centerline goodness : 0.986275 Centerline is valid? [True, True] Translation: X:14.07, Y:26.40, Z:-124.28 [[ 2.30359960e-01 -9.72116587e-01 -4.38592125e-02 1.40707489e+01] [ 9.40094835e-01 2.33959176e-01 -2.47961297e-01 2.63954596e+01] [ 2.51308554e-01 1.58885352e-02 9.67776609e-01 -1.24278011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750792138 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:14.08, Y:26.44, Z:-124.29 [[ 1.89249353e-01 -9.80630281e-01 -5.04869742e-02 1.40842706e+01] [ 9.42822863e-01 1.95837764e-01 -2.69689857e-01 2.64362002e+01] [ 2.74353296e-01 3.43835738e-03 9.61622819e-01 -1.24288708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780792138 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:14.09, Y:26.45, Z:-124.31 [[ 1.86822916e-01 -9.81034466e-01 -5.16582565e-02 1.40867389e+01] [ 9.43321916e-01 1.93826778e-01 -2.69397369e-01 2.64504641e+01] [ 2.74300857e-01 1.59923649e-03 9.61642596e-01 -1.24313134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:14.09, Y:26.46, Z:-124.34 [[ 1.88061606e-01 -9.80804532e-01 -5.15296217e-02 1.40887182e+01] [ 9.43097806e-01 1.94982667e-01 -2.69347893e-01 2.64644451e+01] [ 2.74225017e-01 2.05652418e-03 9.61663356e-01 -1.24337629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:14.09, Y:26.48, Z:-124.36 [[ 1.84290792e-01 -9.81523234e-01 -5.14688685e-02 1.40927001e+01] [ 9.43692175e-01 1.91339443e-01 -2.69878299e-01 2.64774991e+01] [ 2.74739846e-01 1.16531709e-03 9.61517893e-01 -1.24361542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870792138 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:14.10, Y:26.49, Z:-124.38 [[ 1.84375619e-01 -9.81514120e-01 -5.13387056e-02 1.40953886e+01] [ 9.43878219e-01 1.91386129e-01 -2.69193717e-01 2.64903780e+01] [ 2.74042950e-01 1.17527209e-03 9.61716736e-01 -1.24384772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900792138 meters Centerline goodness : 0.971043 Centerline is valid? [True, True] Translation: X:14.09, Y:26.49, Z:-124.42 [[ 2.14488133e-01 -9.75637851e-01 -4.61044963e-02 1.40910366e+01] [ 9.41797946e-01 2.19097720e-01 -2.54976114e-01 2.64869144e+01] [ 2.58865738e-01 1.12682308e-02 9.65847585e-01 -1.24418287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93079213800002 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:14.10, Y:26.52, Z:-124.43 [[ 1.75597944e-01 -9.83100358e-01 -5.17595155e-02 1.41038090e+01] [ 9.45834738e-01 1.83057829e-01 -2.68116540e-01 2.65175369e+01] [ 2.73060451e-01 -1.87523471e-03 9.61995049e-01 -1.24433597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96079213800002 meters Centerline goodness : 0.984239 Centerline is valid? [True, True] Translation: X:14.10, Y:26.52, Z:-124.47 [[ 2.18667840e-01 -9.74804280e-01 -4.40566764e-02 1.40955510e+01] [ 9.40991110e-01 2.22604002e-01 -2.54918005e-01 2.65151869e+01] [ 2.58302355e-01 1.42854288e-02 9.65958498e-01 -1.24466012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.990792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:14.11, Y:26.54, Z:-124.48 [[ 1.74913718e-01 -9.83189732e-01 -5.23750102e-02 1.41092053e+01] [ 9.46092441e-01 1.82566046e-01 -2.67542020e-01 2.65433400e+01] [ 2.72606466e-01 -2.75483181e-03 9.62121679e-01 -1.24482433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020792138 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:14.11, Y:26.56, Z:-124.51 [[ 1.76947859e-01 -9.82892463e-01 -5.11063810e-02 1.41101168e+01] [ 9.45802584e-01 1.84177598e-01 -2.67462305e-01 2.65562230e+01] [ 2.72299334e-01 -1.00966509e-03 9.62212063e-01 -1.24506057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.050792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:14.11, Y:26.57, Z:-124.53 [[ 1.75428004e-01 -9.83174610e-01 -5.09185885e-02 1.41130521e+01] [ 9.46132533e-01 1.82663773e-01 -2.67333455e-01 2.65702378e+01] [ 2.72136446e-01 -1.27795895e-03 9.62257825e-01 -1.24530161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080792138 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:14.12, Y:26.58, Z:-124.55 [[ 1.75023010e-01 -9.83252081e-01 -5.08162534e-02 1.41155038e+01] [ 9.46207543e-01 1.82246212e-01 -2.67352957e-01 2.65843427e+01] [ 2.72136421e-01 -1.28980315e-03 9.62257816e-01 -1.24554786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.110792138 meters Centerline goodness : 0.965597 Centerline is valid? [True, True] Translation: X:14.10, Y:26.58, Z:-124.59 [[ 2.19826079e-01 -9.74605782e-01 -4.26622176e-02 1.41048772e+01] [ 9.40719667e-01 2.23356695e-01 -2.55261227e-01 2.65817577e+01] [ 2.58307960e-01 1.59798876e-02 9.65930454e-01 -1.24587509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140792138 meters Centerline goodness : 0.957989 Centerline is valid? [True, True] Translation: X:14.11, Y:26.59, Z:-124.61 [[ 2.09142160e-01 -9.76838081e-01 -4.52429027e-02 1.41108932e+01] [ 9.43042296e-01 2.13714428e-01 -2.54945820e-01 2.65937510e+01] [ 2.58709847e-01 1.06539486e-02 9.65896324e-01 -1.24611869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.170792138 meters Centerline goodness : 0.975793 Centerline is valid? [True, True] Translation: X:14.11, Y:26.61, Z:-124.64 [[ 2.07728249e-01 -9.77095343e-01 -4.61916104e-02 1.41138252e+01] [ 9.43134051e-01 2.12588974e-01 -2.55546649e-01 2.66091381e+01] [ 2.59513268e-01 9.51937733e-03 9.65692625e-01 -1.24636636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200792138 meters Centerline goodness : 0.968041 Centerline is valid? [True, True] Translation: X:14.12, Y:26.62, Z:-124.66 [[ 1.96847374e-01 -9.79282378e-01 -4.75093196e-02 1.41205065e+01] [ 9.45733482e-01 2.02435114e-01 -2.54181443e-01 2.66225195e+01] [ 2.58532963e-01 5.10379541e-03 9.65988954e-01 -1.24661295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.230792138 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:14.13, Y:26.65, Z:-124.68 [[ 1.71894099e-01 -9.83799515e-01 -5.09012039e-02 1.41275826e+01] [ 9.46812895e-01 1.79257950e-01 -2.67230106e-01 2.66544899e+01] [ 2.72025294e-01 -2.25863788e-03 9.62287451e-01 -1.24676848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260792138 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:14.13, Y:26.67, Z:-124.70 [[ 1.75778675e-01 -9.83169185e-01 -4.98017209e-02 1.41286825e+01] [ 9.46205618e-01 1.82697349e-01 -2.67051692e-01 2.66686105e+01] [ 2.71655637e-01 -1.80675526e-04 9.62394504e-01 -1.24701343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.290792138 meters Centerline goodness : 0.963469 Centerline is valid? [True, True] Translation: X:14.12, Y:26.66, Z:-124.74 [[ 2.04796502e-01 -9.77782477e-01 -4.47193479e-02 1.41245259e+01] [ 9.44561932e-01 2.09404431e-01 -2.52888396e-01 2.66646896e+01] [ 2.56634272e-01 9.55046515e-03 9.66461401e-01 -1.24735682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320792138 meters Centerline goodness : 0.963469 Centerline is valid? [True, True] Translation: X:14.13, Y:26.68, Z:-124.76 [[ 2.02029855e-01 -9.78328374e-01 -4.53600004e-02 1.41279490e+01] [ 9.45156812e-01 2.06897494e-01 -2.52729157e-01 2.66785204e+01] [ 2.56636976e-01 8.18652173e-03 9.66473198e-01 -1.24760351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.350792138 meters Centerline goodness : 0.963469 Centerline is valid? [True, True] Translation: X:14.13, Y:26.69, Z:-124.79 [[ 2.01801509e-01 -9.78378164e-01 -4.53025332e-02 1.41303756e+01] [ 9.45214757e-01 2.06662353e-01 -2.52704839e-01 2.66925548e+01] [ 2.56603225e-01 8.17559491e-03 9.66482253e-01 -1.24785010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380792138 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:14.14, Y:26.73, Z:-124.80 [[ 1.72369635e-01 -9.83749772e-01 -5.02503250e-02 1.41391662e+01] [ 9.46898053e-01 1.79537777e-01 -2.66740070e-01 2.67258244e+01] [ 2.71427314e-01 -1.60404640e-03 9.62457604e-01 -1.24799662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.410792138 meters Centerline goodness : 0.972508 Centerline is valid? [True, True] Translation: X:14.13, Y:26.72, Z:-124.83 [[ 2.10266226e-01 -9.76647244e-01 -4.41392596e-02 1.41298256e+01] [ 9.43983869e-01 2.14564837e-01 -2.50711758e-01 2.67236091e+01] [ 2.54327681e-01 1.10494662e-02 9.67054983e-01 -1.24833171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440792138 meters Centerline goodness : 0.966223 Centerline is valid? [True, True] Translation: X:14.14, Y:26.74, Z:-124.86 [[ 2.06275352e-01 -9.77499428e-01 -4.41060886e-02 1.41350029e+01] [ 9.45492453e-01 2.10723551e-01 -2.48273248e-01 2.67387314e+01] [ 2.51981150e-01 9.51067777e-03 9.67685407e-01 -1.24855944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470792138 meters Centerline goodness : 0.962502 Centerline is valid? [True, True] Translation: X:14.14, Y:26.75, Z:-124.88 [[ 2.03331815e-01 -9.78135034e-01 -4.36809863e-02 1.41395412e+01] [ 9.46868693e-01 2.07794816e-01 -2.45481146e-01 2.67497670e+01] [ 2.49190391e-01 8.55396862e-03 9.68416738e-01 -1.24881209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500792138 meters Centerline goodness : 0.973517 Centerline is valid? [True, True] Translation: X:14.14, Y:26.76, Z:-124.91 [[ 2.04766513e-01 -9.77838973e-01 -4.36075385e-02 1.41404290e+01] [ 9.46653899e-01 2.09168476e-01 -2.45142700e-01 2.67641831e+01] [ 2.48831409e-01 8.91576955e-03 9.68505777e-01 -1.24905209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530792138 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:14.15, Y:26.80, Z:-124.92 [[ 1.75916167e-01 -9.83224512e-01 -4.81981417e-02 1.41491813e+01] [ 9.48064145e-01 1.82399389e-01 -2.60585571e-01 2.67993927e+01] [ 2.65005433e-01 1.46284789e-04 9.64246908e-01 -1.24918199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560792138 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:14.15, Y:26.81, Z:-124.94 [[ 1.74222853e-01 -9.83542078e-01 -4.78683495e-02 1.41524040e+01] [ 9.48397275e-01 1.80679222e-01 -2.60571731e-01 2.68133190e+01] [ 2.64932078e-01 -6.61800378e-07 9.64267076e-01 -1.24941994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590792138 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:14.16, Y:26.83, Z:-124.97 [[ 1.71519689e-01 -9.84024722e-01 -4.77110370e-02 1.41556152e+01] [ 9.48956375e-01 1.78030794e-01 -2.60359049e-01 2.68267096e+01] [ 2.64693775e-01 -6.18989516e-04 9.64332319e-01 -1.24966016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620792138 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:14.16, Y:26.84, Z:-124.99 [[ 1.75311884e-01 -9.83361772e-01 -4.75958982e-02 1.41561166e+01] [ 9.48264847e-01 1.81657267e-01 -2.60373611e-01 2.68407313e+01] [ 2.64687596e-01 5.13071073e-04 9.64334078e-01 -1.24989869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650792138 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:14.16, Y:26.85, Z:-125.01 [[ 1.74962710e-01 -9.83433721e-01 -4.73937479e-02 1.41581512e+01] [ 9.48648535e-01 1.81267643e-01 -2.59245056e-01 2.68542556e+01] [ 2.63541283e-01 3.98207855e-04 9.64648036e-01 -1.25013260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68079213800002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:14.16, Y:26.86, Z:-125.04 [[ 1.82029198e-01 -9.82172918e-01 -4.69226061e-02 1.41583200e+01] [ 9.49404796e-01 1.87975540e-01 -2.51586426e-01 2.68615068e+01] [ 2.55921676e-01 1.24752803e-03 9.66696715e-01 -1.25039702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71079213800002 meters Centerline goodness : 0.968346 Centerline is valid? [True, True] Translation: X:14.15, Y:26.87, Z:-125.07 [[ 2.09308638e-01 -9.76987367e-01 -4.10558083e-02 1.41528005e+01] [ 9.45402316e-01 2.12910853e-01 -2.46745679e-01 2.68667725e+01] [ 2.49808639e-01 1.28317458e-02 9.68210200e-01 -1.25071369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740792138 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:14.16, Y:26.90, Z:-125.09 [[ 1.80542571e-01 -9.82449044e-01 -4.68855586e-02 1.41621924e+01] [ 9.47159751e-01 1.86511524e-01 -2.60963325e-01 2.69019054e+01] [ 2.65127866e-01 2.70687568e-03 9.64209463e-01 -1.25085048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.770792138 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:14.16, Y:26.92, Z:-125.11 [[ 1.78420016e-01 -9.82832880e-01 -4.69662394e-02 1.41644190e+01] [ 9.47650502e-01 1.84487291e-01 -2.60620347e-01 2.69157198e+01] [ 2.64810920e-01 1.99230596e-03 9.64298298e-01 -1.25109750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800792138 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:14.17, Y:26.93, Z:-125.13 [[ 1.77539632e-01 -9.82995404e-01 -4.69011169e-02 1.41655556e+01] [ 9.47745314e-01 1.83620663e-01 -2.60887471e-01 2.69293671e+01] [ 2.65063199e-01 1.86755174e-03 9.64229233e-01 -1.25133675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.830792138 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:14.17, Y:26.94, Z:-125.16 [[ 1.75422126e-01 -9.83379225e-01 -4.68228350e-02 1.41685135e+01] [ 9.48078066e-01 1.81557975e-01 -2.61121968e-01 2.69429166e+01] [ 2.65282978e-01 1.41486798e-03 9.64169560e-01 -1.25158002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:14.17, Y:26.96, Z:-125.18 [[ 1.77334016e-01 -9.83034725e-01 -4.68548521e-02 1.41691579e+01] [ 9.47492972e-01 1.83407998e-01 -2.61951472e-01 2.69563901e+01] [ 2.66100948e-01 2.05826334e-03 9.63942970e-01 -1.25182087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.890792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:14.17, Y:26.97, Z:-125.21 [[ 1.73796460e-01 -9.83670553e-01 -4.67657246e-02 1.41727870e+01] [ 9.48108040e-01 1.79974353e-01 -2.62107566e-01 2.69702225e+01] [ 2.66244125e-01 1.21440753e-03 9.63904866e-01 -1.25206536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920792138 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:14.17, Y:26.98, Z:-125.23 [[ 1.76057420e-01 -9.83274162e-01 -4.66444777e-02 1.41745887e+01] [ 9.47704065e-01 1.82121308e-01 -2.62085547e-01 2.69839838e+01] [ 2.66196900e-01 1.93694410e-03 9.63916728e-01 -1.25231114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.950792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:14.18, Y:27.00, Z:-125.25 [[ 1.74958060e-01 -9.83477574e-01 -4.64923449e-02 1.41775439e+01] [ 9.48074847e-01 1.81022258e-01 -2.61505309e-01 2.69967581e+01] [ 2.65600756e-01 1.67423868e-03 9.64081654e-01 -1.25254247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980792138 meters Centerline goodness : 0.981190 Centerline is valid? [True, True] Translation: X:14.18, Y:26.99, Z:-125.29 [[ 1.97181055e-01 -9.79435095e-01 -4.27378910e-02 1.41754372e+01] [ 9.47601662e-01 2.01585947e-01 -2.47818877e-01 2.69907799e+01] [ 2.51337864e-01 8.36669098e-03 9.67863253e-01 -1.25288505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.010792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:14.18, Y:27.02, Z:-125.30 [[ 1.70687662e-01 -9.84248190e-01 -4.60567260e-02 1.41834614e+01] [ 9.49169530e-01 1.76790719e-01 -2.60427044e-01 2.70237982e+01] [ 2.64467248e-01 7.36042237e-04 9.64394387e-01 -1.25302102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040792138 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:14.19, Y:27.04, Z:-125.33 [[ 1.70088812e-01 -9.84353848e-01 -4.60141143e-02 1.41858085e+01] [ 9.49276946e-01 1.76201935e-01 -2.60434557e-01 2.70379629e+01] [ 2.64467534e-01 6.16866450e-04 9.64394392e-01 -1.25326701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.070792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:14.19, Y:27.05, Z:-125.35 [[ 1.68167334e-01 -9.84685218e-01 -4.59866194e-02 1.41882920e+01] [ 9.49467726e-01 1.74341532e-01 -2.60990552e-01 2.70518560e+01] [ 2.65010916e-01 2.27274421e-04 9.64245385e-01 -1.25351196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:14.19, Y:27.07, Z:-125.38 [[ 1.72227689e-01 -9.83991879e-01 -4.57996112e-02 1.41890835e+01] [ 9.48858782e-01 1.78207613e-01 -2.60593667e-01 2.70657733e+01] [ 2.64583891e-01 1.42408168e-03 9.64361621e-01 -1.25375013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.130792138 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:14.19, Y:27.08, Z:-125.40 [[ 1.69986796e-01 -9.84391349e-01 -4.55868442e-02 1.41912976e+01] [ 9.49421246e-01 1.75990958e-01 -2.60050919e-01 2.70797899e+01] [ 2.64014747e-01 9.24104137e-04 9.64518201e-01 -1.25398924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160792138 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:14.20, Y:27.09, Z:-125.42 [[ 1.66083981e-01 -9.85058772e-01 -4.55557630e-02 1.41956831e+01] [ 9.50169277e-01 1.72218464e-01 -2.59844464e-01 2.70931763e+01] [ 2.63807612e-01 -1.29683489e-04 9.64575309e-01 -1.25422597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190792138 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:14.20, Y:27.11, Z:-125.45 [[ 1.65280637e-01 -9.85194278e-01 -4.55471698e-02 1.41977687e+01] [ 9.50054525e-01 1.71441548e-01 -2.60776138e-01 2.71071924e+01] [ 2.64723837e-01 -1.71048434e-04 9.64324251e-01 -1.25447110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220792138 meters Centerline goodness : 0.980151 Centerline is valid? [True, True] Translation: X:14.19, Y:27.10, Z:-125.48 [[ 1.96389198e-01 -9.79691693e-01 -4.04409452e-02 1.41915471e+01] [ 9.47530116e-01 2.00228427e-01 -2.49189197e-01 2.71035097e+01] [ 2.52226013e-01 1.06190530e-02 9.67610084e-01 -1.25480512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250792138 meters Centerline goodness : 0.965395 Centerline is valid? [True, True] Translation: X:14.20, Y:27.12, Z:-125.51 [[ 1.85565938e-01 -9.81709639e-01 -4.25613357e-02 1.41974720e+01] [ 9.49966808e-01 1.90303980e-01 -2.47684192e-01 2.71156405e+01] [ 2.51253551e-01 5.52989325e-03 9.67905509e-01 -1.25505388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280792138 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:14.21, Y:27.15, Z:-125.52 [[ 1.58673060e-01 -9.86287891e-01 -4.53768188e-02 1.42053499e+01] [ 9.51002732e-01 1.65025502e-01 -2.61458193e-01 2.71500004e+01] [ 2.65361382e-01 -1.66710704e-03 9.64147581e-01 -1.25519401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310792138 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:14.21, Y:27.16, Z:-125.54 [[ 1.59480045e-01 -9.86177167e-01 -4.49523158e-02 1.42071240e+01] [ 9.50866874e-01 1.65691052e-01 -2.61531382e-01 2.71642906e+01] [ 2.65364474e-01 -1.03463150e-03 9.64147616e-01 -1.25543985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340792138 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:14.21, Y:27.18, Z:-125.57 [[ 1.58254594e-01 -9.86379890e-01 -4.48352202e-02 1.42096982e+01] [ 9.51067190e-01 1.64478445e-01 -2.61568427e-01 2.71781348e+01] [ 2.65380263e-01 -1.24690166e-03 9.64143019e-01 -1.25568627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370792138 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:14.21, Y:27.19, Z:-125.59 [[ 1.56386250e-01 -9.86691922e-01 -4.45240600e-02 1.42123738e+01] [ 9.51699537e-01 1.62592589e-01 -2.60445083e-01 2.71926082e+01] [ 2.64218342e-01 -1.64349738e-03 9.64461490e-01 -1.25592747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400792138 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:14.21, Y:27.21, Z:-125.62 [[ 1.58285860e-01 -9.86390816e-01 -4.44830912e-02 1.42138008e+01] [ 9.51266025e-01 1.64414466e-01 -2.60884712e-01 2.72070797e+01] [ 2.64647948e-01 -1.02089238e-03 9.64344555e-01 -1.25617236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43079213800002 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:14.22, Y:27.22, Z:-125.64 [[ 1.56138174e-01 -9.86738756e-01 -4.43564813e-02 1.42167859e+01] [ 9.51642440e-01 1.62309638e-01 -2.60829920e-01 2.72210001e+01] [ 2.64570475e-01 -1.48600280e-03 9.64365209e-01 -1.25641763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46079213800002 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:14.22, Y:27.24, Z:-125.67 [[ 1.56910297e-01 -9.86619203e-01 -4.42911563e-02 1.42187653e+01] [ 9.51435008e-01 1.63037384e-01 -2.61132605e-01 2.72350393e+01] [ 2.64859557e-01 -1.16576223e-03 9.64286294e-01 -1.25666277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.490792138 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:14.22, Y:27.25, Z:-125.69 [[ 1.54975937e-01 -9.86932467e-01 -4.41221623e-02 1.42215612e+01] [ 9.51844211e-01 1.61126733e-01 -2.60827096e-01 2.72491341e+01] [ 2.64527989e-01 -1.57550110e-03 9.64376721e-01 -1.25690828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520792138 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:14.22, Y:27.26, Z:-125.71 [[ 1.54982160e-01 -9.86935817e-01 -4.40252612e-02 1.42233712e+01] [ 9.51815187e-01 1.61107281e-01 -2.60945001e-01 2.72630909e+01] [ 2.64628758e-01 -1.46209225e-03 9.64349254e-01 -1.25714954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.550792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:14.23, Y:27.28, Z:-125.74 [[ 1.53488811e-01 -9.87172215e-01 -4.39568173e-02 1.42261483e+01] [ 9.51982547e-01 1.59649472e-01 -2.61230313e-01 2.72770383e+01] [ 2.64896989e-01 -1.75019268e-03 9.64275128e-01 -1.25738824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580792138 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:14.23, Y:27.29, Z:-125.76 [[ 1.53811360e-01 -9.87122823e-01 -4.39385764e-02 1.42282175e+01] [ 9.51968859e-01 1.59955453e-01 -2.61092979e-01 2.72902305e+01] [ 2.64759053e-01 -1.66909032e-03 9.64313153e-01 -1.25761925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.610792138 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:14.23, Y:27.30, Z:-125.79 [[ 1.53707573e-01 -9.87147043e-01 -4.37572644e-02 1.42302088e+01] [ 9.52007491e-01 1.59807278e-01 -2.61042851e-01 2.73041242e+01] [ 2.64680408e-01 -1.53298037e-03 9.64334969e-01 -1.25786109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640792138 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:14.23, Y:27.32, Z:-125.81 [[ 1.52336576e-01 -9.87364375e-01 -4.36481156e-02 1.42318051e+01] [ 9.52419565e-01 1.58454878e-01 -2.60363255e-01 2.73173595e+01] [ 2.63989659e-01 -1.90847246e-03 9.64523622e-01 -1.25809165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.670792138 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:14.23, Y:27.33, Z:-125.83 [[ 1.50945486e-01 -9.87584376e-01 -4.35035739e-02 1.42333980e+01] [ 9.52601423e-01 1.57075226e-01 -2.60533880e-01 2.73314059e+01] [ 2.64132523e-01 -2.11515332e-03 9.64484078e-01 -1.25833196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700792138 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:14.24, Y:27.35, Z:-125.86 [[ 1.49155505e-01 -9.87858681e-01 -4.34495381e-02 1.42362888e+01] [ 9.52783812e-01 1.55335338e-01 -2.60909832e-01 2.73452280e+01] [ 2.64491291e-01 -2.48187883e-03 9.64384880e-01 -1.25856880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.730792138 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:14.24, Y:27.36, Z:-125.88 [[ 1.50284823e-01 -9.87691110e-01 -4.33675438e-02 1.42371379e+01] [ 9.52551889e-01 1.56403314e-01 -2.61118558e-01 2.73590477e+01] [ 2.64687305e-01 -2.06767944e-03 9.64332077e-01 -1.25881056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760792138 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:14.24, Y:27.37, Z:-125.91 [[ 1.50520241e-01 -9.87653080e-01 -4.34171691e-02 1.42387527e+01] [ 9.52238209e-01 1.56645531e-01 -2.62115566e-01 2.73731920e+01] [ 2.65680352e-01 -1.88978910e-03 9.64059324e-01 -1.25905301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.790792138 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:14.24, Y:27.39, Z:-125.93 [[ 1.49986393e-01 -9.87731062e-01 -4.34905815e-02 1.42416773e+01] [ 9.52205093e-01 1.56151220e-01 -2.62530488e-01 2.73868653e+01] [ 2.66100625e-01 -2.03595230e-03 9.63943106e-01 -1.25928775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820792138 meters Centerline goodness : 0.972454 Centerline is valid? [True, True] Translation: X:14.24, Y:27.38, Z:-125.96 [[ 1.84195081e-01 -9.82141442e-01 -3.83452719e-02 1.42367412e+01] [ 9.50377351e-01 1.87917757e-01 -2.47931052e-01 2.73806741e+01] [ 2.50709119e-01 9.22520238e-03 9.68018509e-01 -1.25963705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.850792138 meters Centerline goodness : 0.963435 Centerline is valid? [True, True] Translation: X:14.24, Y:27.39, Z:-125.99 [[ 1.79755340e-01 -9.82927193e-01 -3.92702312e-02 1.42406630e+01] [ 9.52957788e-01 1.83900714e-01 -2.40939790e-01 2.73853096e+01] [ 2.44048095e-01 5.88734127e-03 9.69745259e-01 -1.25993197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880792138 meters Centerline goodness : 0.963435 Centerline is valid? [True, True] Translation: X:14.24, Y:27.40, Z:-126.02 [[ 1.86268300e-01 -9.81795696e-01 -3.71662682e-02 1.42399460e+01] [ 9.51777966e-01 1.89700464e-01 -2.41106692e-01 2.73995872e+01] [ 2.43767971e-01 9.53649846e-03 9.69786694e-01 -1.26017945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.910792138 meters Centerline goodness : 0.961115 Centerline is valid? [True, True] Translation: X:14.24, Y:27.42, Z:-126.04 [[ 1.80828656e-01 -9.82784568e-01 -3.78878712e-02 1.42428625e+01] [ 9.51559124e-01 1.84563491e-01 -2.45909641e-01 2.74195060e+01] [ 2.48668918e-01 8.41496033e-03 9.68551990e-01 -1.26041141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940792138 meters Centerline goodness : 0.971318 Centerline is valid? [True, True] Translation: X:14.24, Y:27.43, Z:-126.06 [[ 1.87872757e-01 -9.81457173e-01 -3.80216407e-02 1.42425662e+01] [ 9.50225638e-01 1.91417650e-01 -2.45826200e-01 2.74341717e+01] [ 2.48545901e-01 1.00549081e-02 9.68567930e-01 -1.26064438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970792138 meters Centerline goodness : 0.971318 Centerline is valid? [True, True] Translation: X:14.24, Y:27.45, Z:-126.09 [[ 1.86761971e-01 -9.81662108e-01 -3.82030397e-02 1.42449453e+01] [ 9.50467777e-01 1.90388635e-01 -2.45689178e-01 2.74475654e+01] [ 2.48457181e-01 9.57463683e-03 9.68595558e-01 -1.26088278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000792138 meters Centerline goodness : 0.979340 Centerline is valid? [True, True] Translation: X:14.25, Y:27.45, Z:-126.12 [[ 1.92107739e-01 -9.80721283e-01 -3.57824270e-02 1.42458342e+01] [ 9.51186018e-01 1.95048485e-01 -2.39167821e-01 2.74534493e+01] [ 2.41536281e-01 1.19102451e-02 9.70318696e-01 -1.26115437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030792138 meters Centerline goodness : 0.964566 Centerline is valid? [True, True] Translation: X:14.25, Y:27.47, Z:-126.14 [[ 1.85431825e-01 -9.81901069e-01 -3.85399685e-02 1.42499552e+01] [ 9.51674025e-01 1.89217914e-01 -2.41894877e-01 2.74736753e+01] [ 2.44809291e-01 8.17752142e-03 9.69536765e-01 -1.26138332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060792138 meters Centerline goodness : 0.962513 Centerline is valid? [True, True] Translation: X:14.25, Y:27.49, Z:-126.16 [[ 1.96073296e-01 -9.79866535e-01 -3.76408708e-02 1.42469150e+01] [ 9.49504257e-01 1.99306267e-01 -2.42319371e-01 2.74898860e+01] [ 2.44942704e-01 1.17721909e-02 9.69466083e-01 -1.26161971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090792138 meters Centerline goodness : 0.962513 Centerline is valid? [True, True] Translation: X:14.25, Y:27.50, Z:-126.19 [[ 1.95141920e-01 -9.80046824e-01 -3.77869602e-02 1.42493048e+01] [ 9.49719552e-01 1.98441087e-01 -2.42185687e-01 2.75037650e+01] [ 2.44851798e-01 1.13735649e-02 9.69493805e-01 -1.26186689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120792138 meters Centerline goodness : 0.975991 Centerline is valid? [True, True] Translation: X:14.25, Y:27.52, Z:-126.21 [[ 1.89053751e-01 -9.81247641e-01 -3.75732203e-02 1.42542984e+01] [ 9.51119581e-01 1.92495990e-01 -2.41488792e-01 2.75169425e+01] [ 2.44193002e-01 9.91773635e-03 9.69675934e-01 -1.26210768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150792138 meters Centerline goodness : 0.975991 Centerline is valid? [True, True] Translation: X:14.26, Y:27.53, Z:-126.23 [[ 1.89253233e-01 -9.81214297e-01 -3.74395106e-02 1.42562509e+01] [ 9.51112437e-01 1.92657760e-01 -2.41387904e-01 2.75303588e+01] [ 2.44066275e-01 1.00742572e-02 9.69706225e-01 -1.26234633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18079213800002 meters Centerline goodness : 0.963155 Centerline is valid? [True, True] Translation: X:14.26, Y:27.54, Z:-126.26 [[ 1.87427102e-01 -9.81548828e-01 -3.78547191e-02 1.42575067e+01] [ 9.51548465e-01 1.90992707e-01 -2.40992334e-01 2.75441651e+01] [ 2.43775718e-01 9.14789479e-03 9.69788490e-01 -1.26259943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21079213800002 meters Centerline goodness : 0.979481 Centerline is valid? [True, True] Translation: X:14.26, Y:27.56, Z:-126.28 [[ 1.88995267e-01 -9.81252160e-01 -3.77489971e-02 1.42590689e+01] [ 9.51406907e-01 1.92493449e-01 -2.40356339e-01 2.75574144e+01] [ 2.43116611e-01 9.51155382e-03 9.69950434e-01 -1.26284544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240792138 meters Centerline goodness : 0.965024 Centerline is valid? [True, True] Translation: X:14.26, Y:27.57, Z:-126.31 [[ 1.92002219e-01 -9.80688560e-01 -3.72168775e-02 1.42604874e+01] [ 9.51068325e-01 1.95289722e-01 -2.39438857e-01 2.75700018e+01] [ 2.42083021e-01 1.05769986e-02 9.70197886e-01 -1.26310040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.270792138 meters Centerline goodness : 0.965024 Centerline is valid? [True, True] Translation: X:14.26, Y:27.58, Z:-126.33 [[ 1.91856904e-01 -9.80723602e-01 -3.70424815e-02 1.42623945e+01] [ 9.51135272e-01 1.95107894e-01 -2.39321131e-01 2.75838575e+01] [ 2.41935162e-01 1.06830004e-02 9.70233606e-01 -1.26334792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300792138 meters Centerline goodness : 0.965345 Centerline is valid? [True, True] Translation: X:14.26, Y:27.60, Z:-126.36 [[ 1.92578674e-01 -9.80593883e-01 -3.67299633e-02 1.42638987e+01] [ 9.51104220e-01 1.95736796e-01 -2.38930680e-01 2.75969565e+01] [ 2.41483369e-01 1.10789305e-02 9.70341713e-01 -1.26358982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.330792138 meters Centerline goodness : 0.974749 Centerline is valid? [True, True] Translation: X:14.27, Y:27.61, Z:-126.38 [[ 1.92519164e-01 -9.80604141e-01 -3.67680520e-02 1.42663011e+01] [ 9.51118258e-01 1.95688455e-01 -2.38914397e-01 2.76110963e+01] [ 2.41475530e-01 1.10248344e-02 9.70344280e-01 -1.26382460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360792138 meters Centerline goodness : 0.966192 Centerline is valid? [True, True] Translation: X:14.27, Y:27.62, Z:-126.41 [[ 1.91920178e-01 -9.80713691e-01 -3.69770309e-02 1.42682898e+01] [ 9.51428286e-01 1.95166761e-01 -2.38105338e-01 2.76246294e+01] [ 2.40729853e-01 1.05162259e-02 9.70535186e-01 -1.26407378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.390792138 meters Centerline goodness : 0.988570 Centerline is valid? [True, True] Translation: X:14.27, Y:27.64, Z:-126.43 [[ 1.90800550e-01 -9.80923364e-01 -3.72089323e-02 1.42698905e+01] [ 9.51376512e-01 1.94125354e-01 -2.39161201e-01 2.76404916e+01] [ 2.41822006e-01 1.02323845e-02 9.70266672e-01 -1.26430703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420792138 meters Centerline goodness : 0.980371 Centerline is valid? [True, True] Translation: X:14.27, Y:27.65, Z:-126.46 [[ 1.90032218e-01 -9.81084822e-01 -3.68826194e-02 1.42715442e+01] [ 9.51591070e-01 1.93303292e-01 -2.38973372e-01 2.76539028e+01] [ 2.41582680e-01 1.03154688e-02 9.70325409e-01 -1.26456060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.450792138 meters Centerline goodness : 0.984021 Centerline is valid? [True, True] Translation: X:14.27, Y:27.67, Z:-126.48 [[ 2.10190054e-01 -9.77111752e-01 -3.27530792e-02 1.42686663e+01] [ 9.47751443e-01 2.11868608e-01 -2.38492966e-01 2.76657011e+01] [ 2.39973629e-01 1.90870715e-02 9.70591748e-01 -1.26479117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480792138 meters Centerline goodness : 0.984448 Centerline is valid? [True, True] Translation: X:14.27, Y:27.68, Z:-126.51 [[ 2.04084903e-01 -9.78372405e-01 -3.37163064e-02 1.42725810e+01] [ 9.49990688e-01 2.06245126e-01 -2.34479510e-01 2.76754377e+01] [ 2.36362106e-01 1.58235509e-02 9.71536191e-01 -1.26505368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.510792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:14.28, Y:27.72, Z:-126.52 [[ 1.64611576e-01 -9.85497457e-01 -4.12042574e-02 1.42837036e+01] [ 9.51418790e-01 1.69662012e-01 -2.56937905e-01 2.77176007e+01] [ 2.60202449e-01 3.09244863e-03 9.65549130e-01 -1.26516585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:14.28, Y:27.73, Z:-126.54 [[ 1.65660580e-01 -9.85326119e-01 -4.10975875e-02 1.42847566e+01] [ 9.51248453e-01 1.70647064e-01 -2.56916251e-01 2.77312653e+01] [ 2.60159475e-01 3.46687872e-03 9.65559438e-01 -1.26541069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.570792138 meters Centerline goodness : 0.948221 Centerline is valid? [True, False] Translation: X:14.22, Y:27.74, Z:-126.55 [[ 3.55899274e-01 -9.34523162e-01 1.47226460e-03 1.42197633e+01] [ 9.03000410e-01 3.43487714e-01 -2.58082254e-01 2.77388096e+01] [ 2.40678139e-01 9.31807424e-02 9.66121826e-01 -1.26545818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600792138 meters Centerline goodness : 0.966891 Centerline is valid? [False, True] Translation: X:14.16, Y:27.75, Z:-126.54 [[ 5.14115556e-01 -8.56817506e-01 3.93567720e-02 1.41632865e+01] [ 8.31946567e-01 4.86977179e-01 -2.65928819e-01 2.77542806e+01] [ 2.08686618e-01 1.69460874e-01 9.63188926e-01 -1.26542611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.630792138 meters Centerline goodness : 0.960743 Centerline is valid? [True, True] Translation: X:14.28, Y:27.72, Z:-126.58 [[ 2.30432811e-01 -9.72125861e-01 -4.32669639e-02 1.42779299e+01] [ 9.43682321e-01 2.34096431e-01 -2.33800208e-01 2.77215384e+01] [ 2.37411870e-01 1.30449700e-02 9.71321488e-01 -1.26579063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660792138 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:14.29, Y:27.73, Z:-126.60 [[ 2.13720574e-01 -9.75770989e-01 -4.68454126e-02 1.42862885e+01] [ 9.47491367e-01 2.18725961e-01 -2.33278940e-01 2.77348067e+01] [ 2.37873130e-01 5.47088495e-03 9.71280826e-01 -1.26598108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690792138 meters Centerline goodness : 0.955506 Centerline is valid? [True, True] Translation: X:14.28, Y:27.75, Z:-126.63 [[ 2.29539078e-01 -9.72370241e-01 -4.25197179e-02 1.42835826e+01] [ 9.44054672e-01 2.33058069e-01 -2.33333909e-01 2.77493089e+01] [ 2.36796513e-01 1.34183120e-02 9.71466603e-01 -1.26628252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720792138 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:14.29, Y:27.77, Z:-126.64 [[ 2.12174583e-01 -9.76119450e-01 -4.66129376e-02 1.42920332e+01] [ 9.45236679e-01 2.17099771e-01 -2.43711532e-01 2.77745467e+01] [ 2.48011224e-01 7.64913436e-03 9.68726960e-01 -1.26643067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750792138 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:14.31, Y:27.79, Z:-126.67 [[ 1.81358646e-01 -9.82218035e-01 -4.85466169e-02 1.43079409e+01] [ 9.49754717e-01 1.87742533e-01 -2.50437054e-01 2.77883268e+01] [ 2.55098056e-01 -6.88453252e-04 9.66914943e-01 -1.26668771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780792138 meters Centerline goodness : 0.976369 Centerline is valid? [True, True] Translation: X:14.30, Y:27.78, Z:-126.70 [[ 2.08477425e-01 -9.76899993e-01 -4.69421734e-02 1.43025408e+01] [ 9.48144457e-01 2.13648519e-01 -2.35321906e-01 2.77822881e+01] [ 2.39915094e-01 4.55134364e-03 9.70783206e-01 -1.26703362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810792138 meters Centerline goodness : 0.963158 Centerline is valid? [True, True] Translation: X:14.30, Y:27.79, Z:-126.73 [[ 2.32272224e-01 -9.71755138e-01 -4.17320802e-02 1.42981534e+01] [ 9.43922869e-01 2.35555056e-01 -2.31351320e-01 2.77891406e+01] [ 2.34647036e-01 1.43446207e-02 9.71974794e-01 -1.26730226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840792138 meters Centerline goodness : 0.952547 Centerline is valid? [True, True] Translation: X:14.31, Y:27.81, Z:-126.75 [[ 2.03858865e-01 -9.77900979e-01 -4.63814384e-02 1.43098316e+01] [ 9.49303615e-01 2.09033420e-01 -2.34792835e-01 2.78076214e+01] [ 2.39299414e-01 3.83453357e-03 9.70938251e-01 -1.26752957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870792138 meters Centerline goodness : 0.952345 Centerline is valid? [True, True] Translation: X:14.31, Y:27.82, Z:-126.78 [[ 2.05719682e-01 -9.77544835e-01 -4.56673697e-02 1.43110798e+01] [ 9.48745669e-01 2.10664882e-01 -2.35588547e-01 2.78214050e+01] [ 2.39918878e-01 5.13848181e-03 9.70779340e-01 -1.26777173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900792138 meters Centerline goodness : 0.967276 Centerline is valid? [True, True] Translation: X:14.31, Y:27.83, Z:-126.80 [[ 2.04550147e-01 -9.77774346e-01 -4.60061422e-02 1.43135882e+01] [ 9.49345816e-01 2.09617766e-01 -2.34100222e-01 2.78328074e+01] [ 2.38540896e-01 4.20949621e-03 9.71123329e-01 -1.26801646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93079213800002 meters Centerline goodness : 0.967276 Centerline is valid? [True, True] Translation: X:14.32, Y:27.85, Z:-126.83 [[ 2.06832740e-01 -9.77329529e-01 -4.52461080e-02 1.43151013e+01] [ 9.48890227e-01 2.11652686e-01 -2.34116374e-01 2.78461720e+01] [ 2.38385306e-01 5.48934138e-03 9.71155144e-01 -1.26825594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96079213800002 meters Centerline goodness : 0.976790 Centerline is valid? [True, True] Translation: X:14.32, Y:27.86, Z:-126.85 [[ 2.07611110e-01 -9.77159055e-01 -4.53630732e-02 1.43174939e+01] [ 9.48672017e-01 2.12435271e-01 -2.34291828e-01 2.78580302e+01] [ 2.38577097e-01 5.60690837e-03 9.71107374e-01 -1.26850093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.990792138 meters Centerline goodness : 0.942874 Centerline is valid? [True, False] Translation: X:14.25, Y:27.88, Z:-126.87 [[ 4.01081535e-01 -9.16033818e-01 -3.95566043e-03 1.42513670e+01] [ 8.88535897e-01 3.90084683e-01 -2.41532400e-01 2.78768904e+01] [ 2.22794889e-01 9.33594395e-02 9.70384693e-01 -1.26871237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020792138 meters Centerline goodness : 0.949005 Centerline is valid? [False, False] Translation: X:14.19, Y:27.90, Z:-126.88 [[ 5.61760379e-01 -8.26569986e-01 3.47467324e-02 1.41924360e+01] [ 8.04798982e-01 5.36270471e-01 -2.54386677e-01 2.79034688e+01] [ 1.91634745e-01 1.70868491e-01 9.66478186e-01 -1.26882016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.050792138 meters Centerline goodness : 0.949005 Centerline is valid? [False, False] Translation: X:14.14, Y:27.94, Z:-126.89 [[ 6.94656669e-01 -7.16131351e-01 6.78822517e-02 1.41413540e+01] [ 7.03488408e-01 6.56613641e-01 -2.71960636e-01 2.79369608e+01] [ 1.50187125e-01 2.36673646e-01 9.59911148e-01 -1.26885963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080792138 meters Centerline goodness : 0.959315 Centerline is valid? [False, True] Translation: X:14.10, Y:27.98, Z:-126.89 [[ 7.98015050e-01 -5.95132280e-01 9.48132334e-02 1.41005024e+01] [ 5.93630607e-01 7.49198780e-01 -2.93775237e-01 2.79755655e+01] [ 1.03801168e-01 2.90721098e-01 9.51160639e-01 -1.26887417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.110792138 meters Centerline goodness : 0.956357 Centerline is valid? [True, True] Translation: X:14.31, Y:27.85, Z:-126.95 [[ 2.92192867e-01 -9.54998156e-01 -5.10083289e-02 1.43061037e+01] [ 9.34113542e-01 2.96426857e-01 -1.98904524e-01 2.78544564e+01] [ 2.05073692e-01 1.04709124e-02 9.78690523e-01 -1.26948728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140792138 meters Centerline goodness : 0.986614 Centerline is valid? [True, True] Translation: X:14.31, Y:27.86, Z:-126.98 [[ 2.83334425e-01 -9.57513077e-01 -5.37616125e-02 1.43129090e+01] [ 9.37244357e-01 2.88343748e-01 -1.96038001e-01 2.78623797e+01] [ 2.03210774e-01 5.15654625e-03 9.79121438e-01 -1.26975265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.170792138 meters Centerline goodness : 0.979751 Centerline is valid? [True, True] Translation: X:14.32, Y:27.88, Z:-127.00 [[ 2.86428583e-01 -9.56635494e-01 -5.29829962e-02 1.43151229e+01] [ 9.36049152e-01 2.91204089e-01 -1.97514969e-01 2.78763080e+01] [ 2.04378695e-01 6.97924406e-03 9.78867018e-01 -1.27001088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200792138 meters Centerline goodness : 0.977405 Centerline is valid? [True, True] Translation: X:14.32, Y:27.89, Z:-127.03 [[ 2.88823838e-01 -9.55948328e-01 -5.23792436e-02 1.43172059e+01] [ 9.35031831e-01 2.93411402e-01 -1.99060855e-01 2.78899649e+01] [ 2.05660559e-01 8.51726008e-03 9.78586323e-01 -1.27025536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.230792138 meters Centerline goodness : 0.961278 Centerline is valid? [True, True] Translation: X:14.32, Y:27.90, Z:-127.05 [[ 2.82507579e-01 -9.57753651e-01 -5.38276057e-02 1.43222630e+01] [ 9.37370511e-01 2.87544899e-01 -1.96607365e-01 2.78988745e+01] [ 2.03779275e-01 5.08666041e-03 9.79003643e-01 -1.27052767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260792138 meters Centerline goodness : 0.966437 Centerline is valid? [True, True] Translation: X:14.32, Y:27.91, Z:-127.08 [[ 2.82855569e-01 -9.57665076e-01 -5.35754495e-02 1.43243582e+01] [ 9.36854633e-01 2.87822237e-01 -1.98649833e-01 2.79123368e+01] [ 2.05660213e-01 5.99680350e-03 9.78605086e-01 -1.27077745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.290792138 meters Centerline goodness : 0.942806 Centerline is valid? [True, False] Translation: X:14.26, Y:27.93, Z:-127.09 [[ 4.56534867e-01 -8.89570600e-01 -1.54939895e-02 1.42619889e+01] [ 8.68722829e-01 4.49460202e-01 -2.08101354e-01 2.79320557e+01] [ 1.92084778e-01 8.15455415e-02 9.77984541e-01 -1.27090786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320792138 meters Centerline goodness : 0.960239 Centerline is valid? [False, True] Translation: X:14.21, Y:27.96, Z:-127.10 [[ 5.95380015e-01 -8.03297023e-01 1.53795583e-02 1.42124143e+01] [ 7.85555189e-01 5.78000082e-01 -2.20950108e-01 2.79600297e+01] [ 1.68599178e-01 1.43630771e-01 9.75163842e-01 -1.27100452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.350792138 meters Centerline goodness : 0.959351 Centerline is valid? [True, True] Translation: X:14.32, Y:27.92, Z:-127.13 [[ 3.38775621e-01 -9.39101737e-01 -5.76108187e-02 1.43187959e+01] [ 9.20668195e-01 3.43500252e-01 -1.85412112e-01 2.79202602e+01] [ 1.93910167e-01 9.77265500e-03 9.80970612e-01 -1.27133619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380792138 meters Centerline goodness : 0.979826 Centerline is valid? [True, True] Translation: X:14.33, Y:27.93, Z:-127.16 [[ 3.30390659e-01 -9.41971223e-01 -5.94325421e-02 1.43253479e+01] [ 9.23909651e-01 3.35644006e-01 -1.83668337e-01 2.79286449e+01] [ 1.92958464e-01 5.77200370e-03 9.81189948e-01 -1.27159830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.410792138 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:14.34, Y:27.97, Z:-127.17 [[ 2.97134984e-01 -9.52345175e-01 -6.89163930e-02 1.43412591e+01] [ 9.29802070e-01 3.05008926e-01 -2.06004044e-01 2.79689062e+01] [ 2.17207072e-01 -2.86759640e-03 9.76121337e-01 -1.27172917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440792138 meters Centerline goodness : 0.954719 Centerline is valid? [True, True] Translation: X:14.33, Y:27.95, Z:-127.21 [[ 3.29062162e-01 -9.42453256e-01 -5.91603982e-02 1.43330297e+01] [ 9.24248616e-01 3.34283850e-01 -1.84441872e-01 2.79541694e+01] [ 1.93604209e-01 6.01392522e-03 9.81061284e-01 -1.27210960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470792138 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:14.34, Y:27.97, Z:-127.23 [[ 3.29070156e-01 -9.42389563e-01 -6.01227356e-02 1.43380914e+01] [ 9.23823893e-01 3.34468199e-01 -1.86226847e-01 2.79700405e+01] [ 1.95607380e-01 5.73887799e-03 9.80665498e-01 -1.27232386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500792138 meters Centerline goodness : 0.976331 Centerline is valid? [True, True] Translation: X:14.34, Y:27.98, Z:-127.26 [[ 3.36826579e-01 -9.39832773e-01 -5.71158042e-02 1.43368965e+01] [ 9.21624946e-01 3.41504044e-01 -1.84343287e-01 2.79784854e+01] [ 1.92757141e-01 9.45236888e-03 9.81200967e-01 -1.27262662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:14.35, Y:27.99, Z:-127.28 [[ 3.24431452e-01 -9.43887526e-01 -6.18107661e-02 1.43463813e+01] [ 9.25626340e-01 3.30255723e-01 -1.84789167e-01 2.79933686e+01] [ 1.94833549e-01 2.73774463e-03 9.80832500e-01 -1.27284423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560792138 meters Centerline goodness : 0.966432 Centerline is valid? [True, True] Translation: X:14.34, Y:28.00, Z:-127.31 [[ 3.38633728e-01 -9.39231660e-01 -5.63124151e-02 1.43438778e+01] [ 9.20710688e-01 3.43103951e-01 -1.85934149e-01 2.80036154e+01] [ 1.93956252e-01 1.11161317e-02 9.80947197e-01 -1.27314105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590792138 meters Centerline goodness : 0.952966 Centerline is valid? [True, True] Translation: X:14.35, Y:28.01, Z:-127.34 [[ 3.31726733e-01 -9.41554068e-01 -5.85944663e-02 1.43495793e+01] [ 9.23496336e-01 3.36793100e-01 -1.83643473e-01 2.80105660e+01] [ 1.92644471e-01 6.80767431e-03 9.81245007e-01 -1.27341070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620792138 meters Centerline goodness : 0.956118 Centerline is valid? [True, True] Translation: X:14.35, Y:28.03, Z:-127.36 [[ 3.41920863e-01 -9.37965542e-01 -5.75392411e-02 1.43505534e+01] [ 9.19411383e-01 3.46564062e-01 -1.85946391e-01 2.80258512e+01] [ 1.94352341e-01 1.06767174e-02 9.80873680e-01 -1.27364580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650792138 meters Centerline goodness : 0.973586 Centerline is valid? [True, True] Translation: X:14.36, Y:28.04, Z:-127.39 [[ 3.33786462e-01 -9.40821741e-01 -5.86604538e-02 1.43577651e+01] [ 9.22317832e-01 3.38809068e-01 -1.85844644e-01 2.80376690e+01] [ 1.94721375e-01 7.92884372e-03 9.80826549e-01 -1.27388767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68079213800002 meters Centerline goodness : 0.975702 Centerline is valid? [True, True] Translation: X:14.36, Y:28.05, Z:-127.42 [[ 3.25077551e-01 -9.43818396e-01 -5.94257550e-02 1.43645818e+01] [ 9.25673233e-01 3.30428467e-01 -1.84244659e-01 2.80485485e+01] [ 1.93529460e-01 4.88497202e-03 9.81082303e-01 -1.27415052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71079213800002 meters Centerline goodness : 0.977305 Centerline is valid? [True, True] Translation: X:14.37, Y:28.06, Z:-127.44 [[ 3.29510388e-01 -9.42346967e-01 -5.83532122e-02 1.43659357e+01] [ 9.24564045e-01 3.34581411e-01 -1.82309093e-01 2.80577846e+01] [ 1.91322321e-01 6.12145806e-03 9.81508175e-01 -1.27441783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740792138 meters Centerline goodness : 0.977305 Centerline is valid? [True, True] Translation: X:14.37, Y:28.07, Z:-127.47 [[ 3.31810427e-01 -9.41586568e-01 -5.75897227e-02 1.43687934e+01] [ 9.23777140e-01 3.36691335e-01 -1.82413652e-01 2.80700282e+01] [ 1.91148205e-01 7.32668231e-03 9.81533842e-01 -1.27467314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.770792138 meters Centerline goodness : 0.975342 Centerline is valid? [True, True] Translation: X:14.37, Y:28.08, Z:-127.49 [[ 3.33404003e-01 -9.41001871e-01 -5.79417775e-02 1.43717547e+01] [ 9.23457705e-01 3.38332308e-01 -1.80989271e-01 2.80827904e+01] [ 1.89914818e-01 6.83576659e-03 9.81776774e-01 -1.27492783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800792138 meters Centerline goodness : 0.973758 Centerline is valid? [True, True] Translation: X:14.37, Y:28.10, Z:-127.52 [[ 3.40521433e-01 -9.38547452e-01 -5.63367866e-02 1.43741696e+01] [ 9.20406358e-01 3.44981584e-01 -1.83956089e-01 2.80985811e+01] [ 1.92086672e-01 1.07882542e-02 9.81318666e-01 -1.27516366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.830792138 meters Centerline goodness : 0.973758 Centerline is valid? [True, True] Translation: X:14.38, Y:28.11, Z:-127.54 [[ 3.35103864e-01 -9.40412411e-01 -5.77052622e-02 1.43800512e+01] [ 9.22394876e-01 3.39936491e-01 -1.83387227e-01 2.81098746e+01] [ 1.92075748e-01 8.22673004e-03 9.81345621e-01 -1.27541884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860792138 meters Centerline goodness : 0.970845 Centerline is valid? [True, True] Translation: X:14.38, Y:28.12, Z:-127.57 [[ 3.35706558e-01 -9.40192368e-01 -5.77877061e-02 1.43832046e+01] [ 9.22396656e-01 3.40552976e-01 -1.82230840e-01 2.81198107e+01] [ 1.91011820e-01 7.87290095e-03 9.81556163e-01 -1.27567785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.890792138 meters Centerline goodness : 0.969213 Centerline is valid? [True, True] Translation: X:14.39, Y:28.13, Z:-127.59 [[ 3.42506618e-01 -9.37822718e-01 -5.63716873e-02 1.43852442e+01] [ 9.19976579e-01 3.46952412e-01 -1.82392755e-01 2.81326106e+01] [ 1.90610362e-01 1.06100937e-02 9.81608433e-01 -1.27592971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920792138 meters Centerline goodness : 0.973109 Centerline is valid? [True, True] Translation: X:14.39, Y:28.14, Z:-127.62 [[ 3.31625701e-01 -9.41594560e-01 -5.85156367e-02 1.43924486e+01] [ 9.24003056e-01 3.36694492e-01 -1.81259955e-01 2.81431088e+01] [ 1.90375280e-01 6.04183225e-03 9.81692798e-01 -1.27618814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.950792138 meters Centerline goodness : 0.973109 Centerline is valid? [True, True] Translation: X:14.39, Y:28.16, Z:-127.64 [[ 3.35191360e-01 -9.40405596e-01 -5.73067754e-02 1.43946240e+01] [ 9.22751983e-01 3.39961482e-01 -1.81535036e-01 2.81556231e+01] [ 1.90198660e-01 7.96903491e-03 9.81713280e-01 -1.27644326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980792138 meters Centerline goodness : 0.971031 Centerline is valid? [True, True] Translation: X:14.40, Y:28.17, Z:-127.67 [[ 3.38633527e-01 -9.39233629e-01 -5.62807607e-02 1.43978790e+01] [ 9.21604177e-01 3.43145697e-01 -1.81374674e-01 2.81671204e+01] [ 1.89665694e-01 9.55096149e-03 9.81802273e-01 -1.27669781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.010792138 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:14.40, Y:28.18, Z:-127.69 [[ 3.34426240e-01 -9.40687920e-01 -5.71430373e-02 1.44031450e+01] [ 9.22950438e-01 3.39175827e-01 -1.81995183e-01 2.81799916e+01] [ 1.90582207e-01 8.12377366e-03 9.81637625e-01 -1.27694523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040792138 meters Centerline goodness : 0.987080 Centerline is valid? [True, True] Translation: X:14.41, Y:28.19, Z:-127.72 [[ 3.29435721e-01 -9.42467955e-01 -5.68001690e-02 1.44072587e+01] [ 9.25363778e-01 3.34236009e-01 -1.78852367e-01 2.81879842e+01] [ 1.87547287e-01 6.35953963e-03 9.82234988e-01 -1.27721423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.070792138 meters Centerline goodness : 0.986016 Centerline is valid? [True, True] Translation: X:14.41, Y:28.20, Z:-127.75 [[ 3.41676958e-01 -9.38222639e-01 -5.47278314e-02 1.44072571e+01] [ 9.20884566e-01 3.45855340e-01 -1.79876900e-01 2.82002914e+01] [ 1.87692493e-01 1.10617770e-02 9.82165549e-01 -1.27746203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100792138 meters Centerline goodness : 0.974824 Centerline is valid? [True, True] Translation: X:14.41, Y:28.22, Z:-127.77 [[ 3.40849982e-01 -9.38420883e-01 -5.64582665e-02 1.44102737e+01] [ 9.20543540e-01 3.45341736e-01 -1.82588816e-01 2.82161670e+01] [ 1.90842554e-01 1.02631022e-02 9.81567007e-01 -1.27771951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.130792138 meters Centerline goodness : 0.972666 Centerline is valid? [True, True] Translation: X:14.42, Y:28.22, Z:-127.80 [[ 3.35244647e-01 -9.40405881e-01 -5.69895282e-02 1.44161961e+01] [ 9.23160448e-01 3.39970431e-01 -1.79429352e-01 2.82237837e+01] [ 1.88111173e-01 7.54225146e-03 9.82118782e-01 -1.27798461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160792138 meters Centerline goodness : 0.970338 Centerline is valid? [True, True] Translation: X:14.42, Y:28.24, Z:-127.82 [[ 3.43184182e-01 -9.37630998e-01 -5.54321983e-02 1.44175001e+01] [ 9.19902968e-01 3.47444934e-01 -1.81825593e-01 2.82396339e+01] [ 1.89744949e-01 1.14074238e-02 9.81767144e-01 -1.27823298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190792138 meters Centerline goodness : 0.970338 Centerline is valid? [True, True] Translation: X:14.42, Y:28.25, Z:-127.85 [[ 3.38973788e-01 -9.39100139e-01 -5.64597197e-02 1.44228514e+01] [ 9.21473702e-01 3.43513824e-01 -1.81340756e-01 2.82509762e+01] [ 1.89691823e-01 9.44361614e-03 9.81798264e-01 -1.27848863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220792138 meters Centerline goodness : 0.981354 Centerline is valid? [True, True] Translation: X:14.43, Y:28.26, Z:-127.88 [[ 3.28841499e-01 -9.42574289e-01 -5.84549196e-02 1.44291941e+01] [ 9.25517685e-01 3.33964647e-01 -1.78562677e-01 2.82593189e+01] [ 1.87830465e-01 4.61775650e-03 9.82190609e-01 -1.27876232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250792138 meters Centerline goodness : 0.974211 Centerline is valid? [True, True] Translation: X:14.43, Y:28.27, Z:-127.90 [[ 3.44548104e-01 -9.37191273e-01 -5.43978104e-02 1.44281764e+01] [ 9.19769171e-01 3.48606677e-01 -1.80272173e-01 2.82731712e+01] [ 1.87912947e-01 1.20790063e-02 9.82111410e-01 -1.27900986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280792138 meters Centerline goodness : 0.971079 Centerline is valid? [True, True] Translation: X:14.43, Y:28.28, Z:-127.93 [[ 3.37381476e-01 -9.39665482e-01 -5.65908261e-02 1.44334891e+01] [ 9.22603259e-01 3.42001399e-01 -1.78432814e-01 2.82826338e+01] [ 1.87021298e-01 7.98904545e-03 9.82323373e-01 -1.27928039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310792138 meters Centerline goodness : 0.973153 Centerline is valid? [True, True] Translation: X:14.44, Y:28.29, Z:-127.95 [[ 3.36769759e-01 -9.39914168e-01 -5.61024589e-02 1.44361414e+01] [ 9.23163796e-01 3.41322680e-01 -1.76825997e-01 2.82938887e+01] [ 1.85350302e-01 7.75788945e-03 9.82641888e-01 -1.27953860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340792138 meters Centerline goodness : 0.972203 Centerline is valid? [True, True] Translation: X:14.44, Y:28.31, Z:-127.98 [[ 3.38137479e-01 -9.39475915e-01 -5.52091534e-02 1.44402430e+01] [ 9.22015679e-01 3.42464469e-01 -1.80569031e-01 2.83117709e+01] [ 1.88547429e-01 1.01534520e-02 9.82011596e-01 -1.27977182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370792138 meters Centerline goodness : 0.970138 Centerline is valid? [True, True] Translation: X:14.45, Y:28.32, Z:-128.00 [[ 3.32681972e-01 -9.41360628e-01 -5.62394284e-02 1.44466653e+01] [ 9.24637135e-01 3.37333322e-01 -1.76783479e-01 2.83169696e+01] [ 1.85388440e-01 6.81161234e-03 9.82641709e-01 -1.28004547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400792138 meters Centerline goodness : 0.977872 Centerline is valid? [True, True] Translation: X:14.45, Y:28.33, Z:-128.03 [[ 3.35990387e-01 -9.40054762e-01 -5.83738333e-02 1.44509000e+01] [ 9.22700326e-01 3.40959862e-01 -1.79917982e-01 2.83263583e+01] [ 1.89035889e-01 6.58915728e-03 9.81948072e-01 -1.28028905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43079213800002 meters Centerline goodness : 0.973886 Centerline is valid? [True, True] Translation: X:14.44, Y:28.35, Z:-128.05 [[ 3.72842096e-01 -9.26138003e-01 -5.70716343e-02 1.44403901e+01] [ 9.07052400e-01 3.76740340e-01 -1.87943235e-01 2.83458600e+01] [ 1.95562559e-01 1.83061869e-02 9.80520356e-01 -1.28053828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46079213800002 meters Centerline goodness : 0.972896 Centerline is valid? [True, True] Translation: X:14.45, Y:28.36, Z:-128.08 [[ 3.68722980e-01 -9.27617117e-01 -5.97482148e-02 1.44459750e+01] [ 9.07902577e-01 3.73183240e-01 -1.90911447e-01 2.83557688e+01] [ 1.99389758e-01 1.61478795e-02 9.79787207e-01 -1.28077927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.490792138 meters Centerline goodness : 0.973865 Centerline is valid? [True, True] Translation: X:14.45, Y:28.37, Z:-128.10 [[ 3.61966016e-01 -9.30172953e-01 -6.13097100e-02 1.44506315e+01] [ 9.10244053e-01 3.66866213e-01 -1.92002462e-01 2.83662293e+01] [ 2.01087958e-01 1.36915672e-02 9.79477501e-01 -1.28104023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520792138 meters Centerline goodness : 0.983662 Centerline is valid? [True, True] Translation: X:14.45, Y:28.38, Z:-128.13 [[ 3.59409244e-01 -9.31112446e-01 -6.20854980e-02 1.44548086e+01] [ 9.11588821e-01 3.64544421e-01 -1.90034697e-01 2.83752115e+01] [ 1.99576594e-01 1.17037810e-02 9.79812331e-01 -1.28129666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.550792138 meters Centerline goodness : 0.974929 Centerline is valid? [True, True] Translation: X:14.46, Y:28.39, Z:-128.15 [[ 3.60225131e-01 -9.30924446e-01 -6.01459126e-02 1.44585941e+01] [ 9.11890452e-01 3.64988304e-01 -1.87721448e-01 2.83859453e+01] [ 1.96707040e-01 1.27754997e-02 9.80379073e-01 -1.28154958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580792138 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:14.46, Y:28.40, Z:-128.18 [[ 3.61914177e-01 -9.30379432e-01 -5.84143929e-02 1.44622180e+01] [ 9.11873062e-01 3.66340313e-01 -1.85154784e-01 2.83977070e+01] [ 1.93663750e-01 1.37436300e-02 9.80971694e-01 -1.28179271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.610792138 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:14.46, Y:28.41, Z:-128.20 [[ 3.71965310e-01 -9.26519453e-01 -5.65995723e-02 1.44632864e+01] [ 9.07902074e-01 3.75831861e-01 -1.85645459e-01 2.84134856e+01] [ 1.93276052e-01 1.76668017e-02 9.80985347e-01 -1.28204830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640792138 meters Centerline goodness : 0.982904 Centerline is valid? [True, True] Translation: X:14.47, Y:28.42, Z:-128.23 [[ 3.66902766e-01 -9.28463432e-01 -5.77755700e-02 1.44683088e+01] [ 9.10042983e-01 3.71113860e-01 -1.84651761e-01 2.84236886e+01] [ 1.92883722e-01 1.51709897e-02 9.81104332e-01 -1.28231430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.670792138 meters Centerline goodness : 0.977907 Centerline is valid? [True, True] Translation: X:14.47, Y:28.44, Z:-128.25 [[ 3.65357360e-01 -9.28998042e-01 -5.89630115e-02 1.44725154e+01] [ 9.10228243e-01 3.69803678e-01 -1.86359292e-01 2.84379462e+01] [ 1.94932156e-01 1.44179406e-02 9.80710751e-01 -1.28254004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700792138 meters Centerline goodness : 0.977907 Centerline is valid? [True, True] Translation: X:14.48, Y:28.45, Z:-128.28 [[ 3.61940637e-01 -9.30292978e-01 -5.96150196e-02 1.44773180e+01] [ 9.11593729e-01 3.66587262e-01 -1.86039383e-01 2.84493256e+01] [ 1.94925239e-01 1.29905347e-02 9.80732072e-01 -1.28279646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.730792138 meters Centerline goodness : 0.975560 Centerline is valid? [True, True] Translation: X:14.48, Y:28.46, Z:-128.31 [[ 3.60002782e-01 -9.31039239e-01 -5.96986741e-02 1.44803680e+01] [ 9.13005279e-01 3.64744997e-01 -1.82708642e-01 2.84603942e+01] [ 1.91883708e-01 1.12704149e-02 9.81352954e-01 -1.28305742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760792138 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:14.48, Y:28.48, Z:-128.33 [[ 3.64771602e-01 -9.29292512e-01 -5.79405299e-02 1.44845011e+01] [ 9.10893966e-01 3.69057865e-01 -1.84576476e-01 2.84751777e+01] [ 1.92908946e-01 1.45505780e-02 9.81108770e-01 -1.28329580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.790792138 meters Centerline goodness : 0.976193 Centerline is valid? [True, True] Translation: X:14.49, Y:28.49, Z:-128.35 [[ 3.62705170e-01 -9.30014651e-01 -5.93102800e-02 1.44897639e+01] [ 9.11328195e-01 3.67277934e-01 -1.85978063e-01 2.84889756e+01] [ 1.94745681e-01 1.34040746e-02 9.80762178e-01 -1.28354260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820792138 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:14.50, Y:28.52, Z:-128.37 [[ 3.38166988e-01 -9.38706258e-01 -6.68853499e-02 1.45032417e+01] [ 9.16823947e-01 3.44649848e-01 -2.01619277e-01 2.85225591e+01] [ 2.12313303e-01 6.85889332e-03 9.77177577e-01 -1.28368349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.850792138 meters Centerline goodness : 0.971266 Centerline is valid? [True, True] Translation: X:14.49, Y:28.51, Z:-128.40 [[ 3.72446562e-01 -9.26325644e-01 -5.66070549e-02 1.44924847e+01] [ 9.07727271e-01 3.76306828e-01 -1.85538063e-01 2.85144716e+01] [ 1.93170287e-01 1.77192464e-02 9.81005234e-01 -1.28404139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880792138 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:14.51, Y:28.55, Z:-128.42 [[ 3.32319146e-01 -9.40799975e-01 -6.67786878e-02 1.45120505e+01] [ 9.19730401e-01 3.38933768e-01 -1.98040120e-01 2.85451312e+01] [ 2.08949692e-01 4.39413423e-03 9.77916519e-01 -1.28419080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.910792138 meters Centerline goodness : 0.988723 Centerline is valid? [True, True] Translation: X:14.50, Y:28.54, Z:-128.46 [[ 3.65612291e-01 -9.29071151e-01 -5.61644810e-02 1.45019097e+01] [ 9.11163315e-01 3.69578868e-01 -1.82189116e-01 2.85363314e+01] [ 1.90023857e-01 1.54355651e-02 9.81658126e-01 -1.28455098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940792138 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:14.52, Y:28.57, Z:-128.47 [[ 3.31404001e-01 -9.41252071e-01 -6.49301747e-02 1.45190649e+01] [ 9.20608125e-01 3.37664465e-01 -1.96120855e-01 2.85681401e+01] [ 2.06523774e-01 5.21998967e-03 9.78427658e-01 -1.28469793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970792138 meters Centerline goodness : 0.982266 Centerline is valid? [True, True] Translation: X:14.51, Y:28.56, Z:-128.50 [[ 3.65096273e-01 -9.29271640e-01 -5.62043586e-02 1.45090509e+01] [ 9.11750416e-01 3.69110740e-01 -1.80190016e-01 2.85610839e+01] [ 1.88191104e-01 1.45423557e-02 9.82024760e-01 -1.28504699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000792138 meters Centerline goodness : 0.956931 Centerline is valid? [True, True] Translation: X:14.53, Y:28.57, Z:-128.53 [[ 3.44589271e-01 -9.37099400e-01 -5.57041189e-02 1.45261380e+01] [ 9.20410920e-01 3.48933661e-01 -1.76320838e-01 2.85738537e+01] [ 1.84667194e-01 9.48758960e-03 9.82755317e-01 -1.28527843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030792138 meters Centerline goodness : 0.956788 Centerline is valid? [True, True] Translation: X:14.54, Y:28.58, Z:-128.55 [[ 3.23662775e-01 -9.44668871e-01 -5.33210282e-02 1.45442656e+01] [ 9.29626264e-01 3.27990368e-01 -1.67980141e-01 2.85805749e+01] [ 1.76174394e-01 4.80029043e-03 9.84347266e-01 -1.28552609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060792138 meters Centerline goodness : 0.965035 Centerline is valid? [True, True] Translation: X:14.55, Y:28.59, Z:-128.58 [[ 3.24886700e-01 -9.44353059e-01 -5.14386245e-02 1.45493854e+01] [ 9.30026614e-01 3.28888776e-01 -1.63959358e-01 2.85944895e+01] [ 1.71753108e-01 5.42892514e-03 9.85125067e-01 -1.28575007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090792138 meters Centerline goodness : 0.965035 Centerline is valid? [True, True] Translation: X:14.55, Y:28.61, Z:-128.60 [[ 3.24118479e-01 -9.44611954e-01 -5.15312405e-02 1.45531292e+01] [ 9.30298037e-01 3.28148407e-01 -1.63902975e-01 2.86060014e+01] [ 1.71734604e-01 5.18457111e-03 9.85129609e-01 -1.28599677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120792138 meters Centerline goodness : 0.984249 Centerline is valid? [True, True] Translation: X:14.56, Y:28.62, Z:-128.63 [[ 3.22742462e-01 -9.45035322e-01 -5.23979350e-02 1.45568454e+01] [ 9.30311388e-01 3.26931431e-01 -1.66242476e-01 2.86153462e+01] [ 1.74235543e-01 4.90711020e-03 9.84691777e-01 -1.28625435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150792138 meters Centerline goodness : 0.984249 Centerline is valid? [True, True] Translation: X:14.56, Y:28.63, Z:-128.65 [[ 3.23325502e-01 -9.44852153e-01 -5.21059464e-02 1.45602235e+01] [ 9.30119518e-01 3.27454301e-01 -1.66286990e-01 2.86273744e+01] [ 1.74178937e-01 5.30006680e-03 9.84699755e-01 -1.28651025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18079213800002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:14.57, Y:28.64, Z:-128.67 [[ 3.11704995e-01 -9.48603389e-01 -5.46955815e-02 1.45685071e+01] [ 9.33840200e-01 3.16466150e-01 -1.66708299e-01 2.86422180e+01] [ 1.75449357e-01 8.86876586e-04 9.84488058e-01 -1.28671720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21079213800002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:14.57, Y:28.65, Z:-128.70 [[ 3.22743596e-01 -9.45087142e-01 -5.14476974e-02 1.45680784e+01] [ 9.30152143e-01 3.26759730e-01 -1.67466621e-01 2.86547678e+01] [ 1.75081586e-01 6.19459340e-03 9.84534441e-01 -1.28697386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240792138 meters Centerline goodness : 0.956384 Centerline is valid? [True, True] Translation: X:14.57, Y:28.66, Z:-128.73 [[ 3.30156018e-01 -9.42717181e-01 -4.77631691e-02 1.45673703e+01] [ 9.28269245e-01 3.33441730e-01 -1.64720433e-01 2.86601295e+01] [ 1.71211016e-01 1.00463615e-02 9.85183160e-01 -1.28729335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.270792138 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:14.58, Y:28.67, Z:-128.75 [[ 3.16033668e-01 -9.47325996e-01 -5.19247335e-02 1.45776427e+01] [ 9.33241222e-01 3.20257005e-01 -1.62776758e-01 2.86717267e+01] [ 1.70831914e-01 2.98463420e-03 9.85295666e-01 -1.28753016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300792138 meters Centerline goodness : 0.984430 Centerline is valid? [True, True] Translation: X:14.58, Y:28.68, Z:-128.78 [[ 3.16825361e-01 -9.47161162e-01 -5.00741914e-02 1.45804477e+01] [ 9.33005904e-01 3.20719226e-01 -1.63215077e-01 2.86832880e+01] [ 1.70650738e-01 4.99115932e-03 9.85318940e-01 -1.28779575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.330792138 meters Centerline goodness : 0.957871 Centerline is valid? [True, True] Translation: X:14.58, Y:28.69, Z:-128.81 [[ 3.20477417e-01 -9.45993023e-01 -4.89022103e-02 1.45835196e+01] [ 9.32156624e-01 3.24129308e-01 -1.61320239e-01 2.86918388e+01] [ 1.68458460e-01 6.11497436e-03 9.85689786e-01 -1.28806463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360792138 meters Centerline goodness : 0.977006 Centerline is valid? [True, True] Translation: X:14.59, Y:28.70, Z:-128.83 [[ 3.09036509e-01 -9.49670049e-01 -5.12175161e-02 1.45915207e+01] [ 9.35838825e-01 3.13245723e-01 -1.61501737e-01 2.87047419e+01] [ 1.69417030e-01 1.97859294e-03 9.85542467e-01 -1.28831581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.390792138 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:14.59, Y:28.71, Z:-128.86 [[ 3.09599586e-01 -9.49531166e-01 -5.03851244e-02 1.45945498e+01] [ 9.35917440e-01 3.13663125e-01 -1.60231049e-01 2.87143009e+01] [ 1.67948330e-01 2.45114970e-03 9.85792752e-01 -1.28857383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420792138 meters Centerline goodness : 0.952407 Centerline is valid? [True, True] Translation: X:14.60, Y:28.73, Z:-128.88 [[ 3.14692500e-01 -9.47930051e-01 -4.89617000e-02 1.45957871e+01] [ 9.34176835e-01 3.18440669e-01 -1.60963293e-01 2.87257042e+01] [ 1.68173339e-01 4.91505523e-03 9.85745185e-01 -1.28883665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.450792138 meters Centerline goodness : 0.984392 Centerline is valid? [True, True] Translation: X:14.60, Y:28.74, Z:-128.91 [[ 3.06228506e-01 -9.50645813e-01 -4.99663815e-02 1.46008021e+01] [ 9.37016423e-01 3.10269604e-01 -1.60415076e-01 2.87354197e+01] [ 1.68000970e-01 2.30434906e-03 9.85784137e-01 -1.28908100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480792138 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:14.60, Y:28.74, Z:-128.93 [[ 3.09868297e-01 -9.49503819e-01 -4.92355233e-02 1.46014981e+01] [ 9.35869686e-01 3.13734643e-01 -1.60369898e-01 2.87449456e+01] [ 1.67718720e-01 3.61551339e-03 9.85828260e-01 -1.28934127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.510792138 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:14.61, Y:28.76, Z:-128.96 [[ 3.07598299e-01 -9.50211220e-01 -4.98189204e-02 1.46054511e+01] [ 9.36346158e-01 3.11591025e-01 -1.61761878e-01 2.87586864e+01] [ 1.69231080e-01 3.10992390e-03 9.85571494e-01 -1.28959559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540792138 meters Centerline goodness : 0.981212 Centerline is valid? [True, True] Translation: X:14.61, Y:28.77, Z:-128.99 [[ 3.12602285e-01 -9.48608349e-01 -4.92139445e-02 1.46068492e+01] [ 9.34713998e-01 3.16419278e-01 -1.61828866e-01 2.87689886e+01] [ 1.69084454e-01 4.58711052e-03 9.85590892e-01 -1.28985770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.570792138 meters Centerline goodness : 0.977355 Centerline is valid? [True, True] Translation: X:14.61, Y:28.78, Z:-129.01 [[ 3.12144345e-01 -9.48785794e-01 -4.86972803e-02 1.46107136e+01] [ 9.35056686e-01 3.15885356e-01 -1.60889516e-01 2.87794895e+01] [ 1.68032445e-01 4.68603506e-03 9.85770327e-01 -1.29011738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600792138 meters Centerline goodness : 0.970897 Centerline is valid? [True, True] Translation: X:14.62, Y:28.79, Z:-129.04 [[ 3.09881185e-01 -9.49500291e-01 -4.92224421e-02 1.46151425e+01] [ 9.35551084e-01 3.13737821e-01 -1.62212048e-01 2.87926653e+01] [ 1.69463328e-01 4.21635264e-03 9.85527474e-01 -1.29036781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.630792138 meters Centerline goodness : 0.970897 Centerline is valid? [True, True] Translation: X:14.62, Y:28.80, Z:-129.06 [[ 3.07939240e-01 -9.50111490e-01 -4.96143298e-02 1.46193825e+01] [ 9.36192009e-01 3.11891296e-01 -1.62075114e-01 2.88044987e+01] [ 1.69463706e-01 3.46074838e-03 9.85530352e-01 -1.29062345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660792138 meters Centerline goodness : 0.958825 Centerline is valid? [True, True] Translation: X:14.62, Y:28.81, Z:-129.09 [[ 3.10836686e-01 -9.49217667e-01 -4.86454001e-02 1.46212769e+01] [ 9.35571299e-01 3.14589937e-01 -1.60435395e-01 2.88136243e+01] [ 1.67591465e-01 4.35796636e-03 9.85846899e-01 -1.29088109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690792138 meters Centerline goodness : 0.964226 Centerline is valid? [True, True] Translation: X:14.62, Y:28.82, Z:-129.11 [[ 3.11288769e-01 -9.49078173e-01 -4.84760123e-02 1.46232115e+01] [ 9.35632094e-01 3.15012452e-01 -1.59247418e-01 2.88246536e+01] [ 1.66408796e-01 4.21621991e-03 9.86047837e-01 -1.29113759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720792138 meters Centerline goodness : 0.973243 Centerline is valid? [True, True] Translation: X:14.63, Y:28.84, Z:-129.14 [[ 3.11065268e-01 -9.49162044e-01 -4.82681419e-02 1.46254988e+01] [ 9.35910289e-01 3.14762401e-01 -1.58103009e-01 2.88354514e+01] [ 1.65258372e-01 4.00570439e-03 9.86242174e-01 -1.29139838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:14.63, Y:28.85, Z:-129.16 [[ 3.00817521e-01 -9.52319987e-01 -5.09456677e-02 1.46345811e+01] [ 9.38756785e-01 3.05100834e-01 -1.60153614e-01 2.88510190e+01] [ 1.68061053e-01 3.51421947e-04 9.85776526e-01 -1.29160789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780792138 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:14.63, Y:28.86, Z:-129.19 [[ 3.10022605e-01 -9.49507571e-01 -4.81804627e-02 1.46346129e+01] [ 9.35803644e-01 3.13707913e-01 -1.60806978e-01 2.88634924e+01] [ 1.67802036e-01 4.76634584e-03 9.85809190e-01 -1.29186421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810792138 meters Centerline goodness : 0.970580 Centerline is valid? [True, True] Translation: X:14.63, Y:28.87, Z:-129.22 [[ 3.21044216e-01 -9.46028853e-01 -4.42721069e-02 1.46318100e+01] [ 9.32624165e-01 3.23935603e-01 -1.58990227e-01 2.88697389e+01] [ 1.64750654e-01 9.75365610e-03 9.86287021e-01 -1.29217132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840792138 meters Centerline goodness : 0.963165 Centerline is valid? [True, True] Translation: X:14.64, Y:28.88, Z:-129.24 [[ 3.03798225e-01 -9.51464793e-01 -4.92075894e-02 1.46413623e+01] [ 9.37974580e-01 3.07748625e-01 -1.59669881e-01 2.88814900e+01] [ 1.67063838e-01 2.35195840e-03 9.85943275e-01 -1.29241751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870792138 meters Centerline goodness : 0.950210 Centerline is valid? [True, True] Translation: X:14.64, Y:28.89, Z:-129.27 [[ 3.11383948e-01 -9.49069182e-01 -4.80387933e-02 1.46410831e+01] [ 9.35246630e-01 3.15022273e-01 -1.61476649e-01 2.88936030e+01] [ 1.68385801e-01 5.35311696e-03 9.85706633e-01 -1.29267023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900792138 meters Centerline goodness : 0.971087 Centerline is valid? [True, True] Translation: X:14.65, Y:28.90, Z:-129.29 [[ 3.05624161e-01 -9.50868657e-01 -4.94233756e-02 1.46467289e+01] [ 9.37078853e-01 3.09579957e-01 -1.61379906e-01 2.89038856e+01] [ 1.68751581e-01 3.00799812e-03 9.85654024e-01 -1.29292527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93079213800002 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:14.66, Y:28.92, Z:-129.32 [[ 2.94660816e-01 -9.54184882e-01 -5.20212952e-02 1.46551675e+01] [ 9.40677136e-01 2.99212307e-01 -1.59995377e-01 2.89159795e+01] [ 1.68230582e-01 -1.79087463e-03 9.85746044e-01 -1.29315566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96079213800002 meters Centerline goodness : 0.964892 Centerline is valid? [True, True] Translation: X:14.65, Y:28.93, Z:-129.35 [[ 3.17952612e-01 -9.47053663e-01 -4.46709656e-02 1.46480206e+01] [ 9.33207767e-01 3.20928542e-01 -1.61641994e-01 2.89264711e+01] [ 1.67419830e-01 9.70720203e-03 9.85837903e-01 -1.29345586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.990792138 meters Centerline goodness : 0.965419 Centerline is valid? [True, True] Translation: X:14.66, Y:28.94, Z:-129.37 [[ 3.07056822e-01 -9.50440136e-01 -4.87817076e-02 1.46557063e+01] [ 9.36651822e-01 3.10883743e-01 -1.61352605e-01 2.89370838e+01] [ 1.68521432e-01 3.85294297e-03 9.85690459e-01 -1.29370687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020792138 meters Centerline goodness : 0.951002 Centerline is valid? [True, True] Translation: X:14.66, Y:28.94, Z:-129.40 [[ 3.06477701e-01 -9.50669861e-01 -4.79398945e-02 1.46586833e+01] [ 9.37266477e-01 3.10180772e-01 -1.59120834e-01 2.89442769e+01] [ 1.66141414e-01 3.83453126e-03 9.86094482e-01 -1.29398346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.050792138 meters Centerline goodness : 0.967049 Centerline is valid? [True, True] Translation: X:14.66, Y:28.96, Z:-129.42 [[ 3.07997617e-01 -9.50160911e-01 -4.82877968e-02 1.46618869e+01] [ 9.36475796e-01 3.11730436e-01 -1.60739601e-01 2.89596235e+01] [ 1.67781262e-01 4.28706108e-03 9.85814927e-01 -1.29423354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080792138 meters Centerline goodness : 0.967049 Centerline is valid? [True, True] Translation: X:14.67, Y:28.97, Z:-129.45 [[ 3.07211627e-01 -9.50412299e-01 -4.83474767e-02 1.46656278e+01] [ 9.36734615e-01 3.10965888e-01 -1.60712408e-01 2.89715612e+01] [ 1.67777465e-01 4.08396536e-03 9.85816435e-01 -1.29448943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.110792138 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:14.68, Y:28.99, Z:-129.47 [[ 2.89172824e-01 -9.55797705e-01 -5.31961028e-02 1.46771722e+01] [ 9.41736705e-01 2.94011219e-01 -1.63368850e-01 2.89890145e+01] [ 1.71787823e-01 -2.85489101e-03 9.85129836e-01 -1.29468606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140792138 meters Centerline goodness : 0.949077 Centerline is valid? [True, False] Translation: X:14.62, Y:29.01, Z:-129.49 [[ 4.49960699e-01 -8.92848530e-01 -1.88910628e-02 1.46220316e+01] [ 8.77994404e-01 4.46144449e-01 -1.73438628e-01 2.90103407e+01] [ 1.63282567e-01 6.14543189e-02 9.84663481e-01 -1.29487233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.170792138 meters Centerline goodness : 0.999253 Centerline is valid? [False, True] Translation: X:14.57, Y:29.04, Z:-129.50 [[ 5.84989012e-01 -8.10947609e-01 1.23219679e-02 1.45732364e+01] [ 7.97820337e-01 5.72654600e-01 -1.88545536e-01 2.90379409e+01] [ 1.45844320e-01 1.20127783e-01 9.81987144e-01 -1.29499310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200792138 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:14.67, Y:29.00, Z:-129.53 [[ 3.63021852e-01 -9.30438724e-01 -4.99891630e-02 1.46653601e+01] [ 9.17712790e-01 3.66313389e-01 -1.53680628e-01 2.90012730e+01] [ 1.61302107e-01 9.91373184e-03 9.86855282e-01 -1.29529192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.230792138 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:14.68, Y:29.03, Z:-129.55 [[ 3.24262728e-01 -9.43933074e-01 -6.20002824e-02 1.46849249e+01] [ 9.28184629e-01 3.30131592e-01 -1.71716124e-01 2.90318155e+01] [ 1.82556780e-01 -1.86657038e-03 9.83193540e-01 -1.29547789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260792138 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:14.69, Y:29.04, Z:-129.57 [[ 3.21268957e-01 -9.44840047e-01 -6.37459221e-02 1.46896811e+01] [ 9.29139982e-01 3.27506367e-01 -1.71576438e-01 2.90433556e+01] [ 1.82989485e-01 -4.10670154e-03 9.83106293e-01 -1.29573153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.290792138 meters Centerline goodness : 0.965487 Centerline is valid? [True, True] Translation: X:14.68, Y:29.02, Z:-129.61 [[ 3.60677509e-01 -9.31315252e-01 -5.06323598e-02 1.46760930e+01] [ 9.19219052e-01 3.64137109e-01 -1.49801535e-01 2.90224891e+01] [ 1.57949575e-01 7.48781470e-03 9.87418789e-01 -1.29613108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320792138 meters Centerline goodness : 0.970046 Centerline is valid? [True, True] Translation: X:14.68, Y:29.03, Z:-129.64 [[ 3.49601260e-01 -9.35360344e-01 -5.36655070e-02 1.46846477e+01] [ 9.23256648e-01 3.53684360e-01 -1.50015114e-01 2.90314642e+01] [ 1.59298839e-01 2.89843673e-03 9.87226154e-01 -1.29638356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.350792138 meters Centerline goodness : 0.970046 Centerline is valid? [True, True] Translation: X:14.69, Y:29.04, Z:-129.66 [[ 3.51114116e-01 -9.34821744e-01 -5.31712733e-02 1.46879916e+01] [ 9.22695198e-01 3.55098541e-01 -1.50128605e-01 2.90426800e+01] [ 1.59224526e-01 3.65139371e-03 9.87235644e-01 -1.29663216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380792138 meters Centerline goodness : 0.984754 Centerline is valid? [True, True] Translation: X:14.69, Y:29.05, Z:-129.69 [[ 3.50403595e-01 -9.35076879e-01 -5.33718170e-02 1.46929592e+01] [ 9.23199061e-01 3.54433941e-01 -1.48593658e-01 2.90523305e+01] [ 1.57863277e-01 2.79494042e-03 9.87457024e-01 -1.29688799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.410792138 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:14.71, Y:29.10, Z:-129.70 [[ 3.14555119e-01 -9.46991676e-01 -6.52827954e-02 1.47125536e+01] [ 9.31098309e-01 3.21194303e-01 -1.72887704e-01 2.90980182e+01] [ 1.84691679e-01 -6.40198805e-03 9.82775660e-01 -1.29699626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440792138 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:14.72, Y:29.11, Z:-129.72 [[ 3.10708961e-01 -9.48271648e-01 -6.51216018e-02 1.47171929e+01] [ 9.31899440e-01 3.17400671e-01 -1.75556965e-01 2.91084242e+01] [ 1.87145333e-01 -6.13966194e-03 9.82313050e-01 -1.29724370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470792138 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:14.72, Y:29.10, Z:-129.76 [[ 3.01251282e-01 -9.51462263e-01 -6.29859272e-02 1.47220092e+01] [ 9.37521102e-01 3.07600655e-01 -1.62591579e-01 2.91004976e+01] [ 1.74074264e-01 -1.00697144e-02 9.84681041e-01 -1.29757137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500792138 meters Centerline goodness : 0.975887 Centerline is valid? [True, True] Translation: X:14.71, Y:29.10, Z:-129.79 [[ 3.33096883e-01 -9.41435359e-01 -5.24016385e-02 1.47118378e+01] [ 9.28845727e-01 3.37184639e-01 -1.53467051e-01 2.90960302e+01] [ 1.62148335e-01 2.44635823e-03 9.86763362e-01 -1.29791112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530792138 meters Centerline goodness : 0.961185 Centerline is valid? [True, True] Translation: X:14.72, Y:29.11, Z:-129.82 [[ 3.25057755e-01 -9.44124026e-01 -5.44727432e-02 1.47195638e+01] [ 9.31273766e-01 3.29590280e-01 -1.55239876e-01 2.91062157e+01] [ 1.64519383e-01 -2.67111069e-04 9.86373814e-01 -1.29815391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560792138 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:14.74, Y:29.11, Z:-129.84 [[ 2.95070688e-01 -9.53521006e-01 -6.10817485e-02 1.47353683e+01] [ 9.40385125e-01 3.01133280e-01 -1.58096691e-01 2.91130848e+01] [ 1.69142263e-01 -1.07906683e-02 9.85532575e-01 -1.29836242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590792138 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:14.74, Y:29.15, Z:-129.85 [[ 3.02113515e-01 -9.51282119e-01 -6.15609791e-02 1.47386936e+01] [ 9.34138660e-01 3.08305371e-01 -1.79813129e-01 2.91503835e+01] [ 1.90032594e-01 -3.18251420e-03 9.81772624e-01 -1.29854907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620792138 meters Centerline goodness : 0.973926 Centerline is valid? [True, True] Translation: X:14.74, Y:29.12, Z:-129.90 [[ 3.05638857e-01 -9.50470099e-01 -5.64931886e-02 1.47381593e+01] [ 9.38340542e-01 3.10743735e-01 -1.51510257e-01 2.91241590e+01] [ 1.61560873e-01 -6.70242754e-03 9.86839988e-01 -1.29897347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650792138 meters Centerline goodness : 0.968659 Centerline is valid? [True, True] Translation: X:14.74, Y:29.14, Z:-129.92 [[ 3.09277536e-01 -9.49394799e-01 -5.47441384e-02 1.47399126e+01] [ 9.37144509e-01 3.14056208e-01 -1.52081782e-01 2.91372586e+01] [ 1.61578389e-01 -4.26769005e-03 9.86850653e-01 -1.29922990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68079213800002 meters Centerline goodness : 0.974116 Centerline is valid? [True, True] Translation: X:14.74, Y:29.15, Z:-129.95 [[ 3.10685841e-01 -9.48945456e-01 -5.45603386e-02 1.47436820e+01] [ 9.36517147e-01 3.15420511e-01 -1.53119345e-01 2.91507679e+01] [ 1.62511357e-01 -3.52468017e-03 9.86700378e-01 -1.29947679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71079213800002 meters Centerline goodness : 0.956792 Centerline is valid? [True, True] Translation: X:14.75, Y:29.16, Z:-129.97 [[ 3.07712204e-01 -9.49907786e-01 -5.46662326e-02 1.47493851e+01] [ 9.37417732e-01 3.12504910e-01 -1.53586059e-01 2.91620030e+01] [ 1.62976060e-01 -3.98479098e-03 9.86621977e-01 -1.29973295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740792138 meters Centerline goodness : 0.953653 Centerline is valid? [True, True] Translation: X:14.75, Y:29.17, Z:-130.00 [[ 3.05098192e-01 -9.50741923e-01 -5.48168717e-02 1.47542413e+01] [ 9.38388257e-01 3.09946259e-01 -1.52842389e-01 2.91715728e+01] [ 1.62303952e-01 -4.80757195e-03 9.86729099e-01 -1.29998568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.770792138 meters Centerline goodness : 0.942029 Centerline is valid? [True, False] Translation: X:14.70, Y:29.19, Z:-130.01 [[ 4.67949324e-01 -8.83490275e-01 -2.16417370e-02 1.46968473e+01] [ 8.70086105e-01 4.64863680e-01 -1.63865582e-01 2.91911358e+01] [ 1.54834106e-01 5.78506137e-02 9.86245257e-01 -1.30013153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800792138 meters Centerline goodness : 0.968553 Centerline is valid? [False, True] Translation: X:14.65, Y:29.22, Z:-130.02 [[ 6.05471891e-01 -7.95829180e-01 7.72695947e-03 1.46473104e+01] [ 7.83719004e-01 5.94512345e-01 -1.79832129e-01 2.92185551e+01] [ 1.38521883e-01 1.14939064e-01 9.83666966e-01 -1.30024308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.830792138 meters Centerline goodness : 0.972196 Centerline is valid? [True, True] Translation: X:14.75, Y:29.17, Z:-130.05 [[ 3.62077846e-01 -9.30335492e-01 -5.80991028e-02 1.47504686e+01] [ 9.19915892e-01 3.66695911e-01 -1.38884345e-01 2.91683741e+01] [ 1.50513739e-01 -3.15934360e-03 9.88602869e-01 -1.30051710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860792138 meters Centerline goodness : 0.964185 Centerline is valid? [True, True] Translation: X:14.76, Y:29.18, Z:-130.08 [[ 3.38121479e-01 -9.39149905e-01 -6.05914301e-02 1.47647508e+01] [ 9.27715155e-01 3.43441114e-01 -1.46262750e-01 2.91767104e+01] [ 1.58172236e-01 -6.75701063e-03 9.87388417e-01 -1.30076983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.890792138 meters Centerline goodness : 0.963132 Centerline is valid? [True, True] Translation: X:14.82, Y:29.17, Z:-130.10 [[ 2.07249643e-01 -9.76255587e-01 -6.30286841e-02 1.48211549e+01] [ 9.63776687e-01 2.14807043e-01 -1.58089951e-01 2.91691096e+01] [ 1.67875203e-01 -2.79814903e-02 9.85411058e-01 -1.30098101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920792138 meters Centerline goodness : 0.973773 Centerline is valid? [True, True] Translation: X:14.87, Y:29.17, Z:-130.12 [[ 1.11532180e-01 -9.91673687e-01 -6.43729068e-02 1.48651889e+01] [ 9.78723276e-01 1.20840028e-01 -1.65826525e-01 2.91707528e+01] [ 1.72224625e-01 -4.45082685e-02 9.84051672e-01 -1.30118670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.950792138 meters Centerline goodness : 0.969018 Centerline is valid? [True, True] Translation: X:14.94, Y:29.18, Z:-130.13 [[-5.08516927e-02 -9.96470991e-01 -6.67807608e-02 1.49362824e+01] [ 9.84779186e-01 -3.89022733e-02 -1.69400611e-01 2.91823513e+01] [ 1.66204872e-01 -7.43786111e-02 9.83282138e-01 -1.30133792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980792138 meters Centerline goodness : 0.697107 Centerline is valid? [True, False] Translation: X:14.89, Y:29.17, Z:-130.18 [[ 1.28376632e-01 -9.91697381e-01 7.46621271e-03 1.48893240e+01] [ 9.66681026e-01 1.23449917e-01 -2.24249665e-01 2.91746273e+01] [ 2.21466103e-01 3.60058630e-02 9.74503126e-01 -1.30176871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.010792138 meters Centerline goodness : 0.883997 Centerline is valid? [False, False] Translation: X:14.84, Y:29.18, Z:-130.21 [[ 2.83336376e-01 -9.58181353e-01 4.01122552e-02 1.48414925e+01] [ 9.22426579e-01 2.60842574e-01 -2.84763689e-01 2.91789554e+01] [ 2.62392273e-01 1.17684522e-01 9.57758137e-01 -1.30209276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040792138 meters Centerline goodness : 0.877373 Centerline is valid? [False, False] Translation: X:14.79, Y:29.19, Z:-130.22 [[ 4.21378355e-01 -9.05487967e-01 5.03172203e-02 1.47922964e+01] [ 8.62346704e-01 3.82892749e-01 -3.31287344e-01 2.91909114e+01] [ 2.80710605e-01 1.82988205e-01 9.42187281e-01 -1.30224100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.070792138 meters Centerline goodness : 0.868598 Centerline is valid? [False, False] Translation: X:14.75, Y:29.21, Z:-130.23 [[ 5.38652366e-01 -8.40689595e-01 5.56294232e-02 1.47480373e+01] [ 7.91909513e-01 4.82644546e-01 -3.74076952e-01 2.92086782e+01] [ 2.87633364e-01 2.45550905e-01 9.25727714e-01 -1.30234594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100792138 meters Centerline goodness : 0.998957 Centerline is valid? [False, True] Translation: X:14.70, Y:29.23, Z:-130.22 [[ 6.43914088e-01 -7.63224051e-01 5.35135043e-02 1.47048445e+01] [ 7.17414865e-01 5.77999140e-01 -3.88886752e-01 2.92321099e+01] [ 2.65876962e-01 2.88801041e-01 9.19730069e-01 -1.30224993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.130792138 meters Centerline goodness : 0.704390 Centerline is valid? [True, False] Translation: X:14.66, Y:29.26, Z:-130.21 [[ 7.41449524e-01 -6.69520410e-01 4.46656844e-02 1.46631907e+01] [ 6.27599744e-01 6.68392574e-01 -3.99211634e-01 2.92586110e+01] [ 2.37426125e-01 3.24027448e-01 9.15770194e-01 -1.30207959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160792138 meters Centerline goodness : 0.927518 Centerline is valid? [False, False] Translation: X:14.63, Y:29.29, Z:-130.20 [[ 8.19332065e-01 -5.71749045e-01 4.24027975e-02 1.46347531e+01] [ 5.36040492e-01 7.37724571e-01 -4.10393772e-01 2.92863368e+01] [ 2.03360662e-01 3.58978393e-01 9.10922036e-01 -1.30195451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190792138 meters Centerline goodness : 0.998906 Centerline is valid? [False, True] Translation: X:14.61, Y:29.32, Z:-130.19 [[ 8.79901827e-01 -4.73681125e-01 3.74027589e-02 1.46119158e+01] [ 4.42582453e-01 7.88396100e-01 -4.27261468e-01 2.93151892e+01] [ 1.72897504e-01 3.92501951e-01 9.03354123e-01 -1.30187461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220792138 meters Centerline goodness : 0.697950 Centerline is valid? [True, False] Translation: X:14.59, Y:29.34, Z:-130.18 [[ 9.24776937e-01 -3.78957614e-01 3.43328207e-02 1.45934089e+01] [ 3.53104890e-01 8.21050785e-01 -4.48544919e-01 2.93416572e+01] [ 1.41790523e-01 4.26927083e-01 8.93100618e-01 -1.30176236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250792138 meters Centerline goodness : 0.696841 Centerline is valid? [False, False] Translation: X:14.55, Y:29.38, Z:-130.17 [[ 9.51901913e-01 -3.01477331e-01 -5.47189869e-02 1.45486681e+01] [ 2.36428657e-01 8.36298828e-01 -4.94677431e-01 2.93777806e+01] [ 1.94895456e-01 4.57947256e-01 8.67352334e-01 -1.30168421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280792138 meters Centerline goodness : 0.999166 Centerline is valid? [False, True] Translation: X:14.52, Y:29.40, Z:-130.17 [[ 9.65427473e-01 -2.26416474e-01 -1.29171882e-01 1.45197335e+01] [ 1.25907037e-01 8.38929616e-01 -5.29475700e-01 2.93958643e+01] [ 2.28248139e-01 4.94906738e-01 8.38433127e-01 -1.30168437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310792138 meters Centerline goodness : 0.587514 Centerline is valid? [True, False] Translation: X:14.51, Y:29.40, Z:-130.15 [[ 9.74290340e-01 -1.93689640e-01 -1.15076740e-01 1.45074285e+01] [ 9.49320299e-02 8.16161153e-01 -5.69972703e-01 2.94036568e+01] [ 2.04318972e-01 5.44394431e-01 8.13565278e-01 -1.30148880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340792138 meters Centerline goodness : 0.694928 Centerline is valid? [False, False] Translation: X:14.51, Y:29.43, Z:-130.04 [[ 9.97534873e-01 -4.71017121e-02 -5.20154301e-02 1.45107362e+01] [ 1.41557924e-02 8.61084160e-01 -5.08265367e-01 2.94319161e+01] [ 6.87298319e-02 5.06276108e-01 8.59628241e-01 -1.30041468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370792138 meters Centerline goodness : 0.894752 Centerline is valid? [False, False] Translation: X:14.50, Y:29.43, Z:-130.00 [[ 9.98489107e-01 -2.39962356e-02 -4.94336344e-02 1.45004957e+01] [-4.50883811e-03 8.60799518e-01 -5.08924219e-01 2.94282001e+01] [ 5.47647141e-02 5.08378177e-01 8.59390747e-01 -1.30003056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400792138 meters Centerline goodness : 0.883500 Centerline is valid? [False, False] Translation: X:14.49, Y:29.42, Z:-129.97 [[ 9.98901711e-01 -5.83097762e-03 -4.64905510e-02 1.44888969e+01] [-1.88100405e-02 8.58854113e-01 -5.11874785e-01 2.94241662e+01] [ 4.29133313e-02 5.12187088e-01 8.57801162e-01 -1.29966957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43079213800002 meters Centerline goodness : 0.688878 Centerline is valid? [False, False] Translation: X:14.48, Y:29.41, Z:-129.93 [[ 9.98924886e-01 -6.39476181e-03 -4.59149147e-02 1.44796865e+01] [-1.80097139e-02 8.59111558e-01 -5.11471388e-01 2.94143037e+01] [ 4.27167716e-02 5.11748413e-01 8.58072747e-01 -1.29934168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46079213800002 meters Centerline goodness : 0.704565 Centerline is valid? [False, False] Translation: X:14.47, Y:29.40, Z:-129.90 [[ 9.98942843e-01 -4.72774858e-03 -4.57257560e-02 1.44704960e+01] [-1.93700592e-02 8.58791224e-01 -5.11959408e-01 2.94041409e+01] [ 4.16892933e-02 5.12303897e-01 8.57791770e-01 -1.29897927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.490792138 meters Centerline goodness : 0.883229 Centerline is valid? [False, False] Translation: X:14.46, Y:29.39, Z:-129.87 [[ 9.99459067e-01 -2.07780712e-03 -3.28215950e-02 1.44649043e+01] [-1.50668241e-02 8.58177621e-01 -5.13131720e-01 2.93885187e+01] [ 2.92329470e-02 5.13348667e-01 8.57682098e-01 -1.29866384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520792138 meters Centerline goodness : 0.879609 Centerline is valid? [False, False] Translation: X:14.46, Y:29.38, Z:-129.84 [[ 9.99452485e-01 -4.02556603e-03 -3.28409104e-02 1.44563025e+01] [-1.33954966e-02 8.58354365e-01 -5.12882388e-01 2.93797650e+01] [ 3.02537807e-02 5.13041498e-01 8.57830479e-01 -1.29836245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.550792138 meters Centerline goodness : 0.917326 Centerline is valid? [False, False] Translation: X:14.45, Y:29.37, Z:-129.81 [[ 9.99441443e-01 -6.50257064e-03 -3.27798401e-02 1.44481950e+01] [-1.12193159e-02 8.58669621e-01 -5.12406684e-01 2.93708645e+01] [ 3.14790135e-02 5.12488243e-01 8.58117051e-01 -1.29807158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580792138 meters Centerline goodness : 0.998951 Centerline is valid? [False, True] Translation: X:14.44, Y:29.36, Z:-129.78 [[ 9.99431585e-01 -8.16598606e-03 -3.27081605e-02 1.44396898e+01] [-9.74703596e-03 8.58788460e-01 -5.12237617e-01 2.93617441e+01] [ 3.22723160e-02 5.12265261e-01 8.58220718e-01 -1.29776640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.610792138 meters Centerline goodness : 0.937620 Centerline is valid? [True, False] Translation: X:14.43, Y:29.35, Z:-129.75 [[ 9.99431283e-01 -9.62735800e-03 -3.23175492e-02 1.44309475e+01] [-8.27253271e-03 8.59092497e-01 -5.11753502e-01 2.93518819e+01] [ 3.26905982e-02 5.11729808e-01 8.58524274e-01 -1.29745164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7327.23 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%| | 0/5272 [00:00